Two-side synchronous anti-falling battery replacement robot

Abstract

The utility model discloses a two-side synchronous anti-falling battery changing robot (100), which comprises a fixing part (2) and a lifting part (3), the two sides of the fixing part (2) are respectively provided with a sliding guide rail (23) in an extending manner along the vertical direction, the lifting part (3) is connected with the fixing part (2) in a sliding manner, and the lifting part (3) comprises a pair of lifting walls (31) in sliding fit with the sliding guide rails (23) and mounting parts (32) respectively mounted on the lifting walls (31). Clamping devices (5) are arranged on the mounting parts (32), the two clamping devices (5) located on the different mounting parts (32) are connected with each other through a pull wire to achieve synchronous falling prevention, and the reliability of the battery replacing robot is improved.

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 battery replacement robot with synchronous anti-falling function on both sides. Background Art

[0002] During the battery swapping process, the battery of the heavy truck needs to be hoisted down, and then the hoist will send the low-power battery to the corresponding storage position, and a fully charged battery will be hoisted from the storage position and transported to the heavy truck. Chains are usually used for lifting and transmission during the battery lifting process, but the chain is prone to fatigue and wear. As the service life increases, there is a risk of chain breakage. Once the chain breaks, it will cause a safety accident and cause personal and property losses. For example, the Chinese utility model patent No. CN 220811721U announced on April 19, 2024 and the Chinese invention patent application No. CN113895282A published on January 7, 2022 both disclose a battery swap lifting device with an anti-fall function, but do not disclose how to achieve synchronous anti-fall between multiple anti-fall devices when there are multiple anti-fall devices on a lifting mechanism, such as when the chain on one side fails and the chain on the other side does not fail. In view of this, it is necessary to develop a battery swap robot with synchronous anti-fall on both sides to further improve the safety of battery swapping. 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 battery-changing robot with synchronous anti-falling function on both sides, so that the anti-falling system during the battery-changing operation can operate more reasonably and reliably.

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

[0005] A battery-exchanging robot with synchronous anti-falling function on both sides is provided, comprising a fixed part with sliding guide rails extending in the vertical direction on both sides and a lifting part slidably connected to the fixed part, the lifting part comprising a pair of lifting arms slidably matched with the sliding guide rails and a mounting part installed on each lifting arm, the mounting parts are respectively provided with clamping devices, and the two clamping devices located on different mounting parts are connected to each other by a pull wire to achieve synchronous anti-falling function.

[0006] Furthermore, brake guide rails extending in the vertical direction are respectively provided on both sides of the fixing portion, and the clamping device includes locking blocks relatively arranged on both sides of the brake guide rails and guide grooves fixedly installed on the mounting portion and also located on both sides of the brake guide rails, the guide grooves are symmetrically arranged along the brake guide rails and form an angle with the brake guide rails, and the locking block is provided with a limit column, and the limit column is at least partially located in the corresponding guide groove.

[0007] Furthermore, the clamping device includes a synchronous lever, which is pivotally connected to the mounting portion via a rotating shaft, and the synchronous lever includes a force-applying end connected to locking blocks located on both sides of the brake guide rail and a force-transmitting end connected to the pull wire.

[0008] Furthermore, the force-applying end has a lifting rod arranged parallel to the rotating shaft, and the locking blocks located on both sides of the brake guide rail are respectively connected to the two ends of the lifting rod by bolts.

[0009] Furthermore, a transmission chain is connected to the mounting portion and a linkage rod is installed thereon. The linkage rod includes a linkage end connected to the transmission chain and linkage ends connected to the force-applying end of a synchronization lever on the clamping device. The linkage rod is rotatably mounted on the mounting portion.

[0010] Furthermore, one end of the pull wire is connected to the force transmission end of the synchronous lever on the mounting portion located on one side of the lifting part, and the other end is connected to the linkage two ends of the linkage rod on the mounting portion located on the other side of the lifting part.

[0011] Furthermore, a first elastic member is provided between one linkage end of the linkage rod and the transmission chain, and a second elastic member is provided between the second linkage end of the linkage rod and the force-applying end of the synchronization lever of the clamping device.

[0012] Furthermore, at least one end of the pull wire is provided with a third spring.

[0013] Furthermore, the fixed part includes a base and two supporting walls extending upward from opposite sides of the base, the sliding guide rail is arranged on the supporting walls, and the two supporting walls are respectively provided with a driving gear and a transmission gear aligned in the vertical direction, the transmission chain is respectively engaged with the transmission gear and the driving gear, and the base is provided with a driving unit that drives the driving gear to rotate.

[0014] Furthermore, the mounting portion is arranged between the sliding guide rail and a lifting wall matching the sliding guide rail.

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

[0016] The anti-fall systems on both sides are interconnected by using pull wires. When the anti-fall system on one side is activated, the anti-fall system on the other side responds synchronously, making the battery replacement process safer and more reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural schematic diagram of the two-side synchronous anti-falling battery-changing robot provided by the utility model;

[0018] Figure 2 yes Figure 1 The schematic diagram of the structure of the lifting part of the synchronous anti-fall battery-swapping robot on both sides is shown;

[0019] Figure 3 yes Figure 2 A local enlarged schematic diagram of area A is shown;

[0020] Figure 4 yes Figure 2 A schematic diagram of the structure of the clamping device on the lifting part in another state;

[0021] Figure 5 yes Figure 4 A local enlarged schematic diagram of area B is shown.

[0022] In the figure:

[0023] 100, two-side synchronous anti-fall battery exchange robot; 11, track; 10, lifting mechanism; 12, base; 120, drive unit; 2, fixed part; 21, support wall; 211, drive 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, installation part; 321, upper installation part; 322, lower installation part; 38, top beam; 4, transmission chain; 41, upper end; 42, lower end; 43, movable shaft; 4 30. Pivot; 5. Clamping device; 50. Main body; 501. First pull wire; 502. Second pull wire; 504. Variable clamping groove; 51. Locking block; 510. Limiting column; 511. Screw rod; 52. Guide groove; 54. Synchronous lever; 541. Force-applying end; 542. Force-transmitting end; 543. Lifting rod; 56. Rotating shaft; 6. Linking 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; 82. Hoisting device. DETAILED DESCRIPTION

[0024] 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.

[0025] 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.

[0026] 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.

[0027] The technical solution of the utility model is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0028] See also Figures 1 to 5 As shown, the first embodiment of the utility model provides a two-sided synchronous anti-falling battery-changing robot 100, which is used for hoisting and replacing battery-changing batteries, such as replacing battery-changing batteries for heavy trucks. The two-sided synchronous anti-falling battery-changing robot 100 can move back and forth along the track 11. In some other embodiments, the two-sided synchronous anti-falling battery-changing robot 100 can also move forward and backward and left and right, which will not be repeated here. The two-sided synchronous anti-falling battery-changing 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 that slide with the sliding guide rail 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 at the midline position, and the supporting wall 21 is preferably an equilateral triangle structure with good stability and the sliding guide rail 23 is arranged on the midline of the equilateral triangle. 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 or clamping. 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 the extension and contraction of the telescopic arm. The battery replacement battery robot 100 can move the battery replacement battery together with the fixing part 2 and the lifting part 3 in the X direction, that is, along the track 11 by moving the anti-falling battery replacement robot 100 on both sides as a whole.

[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 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.

[0030] 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 end 41 and a lower end 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 end 41 and / or the lower end 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.

[0031] In order to achieve the above-mentioned purpose, a clamping device 5 is respectively provided on the mounting part 32 located on both sides of the lifting part 3, and the clamping device 5 has a box-shaped, hollow main body part 50, and the clamping device 5 includes locking blocks 51 which are relatively arranged on both sides of the brake guide rail 24 and located in the main body part 50, and guide grooves 52 which are fixedly installed on the mounting part 32 and are also located on both sides of the brake guide rail 24 and opened on the main body part 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 block 51 does not clamp the brake guide rail 24, the variable clamping groove 504 is in an open state, 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 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, thereby preventing the vehicle from falling.

[0032] The guide groove 52 is symmetrically arranged along the brake guide rail 24 and forms an angle with the brake guide rail 24, for example, in an "eight" shape. 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 groove 52. When the locking block 51 is pulled upward, since the limiting columns 510 are limited in the guide groove 52, the locking blocks 51 on both sides of the brake guide rail 24 will move closer to each other as they move upward, thereby clamping the brake guide rail 24 to achieve the effect of braking and preventing falling. A lifting rod 543 is provided between the locking blocks 51, one end of the second elastic member 72 is connected to the lifting rod 543, and the other end is connected to the linkage two ends 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 to an inverted eight-shaped shape, and the locking effect can also be achieved by pulling the locking block 51 downward.

[0033] 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 block 51 located on both sides of the brake guide rail 24 and a force-transmitting end 542 connected to the pull wire, 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.

[0034] The cable passes through the bottom of the lifting part 3 and is connected to the clamping device 5 located on another mounting part 32. That is to say, the two clamping devices 5 located on different mounting parts 32 are connected to each other through the cable to achieve synchronous anti-falling. Among them, the cable includes a first cable 501 and a second cable 501, which can be made of steel wire or a material with certain flexibility that can be bent but has a small radial deformation. 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 either 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, causing the force transmission end 542 of the synchronous lever 54 in the clamping device 5 on the other side to move downward and the force application end 541 to move upward, so that the clamping device 5 on the other side of the lifting part 3 synchronously clamps the other braking guide rail 24 to achieve synchronous anti-falling. To achieve a better synchronous effect, at least one end of the cable is provided with a third spring 73. For example, as Figure 5 shown, the third spring 73 is arranged at the 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.

[0035] To achieve a better synchronous anti-falling effect, the synchronous lever 54 is in the shape of a Chinese character 'Ri', and the force application end 541 has a lifting rod 543 arranged parallel to Shaft 56. The locking blocks 51 located on both sides of the braking guide rail 24 are respectively connected to the two ends of the lifting rod 543 through screws 511 and nuts (not labeled). That is to say, the positions of the locking blocks 51 are adjustable and are easy to replace and disassemble after wear, and the clamping device 5 is easy to repair.

[0036] 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.

[0037] In order to achieve the above purpose, further, an upper mounting part 321 and a lower mounting part 322 are relatively and fixedly provided on the mounting part 31, the upper end 41 of the transmission chain 4 is connected to the upper mounting part 321, and the lower end 42 of the transmission chain 4 is installed on the lower mounting part 322, and the disc spring is against the upper mounting part 321. The upper end 41 and / or the lower end 42 of the transmission chain 4 are adjustably installed on the mounting part 32 by means of an adjusting bolt (not numbered) and an adjusting nut (not numbered), and a through hole or a mounting groove (not shown) is provided on the upper mounting part 321 and the lower mounting part 322, so that the aforementioned adjusting bolt is arranged to penetrate the upper mounting part 321 and the lower mounting part 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 double-sided synchronous anti-fall battery-changing robot 100 in accordance with the utility model has anti-fall systems on both sides, and uses pull wires to allow the two anti-fall systems to brake synchronously, which can ensure that the battery-changing process is safer and more reliable and improve the safety of the working environment.

[0038] 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 two-sided synchronous anti-fall battery-changing robot (100), comprising a fixed portion (2) with sliding guide rails (23) extending along the vertical direction on both sides and a lifting portion (3) slidably connected to the fixed portion (2), the lifting portion (3) comprising a pair of lifting walls (31) slidably matched with the sliding guide rails (23) and a mounting portion (32) mounted on each lifting wall (31), and a clamping device (5) is respectively provided on the mounting portion (32), characterized in that: The two clamping devices (5) located on different mounting parts (32) are connected to each other via a pull line to achieve synchronous fall prevention.

2. The two-side synchronous anti-fall battery-changing robot (100) according to claim 1 is characterized in that: Braking guide rails (24) extending in the vertical direction are respectively provided on both sides of the fixing portion (2); the clamping device (5) comprises locking blocks (51) arranged on both sides of the braking guide rails (24) and guide grooves (52) fixedly mounted on the mounting portion (32) and also located on both sides of the braking guide rails (24); the guide grooves (52) are symmetrically arranged along the braking guide rails (24) and form an angle with the braking guide rails (24); a limiting column (510) is provided on the locking block (51); and the limiting column (510) is at least partially located in the corresponding guide groove (52).

3. The two-side synchronous anti-fall battery-changing robot (100) according to claim 2 is characterized in that: The clamping device (5) comprises a synchronous lever (54), 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 locking blocks (51) located on both sides of the brake guide rail (24) and a force-transmitting end (542) connected to a pull wire.

4. The two-side synchronous anti-falling battery-changing robot (100) according to claim 3 is characterized in that: The force-applying end (541) has a lifting rod (543) arranged parallel to the rotating shaft (56), and the locking blocks (51) located on both sides of the brake guide rail (24) are respectively connected to the two ends of the lifting rod (543) by bolts.

5. The two-side synchronous anti-fall battery-changing robot (100) according to claim 3 is characterized in that: The mounting portion (32) is connected to a transmission chain (4) and is provided with a linkage rod (6), the linkage rod (6) comprising a linkage end (61) connected to the transmission chain (4) and linkage ends (62) connected to a force-applying end (541) of a synchronization lever (54) on the clamping device (5), the linkage rod (6) being rotatably mounted on the mounting portion (32).

6. The two-side synchronous anti-fall battery-changing robot (100) according to claim 5, characterized in that: One end of the pull wire is connected to a force transmission end (542) of a synchronous lever (54) on a mounting portion (32) located on one side of the lifting portion (3), and the other end is connected to two linkage ends (62) of a linkage rod (6) on a mounting portion (32) located on the other side of the lifting portion (3).

7. The two-side synchronous anti-fall battery-changing robot (100) according to claim 5, characterized in that: A first elastic member (71) is provided between the linkage end (61) of the linkage rod (6) and the transmission chain (4), and a second elastic member (72) is provided between the linkage end (62) of the linkage rod (6) and the force-applying end (541) of the synchronization lever (54) of the clamping device (5).

8. The bilateral synchronous anti-falling battery-changing robot (100) according to any one of claims 1 to 7, characterized in that: At least one end of the pull wire is provided with a third spring (73).

9. The bilateral synchronous anti-falling battery-changing robot (100) according to any one of claims 5 to 7, 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); the sliding guide rail (23) is arranged on the support wall (21); a driving gear (211) and a transmission gear (212) are respectively arranged on the two support walls (21) in a vertically aligned manner; the transmission chain (4) is respectively meshed with the transmission gear (212) and the driving gear (211); and a driving unit (120) for driving the driving gear (211) to rotate is provided on the base (12).

10. The double-sided synchronous anti-falling battery-changing robot (100) according to any one of claims 1 to 7, characterized in that: The mounting portion (32) is arranged between the sliding guide rail (23) and a lifting wall (31) matching the sliding guide rail (23).

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