New energy mining card battery replacing robot

Abstract

The application discloses a new energy mine card battery replacing robot, which comprises a walking base, a plurality of walking driving wheels are fixedly connected to the bottom surface of the walking base, and a lifting mechanism is arranged on the top surface of the walking base; the lifting mechanism is driven on both sides to realize lifting, and the stability is higher than that of single side driving; the lifting driving structure is used for inputting power to the lifting transmission structures on both sides, the power is output through the second power shaft and the first power shaft, the actual power sources are the planet carrier and the outer ring, the planet carrier and the outer ring are in a rotating state, the driving motor is used as a single power source, the planet carrier and the outer ring are rotated when the power is output, the rotating speed of the planet carrier and the outer ring is dynamically distributed and compensated according to the resistance generated by the transmission of the second power shaft and the first power shaft, load balancing is realized, even if the transmission structure is worn or the like, the rotating speed of the planet carrier and the outer ring is dynamically distributed and compensated, the driving is not affected, single driving source is used for realizing double side driving, and the sticking phenomenon caused by wear and the like of double side driving is avoided.

Description

Technical Field

[0001] This invention relates to the technical field of battery swapping robots, and in particular to a battery swapping robot for new energy mining trucks. Background Technology

[0002] New energy mining trucks are mining dump trucks that use batteries or hydrogen energy instead of diesel. They are mainly used for short-distance transportation in closed environments such as open-pit mines and underground mines. Battery swapping is a quick way to replenish the power of new energy mining trucks. It involves replacing the battery box to replace charging and achieve rapid power replenishment. Battery swapping equipment has gone through several generations of development, from overhead cranes and forklifts to the battery swapping robots used today, achieving fully automated battery swapping.

[0003] For example, Chinese utility model patent with authorization announcement number CN220218525U and authorization announcement date of December 22, 2023 discloses a battery swapping robot for picking up, placing and transporting battery packs. The battery swapping robot includes a base, two support arms mounted on the base, two lifting arms movably mounted on the support arms in a vertical direction, a top beam connected to the upper ends of the two lifting arms, and a telescopic arm mounted on the lower side of the top beam. The telescopic arm is equipped with a lifting device for gripping the battery pack. The battery swapping robot mainly uses lifting and telescopic movement to drive the gripping structure to grab the battery pack, and uses the bottom walking structure to walk on the track to realize battery swapping.

[0004] However, current battery swapping robots have the following drawbacks: Battery swapping robots have lifting and lowering functions. After grabbing the battery box, the telescopic arm experiences significant gravity. If a single-sided drive is used for lifting and lowering, uneven force can easily lead to unstable lifting or jamming. Therefore, dual-sided drive is now commonly used, with common methods including lead screws, gear racks, and chains. However, due to machining tolerances and wear, deviations in displacement often occur during lifting and lowering on both sides. In practical applications, jamming still occurs, requiring frequent maintenance and demanding high machining requirements for the transmission structure at the drive position.

[0005] Therefore, in view of the problems existing in the above-mentioned prior art, a new energy mining truck battery swapping robot is proposed. Summary of the Invention

[0006] The purpose of this invention is to provide a new energy mining truck battery swapping robot to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a new energy mining truck battery swapping robot, including a walking base, multiple walking drive wheels fixedly connected to the bottom surface of the walking base, a lifting mechanism provided on the top surface of the walking base, a telescopic fork structure provided on the lifting mechanism, a flexible gripping structure provided on the telescopic fork structure, and a lifting drive structure provided on the top surface of the lifting mechanism. The lifting mechanism includes two uprights that are vertically fixed to both sides of the top surface of the traveling base. Two carrier plates are vertically slidably arranged on one side of the two uprights that are close to each other. A telescopic fork structure is arranged between the two carrier plates. A top platform is fixed to the top surface of the two uprights. A lifting drive structure is arranged on the top platform. Two drive shafts are vertically rotatably sleeved on the two uprights and the top platform. The lifting drive structure includes a drive compartment fixed to the top surface of the platform. A planetary carrier is rotatably connected to one side of the drive compartment, and a first power shaft is vertically rotatably sleeved on the other side of the drive compartment. A second power shaft is fixed to the center of the bottom surface of the planetary carrier. The second power shaft passes through the bottom of the drive compartment and is fixed to the top of one of the drive shafts. The first power shaft is fixed to the top of the other drive shaft. An outer ring is rotatably connected to the drive compartment outside the planetary carrier via a slewing bearing. An outer gear ring is fixedly sleeved on the outside of the outer ring. A central rotating shaft is vertically rotatably sleeved inside the drive compartment near the outer ring. A driving synchronous pulley and a central rotating gear are fixedly sleeved on the central rotating shaft. The central rotating gear meshes with the outer gear ring. A driven synchronous pulley is fixedly sleeved on the first power shaft. A transmission synchronous belt is sleeved on the driving synchronous pulley and the driven synchronous pulley.

[0008] Optionally, a sun gear is rotatably connected to the center of the planetary carrier, and multiple planetary gears are rotatably connected to the periphery of the planetary carrier. An internal gear ring is fixedly sleeved on the inner side of the outer ring. The sun gear meshes with multiple planetary gears, and the multiple planetary gears mesh with the internal gear ring. The main shaft is fixedly connected to the center of the top surface of the planetary carrier. The main shaft is rotatably connected to the top surface of the drive compartment. The inner shaft is fixedly connected to the end of the sun gear shaft. The inner shaft is rotatably sleeved on the inner side of the main shaft. The drive motor and reducer are fixedly connected to the top surface of the drive compartment. The input shaft of the reducer is fixedly connected to the end of the drive motor shaft, and the output shaft of the reducer is fixedly connected to the top of the inner shaft.

[0009] Optionally, two power slides are opened on one side of the two uprights close to each other. A power slider is fixed to the side wall of the carrier plate. The power slider is vertically slidably connected to the power slide. A screw rod is vertically rotatably connected inside the power slide. A threaded sleeve is fixed to the power slider. The screw rod is threadedly connected to the threaded sleeve. A U-shaped guide seat is vertically slidably fitted to the side wall of the upright. Two guide bars are fixed to both sides of the upright. Two guide openings are opened on the inner side wall of the U-shaped guide seat. The guide openings are vertically slidably connected to the guide bars.

[0010] Optionally, the telescopic fork structure includes a fixed fork assembly, a middle fork assembly, and an end fork assembly. The middle fork assembly is slidably sleeved inside the fixed fork assembly, and the end fork assembly is slidably sleeved inside the middle fork assembly. The fixed fork assembly includes two parallel first side plates, with a first top bracket fixed between the top surfaces of the two first side plates. The middle fork assembly includes two parallel second side plates, with a second top bracket fixed between the top surfaces of the two second side plates. The end fork assembly includes two parallel third side plates, with multiple crossbars fixed between the two third side plates. A carrier block is fixed between the three side plates. A flexible gripping structure is set on the bottom surface of the carrier block. A first U-shaped guide is fixed to the lower part of the inner wall of the first side plate. A second U-shaped guide is fixed to the lower part of the inner wall of the second side plate. Multiple first guide blocks and multiple first guide wheels are fixed to the outer wall of the second side plate. The first guide blocks are slidably connected to the inner side of the first U-shaped guide. The first guide wheels roll in contact with the inner wall of the first U-shaped guide. Multiple second guide blocks and multiple second guide wheels are fixed to the outer wall of the third side plate. The second guide blocks are slidably connected to the inner side of the second U-shaped guide. The second guide wheels roll in contact with the inner wall of the second U-shaped guide.

[0011] Optionally, a rotating seat is rotatably sleeved on the carrier block, and a first servo reduction motor is fixedly connected to the top surface of the carrier block through a motor frame. A drive gear is fixedly connected to the shaft end of the first servo reduction motor, and a driven gear is fixedly sleeved on the rotating seat. The drive gear meshes with the driven gear. The flexible gripping structure includes a fixed platform and a floating platform. The floating platform is located below the fixed platform, and the bottom end of the rotating seat is fixedly connected to the fixed platform. Four pillars are horizontally slidably arranged on the top surface of the fixed platform corresponding to the four corners of the floating platform. A sliding cavity is opened on the top surface of the pillar, and a sliding plate is vertically sleeved in the sliding cavity. A column is fixedly connected to the top surface of the sliding plate, and the bottom surface of the floating platform is fixedly connected to the top of the column. A limiting ring is fixedly sleeved on the top of the sliding cavity, and the limiting ring is slidably sleeved in the column. A first spring is fixedly connected between the bottom surface of the sliding plate and the bottom surface of the sliding cavity.

[0012] Optionally, a circular cavity is formed inside the floating platform located below the column block. A circular opening is formed on the top surface of the floating platform corresponding to the circular cavity, and the circular opening connects to the circular cavity. A circular block is horizontally and movably fitted inside the circular cavity. A bottom column is fixedly connected to the center of the top surface of the circular block. The bottom column is movably set at the circular opening, and the top of the bottom column is fixedly connected to the bottom surface of the column block. Multiple first side openings are evenly formed on the side wall of the circular cavity, and multiple second side openings are evenly formed on the side wall of the circular block. A second spring is fixedly connected between the first side openings and the second side openings. Two locking devices are set between the two sides of the fixed platform and the top surface of the floating platform. Four hooks are rotatably connected at the four corners of the floating platform. Four rotary cylinders are fixedly connected to the top surface of the four corners of the floating platform, and the rotating shaft ends of the rotary cylinders are fixedly connected to the rotating shafts of the hooks.

[0013] Optionally, a power assembly is provided on the bottom surface of the first top frame, and a drive gear plate is fixedly connected to the bottom surface of the second top frame corresponding to the power assembly. Two transfer assemblies are provided on both sides of the second top frame. Two upper transfer gear plates are fixedly connected to the bottom surface of the two transfer assemblies corresponding to the top surface of the two transfer assemblies. Two lower transfer gear plates are fixedly connected to the top surface of the two third side plates corresponding to the bottom surface of the two transfer assemblies. Two brackets are fixedly connected to the bottom surface of the two first side plates. A carrier plate is fixedly connected to the side wall of the first side plate. The top surface of the U-shaped guide seat is fixedly connected to the bottom end of the bracket.

[0014] Optionally, the power assembly includes a first strip-shaped compartment fixed to the bottom surface of the first top frame. Multiple first gears are rotatably connected inside the first strip-shaped compartment. The bottom of each first gear is located outside the first strip-shaped compartment and meshes with a drive gear plate. Two first synchronous pulleys are fixedly sleeved on the shaft end of each first gear. A first synchronous belt is sleeved on the first synchronous pulleys of two adjacent first gears. A horizontal shaft is rotatably connected to the top of the end of the first strip-shaped compartment. A third synchronous pulley is fixedly sleeved on the shaft end of the horizontal shaft. A third synchronous belt is sleeved on the third synchronous pulley and the first synchronous pulley of the first gear located at the end. A transfer group is also included. The component includes a second strip-shaped compartment fixedly fitted onto a second top frame. Multiple second gears are uniformly rotatably connected inside the second strip-shaped compartment. The tops of the multiple second gears are located outside the second strip-shaped compartment and mesh with an upper central gear plate. The bottoms of the multiple second gears are located outside the second strip-shaped compartment and mesh with a lower central gear plate. Two second synchronous pulleys are fixedly fitted onto the shaft end of each second gear. A second synchronous belt is fitted onto the second synchronous pulleys of two adjacent second gears. A second servo reduction motor is fixedly connected to the top of the first side plate at the end position of the power assembly. The shaft end of the second servo reduction motor is fixedly connected to the end of the horizontal shaft.

[0015] Compared with the prior art, the beneficial effects of the present invention are: The lifting mechanism of this invention uses dual-side drive to achieve lifting, which is more stable than single-side drive. The lifting drive structure inputs power to the lifting transmission structure on both sides and outputs power through the second power shaft and the first power shaft. The actual power source is the planetary carrier and the outer ring. Both the planetary carrier and the outer ring are rotating. The drive motor is used as a single power source. When outputting power, both the planetary carrier and the outer ring will rotate. The load is distributed according to the resistance generated by the transmission on the second power shaft and the first power shaft to achieve load equalization. Even if there is wear or other conditions in the transmission structure, the speed of the planetary carrier and the outer ring will be dynamically distributed and compensated, without affecting the drive. A single drive source achieves dual-side drive and eliminates the jamming phenomenon caused by wear or other conditions in dual-side drive. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the main body structure in this invention; Figure 2 This is a cross-sectional view of the lifting mechanism in this invention; Figure 3This is a cross-sectional view of the lifting drive structure in this invention; Figure 4 This is a schematic diagram of the cross-sectional structure of the planetary carrier in this invention; Figure 5 This is a schematic diagram of the cross-sectional structure at the flexible gripping structure in this invention; Figure 6 For the present invention Figure 5 Enlarged structural diagram of point A in the middle; Figure 7 This is a schematic diagram of the telescopic fork structure in this invention; Figure 8 This is a cross-sectional view of the power component in this invention; Figure 9 This is a cross-sectional view of the transfer component in this invention.

[0017] In the diagram: 1. Traveling base; 2. Lifting mechanism; 3. Lifting drive structure; 4. Telescopic fork structure; 5. Flexible gripping structure; 11. Traveling drive wheel; 21. Frame; 22. Top platform; 23. Carrier plate; 24. Power slide; 25. Power slider; 26. Lead screw; 27. Threaded sleeve; 28. Drive shaft; 29. ​​U-shaped guide seat; 210. Guide bar; 211. Guide opening; 31. Drive compartment; 32. Outer ring; 33. Planetary carrier; 34. Sun gear; 35. Planetary gear; 36. Internal gear ring; 37. External gear ring; 38. First power shaft; 39. Transfer shaft 310. Transfer gear; 311. Driving synchronous pulley; 312. Driven synchronous pulley; 313. Transmission synchronous belt; 314. Slewing bearing; 315. Drive motor; 316. Reducer; 317. Main shaft; 318. Second power shaft; 319. Inner shaft; 41. Fixed fork assembly; 42. Middle fork assembly; 43. End fork assembly; 44. Power assembly; 45. Transfer assembly; 46. Drive gear plate; 47. Upper transfer gear plate; 48. Lower transfer gear plate; 49. First U-shaped guide; 410. Second U-shaped guide; 413. Second guide block; 414. 415. Second guide wheel; 416. Carrier block; 417. Rotary seat; 418. Motor frame; 419. First servo geared motor; 420. Driven gear; 423. Bracket; 424. Second servo geared motor; 425. First guide block; 426. First guide wheel; 411. First side plate; 412. First top frame; 421. Second side plate; 422. Second top frame; 431. Third side plate; 432. Cross frame; 441. First strip compartment; 442. First gear; 443. First synchronous belt pulley; 444. First synchronous belt; 445. Horizontal shaft ; 446. Third synchronous pulley; 447. Third synchronous belt; 451. Second strip-shaped compartment; 452. Second gear; 453. Second synchronous pulley; 454. Second synchronous belt; 51. Fixed platform; 52. Floating platform; 53. Hook; 54. Rotary cylinder; 55. Column block; 56. Slide cavity; 57. Slide plate; 58. Column; 59. Limiting ring; 510. First spring; 511. Circular inner cavity; 512. Circular block; 513. Circular opening; 514. Bottom column; 515. First side opening; 516. Second side opening; 517. Second spring; 518. Locking device. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figures 1 to 9The new energy mining truck battery swapping robot provided in this embodiment includes a walking base 1, a lifting mechanism 2, a telescopic fork structure 4, a flexible gripping structure 5, and a lifting drive structure 3. Multiple walking drive wheels 11 are fixed to the bottom surface of the walking base 1. The lifting mechanism 2 is installed on the top surface of the walking base 1. The telescopic fork structure 4 is mounted on the lifting mechanism 2. The flexible gripping structure 5 is mounted on the telescopic fork structure 4. The lifting drive structure 3 is located on the top surface of the lifting mechanism 2.

[0020] The lifting mechanism 2 includes two uprights 21 vertically fixed to both sides of the top surface of the traveling base 1. Two carrier plates 23 are vertically slidably arranged on the side of the two uprights 21 that are close to each other. A telescopic fork structure 4 is installed between the two carrier plates 23. A top platform 22 is fixed to the top surface of the two uprights 21. The lifting drive structure 3 is arranged on the top platform 22. Two drive shafts 28 are vertically rotatably sleeved on the two uprights 21 and the top platform 22, thereby forming a dual-side drive to achieve lifting, which is more stable than a single-side drive.

[0021] The lifting drive structure 3 includes a drive compartment 31 fixedly connected to the top surface of the top platform 22. A planetary carrier 33 is rotatably connected to one side of the drive compartment 31, and a first power shaft 38 is vertically rotatably sleeved on the other side of the drive compartment 31. A second power shaft 318 is fixedly connected to the center of the bottom surface of the planetary carrier 33. The second power shaft 318 passes through the bottom of the drive compartment 31 and is fixedly connected to the top of one of the drive shafts 28. The first power shaft 38 is fixedly connected to the top of the other drive shaft 28.

[0022] Inside the drive housing 31, the outer ring 32 is rotatably connected to the outside of the planetary carrier 33 via a slewing bearing 314. An outer gear ring 37 is fixedly sleeved on the outside of the outer ring 32. Inside the drive housing 31, near the outer ring 32, a central rotating shaft 39 is vertically rotatably sleeved. A drive synchronous pulley 311 and a central rotating gear 310 are fixedly sleeved on the central rotating shaft 39. The central rotating gear 310 meshes with the outer gear ring 37.

[0023] A driven synchronous pulley 312 is fixedly sleeved on the first power shaft 38, and a transmission synchronous belt 313 is sleeved on the driving synchronous pulley 311 and the driven synchronous pulley 312. The lifting drive structure 3 inputs power to the lifting transmission structures on both sides. It adopts a planetary gearbox structure and outputs power through the second power shaft 318 and the first power shaft 38. The actual power source is the planet carrier 33 and the outer ring 32, both of which can rotate. With the drive motor 315 as a single power source, both the planet carrier 33 and the outer ring 32 will rotate when outputting power. The load is automatically distributed according to the transmission resistance experienced by the second power shaft 318 and the first power shaft 38 to achieve load sharing. Even if the transmission structure wears, the speed of the planet carrier 33 and the outer ring 32 will be dynamically distributed and compensated, without affecting the drive. Thus, a single drive source is used to achieve dual-side drive, and the jamming phenomenon caused by wear and other conditions in dual-side drive is eliminated.

[0024] Inside the planetary carrier 33, a sun gear 34 is rotatably connected at the center, and multiple planetary gears 35 are evenly rotatably connected around the periphery of the planetary carrier 33. An internal gear ring 36 is fixedly sleeved on the inner side of the outer ring 32. The sun gear 34 meshes with the multiple planetary gears 35, and the multiple planetary gears 35 mesh with the internal gear ring 36. A main shaft 317 is fixedly connected to the center of the top surface of the planetary carrier 33, and the main shaft 317 is rotatably connected to the top surface of the drive compartment 31. An inner shaft 319 is fixedly connected to the shaft end of the sun gear 34, and the inner shaft 319 is rotatably sleeved inside the main shaft 317. A drive motor 315 and a reducer 316 are fixedly connected to the top surface of the drive compartment 31. The shaft end of the drive motor 315 is fixedly connected to the input shaft of the reducer 316, and the output shaft of the reducer 316 is fixedly connected to the top end of the inner shaft 319. The drive motor 315 inputs power through the inner shaft 319, which drives the planetary gears 35 to rotate through the sun gear 34, thereby realizing the rotation of the planetary carrier 33 and the outer ring 32.

[0025] Two power slides 24 are provided on the side of the two uprights 21 that are close to each other. A power slider 25 is fixedly connected to the side wall of the carrier plate 23, and the power slider 25 is vertically slidably connected in the power slide 24. A lead screw 26 is vertically rotatably connected in the power slide 24. A threaded sleeve 27 is fixedly connected to the power slider 25, and the lead screw 26 is threadedly connected to the threaded sleeve 27. A U-shaped guide seat 29 is vertically slidably fitted on the side wall of the upright 21. Two guide bars 210 are fixedly connected to both sides of the upright 21. Two guide openings 211 are provided on the inner side wall of the U-shaped guide seat 29. The guide openings 211 and the guide bars 210 slide vertically and slide together to guide the lifting and lowering of the carrier plate 23.

[0026] The telescopic fork structure 4 includes a fixed fork assembly 41, a middle fork assembly 42, and an end fork assembly 43. The middle fork assembly 42 is slidably sleeved inside the fixed fork assembly 41, and the end fork assembly 43 is slidably sleeved inside the middle fork assembly 42. The fixed fork assembly 41 includes two parallel first side plates 411, with a first top frame 412 fixed between the top surfaces of the two first side plates 411. The middle fork assembly 42 includes two parallel second side plates 421, with a second top frame 422 fixed between the top surfaces of the two second side plates 421. The end fork assembly 43 includes two parallel third side plates 431, with multiple crossbars 432 fixed between the two third side plates 431, and a carrier block 415 fixed between the two third side plates 431. A flexible gripping structure 5 is installed on the bottom surface of the carrier block 415.

[0027] The lower part of the inner wall of the first side plate 411 is fixed to the first U-shaped guide frame 49, and the lower part of the inner wall of the second side plate 421 is fixed to the second U-shaped guide frame 410. Multiple first guide blocks 425 and multiple first guide wheels 426 are fixed to the outer wall of the second side plate 421. The first guide blocks 425 are slidably connected to the inner side of the first U-shaped guide frame 49, and the first guide wheels 426 roll in contact with the inner wall of the first U-shaped guide frame 49. Multiple second guide blocks 413 and multiple second guide wheels 414 are fixed to the outer wall of the third side plate 431. The second guide blocks 413 are slidably connected to the inner side of the second U-shaped guide frame 410, and the second guide wheels 414 roll in contact with the inner wall of the second U-shaped guide frame 410.

[0028] A rotating base 416 is rotatably sleeved on the carrier block 415. A first servo reduction motor 418 is fixedly connected to the top surface of the carrier block 415 via a motor frame 417. A drive gear 419 is fixedly connected to the shaft end of the first servo reduction motor 418. A driven gear 420 is fixedly sleeved on the rotating base 416. The drive gear 419 meshes with the driven gear 420. The flexible gripping structure 5 includes a fixed platform 51 and a floating platform 52. The floating platform 52 is located below the fixed platform 51, and the fixed platform 51 is fixedly connected to the bottom end of the rotating base 416.

[0029] Four pillar blocks 55 are horizontally slidably arranged at the four corners of the floating platform 52 corresponding to the top surface of the fixed platform 51. A sliding cavity 56 is opened on the top surface of the pillar block 55. A sliding plate 57 is vertically slidably sleeved in the sliding cavity 56. A column 58 is fixedly connected to the top surface of the sliding plate 57. The top of the column 58 is fixedly connected to the bottom surface of the floating platform 52. A limiting ring 59 is fixedly sleeved at the top of the sliding cavity 56. The limiting ring 59 is slidably sleeved in the column 58. A first spring 510 is fixedly connected between the bottom surface of the sliding plate 57 and the bottom surface of the sliding cavity 56.

[0030] A circular inner cavity 511 is formed inside the floating platform 52, located below the column block 55. A circular opening 513 is formed on the top surface of the floating platform 52 corresponding to the circular inner cavity 511, and the circular opening 513 communicates with the circular inner cavity 511. A circular block 512 is horizontally movably fitted inside the circular inner cavity 511. A bottom column 514 is fixedly connected to the center of the top surface of the circular block 512. The bottom column 514 is movably positioned at the circular opening 513, and its top end is fixedly connected to the bottom surface of the column block 55. Multiple first side openings 515 are evenly formed on the side wall of the circular inner cavity 511, and multiple second side openings 516 are evenly formed on the side wall of the circular block 512. A second spring 517 is fixedly connected between the first side openings 515 and the second side openings 516.

[0031] Two locking devices 518 are installed between the two sides of the fixed platform 51 and the top surface of the floating platform 52. Four hooks 53 are rotatably connected to the four corners of the floating platform 52, and four rotary cylinders 54 are fixedly connected to the top surface of the four corners of the floating platform 52. The rotating shaft ends of the rotary cylinders 54 are fixedly connected to the rotating shafts of the hooks 53. In the flexible gripping structure 5, vertical floating is achieved through the cooperation of the column 58 and the limiting ring 59, and horizontal floating is achieved through the cooperation of the circular block 512 and the circular inner cavity 511, thus giving the floating platform 52 flexible floating capability. When the hooks 53 grip the battery box and close, the floating platform 52 will automatically float to compensate for the deviation, avoiding damage to the clamp caused by rigid closing gripping.

[0032] A power assembly 44 is mounted on the bottom surface of the first top frame 412, and a drive gear plate 46 is fixedly connected to the bottom surface of the second top frame 422 corresponding to the power assembly 44. Two transfer assemblies 45 are mounted on both sides of the second top frame 422. Two upper transfer gear plates 47 are fixedly connected to the top surface of the two transfer assemblies 45 corresponding to the bottom surface of the first top frame 412, and two lower transfer gear plates 48 are fixedly connected to the top surface of the two third side plates 431 corresponding to the bottom surface of the two transfer assemblies 45. Two brackets 423 are fixedly connected to the bottom surface of the two first side plates 411, and a carrier plate 23 is fixedly connected to the side wall of the first side plate 411. The bottom end of the bracket 423 is fixedly connected to the top surface of the U-shaped guide seat 29.

[0033] The power assembly 44 includes a first strip-shaped compartment 441 fixedly attached to the bottom surface of the first top frame 412. Multiple first gears 442 are rotatably connected inside the first strip-shaped compartment 441. The bottom of each first gear 442 is located outside the first strip-shaped compartment 441 and meshes with a drive gear plate 46. Two first synchronous pulleys 443 are fixedly sleeved on the shaft end of each first gear 442, and a first synchronous belt 444 is sleeved on the first synchronous pulleys 443 of adjacent first gears 442. A horizontal shaft 445 is rotatably connected to the top of the end of the first strip-shaped compartment 441. A third synchronous pulley 446 is fixedly sleeved on the shaft end of the horizontal shaft 445, and a third synchronous belt 447 is sleeved on the third synchronous pulley 446 and the first synchronous pulleys 443 of the first gears 442 located at the end.

[0034] The transfer assembly 45 includes a second strip-shaped compartment 451 fixedly sleeved on the second top frame 422. Multiple second gears 452 are uniformly rotatably connected inside the second strip-shaped compartment 451. The tops of the multiple second gears 452 are located outside the second strip-shaped compartment 451 and mesh with an upper transfer gear plate 47, while the bottoms of the multiple second gears 452 are located outside the second strip-shaped compartment 451 and mesh with a lower transfer gear plate 48. Two second synchronous pulleys 453 are fixedly sleeved on the shaft end of each second gear 452, and second synchronous belts 454 are sleeved on the second synchronous pulleys 453 of adjacent second gears 452. A second servo reduction motor 424 is fixedly connected to the top of the first side plate 411 at the end position of the power assembly 44, and the shaft end of the second servo reduction motor 424 is fixedly connected to the end of the horizontal shaft 445.

[0035] During operation, the power unit 44 drives the drive toothed plate 46 to move, realizing the horizontal extension and retraction of the middle fork assembly 42. When the middle fork assembly 42 extends and retracts horizontally, the transfer assembly 45 moves accordingly. Under the action of the upper transfer toothed plate 47, the second gear 452 rotates, thereby driving the lower transfer toothed plate 48 to move with the same stroke, realizing three-stage extension and retraction. The use of a gear and rack structure can achieve bidirectional large stroke extension and retraction compared to screw drive, and avoids the defects of chain drive that are prone to deformation under force, resulting in unstable transmission.

[0036] The working process of this invention is as follows: The traveling base 1 drives the entire robot to move on the track to the position of the mining truck battery compartment for initial horizontal alignment; then the lifting mechanism 2 drives the telescopic fork structure 4 to move, initially adjusting the height of the flexible gripping structure 5 to match the battery box; subsequently, the first servo reduction motor 418 drives the turntable 416 to rotate, adjusting the angle of the flexible gripping structure 5 to adapt to the parking offset of the mining truck; the telescopic fork structure 4 extends and retracts, the end fork assembly 43 extends, the flexible gripping structure 5 moves to the position of the battery box, the rotary cylinder 54 drives the hook 53 to close, the reaction force generated by the hook 53 contacting the battery box causes the floating platform 52 to float accordingly, and the locking device 518 locks the fixed platform 51 and the floating platform 52 after gripping; the end fork assembly 43 retracts, the lifting mechanism 2 drives the telescopic fork structure 4 to rise, and the old battery is taken out from the mining truck battery compartment; the traveling base 1 drives the entire robot to the battery placement position to complete the placement of the old battery, and then moves to the new battery position to repeat the above gripping action, installing the new battery into the mining truck battery compartment, completing one battery swap.

[0037] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A new energy mining truck battery swapping robot, comprising a walking base (1), wherein a plurality of walking drive wheels (11) are fixedly connected to the bottom surface of the walking base (1), characterized in that: The top surface of the traveling base (1) is provided with a lifting mechanism (2), the lifting mechanism (2) is provided with a telescopic fork structure (4), the telescopic fork structure (4) is provided with a flexible gripping structure (5), and the top surface of the lifting mechanism (2) is provided with a lifting drive structure (3). The lifting mechanism (2) includes two uprights (21) that are vertically fixed to both sides of the top surface of the traveling base (1). The two uprights (21) are vertically slidably arranged with two carrier plates (23) on one side close to each other. The telescopic fork structure (4) is arranged between the two carrier plates (23). The top surface of the two uprights (21) is fixed to a top platform (22). The lifting drive structure (3) is arranged on the top platform (22). Two drive shafts (28) are vertically rotatably sleeved on the two uprights (21) and the top platform (22). The lifting drive structure (3) includes a drive compartment (31) fixed to the top surface of the top platform (22). A planetary carrier (33) is rotatably connected to one side of the drive compartment (31). A first power shaft (38) is vertically rotatably sleeved on the other side of the drive compartment (31). A second power shaft (318) is fixed to the center of the bottom surface of the planetary carrier (33). The second power shaft (318) passes through the bottom of the drive compartment (31) and is fixed to the top of one of the drive shafts (28). The first power shaft (38) is fixed to the top of the other drive shaft (28). The drive compartment (31) is located inside the planetary carrier (33). The outer ring (32) is rotatably connected to the outer ring (32) via a slewing bearing (314). The outer ring (32) is fixedly sleeved with an outer gear ring (37). The drive chamber (31) is vertically rotatably sleeved with a central rotating shaft (39) near the outer ring (32). The central rotating shaft (39) is fixedly sleeved with a driving synchronous pulley (311) and a central rotating gear (310). The central rotating gear (310) meshes with the outer gear ring (37). The driven synchronous pulley (312) is fixedly sleeved on the first power shaft (38). The driving synchronous pulley (311) and the driven synchronous pulley (312) are sleeved with a transmission synchronous belt (313).

2. The new energy mining truck battery swapping robot according to claim 1, characterized in that: The planetary carrier (33) is rotatably connected to the sun gear (34) in the center. Multiple planetary gears (35) are rotatably connected to the periphery of the planetary carrier (33). An internal gear ring (36) is fixedly sleeved on the inner side of the outer ring (32). The sun gear (34) meshes with multiple planetary gears (35). Multiple planetary gears (35) mesh with the internal gear ring (36). The main shaft (317) is fixedly connected to the center of the top surface of the planetary carrier (33). The main shaft (317) is rotatably connected to the top surface of the drive compartment (31). The inner shaft (319) is fixedly connected to the shaft end of the sun gear (34). The inner shaft (319) is rotatably sleeved on the inner side of the main shaft (317). The drive motor (315) and the reducer (316) are fixedly connected to the top surface of the drive compartment (31). The input shaft of the reducer (316) is fixedly connected to the shaft end of the drive motor (315). The output shaft of the reducer (316) is fixedly connected to the top end of the inner shaft (319).

3. The new energy mining truck battery swapping robot according to claim 2, characterized in that: Two power slides (24) are opened on one side of the two uprights (21). The power slider (25) is fixed to the side wall of the carrier plate (23). The power slider (25) is vertically slidably connected to the power slide (24). The screw rod (26) is vertically rotatably connected inside the power slide (24). The threaded sleeve (27) is fixed to the power slider (25). The screw rod (26) is threadedly connected to the threaded sleeve (27). The U-shaped guide seat (29) is vertically slidably sleeved on the side wall of the upright (21). Two guide bars (210) are fixed to both sides of the upright (21). Two guide openings (211) are opened on the inner side wall of the U-shaped guide seat (29). The guide openings (211) are vertically slidably connected to the guide bars (210).

4. The new energy mining truck battery swapping robot according to claim 3, characterized in that: The telescopic fork structure (4) includes a fixed fork assembly (41), a middle fork assembly (42), and an end fork assembly (43). The middle fork assembly (42) is slidably sleeved inside the fixed fork assembly (41), and the end fork assembly (43) is slidably sleeved inside the middle fork assembly (42). The fixed fork assembly (41) includes two parallel first side plates (411), and a first top frame (412) is fixed between the top surfaces of the two first side plates (411). The middle fork assembly (42) includes two parallel second side plates (421), and a second top frame (422) is fixed between the top surfaces of the two second side plates (421). The end fork assembly (43) includes two parallel third side plates (431), and multiple crossbars (432) are fixed between the two third side plates (431). Furthermore, multiple crossbars (432) are also fixed between the two third side plates (431). A carrier block (415) is provided, and the flexible gripping structure (5) is provided on the bottom surface of the carrier block (415). The lower part of the inner wall of the first side plate (411) is fixed to the first U-shaped guide frame (49), and the lower part of the inner wall of the second side plate (421) is fixed to the second U-shaped guide frame (410). The outer wall of the second side plate (421) is fixed to a plurality of first guide blocks (425) and a plurality of first guide wheels (426). The first guide blocks (425) are slidably connected to the inner side of the first U-shaped guide frame (49), and the first guide wheels (426) roll in contact with the inner wall of the first U-shaped guide frame (49). The outer wall of the third side plate (431) is fixed to a plurality of second guide blocks (413) and a plurality of second guide wheels (414). The second guide blocks (413) are slidably connected to the inner side of the second U-shaped guide frame (410), and the second guide wheels (414) roll in contact with the inner wall of the second U-shaped guide frame (410).

5. The new energy mining truck battery swapping robot according to claim 4, characterized in that: The carrier block (415) is rotatably sleeved with a rotating seat (416). The top surface of the carrier block (415) is fixedly connected to a first servo geared motor (418) via a motor frame (417). The shaft end of the first servo geared motor (418) is fixedly connected to a drive gear (419). The rotating seat (416) is fixedly sleeved with a driven gear (420). The drive gear (419) meshes with the driven gear (420). The flexible gripping structure (5) includes a fixed platform (51) and a floating platform (52). The floating platform (52) is located below the fixed platform (51). The fixed platform (51) is fixedly connected to the rotating seat (416). 416) At the bottom, the top surface of the fixed platform (51) is horizontally slidably provided with four pillar blocks (55) corresponding to the four corners of the floating platform (52). The top surface of the pillar block (55) is provided with a sliding cavity (56). The sliding cavity (56) is vertically slidably sleeved with a sliding plate (57). The top surface of the sliding plate (57) is fixedly connected with a column (58). The top of the column (58) is fixedly connected with the bottom surface of the floating platform (52). The top of the sliding cavity (56) is fixedly sleeved with a limiting ring (59). The limiting ring (59) is slidably sleeved with the column (58). The bottom surface of the sliding plate (57) and the bottom surface of the sliding cavity (56) are fixedly connected with a first spring (510).

6. The new energy mining truck battery swapping robot according to claim 5, characterized in that: The floating platform (52) has a circular inner cavity (511) located below the column block (55). A circular opening (513) is formed on the top surface of the floating platform (52) corresponding to the circular inner cavity (511), and the circular opening (513) connects to the circular inner cavity (511). A circular block (512) is horizontally and movably fitted inside the circular inner cavity (511). A bottom column (514) is fixedly connected to the center of the top surface of the circular block (512). The bottom column (514) is movably positioned at the circular opening (513), and its top end is fixedly connected to the bottom surface of the column block (55). The circular inner cavity... (511) Multiple first side openings (515) are evenly opened on the side wall, and multiple second side openings (516) are evenly opened on the side wall of the circular block (512). A second spring (517) is fixed between the first side opening (515) and the second side opening (516). Two locking devices (518) are provided between the two sides of the fixed platform (51) and the top surface of the floating platform (52). Four hooks (53) are rotatably connected at the four corners of the floating platform (52). Four rotary cylinders (54) are fixedly connected to the top surface of the four corners of the floating platform (52). The rotating shaft end of the rotary cylinder (54) is fixedly connected to the rotating shaft of the hook (53).

7. The new energy mining truck battery swapping robot according to claim 4, characterized in that: The bottom surface of the first top frame (412) is provided with a power assembly (44), and the second top frame (422) is fixedly connected to the drive tooth plate (46) at the bottom surface of the power assembly (44). Two transfer assemblies (45) are provided on both sides of the second top frame (422). Two upper transfer tooth plates (47) are fixedly connected to the bottom surface of the two transfer assemblies (45). Two lower transfer tooth plates (48) are fixedly connected to the top surface of the two third side plates (431) at the bottom surface of the two transfer assemblies (45). Two brackets (423) are fixedly connected to the bottom surface of the two first side plates (411). The side wall of the first side plate (411) is fixedly connected to the carrier plate (23). The bottom end of the bracket (423) is fixedly connected to the top surface of the U-shaped guide seat (29).

8. A new energy mining truck battery swapping robot according to claim 7, characterized in that: The power assembly (44) includes a first strip-shaped compartment (441) fixedly attached to the bottom surface of the first top frame (412). Multiple first gears (442) are uniformly rotatably connected inside the first strip-shaped compartment (441). The bottom of each first gear (442) is located outside the first strip-shaped compartment (441) and meshes with the drive gear plate (46). Two first synchronous pulleys (443) are fixedly sleeved on the shaft end of each first gear (442). A first synchronous belt (444) is sleeved on the first synchronous pulleys (443) of two adjacent first gears (442). A horizontal shaft (445) is horizontally rotatably connected to the top end of the first strip-shaped compartment (441). A third synchronous pulley (446) is fixedly sleeved on the shaft end of the horizontal shaft (445). A third synchronous belt (447) is sleeved on the third synchronous pulley (446) and the first synchronous pulleys (443) of the first gear (442) located at the end. The intermediate transfer assembly ( 45) Includes a second strip-shaped compartment (451) fixedly sleeved on the second top frame (422), a plurality of second gears (452) are uniformly rotatably connected inside the second strip-shaped compartment (451), the top of the plurality of second gears (452) is located outside the second strip-shaped compartment (451) and meshes with the upper central rotating gear plate (47), the bottom of the plurality of second gears (452) is located outside the second strip-shaped compartment (451) and meshes with the lower central rotating gear plate (48), two second synchronous pulleys (453) are fixedly sleeved on the shaft end of each second gear (452), and a second synchronous belt (454) is sleeved on the second synchronous pulleys (453) of two adjacent second gears (452), the top of the first side plate (411) is fixedly connected to the end position of the power assembly (44), and the shaft end of the second servo reduction motor (424) is fixedly connected to the end of the horizontal shaft (445).

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