Chain lifting battery replacing robot

Abstract

The utility model discloses a chain lifting battery replacing robot (100), which is used for hoisting a battery replacing battery, the chain lifting battery replacing robot (100) comprises a base (12) walking along a track (11) and a lifting mechanism (10) installed on the base, the lifting mechanism comprises a fixed part (2) and a lifting part (3) connected with the fixed part (2) in a sliding mode, and the lifting part (3) is connected with the fixed part (2) in a sliding mode. A driving gear (211) and a transmission gear (212) are rotatably arranged on the fixing part (2), the driving gear (211) and the transmission gear (212) are aligned up and down in the vertical direction and synchronously rotate through a transmission chain (4), a mounting part (32) fixedly connected with at least one part of the transmission chain (4) is arranged on the lifting part (3), a driving unit (120) is arranged on the base (12), and the driving gear (211) and the transmission gear (212) are connected with the mounting part (32). The driving unit (120) drives the driving gear (211) to rotate through a rotating shaft parallel to the plane where the track (11) is located, and by means of the design, the space utilization rate is more optimized, and products are easier to transport, assemble and overhaul.

Description

Technical Field

[0001] The utility model relates to the technical field of battery replacement for new energy heavy trucks, and in particular to a chain-lifting battery replacement robot. Background Art

[0002] Chinese utility model patent No. CN218088812U discloses a special hoist for battery swap stations. The hoist adopts a chain lifting structure to fix the lifting motor on the gantry, that is, to place the lifting motor at a high place. For example, the battery swap station hoist with anti-fall function disclosed in Chinese utility model patent No. CN220811721U announced on April 19, 2024 also adopts a chain lifting structure. The hoist uses two sets of sprocket chains as lifting power. Although the drive unit is placed at the bottom for easy maintenance and assembly, the drive units are arranged on both sides respectively. In addition to increasing the cost of parts, the lifting height is limited by the height of the column itself. In order to meet the requirements of the battery lifting height, it is necessary to increase the height of the column. That is to say, the existing chain lifting method is still insufficient in space utilization. In view of this, it is necessary to develop a chain lifting battery swap robot with a more compact structure and more reasonable space utilization. Summary of the invention

[0003] In view of the defects in the prior art, the purpose of the present utility model is to provide a chain-lifting battery-changing robot, which has a compact drive system and is easy to assemble and maintain and has a higher lifting capacity.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A chain-lifting battery-exchanging robot is provided for hoisting battery-exchanging batteries. The chain-lifting battery-exchanging robot includes a base that travels along a track and a lifting mechanism installed on the base. The lifting mechanism includes a fixed part fixedly installed on the base and a lifting part slidably connected to the fixed part. The fixed part has a certain height, and a driving gear is rotatably provided at the upper end of the fixed part, and a transmission gear is rotatably provided at the lower end of the fixed part. The driving gear and the transmission gear are aligned up and down in the vertical direction. A driving unit is provided on the base, and the driving unit drives the driving gear to rotate through a rotating shaft parallel to the plane of the track. The driving gear and the transmission gear rotate synchronously through a transmission chain, and a mounting part fixedly connected to at least a part of the transmission chain is provided on the lifting.

[0006] Furthermore, the fixing portion comprises a supporting wall extending in a vertical direction, a vertically extending sliding guide rail is provided on the supporting wall, and the transmission gear is arranged away from the sliding guide rail along the extension direction of the track.

[0007] Furthermore, the fixing portion includes support walls respectively arranged on both sides of the base, and the support walls are aligned in the vertical direction and respectively provided with driving gears and transmission gears. The rotating shaft includes an output shaft of the driving unit and a transmission shaft perpendicular to the output shaft and rotationally coupled through a gear box.

[0008] Furthermore, a vertically extending sliding guide rail is provided on the support wall, and a plurality of sliding guide grooves matching the corresponding sliding guide rails are respectively provided on both sides of the lifting part.

[0009] Furthermore, the battery-exchange battery has a thickness along the length direction of the track, and the distance between the two sliding guide rails is greater than the thickness of the battery-exchange battery.

[0010] Furthermore, the battery-exchange battery has a thickness along the length direction of the track, the transmission gear and the driving gear located on the same support wall are located on the first plane, and the transmission gear and the driving gear located on a support wall are located on the second plane, and the distance between the first plane and the second plane is greater than the thickness of the battery-exchange battery.

[0011] Furthermore, an axial extension direction of the output shaft of the driving unit is arranged parallel to an extension direction of the first plane and the track.

[0012] Furthermore, at least one flexible drag chain is connected between the fixing portion and the lifting portion.

[0013] Furthermore, an upper mounting portion and a lower mounting portion are oppositely and fixedly disposed on the mounting portion, and the transmission chain has an upper end portion connected to the upper mounting portion and a lower end portion connected to the lower mounting portion.

[0014] Furthermore, the upper end of the transmission chain and the upper mounting portion and / or the lower end of the transmission chain and the lower mounting portion are adjustably connected via a screw and a nut.

[0015] By adopting the above technical solution, the beneficial effects of the utility model are:

[0016] The overall height of the robot is reduced by superimposing the fixed part and the lifting part. At the same time, placing the drive unit at the bottom makes the spatial layout of the chain-lifting battery-swapping robot more compact and stable, making it more convenient for assembly and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a three-dimensional structural diagram of the chain lifting battery exchange robot provided by the utility model;

[0018] Figure 2 yes Figure 1 The front view schematic diagram of the chain lifting battery swapping robot shown;

[0019] Figure 3 yes Figure 1 The three-dimensional structural diagram of the lifting part of the chain lifting battery exchange robot is shown;

[0020] Figure 4 yes Figure 3 A local enlarged schematic diagram of area A is shown.

[0021] In the figure:

[0022] 100, chain lifting battery exchange robot; 11, track; 10, lifting mechanism; 101, output shaft; 102, transmission shaft; 103, gear box; 12, base; 120, drive unit; 2, fixing part; 21, support wall; 211, driving gear; 212, transmission gear; 23, sliding guide rail; 24, brake guide rail; 3, lifting part; 30, sliding arm; 31, lifting wall; 303, sliding guide groove; 32, mounting part; 321, upper mounting part; 322, lower mounting part; 323, screw; 324, nut; 38, top beam; 4. Transmission chain; 41. Upper end; 42. Lower end; 43. Movable shaft; 430. Pivot; 5. Clamping device; 504. Variable clamping groove; 6. Linkage rod; 61. One end of linkage; 62. Two ends of linkage; 63. Pivot part; 630. Pivot shaft; 71. First elastic member; 72. Second elastic member; 8. Hoisting mechanism; 81. Telescopic arm; 82. Hoisting device. DETAILED DESCRIPTION

[0023] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0024] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0026] The technical solution of the utility model is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0027] See also Figures 1 to 4 As shown, the first embodiment of the utility model provides a chain-lifting battery-swapping robot 100 for hoisting battery-swapping batteries (not shown), for example, replacing battery-swapping batteries for heavy-duty trucks. The chain-lifting battery-swapping robot 100 can move back and forth along the track 11. In some other embodiments, the chain-lifting battery-swapping robot 100 can also move in any direction forward, backward, left and right through universal wheels, which will not be elaborated here. The chain-lifting battery-swapping robot 100 includes a frame-shaped base 12 that moves along the track 11 and a lifting mechanism 10 installed on the base 12. The lifting mechanism 10 includes a fixed part 2 fixedly installed on the base 12 and a lifting part 3 slidably connected to the fixed part 2. The fixed part 2 includes two support walls 21 extending upward from opposite sides of the base 12, and the support walls 21 are provided with sliding guide rails 23 extending in the vertical direction. The battery-exchange battery has thickness and a certain height along the length direction of the track 11, and the distance between the two sliding guide rails 23 is greater than the thickness of the battery-exchange battery. In this way, the movement trajectory of the battery-exchange battery can pass through the chain-lifting battery-exchange robot 100 in a direction perpendicular to the track 11, and then the battery-exchange battery can be transferred from one side of the track 11 to the other.

[0028] The lifting part 3 has a frame-shaped top beam 38 and a pair of lifting walls 31 extending downward along both sides of the top beam 38 and slidingly cooperating with the sliding guide rail 23 are provided. Preferably, the lifting wall 31 cooperates with the sliding guide rail 23 through a sliding arm 30 provided on the lifting wall 31. The lifting wall 31 is roughly in the shape of an inverted triangle, the sliding arm 30 is the symmetry axis of the inverted triangle, and the mounting part 32 is fixedly mounted on the lifting wall 31. A hoisting mechanism 8 is installed on the top beam 38 of the lifting part 3. Among them, the lifting wall 31 is preferably an inverted triangle structure with good stability, and the supporting wall 21 is preferably an equilateral triangle structure with good stability. The hoisting mechanism 8 is installed on the top of the lifting part 3. The hoisting mechanism 8 is preferably a telescopic arm 81 with multi-stage telescopic function, and a hoist 82 is provided at the front end of the telescopic arm 81. The hoist 82 has the function of locking the battery replacement by grabbing or clamping, internal support, etc. For example, in this embodiment, after the battery-swap battery is grabbed by the hoist 82, the lifting part 3 can be raised to lift the battery-swap battery along the Z direction, and the battery-swap battery can be moved along the Y direction by extending and retracting the telescopic arm. By lifting the battery-swap robot 100 through the overall moving chain, the battery-swap battery together with the fixing part 2 and the lifting part 3 can be moved along the X direction, that is, along the track 11.

[0029] Each support wall 21 is also provided with a brake rail 24 arranged parallel to the sliding rail 23, that is, the two sides of the fixed part 2 are also provided with brake rails 24 extending in the vertical direction, wherein the brake rails 24 and the sliding rails 23 are arranged parallel to each other, that is, both are fixedly installed on the base 12 in the vertical direction. The lifting part 3 is lifted and lowered along the sliding rail 23 through the lifting walls 31 on both sides, and the anti-falling function can be realized by the clamping device 5 arranged on the mounting part 32 cooperating with the brake rail 24. See Figures 1 to 3 As shown, in this embodiment, the mounting portion 32 is fixedly mounted on the lifting wall 31 and disposed between the sliding guide rail 23 and the lifting wall 31 matching the sliding guide rail 23, and the lifting wall 31 is provided with sliding guide grooves 303 matching the sliding guide rail 23 on the upper and lower sides of the mounting portion 32. In other embodiments, the sliding guide grooves 303 may be multiple and aligned in the vertical direction, and the positions of the sliding guide rail 23 and the sliding guide grooves 303 may be exchanged, that is, the guide rail may be disposed on the lifting wall 31 and the guide groove may be disposed on the supporting wall 21, which will not be described in detail here.

[0030] Furthermore, the support wall 21 of the fixed part 2 has a certain height, which is greater than the height of the battery-changeable battery. A driving gear 211 is rotatably provided at the upper end of the support wall 21 of the fixed part 2, and a transmission gear 212 is rotatably provided at the lower end of the fixed part 2. The driving gear 211 and the transmission gear 212 are aligned in the vertical direction. At the same time, the transmission gear 212 and the driving gear 211 are both arranged along the extension direction of the track 11, deviating from the sliding guide rail 23. That is to say, the lifting power of the lifting part 3 is not at the center position of the lifting part 3. The advantage of such a setting is that the deflection of the telescopic arm 81 of the hoisting mechanism 8 on the lifting part 3 can be reduced. In particular, it is preferred to arrange the drive unit 120, the transmission gear 212 and the drive gear 211 on the side close to the battery-swapping heavy truck, because the telescopic arm 81 on this side often needs to be extended longer to facilitate lifting the battery-swapping battery from the battery-swapping heavy truck, while the other side is used as a location for storing the battery-swapping battery and it is usually not necessary to fully extend the telescopic arm 81. Therefore, the above-mentioned technical solution of offsetting the driving force reduces the deflection of the telescopic arm 81, which can make the battery-swapping operation safer, while also improving the operation life and reliability.

[0031] Preferably, the driving gears 211 on the two supporting walls 21 are synchronously driven by the same driving unit 120 disposed on the base 12, and the driving motor 120 drives the driving gear 211 to rotate through a rotating shaft parallel to the plane where the track 11 is located. Preferably, the driving unit 120 is a motor, and the driving unit 120 transmits the driving force to the two transmission shafts 102 extending along the Y direction through a gear box 103 connected to the output shaft 101 extending along the X direction and a bevel gear set (not shown) located in the gear box 103, thereby simultaneously transmitting the driving force to the driving gears 211 on the supporting walls 21 on both sides of the fixing portion 2, and the driving gear 211 then drives the transmission gear 212 to rotate synchronously through the transmission chain 4. In this embodiment, the aforementioned rotating shaft includes the output shaft 101 of the motor and the transmission shaft 102 rotatably coupled to the output shaft 101 through the gear box 103, and the output shaft 101 and the transmission shaft 102 are in a "T" shape.

[0032] In order to make full use of the internal space of the chain-lifting battery-exchanging robot 100 and make the structure of the chain-lifting battery-exchanging robot 100 more reasonable and compact, the battery-exchanging battery can run through the interior of the chain-lifting battery-exchanging robot 100, that is, the battery-exchanging battery can be moved from one side of the track 11 to the other side, and the transmission gear 211 and the driving gear 212 located on the same support wall 21 are located on a first plane (not shown in the figure), and the transmission gear 211 and the driving gear 212 located on a support wall 21 are located on a second plane (not shown in the figure), and the distance between the first plane and the second plane is greater than the thickness of the battery-exchanging battery.

[0033] In some other embodiments, multi-stage transmission can also be achieved through more rotating shafts. For example, when four driving gears 211 are driven by a single motor (not shown), two sets of sprockets can be respectively arranged on both sides of the support wall 21. At this time, a driving shaft can drive four auxiliary shafts to make the four driving gears 211 rotate synchronously. The driving shaft and the auxiliary shafts can be in the shape of "dry" or "Mi", etc. Only a bevel gear set needs to be arranged at the direction-changing position, which will not be elaborated here. Preferably, the axis extension direction of the output shaft 101 of the driving unit 120 is arranged parallel to the extension directions of the first plane and the track 11. The advantage of such a design is that it makes full use of the internal space of the base 12 and does not occupy the space above the base 12, which is convenient for operators to assemble and repair. Particularly, when the driving unit 120 is located at the middle position of the base 12, the torsion distributed to both sides is approximately equal, which can make the lifting movement more stable.

[0034] As can be seen from the above, the lifting mechanism 10 further includes a transmission chain 4 that meshes with the driving gear 211 and the transmission gear 212 respectively. At least a part of the transmission chain 4 is fixedly connected to the aforementioned mounting portion 32. During the rotation of the driving gear 211, the transmission chain 4 is driven to roll, and then the lifting part of the transmission chain 4 drives the mounting portion 32 to perform a lifting movement. It is not difficult to understand that since the hoisting mechanism 8 is installed at the top of the lifting portion 3, when the lifting portion 3 rises to the highest point, the height of the hoisting mechanism 8 is jointly determined by the height of the sliding guide rail 23 on the support wall 21 of the fixing portion 2 and the height of the sliding arm 30, and is not solely limited by the height of the fixing portion 2. That is to say, by adopting the sliding cooperation mode of the sliding guide rail 23 and the sliding arm 30 for lifting, the requirement for the overall height of the chain-lifting battery swapping robot 100 is reduced, which undoubtedly improves the space utilization rate and is more convenient for transportation.

[0035] Preferably, the transmission chain 4 has an upper end portion 41 and a lower end portion 42 that are relatively spaced apart and are respectively installed on the mounting portion 32. That is to say, the transmission chain 4 is open and disconnected in this embodiment. The upper end portion 41 and / or the lower end portion 42 of the transmission chain 4 are connected with a fall prevention system. When the transmission 4 breaks, the fall prevention system抱紧制动导轨24 (it seems there is a wrong expression here, maybe "抱紧制动导轨24" should be "抱紧制动导轨24 to prevent the lifting part from falling", which can play a role in preventing the lifting portion 3 from falling and improving the safety of the battery swapping operation. In some other embodiments, the transmission chain 4 can also be closed and form a closed loop. In this case, only the fall prevention system needs to be connected to a local part of the transmission chain 4 at a suitable position.

[0036] Since the chain-lifting battery-exchanging robot 100 in accordance with the utility model is equipped with a lifting mechanism 8 on the top beam 38 of the lifting part 3, in order to enable the lifting device 82 to have the ability to actively match the battery-exchanging battery, it is usually necessary to set a driving system on the top beam 38. Therefore, preferably, at least one flexible drag chain 17 is connected between the fixed part 2 and the lifting part 3, and the flexible drag chain 17 is provided with a power line and a control signal line, which are not elaborated here.

[0037] Furthermore, an upper mounting portion 321 and a lower mounting portion 322 are fixedly disposed on the mounting portion 32, and the upper end portion 41 of the transmission chain 4 is connected to the upper mounting portion 321, and the lower end portion 42 of the transmission chain 4 is connected to the lower mounting portion 322. The upper end portion 41 of the transmission chain 4 and the upper mounting portion 321 and / or the lower end portion 42 of the transmission chain 4 and the lower mounting portion 322 are adjustably connected via a screw 323 and a nut 324. By adjusting the meshing scale of the nut 324 and the screw 323 to tighten the transmission chain 4, the lifting and lowering motion of the lifting portion 3 can be made more precise.

[0038] Preferably, the aforementioned anti-fall system includes a clamping device 5, and a linkage rod 6 is provided between the upper end portion 41 of the transmission chain 4 and the clamping device 5. The linkage rod 6 is rotatably mounted on the mounting portion 32 through a pivot shaft 630 at a pivot portion 63. The linkage rod 6 includes a linkage end 61 connected to the transmission chain 4 and a linkage second end 62 connected to the clamping device 5. When the transmission chain 4 breaks, the linkage rod 6 triggers the clamping device 5 to clamp the brake guide rail 24 through the linkage second end 62, which can play an anti-fall role. The clamping device 5 is provided with a variable clamping groove 504, and the brake guide rail 24 passes through the variable clamping groove 504. Furthermore, a first elastic member 71 is provided between the linkage end 61 and the transmission chain 4, and a second elastic member 72 is provided between the linkage end 62 and the clamping device 5. The linkage end 61 and the transmission chain 4 are connected via a movable shaft 43. The first elastic member 71 is a disc spring mounted on the movable shaft 43. When the transmission chain 4 is in a taut state, the movable shaft 43 is pulled to compress the disc spring, and when the transmission chain 4 is in a relaxed state, the compression of the disc spring is released, thereby pushing the linkage end 61 downward and making the linkage end 62 upward to pull the second elastic member 72. The second elastic member 72 pulls the slider in the clamping device 5, so that the variable clamping groove 504 clamps the brake guide rail to achieve the anti-fall function.

[0039] By adopting the above-mentioned technical scheme, the chain-lifting battery-exchanging robot 100 conforming to the utility model reduces the requirement for the overall height by superimposing the fixed part 2 and the lifting part 3 on the lifting height, which is convenient for transportation. At the same time, the driving unit 120 is placed at the bottom, making the spatial layout of the chain-lifting battery-exchanging robot 100 more compact and stable, and more convenient for assembly and maintenance.

[0040] The above embodiments are only to illustrate the basic principles and characteristics of the present invention. The present invention is not limited by the above embodiments. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and modifications, which are within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A chain-lifting battery-swapping robot (100) for hoisting a battery-swapping battery, the chain-lifting battery-swapping robot (100) comprising a base (12) that moves along a track (11) and a lifting mechanism (10) mounted on the base (12), the lifting mechanism (10) comprising a fixed portion (2) mounted on the base (12) and a lifting portion (3) slidably connected to the fixed portion (2), characterized in that: The fixing portion (2) has a certain height, and a driving gear (211) is rotatably provided at the upper end of the fixing portion (2), and a transmission gear (212) is rotatably provided at the lower end of the fixing portion (2), the driving gear (211) and the transmission gear (212) are aligned vertically, a driving unit (120) is provided on the base (12), the driving unit (120) drives the driving gear (211) to rotate via a rotating shaft parallel to the plane where the track (11) is located, the driving gear (211) and the transmission gear (212) rotate synchronously via a transmission chain (4), and a mounting portion (32) fixedly connected to at least a portion of the transmission chain (4) is provided on the lifting portion (3).

2. The chain-lifting battery-changing robot (100) according to claim 1, characterized in that: The fixing portion (2) comprises a support wall (21) extending in a vertical direction, a vertically extending sliding guide rail (23) is provided on the support wall (21), and the transmission gear (212) is arranged deviating from the sliding guide rail (23) along the extension direction of the track (11).

3. The chain-lifting battery-changing robot (100) according to claim 2, characterized in that: The fixing portion (2) comprises support walls (21) respectively arranged on both sides of the base (12); the support walls (21) are respectively provided with a driving gear (211) and a transmission gear (212) aligned in a vertical direction; the rotating shaft comprises an output shaft (101) of a driving unit (120) and a transmission shaft (102) perpendicular to the output shaft (101) and rotationally coupled via a gear box (103).

4. The chain-lifting battery-changing robot (100) according to claim 2, characterized in that: A plurality of sliding guide grooves (303) matching the corresponding sliding guide rails (23) are respectively provided on both sides of the lifting portion (3).

5. The chain-lifting battery-changing robot (100) according to claim 2, characterized in that: The battery-exchange battery has a thickness along the length direction of the track (11), and the distance between the two sliding guide rails (23) is greater than the thickness of the battery-exchange battery.

6. The chain-lifting battery-changing robot (100) according to claim 3, characterized in that: The battery-exchange battery has a thickness along the length direction of the track (11); the transmission gear (212) and the driving gear (211) located on the same support wall (21) are located on a first plane; the transmission gear (212) and the driving gear (211) located on a support wall (21) are located on a second plane; and the distance between the first plane and the second plane is greater than the thickness of the battery-exchange battery.

7. The chain-lifting battery-changing robot (100) according to claim 6, characterized in that: The axis extension direction of the output shaft (101) of the drive unit (120) is arranged parallel to the extension direction of the first plane and the track (11).

8. The chain-lifting battery-changing robot (100) according to claim 1, characterized in that: At least one flexible drag chain (17) is connected between the fixing portion (2) and the lifting portion (3).

9. The chain-lifting battery-changing robot (100) according to claim 1, characterized in that: An upper mounting portion (321) and a lower mounting portion (322) are oppositely and fixedly provided on the mounting portion (32), and the transmission chain (4) comprises an upper end portion (41) connected to the upper mounting portion (321) and a lower end portion (42) connected to the lower mounting portion (322).

10. The chain-lifting battery-changing robot (100) according to claim 9, characterized in that: The upper end portion (41) of the transmission chain (4) and the upper mounting portion (321) and / or the lower end portion (42) of the transmission chain (4) and the lower mounting portion (322) are adjustably connected via a screw rod (323) and a nut (324).

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