Bidirectional telescopic battery replacement robot

Abstract

A bidirectional telescopic battery replacing robot comprises a support and a telescopic mechanism, the telescopic mechanism is slidably connected to the upper portion of the support in the horizontal direction, a first chain transmission assembly is arranged on the upper portion of the support, and the first chain transmission assembly comprises two first chain wheels and a first conveying chain arranged between the two first chain wheels in a sleeving mode. The two first chain wheels are rotationally connected to the two ends of the upper portion of the support in the sliding direction correspondingly. The first conveying chain is fixedly connected with the middle of the telescopic mechanism in the sliding direction, and the first conveying chain drives the telescopic mechanism to slide on the support. And the telescopic mechanism is slidably connected with a hanger. The middle of the telescopic mechanism is fixedly connected with the first conveying chain, so that the telescopic mechanism can be driven by the movement of the first conveying chain to extend and retract towards two opposite directions, and can adapt to the layout of a narrow area, and the lifting appliance is of a cage type layout structure, so that the lifting appliance is arranged in a hollow structure at the upper part and the lower part of the bracket for placing batteries; and the occupied area of the battery replacing robot is saved.

Description

Technical Field

[0001] The utility model relates to the technical field of battery swapping equipment, in particular to a bidirectional telescopic battery swapping robot. Background Art

[0002] In recent years, new energy vehicles have developed rapidly. Electric vehicles relying on storage batteries as the driving energy have the advantages of zero emissions and low noise. As the market share of electric vehicles is getting higher and higher, electric commercial vehicles (such as electric light trucks, electric heavy trucks, etc.) in electric vehicles are also increasingly appearing in their respective application scenarios. At the same time, battery swapping stations providing battery swapping services for electric commercial vehicles have also developed rapidly. In a battery swapping station, generally, a battery swapping robot grabs the depleted battery on an electric vehicle and installs a fully charged battery in the station on the vehicle to complete the battery swapping operation.

[0003] Most of the existing battery swapping robots are of traditional bridge crane structures or hydraulic transmissions. The bridge crane structure occupies a large area and is not convenient to layout in some places. When using a hydraulic transmission structure, it has a large noise and is prone to oil leakage, and the hydraulic transmission structure can only telescopic in one side direction. Generally, the lane is set on the moving side of the hydraulic transmission structure, and a battery storage bin is set on its opposite side. When the number of vehicles waiting for battery swapping increases, this structure cannot meet the demand, and the battery swapping efficiency is relatively low. If the battery swapping efficiency is to be improved to meet the needs of multiple battery swapping vehicles, lanes need to be added, which will inevitably increase the layout of the battery swapping robot, resulting in a complex structure and a large floor area, and is not suitable for the layout of narrow spaces. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a bidirectional telescopic battery swapping robot to solve the problems of complex structure, large floor area, and relatively low battery swapping efficiency existing in the existing battery swapping robots in battery swapping stations.

[0005] To solve the above problems, one of the purposes of the utility model is realized as follows:

[0006] A bidirectional telescopic battery swapping robot includes a bracket and a telescopic mechanism. The telescopic mechanism is slidably connected to the upper part of the bracket along the horizontal direction. A first chain drive assembly is arranged on the upper part of the bracket. The first chain drive assembly includes two first sprockets and a first transmission chain sleeved between the two first sprockets. The two first sprockets are respectively rotatably connected to both ends of the upper part of the bracket along the sliding direction.

[0007] The first transmission chain is fixedly connected to the middle part of the telescopic mechanism along the sliding direction. The first transmission chain drives the telescopic mechanism to slide on the bracket. A spreader is slidably connected to the telescopic mechanism.

[0008] Wherein, the bracket includes a frame body and a fixed arm fixedly arranged on the upper part of the frame body. The fixed arm includes two fixed rail bars which are arranged oppositely, and the telescopic mechanism is slidably connected between the two fixed rail bars.

[0009] Wherein, the lower part of the bracket is of a hollow structure. The bracket moves horizontally, and the moving direction of the bracket is perpendicular to the sliding direction of the telescopic mechanism; at least two groups of traveling wheels for cooperating with the on-site track are rotatably connected to the bottom of the bracket.

[0010] Wherein, at least one group of horizontal wheel sets for slidably connecting to both sides of the corresponding track are arranged on both sides of the bottom of the frame body;

[0011] Each horizontal wheel set includes two adjusting wheel mechanisms and a fixed frame. Each adjusting wheel mechanism includes a sliding shaft, an adjusting wheel rotatably connected to the lower part of the sliding shaft, and an upper mounting block fixedly connected to the upper part of the sliding shaft; the two upper mounting blocks are slidably connected to opposite sides of the fixed frame and are fixedly connected to the fixed frame through connecting screws; at least one gasket is arranged between the upper mounting block and the fixed frame or between the outer side of the upper mounting block and the connecting screw; the fixed frame is fixedly connected to the bottom of the frame body, and the axis of the adjusting wheel is arranged vertically.

[0012] Wherein, the telescopic mechanism includes two sliding frames, which are respectively a first sliding frame and a second sliding frame;

[0013] The first sliding frame is slidably connected to the upper part of the bracket, and the middle part of the first sliding frame along the sliding direction is fixedly connected to the first transmission chain through the sprocket connecting piece;

[0014] A second chain transmission assembly is arranged on the first sliding frame. The second chain transmission assembly includes two second sprockets and a second transmission chain sleeved between the two second sprockets. The two second sprockets are respectively rotatably connected to both ends of the first sliding frame along the sliding direction. The middle part of the second sliding frame along the sliding direction is fixedly connected to the second transmission chain through the sprocket connecting piece, and the second transmission chain drives the second sliding frame to be slidably connected to the first sliding frame;

[0015] The lifting appliance is slidably connected to the second sliding frame.

[0016] Wherein, a plurality of pulleys for slidably cooperating with the second sliding frame are rotatably connected to the first sliding frame. The pulleys are distributed at both ends and the middle part of the corresponding side of the first sliding frame along the sliding direction, and the number of the pulleys located in the middle part is at least two.

[0017] Among them, a spring tensioner is provided on each of the sprocket connectors. The spring tensioner includes two tension springs. Each of the corresponding conveyor chains has two ends. One end of the conveyor chain is fixedly connected to one of the tension springs, and the other end of the conveyor chain is sequentially wound around two sprockets and then fixedly connected to the other tension spring.

[0018] Among them, the sliding connection structure between the spreader and the second sliding frame adopts a structure in which a gear is engaged with a rack.

[0019] Among them, one of the first sprocket connections is used to drive a first driving motor to rotate.

[0020] Among them, a plurality of pulleys for slidingly cooperating with the telescopic mechanism are rotatably connected to the bracket. The pulleys are distributed at both ends and in the middle of the corresponding side of the bracket along the sliding direction. The number of the pulleys located in the middle is at least two.

[0021] The beneficial effects of the present utility model are as follows:

[0022] In the present utility model, the middle part of the telescopic mechanism is fixedly connected to the first conveyor chain. In this way, the telescopic mechanism can be driven by the movement of the first conveyor chain to telescopically extend in two opposite directions. It can extend out of one end of the upper part of the bracket or the other end of the upper part of the bracket. When the device is arranged in a narrow area, double lanes can be arranged on both sides of the bracket. Through the connection relationship between the first conveyor chain and the middle part of the telescopic mechanism, the telescopic mechanism can be extended to two directions for the picking and placing of batteries, presenting a cage-like layout structure. The spreader is arranged on the upper part of the bracket, and the lower hollow structure is used to place batteries, saving the floor area of the battery swapping robot.

[0023] The telescopic mechanism of the present utility model can telescopically extend in two directions and has a wide range of uses. It can not only be used in the above-mentioned scenario of simultaneously swapping batteries for heavy trucks on both sides, but also can be applied to swapping batteries on one side and using the other side for safety fire protection, that is, a thermally out-of-control battery can be lifted and placed on the other side (outside the box) to ensure the safety of the equipment inside the box. The adjustment range of the telescopic mechanism is relatively wide. In addition, the present utility model can realize the simultaneous sliding of two sliding frames only through the cooperation of one motor and two chain drive assemblies, improving the telescopic efficiency, further improving the battery swapping efficiency, simplifying the structure at the same time, and reducing the floor area of the battery swapping robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The following further describes the present utility model in detail with reference to the drawings and specific embodiments.

[0025] Figure 1 is a schematic structural diagram of the present utility model;

[0026] Figure 2 is a schematic structural diagram of the frame body;

[0027] Figure 3 is a schematic structural view of the bottom of the frame body;

[0028] Figure 4 is a schematic structural view of the horizontal wheel set of the present utility model;

[0029] Figure 5 is a schematic structural view of the adjusting wheel mechanism of the present utility model;

[0030] Figure 6 is a schematic structural view of the fixed arm of the present utility model;

[0031] Figure 7 is a schematic structural view of the first sliding frame of the present utility model;

[0032] Figure 8 is a schematic structural view of the second sliding frame of the present utility model;

[0033] Figure 9 is a schematic structural view of the lifting appliance of the present utility model;

[0034] Figure 10 is a schematic structural view of the first chain drive assembly of the present utility model;

[0035] Figure 11 is a schematic structural view of the second chain drive assembly of the present utility model.

[0036] Explanation of reference numerals

[0037] 1, support; 11, frame body; 12, fixed arm; 121, fixed rail; 122, connecting cross beam; 2, telescopic mechanism; 21, first sliding frame; 22, second sliding frame; 23, sprocket connecting piece; 24, tension spring; 3, first chain drive assembly; 31, first sprocket; 32, first transmission chain; 33, first driving motor; 34, first connecting shaft; 4, lifting appliance; 5, traveling wheel; 6, horizontal wheel set; 61, adjusting wheel mechanism; 611, sliding shaft; 612, adjusting wheel; 613, upper mounting block; 62, fixing frame; 63, gasket; 7, second chain drive assembly; 71, second sprocket; 72, second transmission chain; 81, pulley; 82, proximity sensor; 91, third chain drive assembly; 92, third driving motor; 93, third connecting shaft. Detailed implementation manners

[0038] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Many specific details are set forth in the following description in order to fully understand the present invention, but the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0039] As Figure 1 、 Figure 2 、 Figure 3 、 Figure 10 shown, a two-way telescopic battery swapping robot of the present invention includes a bracket 1 and a telescopic mechanism 2. The telescopic mechanism 2 is slidably connected to the upper part of the bracket 1 in the horizontal direction. A first chain drive assembly 3 is provided on the upper part of the bracket 1. The first chain drive assembly 3 includes two first sprockets 31 and a first transmission chain 32 sleeved between the two first sprockets 31. The two first sprockets 31 are respectively rotatably connected to both ends of the upper part of the bracket 1 along the sliding direction. The first transmission chain 32 is fixedly connected to the middle part of the telescopic mechanism 2 along the sliding direction. The first transmission chain 32 drives the telescopic mechanism 2 to slide on the bracket 1. A spreader 4 is slidably connected to the telescopic mechanism 2.

[0040] As Figure 1 、 Figure 7 shown, in the present invention, the middle part of the telescopic mechanism 2 is fixedly connected to the first transmission chain 32. In this way, the telescopic mechanism 2 can be driven by the movement of the first transmission chain 32 to expand and contract in two opposite directions, and can extend out of one end of the upper part of the bracket 1 or out of the other end of the upper part of the bracket 1. When arranging this device in a narrow area, double lanes can be arranged on both sides of the bracket. Due to the connection relationship between the first transmission chain 32 and the middle part of the telescopic mechanism 2, the telescopic mechanism 2 can be extended to two directions to pick up and place the battery, presenting a cage-like layout structure, with the spreader arranged on the upper part of the bracket and the hollow structure at the lower part for placing the battery, saving the floor area of the battery swapping robot.

[0041] Specifically, the bracket 1 includes a frame body 11 and a fixed arm 12 fixedly arranged on the upper part of the frame body 11. Refer to Figure 6, the fixed arm 12 includes two fixed rails 121 which are arranged oppositely, and the telescopic mechanism 2 is slidably connected between the two fixed rails 121. The axial direction of the fixed rails 121 is parallel to the sliding direction of the telescopic mechanism 2. To enhance the stability and rigidity of the fixed arm 12, a connecting cross beam 122 is fixedly connected between the two fixed rails 121. In this embodiment, the number of the first chain drive assemblies 3 is two groups, and the two groups of first chain drive assemblies 3 are respectively arranged on both sides in the width direction of the fixed arm 12, that is: the two groups of first chain drive assemblies 3 are respectively arranged on the upper parts of the two fixed rails 121 and are arranged oppositely, and a first connecting shaft 34 is fixedly connected between two first sprockets 31 in one group of the first chain drive assemblies 3 and the opposite first sprocket 31 in the other group. In this embodiment, there are two first connecting shafts 34, and bearing seats for the first connecting shaft 34 to rotate are fixedly arranged on the fixed rails 121. One of the first sprockets 31 is connected to a first driving motor 33 for driving it to rotate. In this embodiment, one axial end of one of the first connecting shafts 34 passes through the first sprocket 31 and then extends outside the corresponding bearing seat, and is fixedly connected to the first driving motor 33 through a reducer. When the first driving motor 33 drives the first connecting shaft 34 to rotate, it drives the first sprocket 31 to rotate, thereby driving the first transmission chain 32 to move, so as to further drive the telescopic mechanism 2 to be slidably connected inside the fixed arm 12. This embodiment arranges two groups of first chain drive assemblies 3 and connects them through the first connecting shaft, which can enhance the smoothness of the sliding of the telescopic mechanism 2. Proximity sensors 82 are fixedly arranged at both axial ends of the fixed arm 12, which can respectively detect the in-situ and in-place positions of the entire telescopic mechanism, facilitating the control of the stroke of the spreader. Among them, the lower part of the bracket 1 is of a hollow structure, the bracket 1 moves horizontally, and the moving direction of the bracket 1 is perpendicular to the sliding direction of the telescopic mechanism 2. In this embodiment, the frame body 11 includes four vertically arranged support rods, the four support rods are distributed in a rectangular shape, and connecting rods are fixedly arranged between adjacent two support rods, so that the lower part of the frame body 11 becomes a hollow cage-shaped structure. A battery can be placed in this hollow cage-shaped structure. Before installing a fully charged battery on the vehicle to be replaced with electricity, a fully charged battery can also be transferred to the hollow structure at the lower part of the frame body 11 through other conveying mechanisms. The spreader 4 is slid to directly above the hollow structure through the telescopic mechanism 2, the fully charged battery is lifted, and the spreader 4 is slid to the vehicle to be charged through the telescopic mechanism 2 to install the fully charged battery. The telescopic mechanism of the present utility model can be telescopically extended in both directions and has a wide range of uses. It can not only be used in the above-mentioned scenario of simultaneously replacing the electricity of heavy trucks on both sides, but also can be applied to replacing the electricity on one side and using the other side for safety and fire protection, that is, a battery in thermal runaway can be lifted and placed on the other side (outside the box) to ensure the safety of the equipment inside the box. The adjustment range of the telescopic mechanism is relatively wide.

[0042] At least two sets of traveling wheels 5 for cooperating with the on-site track are rotatably connected to the bottom of the support 1. In this embodiment, two sets of traveling wheels 5 are rotatably connected to the bottom of the support 1. The two sets of traveling wheels 5 are respectively arranged on the front and rear sides of the frame body 11 along its moving direction. The number of each set of traveling wheels 5 is two, and the two traveling wheels 5 in the same group are distributed on both sides perpendicular to its moving direction. Two traveling wheels 5 in one of the groups are driven by a third driving motor 92. The specific structure is as follows: A third connecting shaft 93 is rotatably connected to the lower part of the frame body 11. The axial direction of the third connecting shaft 93 is perpendicular to the moving direction of the support 1. Both axial ends of the third connecting shaft 93 are respectively connected to the two traveling wheels 5 in the same group through a third chain transmission assembly 91. The third connecting shaft 93 is formed by butting two shaft rods. A speed reducer is arranged at the butting place of the two shaft rods. The input end of the speed reducer is connected to the third driving motor 92. The third driving motor 92 can drive the traveling wheels 5 to rotate through the third connecting shaft 93 and the third chain transmission assembly 91, and then drive the support 1 to move.

[0043] In the present utility model, the traveling wheels 5 of the battery swapping robot are installed at the lower part of the support 1. The lower part of the battery swapping robot travels along the track on the site of the battery swapping station. Then, as long as the structure of the lower part of the support 1 meets the bearing capacity of the on-site track, the structure of the upper part of the support 1 can be equivalent to a large protective cover covering the support 1. The structure of the upper part of the support 1 does not need to bear a large weight, so the structure can be greatly lightened. Because the structure of the upper part of the support 1 only needs to consider dust prevention and wind resistance, the manufacturing cost is saved. In addition, in order to enable the support 1 to move accurately and smoothly on the track at the battery swapping station site, at least one set of horizontal wheel sets 6 for slidably connecting to both sides of the corresponding track are arranged on both sides of the bottom of the frame body 11. As Figure 4 , Figure 5 shown, in this embodiment, two sets of horizontal wheel sets 6 are arranged at the bottom of both sides of the frame body 11 along the direction perpendicular to its moving direction. Each horizontal wheel set 6 includes two adjusting wheel mechanisms 61 and a fixing frame 62. Each adjusting wheel mechanism 61 includes a sliding shaft 611, an adjusting wheel 612 rotatably connected to the lower part of the sliding shaft 611, and an upper mounting block 613 fixedly connected to the upper part of the sliding shaft 611. The two upper mounting blocks 613 are slidably connected to opposite sides of the fixing frame 62 and are fixedly connected to the fixing frame 62 through connecting screws. At least one gasket 63 is arranged between the upper mounting block 613 and the fixing frame 62 or between the outside of the upper mounting block 613 and the connecting screw. The gap between the adjusting wheel 612 and the track can be adjusted through the gasket 63. The fixing frame 62 is fixedly connected to the bottom of the frame body 11, and the axial direction of the adjusting wheel 612 is vertically arranged. In this embodiment, generally, there are two tracks at the battery swapping station site. The two tracks are arranged opposite and parallel to each other. When the support 1 moves, the traveling wheels 5 travel in the middle of the corresponding track. The two adjusting wheels 612 of the same horizontal wheel set 6 are located on both sides of the track, which can ensure that the support 1 moves accurately and smoothly on the track at the battery swapping station site.

[0044] As Figure 1 shown, the telescopic mechanism 2 includes two sliding frames, namely a first sliding frame 21 and a second sliding frame 22. The first sliding frame 21 is slidably connected to the upper part of the bracket 1, and the middle part of the first sliding frame 21 along the sliding direction is fixedly connected to the first transmission chain 32 through a sprocket connecting member 23. In this embodiment, both the first sliding frame 21 and the second sliding frame 22 are in the shape of a rectangular frame. The outer side of the first sliding frame 21 is slidably connected to the inner side of the fixed arm 12, and the outer side of the second sliding frame 22 is slidably connected to the inner side of the first sliding frame 21.

[0045] As Figure 1 、 Figure 11 shown, a second chain transmission assembly 7 is arranged on the first sliding frame 21. The second chain transmission assembly 7 includes two second sprockets 71 and a second transmission chain 72 sleeved between the two second sprockets 71. The two second sprockets 71 are respectively rotatably connected to both ends of the first sliding frame 21 along the sliding direction. The middle part of the second sliding frame 22 along the sliding direction is fixedly connected to the second transmission chain 72 through a sprocket connecting member 23. The second transmission chain drives the second sliding frame 22 to be slidably connected to the first sliding frame 21. In this embodiment, the number of the second chain transmission assemblies 7 is two groups, and the two groups of second chain transmission assemblies 7 are respectively arranged at the lower parts on both sides of the first sliding frame 21 in the width direction, and the two groups of second chain transmission assemblies 7 are arranged oppositely. The arrangement of the two groups of second chain transmission assemblies 7 can ensure that the second sliding frame 22 slides smoothly along the first sliding frame 21. The first driving motor 33 drives the first chain transmission assembly 3 to move, driving the first sliding frame 21 to move. When the first sliding frame 21 moves, it drives the second sprockets 71 of the second chain transmission assembly 7 to rotate and move, and then drives the second sliding frame 22 to move. The utility model can realize the simultaneous sliding of the two sliding frames only through the cooperation of one motor and two sets of chain transmission assemblies, saving the beat.

[0046] In this embodiment, a plurality of pulleys 81 for slidingly cooperating with the telescopic mechanism 2 are rotatably connected to the bracket 1. The pulleys 81 are distributed at both ends and in the middle of the corresponding side of the bracket 1 along the sliding direction. The number of pulleys 81 in the middle is at least two. When the first sliding frame 21 extends out, there are two pulleys 81 supporting the rear end of the first sliding frame 21, ensuring the accuracy (deflection amount) and precision of the entire battery swapping robot. Specifically, the pulleys 81 on the bracket 1 are rotatably connected to the inner side of the fixed arm, and a sliding groove for cooperating with the pulley 81 is formed on the outer side of the first sliding frame 21. A plurality of pulleys 81 for slidingly cooperating with the second sliding frame 22 are rotatably connected to the inner side of the first sliding frame 21. The pulleys 81 are distributed at both ends and in the middle of the corresponding side of the first sliding frame 21 along the sliding direction. The number of pulleys 81 in the middle is at least two. When the second sliding frame 22 extends out, there are two pulleys 81 supporting the rear end of the second sliding frame 22, ensuring the accuracy (deflection amount) and precision of the entire battery swapping robot. A sliding groove for slidingly cooperating with the pulley 81 is provided on the outer side of the second sliding frame 22.

[0047] Wherein, a spring tensioner is provided on each sprocket connecting member 23. The spring tensioner includes two tension springs 24. The corresponding transmission chains each have two ends. One end of the transmission chain is fixedly connected to one of the tension springs 24, and the other end of the transmission chain sequentially winds around two sprockets and is fixedly connected to the other tension spring 24. The setting of the spring tensioner can keep the chain having an appropriate tension during the transmission process, thereby avoiding the chain from loosening and falling off and reducing the wear of the chain.

[0048] As Figure 1 shown, the spreader 4 is slidably connected to the second sliding frame 22. Among them, the sliding connection structure between the spreader 4 and the second sliding frame 22 adopts a structure in which a gear cooperates with a rack. Refer to Figure 8 、 Figure 9As shown, in this embodiment, a helical gear is rotatably connected to one side of the sling 4, and a helical rack is fixedly arranged inside the second sliding frame 22. The axial direction of the helical rack is parallel to the length direction of the second sliding frame 22. The helical gear and the helical rack have better meshing performance, high load-bearing capacity, stable operation, and low noise. In addition, in this embodiment, the sprockets involved are double-row sprockets, and the chains involved are double-row chains, which have the advantages of high transmission efficiency, large load-bearing capacity, good stability, the ability to transmit power over a long distance, high allowable tension, being applicable to heavy object transmission, strong overload capacity, and being able to work in harsh environments such as high temperature, dusty, and humid conditions. In this utility model, the structure of the sling 4 can adopt the existing technology or refer to the structure of the Chinese patent with the application number CN202410417815. The working principle of this utility model is as follows: when the first driving motor 33 rotates, the first sliding frame 21 and the second sliding frame 22 are driven to extend simultaneously through the first chain drive assembly 3 and the second chain drive assembly 7. Since the connection method of the link determines that the speed of the second sliding frame 22 is twice that of the first sliding frame 21.

[0049] Obviously, the described embodiments are only a part of the embodiments of this utility model, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this utility model without making creative efforts fall within the scope of protection of this utility model.

Claims

1. A bidirectional telescopic battery-swapping robot, characterized in that: The invention comprises a bracket and a telescopic mechanism, wherein the telescopic mechanism is slidably connected to the upper part of the bracket in a horizontal direction, and a first chain transmission assembly is arranged on the upper part of the bracket, wherein the first chain transmission assembly comprises two first sprocket wheels and a first transmission chain sleeved between the two first sprocket wheels, and the two first sprocket wheels are rotatably connected to the two ends of the upper part of the bracket in a sliding direction respectively; The first conveying chain is fixedly connected to the middle part of the telescopic mechanism along the sliding direction, and the first conveying chain drives the telescopic mechanism to slide on the bracket; the telescopic mechanism is slidably connected to a sling.

2. A bidirectional telescopic battery-swapping robot according to claim 1, characterized in that: The bracket comprises a frame body and a fixed arm fixedly arranged on the upper part of the frame body, the fixed arm comprises two fixed rails, the two fixed rails are arranged opposite to each other, and the telescopic mechanism is slidably connected between the two fixed rails.

3. A bidirectional telescopic battery-swapping robot according to claim 1, characterized in that: The lower part of the bracket is a hollow structure, the bracket moves in the horizontal direction, and the moving direction of the bracket is perpendicular to the sliding direction of the telescopic mechanism; the bottom of the bracket is rotatably connected to at least two groups of walking wheels for matching the on-site track.

4. A bidirectional telescopic battery-swapping robot according to claim 2, characterized in that: At least one set of horizontal wheels for slidingly connecting to the two sides of the corresponding track are arranged on both sides of the bottom of the frame; Each of the horizontal wheel groups includes two adjusting wheel mechanisms and a fixed frame, and each of the adjusting wheel mechanisms includes a sliding shaft, an adjusting wheel rotatably connected to the lower part of the sliding shaft, and an upper mounting block fixedly connected to the upper part of the sliding shaft; the two upper mounting blocks are slidably connected to the opposite sides of the fixing frame, and are fixedly connected to the fixing frame through connecting screws; at least one gasket is arranged between the upper mounting block and the fixing frame, or between the outer side of the upper mounting block and the connecting screw; the fixing frame is fixedly connected to the bottom of the frame body, and the axial direction of the adjusting wheel is arranged vertically.

5. The bidirectional telescopic battery-swapping robot according to claim 1, characterized in that: The telescopic mechanism comprises two sliding frames, which are respectively a first sliding frame and a second sliding frame; The first sliding frame is slidably connected to the upper part of the bracket, and the middle part of the first sliding frame along the sliding direction is fixedly connected to the first conveying chain through a sprocket connecting member; A second chain transmission assembly is provided on the first sliding frame, and the second chain transmission assembly includes two second sprockets and a second transmission chain sleeved between the two second sprockets, the two second sprockets are rotatably connected to the two ends of the first sliding frame along the sliding direction, and the middle part of the second sliding frame along the sliding direction is fixedly connected to the second transmission chain through a sprocket connecting member, and the second transmission chain drives the second sliding frame to be slidably connected to the first sliding frame; The hanger is slidably connected to the second sliding frame.

6. A bidirectional telescopic battery-swapping robot according to claim 5, characterized in that: The first sliding frame is rotatably connected to a plurality of pulleys for slidingly cooperating with the second sliding frame. The pulleys are distributed at both ends and the middle of the corresponding sides of the first sliding frame along the sliding direction, and the number of the pulleys located in the middle is at least two.

7. The bidirectional telescopic battery-swapping robot according to claim 5, characterized in that: A spring tensioner is provided on each of the sprocket connecting members, and the spring tensioner includes two tensioning springs. The corresponding conveying chains have two ends, one end of the conveying chain is fixedly connected to one of the tensioning springs, and the other end of the conveying chain is fixedly connected to the other tensioning spring after being wound around two sprockets in sequence.

8. The bidirectional telescopic battery-swapping robot according to claim 5, characterized in that: The sliding connection structure between the hanger and the second sliding frame adopts a structure in which a gear and a rack match each other.

9. The bidirectional telescopic battery-swapping robot according to claim 1, characterized in that: One of the first sprockets is connected to a first driving motor for driving the first sprocket to rotate.

10. The bidirectional telescopic battery-swapping robot according to claim 1, characterized in that: The bracket is rotatably connected to a plurality of pulleys for slidingly cooperating with the telescopic mechanism. The pulleys are distributed at both ends and the middle of the corresponding sides of the bracket along the sliding direction. The number of the pulleys located in the middle is at least two.

Images