Battery replacement robot and battery replacement station

Abstract

The utility model provides a battery replacement robot and a battery replacement station, and belongs to the technical field of battery replacement. The battery replacing robot comprises a chassis, a locking and unlocking platform and a lifting mechanism. And the locking and unlocking platform is used for dismounting a battery on the power utilization device or mounting the battery on the power utilization device. The lifting mechanism comprises a telescopic rod and a driving part, the telescopic rod is telescopically installed on the chassis in the first direction and connected with the locking and unlocking platform, the driving part is in transmission connection with the telescopic rod, and the driving part is configured to drive the telescopic rod to stretch out and draw back in the first direction so as to drive the locking and unlocking platform to ascend and descend relative to the chassis in the first direction. According to the battery replacing robot, the telescopic rod can guide and limit lifting of the locking and unlocking platform while driving the locking and unlocking platform to ascend and descend in the first direction, and the stability and reliability of the lifting mechanism in the process of driving the locking and unlocking platform to ascend or descend in the first direction can be improved; the use stability and the battery replacing precision of the battery replacing robot are improved.

Description

Technical Field

[0001] The present application relates to the field of battery replacement technology, and more specifically, to a battery replacement robot and a battery replacement station. Background Art

[0002] With technological advancements, the battery industry has developed rapidly, and the market share and frequency of use of electric devices are increasing. Electric vehicles, such as electric cars, are gradually appearing in various application scenarios. At the same time, to improve the convenience of electric devices, especially electric vehicles, battery swap stations for rapid battery replacement have emerged on the market. To improve the battery swap efficiency of battery swap stations, battery swap stations are usually equipped with battery swap robots. These robots transport batteries and remove and install batteries on vehicles, thereby improving the automation level and battery swap efficiency of the battery swap station. However, existing battery swap robots have low stability and poor battery swap accuracy during the battery swap process. Utility Model Content

[0003] The embodiments of the present application provide a battery-swapping robot and a battery-swapping station, which can effectively improve the operational stability and battery-swapping accuracy of the battery-swapping robot.

[0004] In the first aspect, an embodiment of the present application provides a battery-exchanging robot, comprising a chassis, a locking and unlocking platform, and a lifting mechanism; the locking and unlocking platform is used to place batteries, and the locking and unlocking platform is also used to remove batteries from electrical devices or install batteries on electrical devices; the lifting mechanism comprises a telescopic rod and a driving member, the telescopic rod is telescopically mounted on the chassis along a first direction, the telescopic rod is connected to the locking and unlocking platform, the driving member is transmission-connected to the telescopic rod, and the driving member is configured to drive the telescopic rod to extend and retract along the first direction, so as to drive the locking and unlocking platform to rise and fall relative to the chassis along the first direction.

[0005] In the above technical solution, a lifting mechanism and a locking and unlocking platform are provided on the chassis of the battery-swapping robot. The lifting mechanism can drive the locking and unlocking platform to be lifted and lowered in the first direction, so that the locking and unlocking platform can remove the battery from the electrical device or install the battery on the electrical device, thereby realizing the battery-swapping function of the battery-swapping robot. The lifting mechanism includes a telescopic member and a driving member. The telescopic member is telescopically arranged on the chassis along the first direction, and the driving member and the telescopic member are in a transmission connection structure, so that the driving member can drive the telescopic member to be extended and retracted in the first direction, so as to realize the lifting and lowering of the locking and unlocking platform connected to the end of the telescopic member away from the chassis in the first direction. The battery-swapping robot adopts this structure so that the telescopic rod drives the locking and unlocking platform to be lifted and lowered in the first direction under the drive of the driving member, and can also play a certain guiding and limiting role in the lifting stroke of the locking and unlocking platform, which is conducive to improving the stability and reliability of the lifting mechanism driving the locking and unlocking platform to rise or fall in the first direction, and thus improving the stability and reliability of the locking and unlocking platform of the battery-swapping robot to be lifted and lowered in the first direction during the installation and removal of the battery by the battery-swapping robot, thereby improving the use stability and battery-swapping accuracy of the battery-swapping robot.

[0006] In some embodiments, the telescopic rod includes a plurality of sleeves sequentially arranged from the inside to the outside, and among two adjacent sleeves, one sleeve can move relative to the other sleeve along the first direction; wherein, the plurality of sleeves include a first sleeve located at the outermost side and a second sleeve located at the innermost side, one of the first sleeve and the second sleeve is mounted on the chassis, and the other is connected to the locking and unlocking platform.

[0007] In the above technical solution, the telescopic rod is provided with a plurality of sleeves which are sequentially arranged from the inside to the outside, and one of the first sleeve located on the outermost side and the second sleeve located on the innermost side of the plurality of sleeves is fixed on the chassis, and the other is connected to the locking and unlocking platform. On the one hand, the battery-changing robot with this structure can drive the locking and unlocking platform to rise or fall in the first direction when the plurality of sleeves of the telescopic rod move relative to each other and extend or retract. The structure is simple and easy to assemble. On the other hand, after the plurality of sleeves retract relative to each other, the space occupied by the telescopic rod in the first direction can be reduced, which is beneficial to reduce the interference between the battery-changing robot and other equipment during the battery-changing process, and is convenient for storing and transporting the battery-changing robot.

[0008] In some embodiments, the first sleeve is mounted on the chassis, and the second sleeve is connected to the locking and unlocking platform.

[0009] In the above technical solution, the outermost first sleeve among the multiple sleeves of the telescopic rod is fixedly installed on the chassis, and the innermost second sleeve among the multiple sleeves of the telescopic rod is connected to the locking and unlocking platform, so that the telescopic rod has a larger structure at the end close to the chassis in the first direction after being extended, so that the telescopic rod has a structure that is larger at the top and smaller at the bottom in the first direction after being extended. The battery-exchanging robot adopts this structure, on the one hand, facilitates the extension and retraction of the telescopic rod along the first direction, which is conducive to reducing the difficulty of the lifting mechanism driving the locking and unlocking platform to be lifted and lowered along the first direction; on the other hand, it can increase the structural stability and structural strength of the telescopic rod installed on the chassis, which is conducive to improving the stability and reliability of the lifting mechanism driving the locking and unlocking platform to be lifted and lowered along the first direction.

[0010] In some embodiments, along the first direction, a connecting portion is connected to one end of the second sleeve away from the chassis, the connecting portion protrudes from the outer circumference of the first sleeve, and the connecting portion is connected to the locking and unlocking platform.

[0011] In the above technical solution, a connecting part is provided at the end of the second sleeve away from the chassis, the connecting part is connected to the locking and unlocking platform, and the connecting part protrudes from the outer peripheral surface of the first sleeve. On the one hand, the battery-exchanging robot with this structure can increase the size of the area of ​​the telescopic rod used for assembly and connection with the locking and unlocking platform, which is beneficial to reduce the assembly difficulty between the locking and unlocking platform and the telescopic rod, and can improve the connection stability between the locking and unlocking platform and the telescopic rod. On the other hand, the connecting part can play a certain limiting role on the second sleeve. When the second sleeve retracts into the first sleeve, the connecting part can abut against the end of the first sleeve away from the chassis, which is beneficial to reduce the phenomenon of the second sleeve being stuck with each other after retracting into the first sleeve.

[0012] In some embodiments, the sleeve is cylindrical, and the axis of the sleeve extends along the first direction.

[0013] In the above technical solution, by setting the sleeve as a cylindrical structure, on the one hand, the processing difficulty of the sleeve can be reduced, and multiple sleeves can be easily assembled and connected to each other. On the other hand, the guiding accuracy of the mutual movement between the multiple sleeves can be improved, and the matching accuracy of the mutual installation between the multiple sleeves can be improved, thereby reducing the radial deflection of the sleeve during the extension and retraction of the telescopic rod.

[0014] In some embodiments, a wear-resistant sleeve is provided between each two adjacent sleeves, and the two adjacent sleeves are respectively an outer sleeve and an inner sleeve, the outer sleeve is sleeved on the outside of the wear-resistant sleeve, and the wear-resistant sleeve is sleeved on the outside of the inner sleeve; wherein, one of the outer sleeve and the inner sleeve is fixed to the wear-resistant sleeve, and the other is slidably matched with the wear-resistant sleeve along the first direction.

[0015] In the above technical solution, a wear-resistant sleeve is arranged between each two adjacent sleeves, and the adjacent inner sleeves and outer sleeves and the wear-resistant sleeves arranged between the adjacent inner sleeves and outer sleeves are a structure that is arranged in sequence to increase the wear-resistant effect between the adjacent inner sleeves and outer sleeves, thereby alleviating the phenomenon of decreased assembly accuracy due to wear and scratches on the adjacent inner sleeves and outer sleeves, which is beneficial to improving the service life and use stability of the telescopic rod of the lifting mechanism.

[0016] In some embodiments, the outer sleeve is fixed to the wear-resistant sleeve, and the inner sleeve is slidably engaged with the wear-resistant sleeve along the first direction.

[0017] In the above technical solution, by setting the wear-resistant sleeve as a structure that is fixed to the outer sleeve and slides with the inner sleeve in the first direction, it is helpful to reduce the difficulty of fitting the wear-resistant sleeve between the adjacent outer sleeve and inner sleeve, thereby improving the assembly efficiency of the telescopic rod.

[0018] In some embodiments, the wear-resistant sleeve is threaded onto the inner side of the outer sleeve.

[0019] In the above technical solution, a threaded connection structure is used to arrange the outer sleeve on the outside of the wear-resistant sleeve and fix them to each other. On the one hand, it can reduce the assembly difficulty between the outer sleeve and the wear-resistant sleeve, which is beneficial to improving the assembly efficiency of the telescopic rod. On the other hand, it is convenient for the disassembly and replacement of the wear-resistant sleeve during subsequent use, which is beneficial to reducing the later maintenance difficulty and maintenance cost of the battery-swapping robot.

[0020] In some embodiments, the outer sleeve is provided with a first limiting hole, and the wear-resistant sleeve is provided with a second limiting hole, and the first limiting hole and the second limiting hole both extend along the radial direction of the wear-resistant sleeve; wherein, a limiting member is also provided between the outer sleeve and the wear-resistant sleeve, and the limiting member is inserted into the first limiting hole and the second limiting hole along the radial direction of the wear-resistant sleeve to limit the circumferential rotation of the wear-resistant sleeve relative to the outer sleeve.

[0021] In the above technical solution, in the adjacent outer sleeve and inner sleeve, the outer sleeve is provided with a first limiting hole extending along the radial direction of the wear-resistant sleeve, and the wear-resistant sleeve is correspondingly provided with a second limiting hole extending along the radial direction of the wear-resistant sleeve. By inserting limiting members in the first limiting hole and the second limiting hole, the limiting members can play a limiting role on the wear-resistant sleeve and the outer sleeve to limit the relative rotation of the wear-resistant sleeve and the outer sleeve, thereby further improving the assembly stability between the wear-resistant sleeve and the outer sleeve, and reducing the rotation of the wear-resistant sleeve relative to the outer sleeve during the extension and retraction of the telescopic rod, so as to improve the stability of the lifting mechanism driving the locking and unlocking platform to lift and lower along the first direction.

[0022] In some embodiments, a limiting structure is provided between the inner sleeve and the wear-resistant sleeve, and the limiting structure is configured to limit the circumferential rotation of the inner sleeve relative to the wear-resistant sleeve.

[0023] In the above technical solution, in the adjacent outer sleeve and inner sleeve, a limiting structure is set between the inner sleeve and the wear-resistant sleeve, so that the limiting structure can limit the rotation of the inner sleeve relative to the wear-resistant sleeve when the inner sleeve moves relative to the wear-resistant sleeve along the first direction, which is beneficial to improving the stability and reliability of the telescopic rod to extend and retract, thereby effectively improving the stability of the lifting mechanism to drive the locking and unlocking platform to lift and lower along the first direction.

[0024] In some embodiments, the limiting structure includes a limiting protrusion and a limiting groove, one of the limiting protrusion and the limiting groove is arranged on the inner circumference of the wear-resistant sleeve, and the other is arranged on the outer circumference of the inner sleeve, the limiting groove extends along the first direction, and the limiting protrusion is inserted into the limiting groove.

[0025] In the above technical solution, the limiting structure is provided with a limiting protrusion and a limiting groove, one of which is provided on the inner circumferential surface of the wear-resistant sleeve, and the other is provided on the outer circumferential surface of the inner sleeve, and the limiting protrusion is inserted into the limiting groove, so that the limiting groove and the limiting protrusion cooperate with each other to limit the rotation of the inner sleeve relative to the wear-resistant sleeve. The structure is simple and easy to process and assemble. In addition, by providing the limiting groove as a structure extending along the first direction, while the limiting protrusion and the limiting groove cooperate with each other to limit the rotation of the inner sleeve relative to the wear-resistant sleeve, the inner sleeve can also be allowed to slide relative to the wear-resistant sleeve along the first direction. When the inner sleeve slides relative to the wear-resistant sleeve along the first direction, the mutual cooperation between the limiting protrusion and the limiting groove can also play a certain guiding role for the inner sleeve, thereby improving the stability of the inner sleeve sliding relative to the wear-resistant sleeve along the first direction.

[0026] In some embodiments, the limiting structure includes a plurality of the limiting protrusions and a plurality of the limiting grooves, the limiting protrusions and the limiting grooves correspond to each other one by one, and the plurality of limiting grooves are arranged at intervals along the circumference of the wear-resistant sleeve.

[0027] In the above technical solution, the limiting structure is provided with a plurality of limiting protrusions and a plurality of limiting grooves. By arranging the plurality of limiting grooves to be arranged at intervals along the circumference of the wear-resistant sleeve, and each limiting protrusion is inserted into a limiting groove, the effect of the limiting structure in limiting the rotation of the inner sleeve relative to the wear-resistant sleeve can be further improved, and the guiding effect on the inner sleeve can be improved, so as to further improve the stability of the inner sleeve sliding relative to the wear-resistant sleeve along the first direction.

[0028] In some embodiments, the lifting mechanism further includes a transmission assembly, and the driving member and the telescopic rod are connected in transmission via the transmission assembly.

[0029] In the above technical solution, the lifting mechanism is also provided with a transmission assembly, and the driving member is a structure that is connected to the telescopic rod through the transmission assembly. The lifting mechanism adopting this structure can, on the one hand, realize that the assembly position of the driving member and the telescopic rod will not be subject to assembly restrictions, which is conducive to optimizing the structure of the lifting mechanism according to actual conditions. On the other hand, the driving force delivered by the driving member to the telescopic rod can be adjusted through the transmission assembly to adapt to different usage scenarios, which is conducive to improving the scope of use of the battery-swapping robot.

[0030] In some embodiments, the driving member has an output shaft, the transmission assembly includes a sprocket and a rigid chain, the sprocket is engaged with the rigid chain, the sprocket is connected to the output shaft, and the rigid chain is connected to the telescopic rod.

[0031] In the above technical scheme, the transmission assembly is provided with a sprocket and a rigid chain. The sprocket is provided on the output shaft of the driving member, and the sprocket is engaged with the rigid chain, so that after the driving member drives the sprocket to rotate, it can drive the rigid chain to climb or descend along the first direction, so as to drive the telescopic rod connected to the rigid chain to telescope along the first direction, thereby realizing that the lifting mechanism drives the unlocking platform to lift and lower along the first direction. On the one hand, the transmission assembly with such a structure can improve the load capacity of the lifting mechanism and has good transmission stability. On the other hand, it can realize the conversion of the driving force for lifting and lowering the rigid chain to the telescopic member, so that the telescopic member can guide and limit the climbing or descending of the rigid chain, which is conducive to alleviating the radial deformation of the rigid chain, thereby improving the stability and reliability of the rigid chain in the process of climbing or descending in the first direction, and then in the process of the battery swap robot installing and disassembling the battery, it can improve the stability and reliability of the unlocking platform of the battery swap robot in lifting and lowering along the first direction, thereby improving the use stability and battery swap accuracy of the battery swap robot.

[0032] In some embodiments, the telescopic rod has a first end and a second end relative to each other in the first direction, the first end is mounted on the chassis, and the second end is connected to the locking and unlocking platform; wherein one end of the rigid chain extends from the first end into the interior of the telescopic rod and is connected to the telescopic rod.

[0033] In the above technical solution, one end of the rigid chain is extended from the first end of the telescopic rod installed on the chassis into the telescopic rod and connected to the telescopic rod, so that the rigid chain can drive the telescopic rod to extend and retract along the first direction while realizing a structure in which the rigid chain is routed inside the telescopic rod. On the one hand, it can optimize the space occupied by the lifting mechanism and can play a certain protective role for the rigid chain, which is beneficial to improving the damage-proof and dust-proof effect of the rigid chain. On the other hand, it can further improve the guiding and limiting effect of the telescopic rod on the rigid chain, which is beneficial to further alleviate the radial deformation of the rigid chain, so as to further improve the stability and reliability of the rigid chain during the process of climbing or descending in the first direction.

[0034] In some embodiments, an extension direction of the axis of the output shaft intersects with the first direction.

[0035] In the above technical solution, by setting the extension direction of the axis of the output shaft of the driving member to a structure that intersects with the telescopic direction of the telescopic rod, the space occupied by the driving member and the telescopic rod in the first direction is saved, which is beneficial to optimizing the space occupied by the lifting mechanism, and when the telescopic rod is retracted, the space occupied by the lifting mechanism in the first direction can be reduced, which is beneficial to reducing the interference between the battery-swapping robot and other equipment during the battery-swapping process.

[0036] In some embodiments, the extension direction of the axis of the output shaft is perpendicular to the first direction.

[0037] In the above technical solution, by setting the extension direction of the axis of the output shaft of the driving member to a structure perpendicular to the telescopic direction of the telescopic rod, the space occupied by the driving member and the telescopic rod in the first direction can be further saved, which is conducive to further optimizing the space occupied by the lifting mechanism, and when the telescopic rod is retracted, the space occupied by the lifting mechanism in the first direction can be further reduced, which is conducive to further reducing the interference between the battery-swapping robot and other equipment during the battery-swapping process.

[0038] In some embodiments, the lifting mechanism further includes a chain box; the chain box is used to accommodate the rigid chain.

[0039] In the above technical solution, the lifting mechanism is further provided with a chain box, which can accommodate the excess part of the rigid chain, thereby providing a certain degree of protection for the rigid chain and helping to improve the damage-proof and dust-proof effects of the rigid chain.

[0040] In some embodiments, the telescopic rod has a connecting portion, which is connected to the locking and unlocking platform. Along the first direction, the connecting portion has a first position and a second position. The length of the telescopic rod when the connecting portion is in the first position is greater than the length of the telescopic rod when the connecting portion is in the second position. The lifting mechanism further includes a detection member, which is used to detect the position of the rigid chain. The driving member is configured to respond to the detection member and stop moving when the connecting portion is in the first position and the second position.

[0041] In the above technical solution, the lifting mechanism is also provided with a detection part, which can detect the position of the rigid chain to obtain information that the connecting part of the telescopic rod is located at the first position and the second position, and the driving part can stop the action after responding to the detection result of the detection part. The lifting mechanism with such a structure can, on the one hand, improve the accuracy of the lifting mechanism driving the locking and unlocking platform to lift and lower along the first direction, so as to improve the battery swap accuracy of the battery swap robot; on the other hand, it can alleviate the phenomenon that the driving part drives the telescopic rod to extend or shorten to the extreme position, which is conducive to protecting the extreme position of the telescopic rod, thereby reducing the risk of damage to the telescopic rod and the driving part.

[0042] In some embodiments, the driving member is a servo motor with an absolute encoder.

[0043] In the above technical solution, a servo motor with an absolute encoder is used to drive the telescopic rod to extend and retract, so as to drive the locking and unlocking platform to rise and fall along the first direction. The lifting mechanism of this structure can accurately control the extension or shortening of the telescopic rod to improve the accuracy of controlling the lifting and falling of the locking and unlocking platform along the first direction.

[0044] In some embodiments, the telescopic rod has a connecting portion, and the battery-exchanging robot further includes a chain, and the connecting portion is connected to the locking and unlocking platform through the chain; wherein, along the first direction, the connection position between the chain and the connecting portion is higher than the connection position between the chain and the locking and unlocking platform.

[0045] In the above technical solution, the connecting part of the telescopic rod is a structure connected to the locking and unlocking platform through a chain, and the connection position of the chain and the connecting part is higher than the connection position of the chain and the locking and unlocking platform in the first direction, so that the locking and unlocking platform is a structure hoisted on the connecting part of the telescopic rod through a chain. The battery-changing robot adopting this structure can realize that the locking and unlocking platform has a certain floating space. On the one hand, it can absorb the deviation of the locking and unlocking platform during the installation or removal of the battery. On the other hand, it can adjust the height or angle of the locking and unlocking platform according to actual operation requirements to adapt to different usage scenarios, which is conducive to improving the scope of use of the battery-changing robot.

[0046] In some embodiments, each locking and unlocking platform is correspondingly provided with a plurality of the lifting mechanisms, and the plurality of lifting mechanisms are arranged around the locking and unlocking platform.

[0047] In the above technical solution, by setting multiple lifting mechanisms corresponding to each locking and unlocking platform, the locking and unlocking platform is a structure connected to multiple lifting mechanisms, and multiple lifting mechanisms are arranged around the locking and unlocking platform, thereby further improving the load capacity of the battery swapping robot and further improving the stability and reliability of the locking and unlocking platform in lifting and lowering along the first direction.

[0048] In some embodiments, the battery-exchanging robot includes a plurality of the locking and unlocking platforms, which are arranged at intervals along the second direction, each of the locking and unlocking platforms is connected to at least one of the lifting mechanisms, and the second direction is perpendicular to the first direction.

[0049] In the above technical solution, the battery-swapping robot is provided with multiple locking and unlocking platforms, which are structures arranged at intervals along the second direction, and each locking and unlocking platform is connected to at least one lifting mechanism, so that the multiple locking and unlocking platforms are structures that operate independently of each other. The battery-swapping robot adopts this structure can load multiple batteries at the same time to realize the installation and disassembly of multiple batteries, which is beneficial to improving the battery-swapping efficiency of the battery-swapping robot.

[0050] In a second aspect, an embodiment of the present application also provides a battery swap station, including the above-mentioned battery swap robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 A schematic diagram of the structure of a battery-swapping robot provided in some embodiments of the present application;

[0053] Figure 2 A schematic diagram of the structure of a lifting mechanism provided in some embodiments of the present application;

[0054] Figure 3 A cross-sectional view of a lifting mechanism provided in some embodiments of the present application;

[0055] Figure 4 for Figure 3 A partial enlarged view of the lifting mechanism at point A shown;

[0056] Figure 5A schematic structural diagram of a telescopic rod of a lifting mechanism provided in some embodiments of the present application;

[0057] Figure 6 for Figure 5 A partial enlarged view of position B of the telescopic rod shown;

[0058] Figure 7 A cross-sectional view of a telescopic rod of a lifting mechanism provided in some embodiments of the present application;

[0059] Figure 8 for Figure 1 A partial enlarged view of point C of the battery-swapping robot is shown.

[0060] Icons: 100 - battery swap robot; 10 - chassis; 20 - unlocking and unlocking platform; 21 - placement platform; 22 - unlocking and unlocking mechanism; 30 - lifting mechanism; 31 - telescopic rod; 311 - first end; 312 - second end; 313 - sleeve; 3131 - first sleeve; 3132 - second sleeve; 3133 - outer sleeve; 3133a - first limiting hole; 3134 - inner sleeve; 3136 - limiting slot; 314 - connection Part; 315-wear-resistant sleeve; 3151-second limiting hole; 3152-limiting protrusion; 316-limiting member; 32-driving member; 321-output shaft; 33-mounting seat; 34-transmission assembly; 341-sprocket; 342-rigid chain; 35-chain box; 36-detection member; 361-low-position photoelectric sensor; 362-high-position photoelectric sensor; 40-chain; X-first direction; Y-second direction; Z-third direction. DETAILED DESCRIPTION

[0061] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0062] Unless otherwise defined, all technical and scientific terms used in this application have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first" and "second" in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary-secondary relationship.

[0063] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments.

[0064] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and "attached" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0065] The term "and / or" in this application simply describes an association between related objects, indicating that three possible relationships exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this application generally indicates that the related objects are in an "or" relationship.

[0066] In the embodiments of this application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components in different embodiments are omitted. It should be understood that the thickness, length, width, and other dimensions of the various components in the embodiments of this application, as well as the overall thickness, length, width, and other dimensions of the integrated device shown in the drawings are merely illustrative and should not constitute any limitation on this application.

[0067] The term "plurality" used in this application refers to two or more (including two).

[0068] In the embodiment of the present application, the battery cell may be a secondary battery. A secondary battery refers to a battery cell that can be continuously used by activating active materials by charging after the battery cell is discharged.

[0069] The battery cells can be lithium-ion batteries, sodium-ion batteries, sodium-lithium-ion batteries, lithium metal batteries, sodium metal batteries, lithium-sulfur batteries, magnesium-ion batteries, nickel-hydrogen batteries, nickel-cadmium batteries, lead-acid batteries, etc., which are not limited in the embodiments of the present application.

[0070] As an example, the battery cells may be cylindrical, prismatic, soft-pack or other shaped battery cells. Prismatic battery cells include but are not limited to square-shell, blade-shaped, and polygonal batteries, such as hexagonal batteries.

[0071] The battery mentioned in the embodiments of the present application refers to a single physical module including one or more battery cells to provide higher voltage and capacity.

[0072] In some embodiments, the battery may be a battery module. When there are multiple battery cells, the multiple battery cells are arranged and fixed to form a battery module.

[0073] In some embodiments, the battery may be a battery pack, which includes a case and battery cells, wherein the battery cells or battery modules are housed in the case.

[0074] With technological advancements and the rapid development of new energy vehicles, electric vehicles are gaining increasing market share and increasing in frequency of use. Electric commercial vehicles, such as heavy-duty and light-duty electric trucks, are gradually appearing in various application scenarios, and battery swap stations have been built to accommodate these vehicles.

[0075] In the field of new energy vehicles, the driving range of electric vehicles is currently affected by the battery capacity, especially electric trucks. Electric trucks have a heavy load capacity and a long mileage, and their energy consumption is greater than that of ordinary passenger cars. Therefore, in order to achieve driving range, electric vehicles need to frequently replace batteries. As a result, battery swap stations for electric vehicles have appeared on the market. The electric vehicle only needs to be driven into the battery swap station to remove the battery with reduced power and replace it with a fully charged battery, thereby improving the driving range of the electric vehicle. In related technologies, in order to improve the battery swap efficiency of the battery swap station, the battery swap station is usually equipped with a battery swap robot, which transports the battery and removes and installs the battery on the vehicle to improve the automation level and battery swap efficiency of the battery swap station. Among them, the battery swap robot is usually provided with a chassis, a lifting mechanism and an unlocking and unlocking platform, and the unlocking and unlocking platform is used to place the battery, and the unlocking and unlocking platform is provided with a The locking and unlocking mechanism for removing and installing the battery, the lifting mechanism is arranged on the chassis, and the lifting mechanism is connected to the locking and unlocking platform, so that the locking and unlocking platform can be driven to rise and fall by the lifting mechanism to realize the removal of the battery on the vehicle and the installation of the battery on the vehicle. However, the lifting mechanism of the battery swapping robot in the related art usually adopts a structure in which a motor and a rigid chain cooperate to drive the locking and unlocking platform to rise and fall, that is, the rigid chain is connected to the locking and unlocking platform, and the motor is used to drive the rigid chain to climb or descend to drive the locking and unlocking platform to rise and fall. However, in the process of lifting and lowering the locking and unlocking platform of the battery swapping robot with this structure, the rigid chain is prone to radial deformation or offset, which leads to poor stability and reliability of the locking and unlocking platform in the first direction when installing and removing the battery by the battery swapping robot, thereby causing the battery swapping robot to have low stability and poor battery swapping accuracy during the battery swapping process.

[0076] Based on the above considerations, in order to solve the problems of low stability and poor battery replacement accuracy of the battery-swapping robot during the battery replacement process, an embodiment of the present application provides a battery-swapping robot, which includes a chassis, a locking and unlocking platform, and a lifting mechanism. The locking and unlocking platform is used to place batteries, and the locking and unlocking platform is also used to remove batteries from electrical devices or install batteries on electrical devices. The lifting mechanism includes a telescopic rod and a driving member, the telescopic rod is telescopically mounted on the chassis along a first direction, the telescopic rod is connected to the locking and unlocking platform, the driving member is transmission-connected to the telescopic rod, and the driving member is configured to drive the telescopic rod to extend and retract along the first direction, so as to drive the locking and unlocking platform to rise and fall relative to the chassis along the first direction.

[0077] In a battery-swapping robot of this structure, a lifting mechanism and a locking and unlocking platform are provided on the chassis of the battery-swapping robot. The lifting mechanism can drive the locking and unlocking platform to be lifted and lowered in a first direction so that the locking and unlocking platform can remove the battery from the electrical device or install the battery on the electrical device, thereby realizing the battery-swapping function of the battery-swapping robot. The lifting mechanism includes a telescopic member and a driving member. The telescopic member is telescopically arranged on the chassis along the first direction, and the driving member and the telescopic member are in a transmission connection structure, so that the driving member can drive the telescopic member to be extended and retracted in the first direction so as to drive the locking and unlocking platform connected to the end of the telescopic member away from the chassis in the first direction to be lifted and lowered. The battery-swapping robot adopts this structure so that the telescopic rod drives the locking and unlocking platform to be lifted and lowered in the first direction under the drive of the driving member, and can also play a certain guiding and limiting role in the lifting stroke of the locking and unlocking platform, which is conducive to improving the stability and reliability of the lifting mechanism driving the locking and unlocking platform to rise or fall in the first direction, and thus improving the stability and reliability of the locking and unlocking platform of the battery-swapping robot to be lifted and lowered in the first direction during the process of installing and removing the battery by the battery-swapping robot, thereby improving the use stability and battery-swapping accuracy of the battery-swapping robot.

[0078] An embodiment of the present application provides a battery-swapping robot, which can solve the problem that the stability and reliability of the locking and unlocking platform are poor when the battery-swapping robot lifts and lowers the locking and unlocking platform, and when the battery-swapping robot installs and removes the battery, thereby causing the battery-swapping robot to have low stability and poor battery-swapping accuracy during the battery-swapping process. The specific structure of the battery-swapping robot is described in detail below with reference to the accompanying drawings.

[0079] According to some embodiments of the present application, referring to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , Figure 1 This is a schematic diagram of the structure of the battery-swapping robot 100 provided in some embodiments of the present application. Figure 2 This is a schematic diagram of the structure of the lifting mechanism 30 provided in some embodiments of the present application. Figure 3 A cross-sectional view of a lifting mechanism 30 provided in some embodiments of the present application is shown. Figure 4 for Figure 3 A partial enlarged view of point A of the lifting mechanism 30 shown. The present application provides a battery-exchanging robot 100, which includes a chassis 10, a locking and unlocking platform 20, and a lifting mechanism 30. The locking and unlocking platform 20 is used to place batteries, and the locking and unlocking platform 20 is also used to remove batteries from electrical devices or install batteries on electrical devices. The lifting mechanism 30 includes a telescopic rod 31 and a driving member 32. The telescopic rod 31 is telescopically mounted on the chassis 10 along a first direction X. The telescopic rod 31 is connected to the locking and unlocking platform 20, and the driving member 32 is transmission-connected to the telescopic rod 31. The driving member 32 is configured to drive the telescopic rod 31 to extend and retract along the first direction X, so as to drive the locking and unlocking platform 20 to rise and fall relative to the chassis 10 along the first direction X.

[0080] The chassis 10 plays the role of installing and carrying the lifting mechanism 30 and the locking and unlocking platform 20. The structure of the chassis 10 can be various. For example, Figure 1 In the embodiment, the chassis 10 is a movable chassis 10, and the chassis 10 is an automatic guided vehicle (AGV). Of course, in other embodiments, the chassis 10 may also be a fixed chassis 10, that is, a fixed seat or a carrying platform.

[0081] The unlocking platform 20 plays the role of carrying the battery and removing and installing the battery. Figure 1 In the embodiment, the locking and unlocking platform 20 includes a placement platform 21 and a locking and unlocking mechanism 22 disposed on the placement platform 21. The placement platform 21 is connected to a telescopic rod 31. The locking and unlocking mechanism 22 is used to remove or install batteries from an electrical device, such as an electric screwdriver. The specific structure of the locking and unlocking mechanism 22 can be found in related art and will not be further described here.

[0082] The lifting mechanism 30 drives the locking and unlocking platform 20 to move up and down along a first direction X, where the first direction X is the direction of gravity or a direction approximately similar to the direction of gravity. The lifting mechanism 30 can have various structures. In the embodiment of the present application, the lifting mechanism 30 includes a telescopic rod 31 and a driving member 32. The telescopic rod 31 is mounted on the chassis 10 and connected to the placement platform 21 of the locking and unlocking platform 20. The driving member 32 is used to drive the telescopic rod 31 to extend and retract along the first direction X, thereby driving the locking and unlocking platform 20 to move up and down along the first direction X.

[0083] The telescopic rod 31 is telescopically mounted on the chassis 10 along the first direction X. The telescopic rod 31 is connected to the locking and unlocking platform 20. That is, one end of the telescopic rod 31 in the first direction X is mounted on the chassis 10, and the telescopic rod 31 can be telescoped along the first direction X, while the end of the telescopic rod 31 away from the chassis 10 is connected to the locking and unlocking platform 20. For example, Figure 3 In the figure, the telescopic rod 31 has a first end 311 and a second end 312 relative to each other in the first direction X. The first end 311 is fixedly mounted on the chassis 10, and the second end 312 is connected to the placement table 21 of the locking and unlocking platform 20. The second end 312 can approach or move away from the first end 311 when the telescopic rod 31 is extended and retracted along the first direction X.

[0084] The lifting mechanism 30 may further include a mounting seat 33 , which is fixedly mounted on the chassis 10 , the driving member 32 is mounted on the mounting seat 33 , and the first end 311 of the telescopic rod 31 is fixedly mounted on the mounting seat 33 .

[0085] Optionally, the structures by which the first end 311 of the telescopic rod 31 is fixedly mounted on the mounting base 33 may be various, such as welding connection, bolt connection or clamping connection, etc. Similarly, the structures by which the mounting base 33 is fixedly mounted on the chassis 10 may also be various, such as welding connection, bolt connection or clamping connection, etc.

[0086] Optionally, the telescopic rod 31 and the placement platform 21 of the locking and unlocking platform 20 can be directly connected or indirectly connected. For example, Figure 1 In the embodiment, the telescopic rod 31 is indirectly connected to the placement platform 21 of the locking and unlocking platform 20 through a chain 40.

[0087] The driving member 32 is in transmission connection with the telescopic rod 31. The driving member 32 is configured to drive the telescopic rod 31 to extend or retract along the first direction X. That is, the driving member 32 can apply power to the telescopic rod 31 so that the telescopic rod 31 can extend or retract along the first direction X. For example, Figure 4 In the embodiment, the driving member 32 is a structure that is transmission-connected to the telescopic rod 31 through the transmission assembly 34. Of course, in other embodiments, the driving member 32 may also be a structure that is directly connected to the telescopic rod 31.

[0088] Optionally, the transmission assembly 34 may have various structures, such as a rack and pinion structure, a worm gear structure, or a screw and lead screw sleeve structure, etc. Similarly, the drive member 32 may have various structures, such as an electric motor or a hydraulic motor, etc.

[0089] It should be noted that the battery-swapping robot 100 disclosed in the embodiment of the present application can be used for, but is not limited to, replacing batteries in vehicles. It can also be used for replacing batteries in electrical devices such as ships, aircraft, power tools, electric vehicles, electric cars, ships, and spacecraft.

[0090] In this embodiment, a lifting mechanism 30 and a locking and unlocking platform 20 are provided on the chassis 10 of the battery-swapping robot 100. The lifting mechanism 30 can drive the locking and unlocking platform 20 to be lifted and lowered along the first direction X, so that the locking and unlocking platform 20 can remove the battery from the electrical device or install the battery on the electrical device, thereby realizing the battery-swapping function of the battery-swapping robot 100. The lifting mechanism 30 includes a telescopic member and a driving member 32. The telescopic member is telescopically arranged on the chassis 10 along the first direction X, and the driving member 32 and the telescopic member are in a transmission connection structure, so that the driving member 32 can drive the telescopic member to be telescopic in the first direction X, so as to drive the member connected to the telescopic member away from the chassis in the first direction X. The locking and unlocking platform 20 on one end of 10 is raised and lowered. The battery-exchanging robot 100 adopts this structure so that the telescopic rod 31 drives the locking and unlocking platform 20 to rise and fall along the first direction X under the drive of the driving member 32, and can also play a certain guiding and limiting role in the lifting stroke of the locking and unlocking platform 20, which is beneficial to improving the stability and reliability of the lifting mechanism 30 driving the locking and unlocking platform 20 to rise or fall in the first direction X. Furthermore, in the process of the battery-exchanging robot 100 installing and removing the battery, the stability and reliability of the locking and unlocking platform 20 of the battery-exchanging robot 100 to rise and fall along the first direction X can be improved, so as to improve the use stability and battery-exchanging accuracy of the battery-exchanging robot 100.

[0091] According to some embodiments of the present application, referring to Figure 2 and Figure 3 , and please refer to Figure 5 , Figure 5 This is a schematic diagram of the structure of the telescopic rod 31 of the lifting mechanism 30 provided in some embodiments of the present application. The telescopic rod 31 includes multiple sleeves 313 arranged sequentially from the inside to the outside. Between two adjacent sleeves 313, one sleeve 313 can move relative to the other sleeve 313 along a first direction X. The multiple sleeves 313 include a first sleeve 3131 located on the outermost side and a second sleeve 3132 located on the innermost side. One of the first sleeve 3131 and the second sleeve 3132 is mounted on the chassis 10, while the other is connected to the locking and unlocking platform 20.

[0092] The telescopic rod 31 includes multiple sleeves 313 sequentially sleeved from the inside out. Between two adjacent sleeves 313, one sleeve 313 can move relative to the other sleeve 313 in the first direction X. In other words, the telescopic rod 31 is a telescopic structure formed by the multiple sleeves 313 being sleeved in sequence, and each sleeve 313 can move relative to the adjacent sleeve 313 in the first direction X. In other words, each section of the telescopic rod 31 that is telescopically movable in the first direction X is a tubular structure. It should be noted that the sleeves 313 are hollow structures with openings formed at both ends in the first direction X.

[0093] Optionally, the sleeve 313 may have various shapes, such as cylindrical or prismatic.

[0094] The multiple sleeves 313 include a first sleeve 3131 located at the outermost side and a second sleeve 3132 located at the innermost side. That is, when the telescopic rod 31 is retracted together, the outermost sleeve 313 among the multiple sleeves 313 is the first sleeve 3131, and the innermost sleeve 313 is the second sleeve 3132.

[0095] One of the first sleeve 3131 and the second sleeve 3132 is installed on the chassis 10, and the other is connected to the locking and unlocking platform 20. That is to say, among the multiple sleeves 313 of the telescopic rod 31, the outermost sleeve 313 can be fixedly installed on the mounting seat 33, and correspondingly, the innermost sleeve 313 is connected to the placement table 21 of the locking and unlocking platform 20, or the innermost sleeve 313 is fixedly installed on the mounting seat 33, and correspondingly, the outermost sleeve 313 is connected to the placement table 21 of the locking and unlocking platform 20, that is, the telescopic rod 31 can be an upright or inverted structure in the first direction X.

[0096] In this embodiment, the telescopic rod 31 is provided with a plurality of sleeves 313 which are sequentially sleeved from the inside to the outside, and one of the outermost first sleeve 3131 and the innermost second sleeve 3132 of the plurality of sleeves 313 is fixed on the chassis 10, and the other is connected to the locking and unlocking platform 20. On the one hand, the battery-exchanging robot 100 with this structure can drive the locking and unlocking platform 20 to rise or fall along the first direction X when the plurality of sleeves 313 of the telescopic rod 31 move relative to each other and extend or retract. The structure is simple and easy to assemble. On the other hand, after the plurality of sleeves 313 retract relative to each other, the space occupied by the telescopic rod 31 in the first direction X can be reduced, which is beneficial to reducing the interference between the battery-exchanging robot 100 and other equipment during the battery-exchanging process, and is convenient for storing and transporting the battery-exchanging robot 100.

[0097] In some embodiments, see Figure 2 and Figure 3 As shown, the first sleeve 3131 is mounted on the chassis 10, and the second sleeve 3132 is connected to the locking and unlocking platform 20. In other words, the outermost first sleeve 3131 of the multiple sleeves 313 of the telescopic rod 31 is fixedly mounted on the mounting base 33. Correspondingly, the innermost second sleeve 3132 of the multiple sleeves 313 of the telescopic rod 31 is connected to the placement platform 21 of the locking and unlocking platform 20. In other words, the telescopic rod 31 is upright in the first direction X.

[0098] It should be noted that, in an embodiment in which the telescopic rod 31 has a first end 311 and a second end 312 relative to each other in the first direction X, and the first end 311 is fixedly mounted on the chassis 10, and the second end 312 is connected to the placement table 21 of the locking and unlocking platform 20, the end of the outermost first sleeve 3131 among the multiple sleeves 313 of the telescopic rod 31 close to the chassis 10 in the first direction X is the first end 311, and the end of the innermost second sleeve 3132 among the multiple sleeves 313 of the telescopic rod 31 away from the chassis 10 in the first direction X is the second end 312.

[0099] In this embodiment, the outermost first sleeve 3131 among the multiple sleeves 313 of the telescopic rod 31 is fixedly installed on the chassis 10, and the innermost second sleeve 3132 among the multiple sleeves 313 of the telescopic rod 31 is connected to the locking and unlocking platform 20, so that the telescopic rod 31 has a larger structure at the end closer to the chassis 10 in the first direction X after being extended, so that the telescopic rod 31 has a larger structure at the top and bottom and smaller structure at the top in the first direction X after being extended. The battery-exchanging robot 100 adopting such a structure, on the one hand, facilitates the telescopic rod 31 to extend and retract along the first direction X, which is conducive to reducing the difficulty of the lifting mechanism 30 driving the locking and unlocking platform 20 to be lifted and lowered along the first direction X; on the other hand, it can increase the structural stability and structural strength of the telescopic rod 31 installed on the chassis 10, which is conducive to improving the stability and reliability of the lifting mechanism 30 driving the locking and unlocking platform 20 to be lifted and lowered along the first direction X.

[0100] According to some embodiments of the present application, see Figure 2 、 Figure 3 and Figure 5 As shown, along the first direction X, the end of the second sleeve 3132 away from the chassis 10 is connected to the connecting portion 314 , which protrudes from the outer circumference of the first sleeve 3131 and is connected to the locking and unlocking platform 20 .

[0101] Among them, along the first direction X, the end of the second sleeve 3132 away from the chassis 10 is connected to the connecting part 314, that is, the connecting part 314 is connected to the second end 312 of the second sleeve 3132. The connection structure between the connecting part 314 and the second sleeve 3132 can be various, such as welding connection, bolt connection or clamping, etc.

[0102] The connecting portion 314 protrudes from the outer peripheral surface of the first sleeve 3131, that is, in a plane perpendicular to the first direction X, at least part of the positive projection of the connecting portion 314 is located outside the positive projection of the first sleeve 3131, so that in the first direction X, the connecting portion 314 can abut against the end of the first sleeve 3131 away from the chassis 10.

[0103] It should be noted that, when the telescopic rod 31 and the placement table 21 of the locking and unlocking platform 20 are indirectly connected via the chain 40 , the chain 40 is a structure connecting the connection portion 314 of the telescopic rod 31 and the placement table 21 of the locking and unlocking platform 20 .

[0104] In this embodiment, a connecting portion 314 is provided at the end of the second sleeve 3132 away from the chassis 10, the connecting portion 314 is connected to the locking and unlocking platform 20, and the connecting portion 314 protrudes from the outer peripheral surface of the first sleeve 3131. On the one hand, the battery-exchanging robot 100 with such a structure can increase the size of the area of ​​the telescopic rod 31 used for assembly and connection with the locking and unlocking platform 20, which is conducive to reducing the assembly difficulty between the locking and unlocking platform 20 and the telescopic rod 31, and can improve the connection stability between the locking and unlocking platform 20 and the telescopic rod 31. On the other hand, the connecting portion 314 can play a certain limiting role on the second sleeve 3132. When the second sleeve 3132 retracts into the first sleeve 3131, the connecting portion 314 can abut against the end of the first sleeve 3131 away from the chassis 10, thereby helping to reduce the phenomenon of the second sleeve 3132 being stuck with each other after retracting into the first sleeve 3131.

[0105] According to some embodiments of the present application, see Figure 5 As shown, the sleeve 313 is cylindrical, and the axis of the sleeve 313 extends along the first direction X. In other words, the projection of the sleeve 313 in the first direction X is circular.

[0106] In this embodiment, by setting the sleeve 313 to a cylindrical structure, on the one hand, the processing difficulty of the sleeve 313 can be reduced, and the assembly and connection of multiple sleeves 313 can be facilitated; on the other hand, the guiding accuracy of the mutual movement between the multiple sleeves 313 can be improved, and the matching accuracy of the mutual arrangement between the multiple sleeves 313 can be improved, thereby reducing the radial deflection of the sleeve 313 during the extension and retraction of the telescopic rod 31.

[0107] According to some embodiments of the present application, referring to Figure 5 , and please refer to Figure 6 and Figure 7 , Figure 6 for Figure 5 The partial enlarged view of the telescopic rod 31 at B is shown. Figure 7 This is a cross-sectional view of a telescopic rod 31 of a lifting mechanism 30 provided in some embodiments of the present application. A wear-resistant sleeve 315 is disposed between each pair of adjacent sleeves 313. The adjacent sleeves 313 comprise an outer sleeve 3133 and an inner sleeve 3134. The outer sleeve 3133 is sleeved onto the outside of the wear-resistant sleeve 315, which in turn is sleeved onto the outside of the inner sleeve 3134. One of the outer sleeve 3133 and the inner sleeve 3134 is fixed to the wear-resistant sleeve 315, while the other slides along the first direction X.

[0108] Among them, a wear-resistant sleeve 315 is arranged between each two adjacent sleeves 313, and the two adjacent sleeves 313 are respectively an outer sleeve 3133 and an inner sleeve 3134. That is to say, among the multiple sleeves 313 arranged in sequence in the telescopic rod 31, a wear-resistant sleeve 315 is arranged between each two adjacent sleeves 313, and in each two adjacent sleeves 313, the sleeve 313 located on the outside is defined as the outer sleeve 3133, and the sleeve 313 located on the inside is defined as the inner sleeve 3134. Correspondingly, the wear-resistant sleeve 315 is arranged between the corresponding outer sleeve 3133 and the inner sleeve 3134.

[0109] For example, in Figure 5 and Figure 6 In the embodiment, the telescopic rod 31 includes three sleeves 313 that are sequentially sleeved. When the outermost sleeve 313 is located between the sleeve 313 located in the middle, the outermost sleeve 313 is the outer sleeve 3133, while the middle sleeve 313 is the inner sleeve 3134. When the middle sleeve 313 is located between the sleeve 313 located in the middle and the innermost sleeve 313, the middle sleeve 313 is the outer sleeve 3133, while the innermost sleeve 313 is the inner sleeve 3134. Of course, when the telescopic rod 31 includes four, five, or six sleeves 313 that are sequentially sleeved, the same applies. It should be noted that when the telescopic rod 31 includes only two sleeves 313, the outermost sleeve 313 is the outer sleeve 3133, and the innermost sleeve 313 is the inner sleeve 3134.

[0110] The outer sleeve 3133 is sleeved on the outside of the wear-resistant sleeve 315, and the wear-resistant sleeve 315 is sleeved on the outside of the inner sleeve 3134. That is to say, the wear-resistant sleeve 315 and the corresponding outer sleeve 3133 and inner sleeve 3134 are a structure that is sleeved in sequence, and the wear-resistant sleeve 315 is located between the corresponding outer sleeve 3133 and inner sleeve 3134.

[0111] One of the outer sleeve 3133 and the inner sleeve 3134 is fixed to the wear-resistant sleeve 315, and the other is slidably matched with the wear-resistant sleeve 315 along the first direction X. That is, the wear-resistant sleeve 315 can be fixedly installed with the corresponding outer sleeve 3133, and the corresponding inner sleeve 3134 is a structure that can slide relative to the wear-resistant sleeve 315 along the first direction X. Of course, the wear-resistant sleeve 315 can also be fixedly installed with the corresponding inner sleeve 3134, and the corresponding outer sleeve 3133 is a structure that can slide relative to the wear-resistant sleeve 315 along the first direction X.

[0112] For example, the wear-resistant sleeve 315 may be made of brass or high-strength brass, and the sleeve 313 may be made of steel or aluminum alloy.

[0113] In this embodiment, a wear-resistant sleeve 315 is arranged between each two adjacent sleeves 313, and the adjacent inner sleeves 3134 and outer sleeves 3133 and the wear-resistant sleeves 315 arranged between the adjacent inner sleeves 3134 and outer sleeves 3133 are a structure that is arranged in sequence to increase the wear-resistant effect between the adjacent inner sleeves 3134 and outer sleeves 3133, thereby alleviating the phenomenon of decreased assembly accuracy due to wear and scratches on the adjacent inner sleeves 3134 and outer sleeves 3133, which is beneficial to improving the service life and usage stability of the telescopic rod 31 of the lifting mechanism 30.

[0114] According to some embodiments of the present application, see Figure 6 and Figure 7 As shown, the outer sleeve 3133 is fixed to the wear-resistant sleeve 315, and the inner sleeve 3134 is slidably engaged with the wear-resistant sleeve 315 along the first direction X. In other words, the wear-resistant sleeve 315 is fixedly mounted to the corresponding outer sleeve 3133, while the corresponding inner sleeve 3134 is a structure capable of sliding relative to the wear-resistant sleeve 315 along the first direction X.

[0115] It should be noted that the structures for fixing the wear-resistant sleeve 315 and the corresponding outer sleeve 3133 can be various, such as threaded connection, bolt connection, welding connection or bonding.

[0116] Optionally, in the adjacent outer sleeve 3133 and inner sleeve 3134, a limiting portion may also be provided at one end of the inner sleeve 3134 close to the chassis 10 in the first direction X, and the limiting portion protrudes from the outer circumferential surface of the corresponding inner sleeve 3134. A gap is set between the limiting portion and the inner circumferential surface of the corresponding outer sleeve 3133, and the limiting portion is used to abut against one end of the corresponding wear-resistant sleeve 315 close to the chassis 10 in the first direction X to limit the inner sleeve 3134 from detaching from the adjacent outer sleeve 3133, that is, the projection of the limiting portion in the first direction X at least partially overlaps with the projection of the wear-resistant sleeve 315 in the first direction X.

[0117] Illustratively, the limiting portion is an annular structure extending along the circumference of the corresponding inner sleeve 3134. Of course, in other embodiments, the limiting portion may also be a plurality of block-shaped structures spaced apart along the circumference of the corresponding inner sleeve 3134. Similarly, in other embodiments, the limiting portion may also be a structure protruding from the outer circumferential surface of the corresponding inner sleeve 3134.

[0118] In this embodiment, by setting the wear-resistant sleeve 315 to a structure that is fixed to the outer sleeve 3133 and slides with the inner sleeve 3134 in the first direction X, it is helpful to reduce the difficulty of assembling the wear-resistant sleeve 315 between the adjacent outer sleeve 3133 and inner sleeve 3134, thereby improving the assembly efficiency of the telescopic rod 31.

[0119] In some embodiments, see Figure 6and Figure 7 As shown, the wear-resistant sleeve 315 is screwed to the inner side of the outer sleeve 3133. That is, the outer circumference of the wear-resistant sleeve 315 is provided with an external thread, and the inner circumference of the corresponding outer sleeve 3133 is provided with an internal thread, so that the wear-resistant sleeve 315 and the corresponding outer sleeve 3133 are in a threaded connection structure.

[0120] In this embodiment, a threaded connection structure is used to sleeve the outer sleeve 3133 on the outside of the wear-resistant sleeve 315 and fix them to each other. On the one hand, it can reduce the assembly difficulty between the outer sleeve 3133 and the wear-resistant sleeve 315, which is beneficial to improving the assembly efficiency of the telescopic rod 31. On the other hand, it is convenient for the disassembly and replacement of the wear-resistant sleeve 315 during subsequent use, which is beneficial to reducing the later maintenance difficulty and maintenance cost of the battery-swapping robot 100.

[0121] In some embodiments, see Figure 6 and Figure 7 As shown, the outer sleeve 3133 is provided with a first limiting hole 3133a, and the wear-resistant sleeve 315 is provided with a second limiting hole 3151. The first limiting hole 3133a and the second limiting hole 3151 both extend in the radial direction of the wear-resistant sleeve 315. A limiting member 316 is further provided between the outer sleeve 3133 and the wear-resistant sleeve 315. The limiting member 316 is inserted into the first limiting hole 3133a and the second limiting hole 3151 along the radial direction of the wear-resistant sleeve 315 to limit the circumferential rotation of the wear-resistant sleeve 315 relative to the outer sleeve 3133.

[0122] Among them, the first limiting hole 3133a and the second limiting hole 3151 both extend along the radial direction of the wear-resistant sleeve 315, that is, the extension direction of the central axis of the first limiting hole 3133a and the extension direction of the central axis of the second limiting block are both the radial direction of the wear-resistant sleeve 315, and the radial direction of the wear-resistant sleeve 315 is perpendicular to the first direction X. The radial direction of the wear-resistant sleeve 315 is: in a plane perpendicular to the first direction X, the central axis of the wear-resistant sleeve 315 points to the outer peripheral surface of the wear-resistant sleeve 315 or the outer peripheral surface of the wear-resistant sleeve 315 points to the direction of the central axis of the wear-resistant sleeve 315.

[0123] For example, in Figure 7 In the figure, the first limiting hole 3133a penetrates the inner and outer circumferences of the outer sleeve 3133 along the radial direction of the wear-resistant sleeve 315, and the second limiting hole 3151 penetrates the inner and outer circumferences of the wear-resistant sleeve 315 along the radial direction of the wear-resistant sleeve 315, and the first limiting hole 3133a and the second limiting hole 3151 are arranged correspondingly.

[0124] The limiting member 316 is inserted into the first limiting hole 3133a and the second limiting hole 3151 along the radial direction of the wear-resistant sleeve 315, that is, the limiting member 316 is a structure extending along the radial direction of the wear-resistant sleeve 315, part of the limiting member 316 is inserted into the first limiting hole 3133a, and part of the limiting member 316 is inserted into the second limiting hole 3151.

[0125] Exemplarily, the structure of the limiting member 316 can be various, such as a pin, a bolt, or a stud.

[0126] Optionally, in Figure 7 In the figure, the outer sleeve 3133 is provided with a plurality of first limiting holes 3133a, and the plurality of first limiting holes 3133a are arranged at intervals along the circumference of the wear-resistant sleeve 315. The wear-resistant sleeve 315 is provided with a plurality of second limiting holes 3151, and the second limiting holes 3151 are arranged one-to-one corresponding to the first limiting holes 3133a, and a plurality of limiting members 316 are also provided between the outer sleeve 3133 and the wear-resistant sleeve 315, and each limiting member 316 is inserted into a first limiting hole 3133a and a second limiting hole 3151.

[0127] In this embodiment, in the adjacent outer sleeve 3133 and inner sleeve 3134, the outer sleeve 3133 is provided with a first limiting hole 3133a extending along the radial direction of the wear-resistant sleeve 315, and the wear-resistant sleeve 315 is correspondingly provided with a second limiting hole 3151 extending along the radial direction of the wear-resistant sleeve 315. By inserting a limiting member 316 into the first limiting hole 3133a and the second limiting hole 3151, the limiting member 316 can play a limiting role on the wear-resistant sleeve 315 and the outer sleeve 3133, so as to limit the relative rotation of the wear-resistant sleeve 315 and the outer sleeve 3133, thereby further improving the assembly stability between the wear-resistant sleeve 315 and the outer sleeve 3133, and reducing the rotation of the wear-resistant sleeve 315 relative to the outer sleeve 3133 during the extension and retraction of the telescopic rod 31, so as to improve the stability of the lifting mechanism 30 driving the locking and unlocking platform 20 to lift and lower along the first direction X.

[0128] According to some embodiments of the present application, see Figure 5 、 Figure 6 and Figure 7 As shown, a limiting structure is provided between the inner sleeve 3134 and the wear-resistant sleeve 315 , and the limiting structure is configured to limit the circumferential rotation of the inner sleeve 3134 relative to the wear-resistant sleeve 315 .

[0129] The limiting structure serves to limit the circumferential rotation of the inner sleeve 3134 relative to the wear-resistant sleeve 315 , that is, the limiting structure can limit the wear-resistant sleeve 315 from rotating relative to the corresponding inner sleeve 3134 around an axis extending along the first direction X. It should be noted that the limiting structure can have various structures. For example, the limiting structure can be a limiting protrusion 3152 provided on the inner circumferential surface of the wear-resistant sleeve 315 and a groove provided on the outer circumferential surface of the corresponding inner sleeve 3134 , or a pin connected to the outer circumferential surface of the inner sleeve 3134 and a strip-shaped hole provided on the inner circumferential surface of the wear-resistant sleeve 315 .

[0130] In this embodiment, in the adjacent outer sleeve 3133 and inner sleeve 3134, a limiting structure is set between the inner sleeve 3134 and the wear-resistant sleeve 315, so that the limiting structure can limit the rotation of the inner sleeve 3134 relative to the wear-resistant sleeve 315 when the inner sleeve 3134 moves relative to the wear-resistant sleeve 315 along the first direction X, which is beneficial to improving the stability and reliability of the telescopic rod 31 for extension and retraction, thereby effectively improving the stability of the lifting mechanism 30 driving the locking and unlocking platform 20 to lift and lower along the first direction X.

[0131] According to some embodiments of the present application, see Figure 6 and Figure 7 As shown, the limiting structure may include a limiting protrusion 3152 and a limiting groove 3136, one of the limiting protrusion 3152 and the limiting groove 3136 is arranged on the inner circumferential surface of the wear-resistant sleeve 315, and the other is arranged on the outer circumferential surface of the inner sleeve 3134, the limiting groove 3136 extends along the first direction X, and the limiting protrusion 3152 is inserted into the limiting groove 3136.

[0132] For example, the limiting protrusion 3152 is provided on the inner circumferential surface of the wear-resistant sleeve 315 , and the limiting groove 3136 is provided on the outer circumferential surface of the corresponding inner sleeve 3134 , and the limiting groove 3136 is a strip-shaped groove structure extending along the first direction X. Of course, in other embodiments, the limiting groove 3136 may also be provided on the inner circumferential surface of the wear-resistant sleeve 315 , and correspondingly, the limiting protrusion 3152 is provided on the outer circumferential surface of the corresponding inner sleeve 3134 .

[0133] In this embodiment, the limiting structure is provided with a limiting protrusion 3152 and a limiting groove 3136. One of the limiting protrusion 3152 and the limiting groove 3136 is provided on the inner circumference of the wear-resistant sleeve 315, and the other is provided on the outer circumference of the inner sleeve 3134. The limiting protrusion 3152 is inserted into the limiting groove 3136, so that the inner sleeve 3134 is limited to rotate relative to the wear-resistant sleeve 315 through the mutual cooperation between the limiting groove 3136 and the limiting protrusion 3152. The structure is simple and easy to process and assemble. In addition, by setting the limiting groove 3136 as a structure extending along the first direction X, the limiting protrusion 3152 and the limiting groove 3136 cooperate with each other to limit the rotation of the inner sleeve 3134 relative to the wear-resistant sleeve 315, while also allowing the inner sleeve 3134 to slide relative to the wear-resistant sleeve 315 along the first direction X. When the inner sleeve 3134 slides relative to the wear-resistant sleeve 315 along the first direction X, the mutual cooperation between the limiting protrusion 3152 and the limiting groove 3136 can also play a certain guiding role for the inner sleeve 3134, thereby improving the stability of the inner sleeve 3134 sliding relative to the wear-resistant sleeve 315 along the first direction X.

[0134] In some embodiments, see Figure 6 and Figure 7 As shown, the limiting structure may include a plurality of limiting protrusions 3152 and a plurality of limiting grooves 3136 , the limiting protrusions 3152 and the limiting grooves 3136 correspond one to one, and the plurality of limiting grooves 3136 are arranged at intervals along the circumference of the wear-resistant sleeve 315 .

[0135] Among them, the limiting protrusions 3152 and the limiting grooves 3136 correspond one to one, that is, each limiting protrusion 3152 is inserted into a limiting groove 3136, so that multiple limiting protrusions 3152 and multiple limiting grooves 3136 are all arranged at intervals along the circumference of the wear-resistant sleeve 315.

[0136] In this embodiment, the limiting structure is provided with a plurality of limiting protrusions 3152 and a plurality of limiting grooves 3136. By setting the plurality of limiting grooves 3136 to be arranged at intervals along the circumference of the wear-resistant sleeve 315, and each limiting protrusion 3152 is inserted into a limiting groove 3136, the effect of the limiting structure in limiting the rotation of the inner sleeve 3134 relative to the wear-resistant sleeve 315 can be further enhanced, and the guiding effect of the inner sleeve 3134 can be enhanced, so as to further improve the stability of the inner sleeve 3134 sliding relative to the wear-resistant sleeve 315 along the first direction X.

[0137] According to some embodiments of the present application, see Figure 2 、 Figure 3 and Figure 4 As shown, the lifting mechanism 30 may further include a transmission assembly 34 , and the driving member 32 and the telescopic rod 31 are connected to each other through the transmission assembly 34 .

[0138] The driving member 32 is connected to the telescopic rod 31 via the transmission assembly 34 , that is, the driving member 32 transmits the driving force to the telescopic rod 31 via the transmission assembly 34 to drive the telescopic rod 31 to extend and retract along the first direction X.

[0139] For example, the transmission assembly 34 may have various structures, such as a rack and pinion structure, a worm gear structure, or a screw and lead screw sleeve structure.

[0140] It should be noted that, in other embodiments, the driving member 32 may also be a structure directly connected to the telescopic rod 31 , for example, the driving member 32 is a cylinder or an electric push rod.

[0141] In this embodiment, the lifting mechanism 30 is also provided with a transmission assembly 34, and the driving member 32 is a structure that is connected to the telescopic rod 31 through the transmission assembly 34. The lifting mechanism 30 with such a structure can, on the one hand, realize that the assembly position of the driving member 32 and the telescopic rod 31 will not be subject to assembly restrictions, which is conducive to optimizing the structure of the lifting mechanism 30 according to actual conditions. On the other hand, the driving force delivered by the driving member 32 to the telescopic rod 31 can be adjusted through the transmission assembly 34 to adapt to different usage scenarios, thereby helping to improve the scope of use of the battery-exchanging robot 100.

[0142] In some embodiments, see Figure 3 and Figure 4 As shown, the driving member 32 has an output shaft 321 , and the transmission assembly 34 includes a sprocket 341 and a rigid chain 342 . The sprocket 341 is engaged with the rigid chain 342 . The sprocket 341 is connected to the output shaft 321 , and the rigid chain 342 is connected to the telescopic rod 31 .

[0143] The sprocket 341 is sleeved on the output shaft 321 of the driving member 32 and is fixedly connected to the output shaft 321, so that the driving member 32 can drive the sprocket 341 to rotate, thereby driving the rigid chain 342 that is meshed with the sprocket 341 to move. The specific structure of the rigid chain 342 can be found in the relevant art and will not be described in detail here.

[0144] In an embodiment in which the telescopic rod 31 includes a plurality of sleeves 313 that are sequentially sleeved, one end of the rigid chain 342 is connected to a sleeve 313 among the plurality of sleeves 313 that is interconnected with the locking and unlocking platform 20, so that the driving member 32 can drive the rigid chain 342 to climb or descend along the first direction X through the sprocket 341, thereby driving the telescopic rod 31 to extend and retract along the first direction X, thereby driving the locking and unlocking platform 20 to rise and fall in the first direction X.

[0145] In this embodiment, the transmission assembly 34 is provided with a sprocket 341 and a rigid chain 342. The sprocket 341 is provided on the output shaft 321 of the driving member 32, and the sprocket 341 is engaged with the rigid chain 342, so that after the driving member 32 drives the sprocket 341 to rotate, it can drive the rigid chain 342 to climb or descend along the first direction X, thereby driving the telescopic rod 31 connected to the rigid chain 342 to extend and retract along the first direction X, thereby realizing that the lifting mechanism 30 drives the locking and unlocking platform 20 to rise and fall along the first direction X. The transmission assembly 34 with such a structure can improve the load capacity of the lifting mechanism 30 on the one hand, and has better transmission stability. On the other hand, it can realize the conversion of the driving force for the lifting and lowering of the rigid chain 342 to the telescopic part, so that the telescopic part can guide and limit the climbing or descending of the rigid chain 342, which is beneficial to alleviate the radial deformation of the rigid chain 342, thereby improving the stability and reliability of the rigid chain 342 in the process of climbing or descending in the first direction X, and then in the process of the battery swap robot 100 installing and disassembling the battery, it can improve the stability and reliability of the unlocking platform 20 of the battery swap robot 100 in lifting and lowering along the first direction X, thereby improving the use stability and battery swap accuracy of the battery swap robot 100.

[0146] According to some embodiments of this application, please continue to refer to Figure 3 and Figure 4 As shown, the telescopic rod 31 has a first end 311 and a second end 312 opposite each other in the first direction X. The first end 311 is mounted on the chassis 10, and the second end 312 is connected to the locking and unlocking platform 20. One end of the rigid chain 342 extends from the first end 311 into the interior of the telescopic rod 31 and is connected to the telescopic rod 31.

[0147] Among them, one end of the rigid chain 342 extends from the first end 311 into the interior of the telescopic rod 31 and is connected to the telescopic rod 31. That is, the end of the rigid chain 342 used to be connected to the telescopic rod 31 is a structure that is passed through the multiple sleeves 313 of the telescopic rod 31, so that the rigid chain 342 is a structure that realizes internal routing within the multiple sleeves 313 of the telescopic rod 31.

[0148] Exemplarily, the rigid chain 342 is connected to an end of the second sleeve 3132 in the first direction X close to the chassis 10 .

[0149] In this embodiment, one end of the rigid chain 342 is extended from the first end 311 of the telescopic rod 31 installed on the chassis 10 into the telescopic rod 31 and is connected to the telescopic rod 31. This allows the rigid chain 342 to drive the telescopic rod 31 to extend and retract along the first direction X while being arranged to run inside the telescopic rod 31. This can, on the one hand, optimize the space occupied by the lifting mechanism 30 and provide a certain degree of protection for the rigid chain 342, thereby improving the damage-proof and dust-proof effects of the rigid chain 342. On the other hand, it can further improve the guiding and limiting effects of the telescopic rod 31 on the rigid chain 342, thereby further alleviating the radial deformation of the rigid chain 342, thereby further improving the stability and reliability of the rigid chain 342 during the process of climbing or descending in the first direction X.

[0150] According to some embodiments of the present application, see Figure 3 and Figure 4 As shown, the extending direction of the axis of the output shaft 321 intersects with the first direction X.

[0151] The angle at which the extending direction of the axis of the output shaft 321 intersects the first direction X may be an acute angle, a right angle, an obtuse angle, or the like.

[0152] In this embodiment, by setting the extension direction of the axis of the output shaft 321 of the driving member 32 to a structure that intersects with the telescopic direction of the telescopic rod 31, the space occupied by the driving member 32 and the telescopic rod 31 in the first direction X is saved, which is beneficial to optimizing the space occupied by the lifting mechanism 30, and when the telescopic rod 31 is retracted, the space occupied by the lifting mechanism 30 in the first direction X can be reduced, which is beneficial to reducing the interference between the battery-exchanging robot 100 and other equipment during the battery-exchanging process.

[0153] In some embodiments, Figure 3 and Figure 4 , the extending direction of the axis of the output shaft 321 is perpendicular to the first direction X. That is, the angle at which the extending direction of the axis of the output shaft 321 intersects the first direction X is at a right angle, that is, the extending direction of the axis of the output shaft 321 of the driving member 32 is located in a plane perpendicular to the first direction X.

[0154] In this embodiment, by setting the extension direction of the axis of the output shaft 321 of the driving member 32 to a structure that is perpendicular to the extension direction of the telescopic rod 31, the space occupied by the driving member 32 and the telescopic rod 31 in the first direction X can be further saved, which is conducive to further optimizing the space occupied by the lifting mechanism 30, and when the telescopic rod 31 is retracted, the space occupied by the lifting mechanism 30 in the first direction X can be further reduced, which is conducive to further reducing the interference between the battery-exchanging robot 100 and other equipment during the battery-exchanging process.

[0155] According to some embodiments of the present application, see Figure 2 and Figure 3 As shown, the lifting mechanism 30 may further include a chain box 35 , and the chain box 35 is used to accommodate the rigid chain 342 .

[0156] Among them, the chain box 35 serves to store the rigid chain 342. When the driving member 32 drives the telescopic rod 31 to extend, the driving member 32 can drive the rigid chain 342 to climb along the first direction X through the sprocket 341, so that the rigid chain 342 can be pushed out of the chain box 35. Conversely, when the driving member 32 drives the telescopic rod 31 to shorten, the driving member 32 can drive the rigid chain 342 to descend along the first direction X through the sprocket 341, so that the rigid chain 342 can be recovered into the chain box 35.

[0157] For example, the chain box 35 is mounted on the mounting seat 33 of the lifting mechanism 30 . The connection structure between the chain box 35 and the mounting seat 33 can be various, such as bolt connection, welding connection or clamping connection.

[0158] In this embodiment, the lifting mechanism 30 is further provided with a chain box 35, which can accommodate the excess part of the rigid chain 342, thereby providing a certain degree of protection for the rigid chain 342 and helping to improve the damage-proof and dust-proof effects of the rigid chain 342.

[0159] According to some embodiments of the present application, see Figure 2 、 Figure 3 and Figure 4 As shown, the telescopic rod 31 has a connecting portion 314 connected to the locking and unlocking platform 20. Along the first direction X, the connecting portion 314 has a first position and a second position. The length of the telescopic rod 31 when the connecting portion 314 is in the first position is greater than the length of the telescopic rod 31 when the connecting portion 314 is in the second position. The lifting mechanism 30 also includes a detection member 36 for detecting the position of the rigid chain 342. The driving member 32 is configured to respond to the detection member 36 and stop when the connecting portion 314 is in the first position or the second position.

[0160] The first position and the second position of the connecting portion 314 correspond to the extended state when the telescopic rod 31 drives the locking and unlocking platform 20 to rise to the highest position and the retracted state when the telescopic rod 31 drives the locking and unlocking platform 20 to descend to the lowest position, respectively.

[0161] The length of the telescopic rod 31 when the connecting portion 314 is in the first position is greater than the length of the telescopic rod 31 when the connecting portion 314 is in the second position. That is, the connecting portion 314 in the first position is farther away from the chassis 10 in the first direction X than the connecting portion 314 in the second position. In other words, along the first direction X, the height of the connecting portion 314 in the first position is higher than the height of the connecting portion 314 in the second position.

[0162] The detection member 36 is used to detect the position of the rigid chain 342, that is, the detection member 36 can detect the position of the rigid chain 342 climbing or descending in the first direction X, or the detection member 36 can detect the position of the rigid chain 342 being pushed out or recovered from the chain box 35, so as to indirectly obtain the first position and the second position of the connecting portion 314. Exemplarily, the detection member 36 is two pairs of photoelectric sensors provided on the chain box 35, namely a pair of low-position photoelectric sensors 361 and a pair of high-position photoelectric sensors 362. The pair of low-position photoelectric sensors 361 and the pair of high-position photoelectric sensors 362 are both provided on the chain box 35. When the rigid chain 342 descends to the lowest position, the rigid chain 342 will shrink and be wound in the chain box 35 under the action of the sprocket 341. At this time, the pair of low-position photoelectric sensors 361 can detect the signal of the rigid chain 342 away from the other end connected to one end of the telescopic rod 31, and the pair of high-position photoelectric sensors 362 can detect the middle section of the rigid chain 342. The pair of low-position photoelectric sensors 361 and the pair of high-position photoelectric sensors 362 both receive signals, thereby determining that the rigid chain 342 has descended to its lowest position. Conversely, when the rigid chain 342 climbs to its highest position, the rigid chain 342 will exit the chain box 35 under the action of the sprocket 341. During the process of the rigid chain 342 exiting the chain box 35, the pair of low-position photoelectric sensors 361 will lose signals first, and then the pair of high-position photoelectric sensors 362 will also lose signals. Therefore, when neither the pair of low-position photoelectric sensors 361 nor the pair of high-position photoelectric sensors 362 receive signals, it can be determined that the rigid chain 342 has climbed to its highest position. Of course, in other embodiments, the detection member 36 can also be two proximity switches provided on the chain box 35, etc. Similarly, the detection member 36 can also be a pull-wire encoder connected to the rigid chain 342, etc.

[0163] The driving member 32 is configured to respond to the detection member 36 and stop moving when the connecting portion 314 is located at the first position and the second position. That is, after the detection member 36 indirectly obtains the first position and the second position of the connecting portion 314 by detecting the position of the rigid chain 342, the driving member 32 can stop moving.

[0164] In this embodiment, the lifting mechanism 30 is also provided with a detection member 36, which can detect the position of the rigid chain 342 through the detection member 36 to obtain information that the connecting portion 314 of the telescopic rod 31 is located at the first position and the second position, and the driving member 32 can stop the action in response to the detection result of the detection member 36. The lifting mechanism 30 with such a structure can, on the one hand, improve the accuracy of the lifting mechanism 30 driving the locking and unlocking platform 20 to lift and lower along the first direction X, so as to improve the battery swap accuracy of the battery swap robot 100. On the other hand, it can alleviate the phenomenon that the driving member 32 drives the telescopic rod 31 to extend or shorten to the extreme position, which is conducive to protecting the extreme position of the telescopic rod 31, thereby reducing the risk of damage to the telescopic rod 31 and the driving member 32.

[0165] According to some embodiments of the present application, the driving member 32 is a servo motor with an absolute encoder. The specific structure of the driving member 32 can be found in related art and will not be described in detail here.

[0166] In this embodiment, a servo motor with an absolute encoder is used to drive the telescopic rod 31 to extend and retract, thereby driving the locking and unlocking platform 20 to move up and down along the first direction X. The lifting mechanism 30 with this structure can accurately control the extension or contraction of the telescopic rod 31, thereby improving the accuracy of controlling the lifting and lowering of the locking and unlocking platform 20 along the first direction X.

[0167] According to some embodiments of the present application, referring to Figure 1 、 Figure 2 and Figure 5 , and please refer to Figure 8 , Figure 8 for Figure 1 A partial enlarged view of a portion C of the battery-swapping robot is shown. The telescopic rod 31 has a connecting portion 314. The battery-swapping robot 100 may also include a chain 40, through which the connecting portion 314 is connected to the locking and unlocking platform 20. Along the first direction X, the connection between the chain 40 and the connecting portion 314 is higher than the connection between the chain 40 and the locking and unlocking platform 20.

[0168] Among them, the connecting part 314 is connected to the locking and unlocking platform 20 through the chain 40, that is, the connecting part 314 of the telescopic rod 31 is a structure indirectly connected to the placement table 21 of the locking and unlocking platform 20 through the chain 40. Of course, in other embodiments, the connecting part 314 of the telescopic rod 31 can also be directly connected to the placement table 21 of the locking and unlocking platform 20.

[0169] Along the first direction X, the connection position of the chain 40 and the connecting portion 314 is higher than the connection position of the chain 40 and the locking and unlocking platform 20, that is, the connection position of the chain 40 and the connecting portion 314 is farther away from the chassis 10 than the connection position of the chain 40 and the locking and unlocking platform 20 in the first direction X. In other words, the locking and unlocking platform 20 is a structure hoisted on the connecting portion 314 of the telescopic rod 31 by the chain 40.

[0170] In this embodiment, the connecting portion 314 of the telescopic rod 31 is a structure that is interconnected with the locking and unlocking platform 20 through a chain 40, and the connection position of the chain 40 and the connecting portion 314 is higher than the connection position of the chain 40 and the locking and unlocking platform 20 in the first direction X, so that the locking and unlocking platform 20 is a structure hoisted on the connecting portion 314 of the telescopic rod 31 through the chain 40. The battery-exchanging robot 100 adopting this structure can realize that the locking and unlocking platform 20 has a certain floating space. On the one hand, it can absorb the deviation of the locking and unlocking platform 20 during the installation or removal of the battery. On the other hand, it can adjust the height or angle of the locking and unlocking platform 20 according to actual operation requirements to adapt to different usage scenarios, which is conducive to improving the scope of use of the battery-exchanging robot 100.

[0171] According to some embodiments of the present application, see Figure 1 As shown, each locking and unlocking platform 20 is correspondingly provided with a plurality of lifting mechanisms 30 , and the plurality of lifting mechanisms 30 are arranged around the locking and unlocking platform 20 .

[0172] Among them, each locking and unlocking platform 20 is correspondingly provided with multiple lifting mechanisms 30, that is, each locking and unlocking platform 20 is a structure connected to the telescopic rods 31 of multiple lifting mechanisms 30, so that multiple lifting mechanisms 30 can simultaneously provide the locking and unlocking platform 20 with driving force for lifting and lowering along the first direction X.

[0173] The plurality of lifting mechanisms 30 are disposed around the locking and unlocking platform 20 , that is, the plurality of lifting mechanisms 30 are arranged at intervals along the circumference of the locking and unlocking platform 20 , and the plurality of lifting mechanisms 30 surround the outer side of the locking and unlocking platform 20 .

[0174] For example, in Figure 1 In the embodiment, each locking and unlocking platform 20 of the battery-swapping robot 100 is provided with four lifting mechanisms 30, and the placement platform 21 of the locking and unlocking platform 20 is a rectangular parallelepiped structure. Correspondingly, the four lifting mechanisms 30 are respectively located at the four corners of the placement platform 21. Of course, in other embodiments, the number of lifting mechanisms 30 provided for each locking and unlocking platform 20 of the battery-swapping robot 100 can also be two, three, five, or six.

[0175] In this embodiment, by setting multiple lifting mechanisms 30 corresponding to each locking and unlocking platform 20, the locking and unlocking platform 20 is a structure that is interconnected with multiple lifting mechanisms 30, and multiple lifting mechanisms 30 are arranged around the locking and unlocking platform 20, thereby further improving the load capacity of the battery swapping robot 100, and further improving the stability and reliability of the locking and unlocking platform 20 when lifting and lowering along the first direction X.

[0176] According to some embodiments of this application, please continue to refer to Figure 1 As shown, the battery-swapping robot 100 may include a plurality of locking and unlocking platforms 20 , which are arranged at intervals along the second direction Y, and each locking and unlocking platform 20 is connected to at least one lifting mechanism 30 , and the second direction Y is perpendicular to the first direction X.

[0177] Exemplarily, the battery-swapping robot 100 is provided with three locking and unlocking platforms 20, and the three locking and unlocking platforms 20 are arranged at intervals along the second direction Y, wherein the placement platform 21 of the locking and unlocking platform 20 is a rectangular structure, the height direction of the placement platform 21 is the first direction X, the width direction of the placement platform 21 is the second direction Y, and the length direction of the placement platform 21 is the third direction Z, and the first direction X, the second direction Y and the third direction Z are perpendicular to each other.

[0178] Of course, in other embodiments, the plurality of locking and unlocking platforms 20 may also be arranged at intervals along the third direction Z. Similarly, the number of the locking and unlocking platforms 20 may also be two, four, five, or six.

[0179] In this embodiment, the battery-swapping robot 100 is provided with a plurality of locking and unlocking platforms 20, which are structures arranged at intervals along the second direction Y, and each locking and unlocking platform 20 is connected to at least one lifting mechanism 30, so that the plurality of locking and unlocking platforms 20 are structures that operate independently of each other. The battery-swapping robot 100 adopting this structure can load multiple batteries at the same time to realize the installation and disassembly of multiple batteries, which is beneficial to improving the battery-swapping efficiency of the battery-swapping robot 100.

[0180] According to some embodiments of the present application, the present application also provides a battery swap station, which includes a battery swap robot 100 according to any of the above solutions.

[0181] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0182] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A battery-swapping robot, characterized in that: include: chassis; A locking and unlocking platform for placing batteries, and the locking and unlocking platform is also used to remove batteries from electrical devices or install batteries on electrical devices; as well as The lifting mechanism includes a telescopic rod and a driving member. The telescopic rod is telescopically mounted on the chassis along a first direction. The telescopic rod is connected to the locking and unlocking platform. The driving member is in transmission connection with the telescopic rod. The driving member is configured to drive the telescopic rod to extend and retract along the first direction, thereby driving the locking and unlocking platform to rise and fall relative to the chassis along the first direction.

2. The battery-swapping robot according to claim 1, characterized in that: The telescopic rod includes a plurality of sleeves sequentially sleeved from the inside to the outside, and one of two adjacent sleeves can move relative to the other sleeve along the first direction; The plurality of sleeves include a first sleeve located at the outermost side and a second sleeve located at the innermost side, one of the first sleeve and the second sleeve is mounted on the chassis, and the other is connected to the locking and unlocking platform.

3. The battery-swapping robot according to claim 2, characterized in that: The first sleeve is installed on the chassis, and the second sleeve is connected to the locking and unlocking platform.

4. The battery-swapping robot according to claim 3, characterized in that: Along the first direction, one end of the second sleeve away from the chassis is connected to a connecting portion, the connecting portion protrudes from the outer circumference of the first sleeve, and the connecting portion is connected to the locking and unlocking platform.

5. The battery-swapping robot according to claim 2, characterized in that: The sleeve is cylindrical, and the axis of the sleeve extends along the first direction.

6. The battery-swapping robot according to claim 2, characterized in that: A wear-resistant sleeve is provided between each two adjacent sleeves, and the two adjacent sleeves are respectively an outer sleeve and an inner sleeve, the outer sleeve is sleeved on the outside of the wear-resistant sleeve, and the wear-resistant sleeve is sleeved on the outside of the inner sleeve; Wherein, one of the outer sleeve and the inner sleeve is fixed to the wear-resistant sleeve, and the other is slidably matched with the wear-resistant sleeve along the first direction.

7. The battery-swapping robot according to claim 6, characterized in that: The outer sleeve is fixed to the wear-resistant sleeve, and the inner sleeve is slidably matched with the wear-resistant sleeve along the first direction.

8. The battery-swapping robot according to claim 7, characterized in that: The wear-resistant sleeve is screwed onto the inner side of the outer sleeve.

9. The battery-swapping robot according to claim 8, characterized in that: The outer sleeve is provided with a first limiting hole, and the wear-resistant sleeve is provided with a second limiting hole, and both the first limiting hole and the second limiting hole extend along the radial direction of the wear-resistant sleeve; A limiting member is further provided between the outer sleeve and the wear-resistant sleeve. The limiting member is inserted into the first limiting hole and the second limiting hole along the radial direction of the wear-resistant sleeve to limit the circumferential rotation of the wear-resistant sleeve relative to the outer sleeve.

10. The battery-swapping robot according to claim 7, characterized in that: A limiting structure is provided between the inner sleeve and the wear-resistant sleeve, and the limiting structure is configured to limit the circumferential rotation of the inner sleeve relative to the wear-resistant sleeve.

11. The battery-swapping robot according to claim 10, characterized in that: The limiting structure includes a limiting protrusion and a limiting groove, one of the limiting protrusion and the limiting groove is arranged on the inner circumference of the wear-resistant sleeve, and the other is arranged on the outer circumference of the inner sleeve, the limiting groove extends along the first direction, and the limiting protrusion is inserted into the limiting groove.

12. The battery-swapping robot according to claim 11, characterized in that: The limiting structure includes a plurality of limiting protrusions and a plurality of limiting grooves, the limiting protrusions correspond to the limiting grooves one by one, and the plurality of limiting grooves are arranged at intervals along the circumference of the wear-resistant sleeve.

13. The battery-swapping robot according to any one of claims 1 to 12, characterized in that: The lifting mechanism further includes a transmission assembly, and the driving member is connected to the telescopic rod through the transmission assembly.

14. The battery-swapping robot according to claim 13, characterized in that: The driving member has an output shaft, and the transmission assembly includes a sprocket and a rigid chain. The sprocket is engaged with the rigid chain. The sprocket is connected to the output shaft, and the rigid chain is connected to the telescopic rod.

15. The battery-swapping robot according to claim 14, characterized in that: The telescopic rod has a first end and a second end opposite to each other in the first direction, the first end is mounted on the chassis, and the second end is connected to the locking and unlocking platform; One end of the rigid chain extends from the first end into the interior of the telescopic rod and is connected to the telescopic rod.

16. The battery-swapping robot according to claim 14, characterized in that: An extending direction of the axis of the output shaft intersects with the first direction.

17. The battery-swapping robot according to claim 16, characterized in that: An extending direction of the axis of the output shaft is perpendicular to the first direction.

18. The battery-swapping robot according to claim 14, characterized in that: The lifting mechanism further comprises: The chain box is used to accommodate the rigid chain.

19. The battery-swapping robot according to claim 14, characterized in that: The telescopic rod has a connecting portion connected to the locking and unlocking platform. Along the first direction, the connecting portion has a first position and a second position. The length of the telescopic rod when the connecting portion is in the first position is greater than the length of the telescopic rod when the connecting portion is in the second position. The lifting mechanism further includes a detection member for detecting the position of the rigid chain, and the driving member is configured to respond to the detection member and stop moving when the connecting portion is located at the first position and the second position.

20. The battery-swapping robot according to claim 1, characterized in that: The driving component is a servo motor with an absolute encoder.

21. The battery-swapping robot according to claim 1, characterized in that: The telescopic rod has a connecting portion, and the battery-swapping robot further includes a chain, and the connecting portion is connected to the locking and unlocking platform via the chain; Wherein, along the first direction, a connection position between the chain and the connection portion is higher than a connection position between the chain and the locking and unlocking platform.

22. The battery-swapping robot according to claim 1, characterized in that: Each locking and unlocking platform is correspondingly provided with a plurality of lifting mechanisms, and the plurality of lifting mechanisms are arranged around the locking and unlocking platform.

23. The battery-swapping robot according to claim 1, characterized in that: The battery-exchanging robot includes a plurality of the locking and unlocking platforms, which are arranged at intervals along the second direction. Each of the locking and unlocking platforms is connected to at least one of the lifting mechanisms, and the second direction is perpendicular to the first direction.

24. A battery swap station, characterized in that: Including a battery-exchanging robot as described in any one of claims 1-23.

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