Anti-falling system and battery replacing robot with same

Abstract

The utility model discloses an anti-falling system and a battery changing robot with the same, the anti-falling system comprises a mounting part (32) which is slidably arranged along a brake guide rail (24), the mounting part (32) is provided with an upward pulling part (41) and a clamping device (5) which are used for lifting the mounting part (32), and a linkage rod (6) which is arranged between the upward pulling part (41) and the clamping device (5) and is pivoted on the mounting part (32); the linkage rod (6) comprises a linkage end (61) connected with the pull-up part (41) and a second linkage end (62) connected with the clamping device (5), the pull-up part (41) drives the second linkage end (62) while driving the linkage end (61) downwards to pull the clamping device (5) upwards to clamp the braking guide rail (24), and the safety and reliability of the battery replacement robot (100) are improved through the anti-falling system.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical lifting and battery replacement for new energy heavy trucks, and in particular to an anti-fall system and a battery replacement robot having the same. Background Art

[0002] The promotion of battery-swap heavy trucks has greatly reduced carbon emissions. At present, the common battery-swap methods for heavy trucks on the market include top-hanging and side-swap, both of which require the battery to be lifted from the vehicle to be replaced. As we all know, the batteries used in battery-swap heavy trucks are large in size and heavy in weight, so the safety requirements are high during the battery swap process. For example, the Chinese utility model patent No. CN218088812U announced on December 20, 2022 discloses a special hoist for a battery swap station, which uses a sprocket chain structure to provide power for the lifting device, but during use, the chain has the risk of breaking, and the safety needs to be improved; for example, the Chinese utility model patent No. CN217917894U announced on November 29, 2022 discloses a battery swap station that can be compatible with a variety of models, which discloses a lifting mechanism with an anti-fall mechanism, but the function of the anti-fall mechanism is to brake the variable distance mechanism and the centering mechanism, and it cannot be used in heavy truck battery swaps to prevent the risk of battery falling caused by chain breakage.

[0003] On the other hand, in the traditional mechanical field, large and medium-sized equipment with lifting requirements are generally equipped with anti-fall devices, such as the anti-fall mechanism disclosed in the Chinese utility model patent No. CN220811721U announced on April 19, 2024. It adopts the form of opening multiple slots on the column and using the buckle method to achieve anti-fall, but this method will reduce the strength of the column itself and needs further improvement. In view of this, it is necessary to develop a more reliable anti-fall system and apply it to the battery swap robot. Summary of the invention

[0004] In view of the defects in the prior art, the purpose of the utility model is to provide a fall prevention system with high reliability.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] Provided is a fall prevention system, which is applied to a lifting mechanism with a brake guide rail and has a fall prevention effect on a lifting part in the lifting mechanism. The lifting mechanism also includes a fixed part, the lifting part is slidably connected to the fixed part, the lifting part has a mounting part and a driving force is provided by an upper pull-up part connected to the mounting part to realize the lifting movement, the mounting part is provided with a clamping device sleeved on a part of the brake guide rail and a linkage rod arranged between the upper pull-up part and the clamping device and pivotally connected to the mounting part, the linkage rod includes a linkage end connected to the upper pull-up part and linkage ends connected to the clamping device, when the driving force of the upper pull-up part is less than a set value, the upper pull-up part drives the linkage end downward and drives the linkage ends upward to pull the clamping device to clamp the brake guide rail.

[0007] Furthermore, a through upper mounting portion is fixedly provided on the mounting portion, the upper pull portion is connected to the upper end of a movable shaft passing through the upper mounting portion, and one end of the linkage is connected to the lower end of the movable shaft via a pivot hinge.

[0008] Furthermore, a first elastic member is sleeved on the movable shaft between the one end of the linkage and the upper mounting portion, and when the upper pulling portion is in a relaxed state, the first elastic member pushes the one end of the linkage to move downward.

[0009] Furthermore, the clamping device includes locking blocks relatively arranged on both sides of the brake guide rail and guide grooves fixedly installed on the mounting part and also located on both sides of the brake guide rail. The guide grooves are symmetrically arranged along the brake guide rail and form an angle with the brake guide rail. The locking blocks are respectively provided with limit columns, and the limit columns are at least partially located in the corresponding guide grooves.

[0010] Furthermore, a lifting rod is provided between the locking blocks on both sides of the brake guide rail, the lifting rod is offset from the brake guide rail, and the two ends of the linkage are connected to the lifting rod.

[0011] Furthermore, the two ends of the linkage are elastically connected to the lifting rod via a second elastic member, and the two ends of the linkage pull the lifting rod upward to cause the locking block to rise along the guide groove and clamp the brake guide rail.

[0012] Furthermore, a pivot portion is provided on the mounting portion, and the linkage rod is rotatably mounted on the mounting portion via a pivot shaft provided on the pivot portion.

[0013] The utility model also aims to provide a battery-swapping robot with a high reliability and an anti-fall system.

[0014] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0015] A battery-exchanging robot is provided, comprising a lifting mechanism, wherein the lifting mechanism comprises a fixed part and a lifting part slidably connected to the fixed part, a hoisting mechanism and a mounting part are installed on the lifting part, a driving gear and a transmission gear aligned in a vertical direction are provided on the fixed part, the lifting mechanism also comprises a transmission chain respectively meshed with the transmission gear and the driving gear, the transmission chain comprises an upper pull-up part and a lower pull-down part which are arranged relatively spaced apart and respectively mounted on the mounting part, and the upper pull-up part is connected to the anti-fall system as described above.

[0016] Furthermore, the fixing portion is provided with a sliding guide rail extending in a vertical direction, and the safety portion is provided with a sliding guide groove slidably matched with the sliding guide rail.

[0017] Furthermore, the fixing portion includes a base and two supporting walls extending upward from opposite sides of the base, and the two supporting walls are respectively provided with driving gears, and the two driving gears are synchronously driven by the same driving unit arranged on the base.

[0018] By adopting the above technical solution, the beneficial effects of the utility model are:

[0019] The anti-fall system is more compact and reasonable, and the anti-fall function is more reliable. The lifting and lowering movement of the battery swapping robot equipped with the anti-fall system is safer during the battery swapping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a three-dimensional structural schematic diagram of the battery-swapping robot provided by the utility model;

[0021] Figure 2 yes Figure 1 A three-dimensional schematic diagram of the battery-swapping robot from another perspective;

[0022] Figure 3 yes Figure 2 A schematic diagram of a portion of the structure of the lifting part of the battery-swapping robot shown;

[0023] Figure 4 yes Figure 3 A schematic diagram of the structure of the clamping device on the lifting part in a clamping state;

[0024] Figure 5 yes Figure 4 The A area shown is used to illustrate a partial enlarged schematic diagram of the fall prevention system;

[0025] Figure 6 yes Figure 3 A schematic side view of the lifting portion shown;

[0026] Figure 7 yes Figure 6 A local enlarged schematic diagram of area B is shown;

[0027] Figure 8 yes Figure 6 A schematic side view of the clamping device on the lifting part in a clamped state;

[0028] Fig. 9 yes Figure 8 A local enlarged schematic diagram of area C is shown.

[0029] In the figure:

[0030] 100, battery-swapping robot; 11, track; 10, lifting mechanism; 12, base; 120, drive unit; 2, fixing part; 21, support wall; 211, drive gear; 212, transmission gear; 23, sliding guide rail; 24, brake guide rail; 3, lifting part; 30, sliding arm; 303, sliding guide groove; 31, lifting wall; 32, mounting part; 321, upper mounting part; 322, lower mounting part; 38, top beam; 4, transmission chain; 41, upper pull-up part; 42, lower pull-down part ;43. movable shaft;430. pivot;5. clamping device;50. main body;504. variable clamping groove;51. locking block;510. limiting column;511. screw;52. guide groove;54. synchronous lever;541. force-applying end;542. force-transmitting end;543. lifting rod;6. linkage rod;61. one end of linkage;62. two ends of linkage;63. pivoting part;630. pivoting shaft;71. first elastic member;72. second elastic member;8. lifting mechanism;82. lifting device. DETAILED DESCRIPTION

[0031] 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.

[0032] 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.

[0033] 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.

[0034] The technical solution of the utility model is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0035] See also Figure 1 , Figure 4 and Figure 5 As shown, the utility model provides an anti-falling system (unnumbered), which is applied to a lifting mechanism 10 with a brake guide rail 24, and has an anti-falling effect on the lifting part 3 in the lifting mechanism 10. The lifting mechanism 10 also includes a fixing part 2 arranged at the bottom and fixed relative to the lifting part 3, the lifting part 3 is slidably connected to the fixing part 2, the lifting part 3 has a mounting part 32 and provides a driving force through an upper pull-up part 41 connected to the mounting part 32 to realize lifting and lowering movement, the mounting part 32 is provided with a clamping device 5 sleeved on a part of the brake guide rail 24 and a linkage rod 6 arranged between the upper pull-up part 41 and the clamping device 5 and pivotally connected to the mounting part 32, the linkage rod 6 includes a linkage end 61 connected to the upper pull-up part 41 and a linkage second end 62 connected to the clamping device 5, when the driving force of the upper pull-up part 41 is less than a set value, the lower end of the upper pull-up part 41 drives the linkage end 61 downward and drives the linkage second end 62 upward to pull the clamping device 5 to clamp the brake guide rail 24 to realize the anti-falling function. Specifically, the pull-up portion 41 may be an end or part of a rack in a transmission chain, a cable, or a gear rack transmission. For example, in this embodiment, Figure 1 The pull-up portion 41 is one end of the transmission chain 4. When the driving force is greater than or equal to the set value, it indicates that the lifting portion 3 needs to be lifted, and when the driving force is less than the set value, it indicates that the lifting portion 3 has lost the power to rise, for example, when the transmission chain or cable is broken or the power source driving the transmission chain, cable or gear rack no longer provides driving power, the clamping device 5 is in a state of clamping the brake guide rail 4. Preferably, the brake guide rail 4 is extended in the vertical direction. Obviously, when needed, the brake guide rail can also be set in an inclined state, for example, the anti-fall system in accordance with the utility model is used on an escalator or a material conveyor for carrying heavy objects, etc., which will not be elaborated here.

[0036] Furthermore, a through upper mounting portion 321 is fixedly provided on the mounting portion 32, the upper pull portion 41 is connected to the upper end of the movable shaft 43 penetrating the upper mounting portion 321, and the linkage one end 61 is hingedly connected to the lower end of the movable shaft 43 via a pivot 430. A compressed first elastic member 71 is sleeved on the movable shaft 43 between the linkage one end 61 and the upper mounting portion 321, and the upper pull portion 41 releases the compressed first elastic member 71 when in a relaxed state, and at this time, the first elastic member 71 pushes the linkage one end 61 to move downward.

[0037] In order to realize the anti-fall and clamping functions, the clamping device 5 includes locking blocks 51 relatively arranged on both sides of the brake guide rail 24 and guide grooves 52 fixedly mounted on the mounting portion 32 and also located on both sides of the brake guide rail. The guide grooves 52 are symmetrically arranged along the brake guide rail 24 and form an angle with the brake guide rail 24. The locking blocks 51 are respectively provided with limiting columns 510, and the limiting columns 510 are at least partially located in the corresponding guide grooves 52. Preferably, the guide grooves 52 are in an "eight" shape, and when the locking block 51 is pulled upward, the limiting columns 510 are limited to move only along the guide grooves 52, thereby making the clamping block 51 hold the brake guide rail 24 tightly.

[0038] Preferably, a lifting rod 543 is provided between the locking blocks 51 on both sides of the brake rail 24, the lifting rod 543 is offset from the brake rail 24, and the linkage ends 62 are connected to the lifting rod 543. The two locking blocks 51 can be pulled synchronously through the linkage ends 62 to achieve synchronous clamping of the two sides. Furthermore, the linkage ends 62 are elastically connected to the lifting rod 543 through a second elastic member 72.

[0039] Please see again Figures 1 to 9As shown, the embodiment of the utility model also provides a battery-swapping robot 100 for hoisting and replacing battery-swapping batteries (not shown), such as replacing battery-swapping batteries for heavy trucks. The battery-swapping robot 100 can move back and forth along the track 11. In some other embodiments, the battery-swapping robot 100 can also move forward and backward and left and right, which will not be described in detail here. The battery-swapping robot 100 includes a lifting mechanism 10, and the lifting mechanism 10 includes a fixed part 2 and a lifting part 3 slidably connected to the fixed part 2. The fixed part 2 includes a frame-shaped base 12 and 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 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, which are slidably matched with the sliding guide rails 23, and a mounting part 32 mounted on each lifting wall 31, and a lifting 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 a sliding arm 30 is provided on its midline, and the supporting wall 21 is preferably an equilateral triangle structure with good stability and a sliding guide rail 23 for matching the sliding arm 30 is provided at its midline position. The lifting mechanism 8 is installed on the lifting part 3, and the lifting mechanism 8 is preferably a multi-stage telescopic arm and a sling 82 is provided at the front end of the telescopic arm. The sling 82 has the function of fixing the battery replacement battery by grabbing, clamping, internal support, twist lock, etc. For example, in this embodiment, after grabbing the battery replacement battery by the sling 82, the lifting part 3 is raised to lift the battery replacement battery in the Z direction, and the battery replacement battery can be moved in the Y direction by telescoping the telescopic arm. By moving the battery replacement robot 100 as a whole, the battery replacement battery can be moved together with the fixing part 2 and the lifting part 3 in the X direction, that is, along the track 11.

[0040] 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 rails 23 through the lifting walls 31 on both sides. Figure 3 and Figure 4 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 positions of the sliding guide rail 23 and the sliding guide groove 303 may also be swapped, and 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 herein.

[0041] Furthermore, a driving gear 211 and a transmission gear 212 are respectively provided on the support wall 21, and the driving gear 211 and the transmission gear 212 are aligned in the vertical direction. The driving gears 211 on the two support walls 21 are synchronously driven by the same driving unit 120 provided on the base 12. Preferably, the driving unit 120 is a motor, and the driving unit 120 transmits the driving force to two transmission shafts (not numbered) extending in the Y direction through a reduction gear box and a bevel gear set (not shown) connected to an output shaft (not numbered) extending in the X direction, thereby simultaneously transmitting the driving force to the driving gears 211 on the support walls 21 located on both sides of the fixing portion 2, and the driving gear 211 then drives the transmission gear 212 to rotate through the transmission chain 4, that is, the lifting mechanism 10 also includes a transmission chain 4 respectively meshed with the driving gear 211 and the transmission gear 212, and at least a portion of the transmission chain 4 is fixedly connected to the aforementioned mounting portion 32, and the driving gear 211 drives the transmission chain 4 to roll during the rotation of the driving gear 211, and then the mounting portion 32 is driven to perform a lifting movement by utilizing the lifting portion of the transmission chain 4. Preferably, the transmission chain 4 has an upper pull-up portion 41 and a lower pull-down portion 42 which are arranged at a relatively interval and respectively mounted on the mounting portion 32, that is, the transmission chain 4 is open and disconnected in this embodiment, and the upper pull-up portion 41 and / or the lower pull-down portion 42 of the transmission chain 4 are connected to an anti-fall system. When the transmission 4 is broken, the anti-fall system holds the brake guide rail 24 tightly, which can prevent the lifting part 3 from falling and improve the safety of the battery replacement operation. In some other embodiments, the transmission chain 4 can also be closed and form a closed loop. In this case, it is only necessary to connect the anti-fall system to the local part of the transmission chain 4 at a suitable position, which will not be described in detail here.

[0042] In order to achieve the above-mentioned purpose, clamping devices 5 are respectively provided on the mounting parts 32 located on both sides of the lifting part 3, and the clamping devices 5 have a box-shaped, hollow main body 50. The clamping devices 5 include locking blocks 51 relatively arranged on both sides of the brake guide rail 24 and located in the main body 50, and guide grooves 52 fixedly installed on the mounting part 32 and also located on both sides of the brake guide rail 24 and opened on the main body 50. A variable clamping groove 504 is provided between the locking blocks 51 located on both sides of the brake guide rail 24. When the locking blocks 51 do not clamp the brake guide rail 24, the variable clamping groove 504 is in an open trumpet shape, so that the mounting part 32 can move up and down along the automatic guide rail 24. A linkage rod 6 is provided between the upper pulling part 41 of the transmission chain 4 and the clamping device 5. The linkage rod 6 is rotatably mounted on the mounting part 32 through a pivot shaft 630 at a pivot part 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 variable clamping groove 504 in the clamping device 5 through the linkage second end 62 to clamp the brake guide rail 24, thereby preventing the transmission chain 4 from breaking.

[0043] The guide grooves 52 are symmetrically arranged along the brake rail 24 and form an angle with the brake rail 24, for example, in an "eight" shape. The locking blocks 51 are respectively provided with limit posts 510, and the limit posts 510 are at least partially located in the corresponding guide grooves 52. When the locking blocks 51 are pulled upward, since the limit posts 510 are limited in the guide grooves 52, the locking blocks 51 on both sides of the brake rail 24 will move closer to each other as they move upward, thereby clamping the brake rail 24 to achieve the effect of braking and preventing falling. A lifting rod 543 is provided between the locking blocks 51, and the lifting rod 543 is offset from the brake rail 24, that is, the lifting rod 543 avoids the space where the brake rail 24 is located and is staggered with it. One end of the second elastic member 72 is connected to the lifting rod 543, and the other end is connected to the linkage second end 62 of the linkage rod 6. Pulling the lifting rod 543 upward will cause the locking block 51 to rise along the guide groove 52 and clamp the brake guide rail 24. In some other embodiments, the guide groove 52 can also be set in an inverted eight-shaped shape, and the locking effect can also be achieved by pulling the locking block 51 downward.

[0044] 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. Furthermore, the anti-fall system further comprises a synchronous lever 54 penetratingly provided on the mounting portion 32, the synchronous lever 54 being pivotally connected to the mounting portion 32 via a rotating shaft 56, the synchronous lever 54 comprising a force-applying end 541 connected to the locking blocks 51 located on both sides of the brake guide rail 24 and a force-transmitting end 542 connected to the pull wire 500, the aforementioned lifting rod 543 being located at the force-applying end 541, that is, the second elastic member 72 being located between the linkage end 62 and the force-applying end 541 of the synchronous lever 54 of the clamping device 5.

[0045] The cable 500 is connected to the clamping device 5 located on another mounting part 32. That is to say, two clamping devices 5 located on different mounting parts 32 are connected to each other through the cable 500 to achieve synchronous anti-falling. Among them, the cable 500 includes a first cable 501 and a second cable 501. Specifically, one end of the first cable 501 is connected to the force transmission end 542 of the synchronous lever 54 on the mounting part 32 on one side of the lifting part 3, and the other end of the first cable 501 is connected to the second linkage end 62 of the linkage rod 6 on the mounting part 32 on the other side of the lifting part 3. When the transmission chain 4 on any side fails and breaks, the first linkage end 61 of the linkage rod 6 moves downward under the pushing of the first elastic member 71, and the second linkage end 62 moves upward synchronously, driving the locking block 51 to move upward and clamp the braking guide rail 24. At the same time, one end of the first cable 501 is pulled upward, so that the force transmission end 542 of the synchronous lever 54 in the clamping device 5 on the other side moves downward and the force application end 541 moves upward, thereby enabling the clamping device 5 on the other side of the lifting part 3 to synchronously clamp another braking guide rail 24 to achieve synchronous anti-falling. In order to achieve a better synchronous effect, at least one end of the cable 500 is provided with a third spring 73. For example, as Figure 5 shown, the third spring 73 is arranged at one end close to the force transmission end 542. The setting of the third spring 73 can make the clamping forces, that is, the braking forces, of the clamping devices 5 on both sides of the lifting part 3 approximately equal.

[0046] In order to achieve a better synchronous anti-falling effect, the synchronous lever 54 is in the shape of a Chinese character 'Ri'. The force application end 541 has a lifting rod 543 arranged parallel to the pivot shaft 56. The locking blocks 51 located on both sides of the braking guide rail 24 are respectively connected to both ends of the lifting rod 543 through screws 511 and nuts (not labeled). That is to say, the position of the locking block 51 is adjustable, and it is easy to replace and disassemble after wear, and the clamping device 5 is easy to repair.

[0047] Furthermore, the linkage end 61 is connected to the transmission chain 4 through the movable shaft 43, and 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 slack state, the compression of the disc spring is released, thereby pushing the linkage end 61 downward and making the linkage end 62 move upward, thereby pulling the second elastic member 72. In some preferred embodiments, a sensor is also provided on the movable shaft 43 to monitor the working condition of the transmission chain 4. For example, when the movable shaft 43 moves relative to the mounting portion 32, a current loop is formed, and the transmission chain 4 in a tensioned state tightens the movable shaft 43 to disconnect the current loop. For example, a position sensor, a force sensor, etc. are installed on the movable shaft 43, which will not be described in detail. Since the movable shaft 43 moves in the vertical direction, and the connecting rod 6 is rotatably mounted on the mounting portion 32 via the pivot shaft 630 at the pivot portion 63, that is, the linkage end 61 can only rotate around the pivot shaft 630. Therefore, further, the linkage end 61 is hingedly connected to the movable shaft 43 via the pivot shaft 430.

[0048] In order to achieve the above purpose, further, the mounting portion 31 is relatively and fixedly provided with an upper mounting portion 321 and a lower mounting portion 322, the upper pull portion 41 of the transmission chain 4 is connected to the upper mounting portion 321, the lower pull portion 42 of the transmission chain 4 is installed on the lower mounting portion 322, and the disc spring is against the upper mounting portion 321. The upper pull portion 41 and / or the lower pull portion 42 of the transmission chain 4 are adjustably installed on the mounting portion 32 through an adjusting bolt (not numbered) and an adjusting nut (not numbered), and the upper mounting portion 321 and the lower mounting portion 322 are provided with a through hole or a mounting groove (not shown), so that the aforementioned adjusting bolt is arranged to penetrate the upper mounting portion 321 and the lower mounting portion 322, so as to install the transmission chain 4, and the tension of the transmission chain 4 can be adjusted and controlled by screwing the adjusting nut, or the compression amount and the reset resilience of the disc spring can be adjusted. The battery-swapping robot 100 in accordance with the present invention adopts chain lifting and is connected to an anti-fall system on the transmission chain 4, which can ensure that the battery-swapping battery will not fall and be damaged during the battery-swapping operation, ensure that the battery-swapping process is reliable and controllable, and greatly improve the safety of the working environment.

[0049] 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 fall prevention system, applied to a lifting mechanism (10) having a brake guide rail (24), and having a fall prevention effect on a lifting part (3) in the lifting mechanism (10), wherein the lifting mechanism (10) further comprises a fixing part (2), the lifting part (3) being slidably connected to the fixing part (2), the lifting part (3) having a mounting part (32) and realizing a lifting movement by providing a driving force through a pull-up part (41) connected to the mounting part (32), characterized in that: The mounting portion (32) is provided with a clamping device (5) sleeved on a part of the brake guide rail (24) and a linkage rod (6) arranged between the upper pull portion (41) and the clamping device (5) and pivotally connected to the mounting portion (32). The linkage rod (6) comprises a linkage end (61) connected to the upper pull portion (41) and linkage ends (62) connected to the clamping device (5). When the driving force of the upper pull portion (41) is less than a set value, the upper pull portion (41) drives the linkage end (61) downward and drives the linkage ends (62) upward to pull the clamping device (5) to clamp the brake guide rail (24).

2. The anti-fall system according to claim 1, characterized in that: A centrally-through upper mounting portion (321) is fixedly provided on the mounting portion (32); the upper pull portion (41) is connected to the upper end of a movable shaft (43) that passes through the upper mounting portion (321); and the linkage end (61) is hingedly connected to the lower end of the movable shaft (43) via a pivot (430).

3. The anti-fall system according to claim 2, characterized in that: A first elastic member (71) is sleeved on the movable shaft (43) between the linkage end (61) and the upper mounting portion (321); when the upper pull portion (41) is in a relaxed state, the first elastic member (71) pushes the linkage end (61) to move downward.

4. The anti-fall system according to claim 1, characterized in that: The clamping device (5) comprises locking blocks (51) arranged on both sides of the brake guide rail (24) and guide grooves (52) fixedly mounted on the mounting portion (32) and also located on both sides of the brake guide rail, wherein the guide grooves (52) are symmetrically arranged along the brake guide rail (24) and form an angle with the brake guide rail (24), and the locking blocks (51) are respectively provided with limit columns (510), and the limit columns (510) are at least partially located in the corresponding guide grooves (52).

5. The anti-fall system according to claim 4, characterized in that: A lifting rod (543) is provided between the locking blocks (51) disposed on both sides of the brake guide rail (24); the lifting rod (543) and the brake guide rail (24) are offset from each other, and the two linkage ends (62) are connected to the lifting rod (543).

6. The anti-fall system according to claim 5, characterized in that: The linkage ends (62) are elastically connected to the lifting rod (543) via a second elastic member (72). When the linkage ends (62) pull the lifting rod (543) upward, the locking block (51) rises along the guide groove (52) and clamps the brake guide rail (24).

7. The anti-fall system according to claim 1, characterized in that: The mounting portion (32) is provided with a pivoting portion (63), and the linkage rod (6) is rotatably mounted on the mounting portion (32) via a pivoting shaft (630) provided on the pivoting portion (63).

8. A battery-swapping robot (100), comprising a lifting mechanism (10), the lifting mechanism (10) comprising a fixed portion (2) and a lifting portion (3) slidably connected to the fixed portion (2), a hoisting mechanism (8) and a mounting portion (32) being mounted on the lifting portion (3), the fixed portion (2) being provided with a driving gear (211) and a transmission gear (212) aligned in a vertical direction, the lifting mechanism (10) further comprising a transmission chain (4) respectively meshing with the transmission gear (212) and the driving gear (211), characterized in that: The transmission chain (4) has an upper pull-up portion (41) and a lower pull-down portion (42) disposed at a relatively spaced interval and respectively mounted on the mounting portion (32), the upper pull-up portion (41) being connected to the anti-fall system according to any one of claims 1 to 7.

9. The battery-swapping robot (100) according to claim 8, characterized in that: The fixing portion (2) is provided with a sliding guide rail (23) extending in a vertical direction, and the mounting portion (32) is provided with a sliding guide groove (303) slidably matched with the sliding guide rail (23).

10. The battery-swapping robot (100) according to claim 8, characterized in that: The fixing portion (2) comprises a base (12) and two support walls (21) extending upward from opposite sides of the base (12), and the two support walls (21) are respectively provided with driving gears (211), and the two driving gears (211) are synchronously driven by a same driving unit (120) provided on the base (12).

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