Rotary hook grabbing device and battery swap station

Abstract

The embodiment of the application provides a rotary hook grabbing device and a battery swap station, relates to the technical field of the battery swap station, and comprises a main body frame, a hook, a sliding piece, a first connecting rod and a push-pull motor, the hook is rotatably arranged on the main body frame through a hook rotating shaft; the sliding piece is slidably arranged on the main body frame through a sliding rail; the first connecting rod is rotatably connected with the hook through a first rotating shaft and rotatably connected with the sliding piece through a second rotating shaft; the output end of the push-pull motor is connected with the sliding piece; wherein the axes of the hook rotating shaft, the first rotating shaft and the second rotating shaft are parallel to each other, the direction of the common perpendicular line between the first rotating shaft and the hook rotating shaft is a first direction, and the direction of the common perpendicular line between the first rotating shaft and the second rotating shaft is a second direction; when the hook rotates to a grabbing posture, the first direction is perpendicular to the second direction, and the second direction is perpendicular to the extension direction of the sliding rail. The application improves the stability of the grabbing operation, reduces the damage of the push-pull motor and reduces the maintenance cost.

Description

Technical Field

[0001] This application relates to the field of battery swapping station technology, and more specifically, to a rotary hook gripping device and a battery swapping station. Background Technology

[0002] With the continuous development of new energy technologies, the demand for battery swapping stations is also increasing. Battery swapping stations are used for centralized storage, charging, and distribution of large quantities of batteries. They also provide battery swapping services for electric vehicles through grabbing devices within the battery distribution stations, allowing electric vehicles to meet their range requirements directly by swapping batteries instead of charging.

[0003] Some existing gripping devices use a rotating hook to grip the battery, such as... Figure 1 , Figure 2 As shown, the hook is rotated directly by a push-pull motor, which moves the hook into the slot of the battery box, thereby enabling the gripping device to lift the battery away from the vehicle base or charging compartment.

[0004] However, after the gripping device picks up the battery box with the hook, the inertial force generated by the gripping device accelerating and decelerating the battery box during operation, as well as the impact force generated by the collision between the battery box and the vehicle base or charging compartment guide mechanism, will directly transmit the component force that enables the hook to rotate to the push-pull motor when the force is large. When the force is large, it can easily cause damage to the push-pull motor. Utility Model Content

[0005] This application provides a rotary hook gripping device and a battery swapping station, aiming to solve the technical problem that existing rotary hook gripping devices are prone to damage to the push-pull motor under the action of external force applied by the battery box.

[0006] The first aspect of this application provides a rotary hook gripping device, comprising:

[0007] Main framework;

[0008] A hook, which is rotatably mounted on the main frame via a hook pivot.

[0009] A sliding member, which is slidably mounted on the main frame via a slide rail;

[0010] The first link has a first end rotatably connected to the hook via a first pivot, and a second end rotatably connected to the sliding member via a second pivot.

[0011] A push-pull motor, the output end of which is connected to the sliding member, is used to drive the sliding member to slide back and forth, so that the hook rotates from the swinging posture to the grasping posture;

[0012] Wherein, the axes of the hook shaft, the first shaft, and the second shaft are parallel to each other, the direction of the common perpendicular between the first shaft and the hook shaft is the first direction, and the direction of the common perpendicular between the first shaft and the second shaft is the second direction;

[0013] When the hook rotates to the gripping posture, the first direction is perpendicular to the second direction, and the second direction is perpendicular to the extension direction of the slide rail.

[0014] Optionally, the slider includes a slider and a second connecting rod. The slider is slidably connected to the slide rail, and the slider is fixedly connected to the second connecting rod. At least one end of the second connecting rod is rotatably connected to the second end of the first connecting rod through the second rotating shaft.

[0015] The length direction of the second link is perpendicular to the extension direction of the slide rail.

[0016] Optionally, the two ends of the second link are rotatably connected to the first link via the second pivot, and each of the first links is rotatably connected to a hook.

[0017] Optionally, the slider is fixedly connected to the center point of the second connecting rod, and the first connecting rod and the hook, which are respectively connected to both ends of the second connecting rod, are arranged symmetrically about the center point of the second connecting rod.

[0018] Optionally, the sum of the distance between the hook pivot and the first pivot and the distance between the first pivot and the second pivot is less than the distance between the second pivot and the center point of the second connecting rod.

[0019] Optionally, the output end of the push-pull motor is connected to the second link;

[0020] The output direction of the push-pull motor is parallel to the extension direction of the slide rail.

[0021] Optionally, the output end of the push-pull motor and the second connecting rod are elastically or movably connected.

[0022] Optionally, the output end of the push-pull motor is connected to the second connecting rod by a pin and a pin hole. The pin hole is an elongated hole, and the pin passes through the pin hole and can slide within the pin hole along the extension direction of the slide rail.

[0023] Optionally, the distance from the output connection point of the push-pull motor to the center point of the second link is less than 1 / 4 of the distance from the second shaft to the center point of the second link.

[0024] A second aspect of this application provides a battery swapping station, characterized in that it includes a rotary hook gripping device as described in any of the above embodiments.

[0025] The rotary hook gripping device and battery swapping station provided in this application have the following advantages:

[0026] In the embodiments of this application, by specifically restricting the extension directions of the hook, the first connecting rod, the hook pivot, the first pivot, the second pivot, and the slide rail in the grabbing posture, the force transmitted from the hook to the first pivot of the first connecting rod and the force transmitted from the first connecting rod to the sliding member when the hook is subjected to an external force impact are in the same direction and both perpendicular to the sliding direction of the sliding member. At this time, since the force on the sliding member is perpendicular to the sliding direction of the sliding member, the sliding member will not slide under the action of external force. At this time, the rotational component force is borne by the rigidity of the sliding block, the slide rail, and the main frame itself, and does not need to be borne by the push-pull motor. This reduces or even avoids damage to the push-pull motor under the action of external force and reduces the maintenance cost of the push-pull motor.

[0027] Furthermore, when the hook is in the gripping posture, the hook, the first link, and the sliding component are in a nearly locked state, making it difficult for the hook, the first link, and the sliding component to move under the external force exerted by the battery box, thus ensuring the stability of the hook's gripping operation on the battery box.

[0028] In summary, this application enables the gripping device to withstand greater impacts during battery replacement, improves the stability of the gripping operation, reduces damage to the push-pull motor, and consequently reduces maintenance costs. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of an existing gripping device that uses a rotating hook.

[0031] Figure 2 This is a schematic diagram of the driving method of an existing gripping device that uses a rotating shaft hook;

[0032] Figure 3 This is a schematic diagram of the cooperation between the gripping device and the telescopic fork according to an embodiment of this application;

[0033] Figure 4 yes Figure 3 Schematic diagram at point A;

[0034] Figure 5 This is a top-view schematic diagram of a gripping device according to an embodiment of this application;

[0035] Figure 6 This is a schematic diagram of the driving method of the gripping device hook in the gripping posture according to an embodiment of this application;

[0036] Figure 7 yes Figure 6 Schematic diagram at point B;

[0037] Figure 8 This is a schematic diagram of the driving method of the gripping device hook in a rotating posture according to an embodiment of this application.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1-Main frame, 2-Hook, 21-Crank, 22-Hook shaft, 3-Push-pull motor, 4-First connecting rod, 41-First shaft, 42-Second shaft, 51-Slider, 52-Slide rail, 53-Second connecting rod, 6-Battery box, 7-Telescopic forks. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0042] In the description of this application, it should be understood that the terms "length", "upper", "lower", "inner", "outer", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0043] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0044] The positional relationships such as "parallel" and "perpendicular" mentioned in this application should be understood to include minor deviations that are generally acceptable to those skilled in the art during manufacturing and assembly, such as angular deviations within ±5 degrees, or positional deviations within the relevant dimensional tolerances. Such minor deviations do not affect the realization and expected effects of the technical solution of this utility model.

[0045] In existing technologies, such as Figure 1 and Figure 2 As shown, a gripping device using a rotating hook 2 to grasp a battery is disclosed. The gripping device includes a main frame 1, a hook 2, and a push-pull motor 3. The hook 2 is rotatably mounted on the main frame 1 (two hooks 2 on the same side rotate synchronously via a transmission rod). The main body of the push-pull motor 3 is rotatably connected to the main frame 1, and its output end is rotatably connected to the outside of the hook 2. The extension and retraction of the output end of the push-pull motor 3 drives the connected hook 2 to rotate, thereby realizing the hook 2's extension and retraction. When the hook 2 rotates from a retracted position to an extended position, it can rotate into the slot of the battery box 6, thus grasping the battery box 6.

[0046] At this time, when the hook 2 is impacted by an external force, part of the external force is directed toward the hook 2 and will be borne by the rigidity of the hook 2 and the main frame 1 itself. Another part of the force is tangential to the rotation circumference of the hook 2, causing the hook 2 to rotate. At this time, this part of the force will be directly transmitted to the push-pull motor 3, causing pulling or squeezing on the push-pull motor 3. When this part of the force is large, it is easy to cause damage to the push-pull motor 3.

[0047] To address these issues, this application provides a rotary hook gripping device. By installing a sliding member between the push-pull motor 3 and the hook 2, the component force transmitted by the hook 2 acts directly on the sliding member instead of being directly transmitted to the push-pull motor 3. At the same time, through a special arrangement of the transmission structure between the sliding member and the hook 2 when the hook 2 is in the gripping posture, the sliding member and the hook 2 are locked together, reducing the possibility of the sliding member sliding due to impact on the hook 2, further protecting the push-pull motor 3, and improving the stability of the gripping operation.

[0048] The following is combined with Figures 3-8 This application describes a rotary hook gripping device according to an embodiment.

[0049] like Figures 3-8 As shown, the gripping device includes a main frame 1, a hook 2, a push-pull motor 3, a sliding component, and a first connecting rod 4.

[0050] The hook 2 is rotatably mounted on the main frame 1 via the hook pivot 22; the sliding member is slidably mounted on the main frame 1 via the slide rail 52; the first end of the first connecting rod 4 is rotatably connected to the hook 2 via the first pivot 41, and the second end is rotatably connected to the sliding member via the second pivot 42; the output end of the push-pull motor 3 is connected to the sliding member and is used to drive the sliding member to slide back and forth so that the hook 2 rotates from the swing posture to the grasping posture.

[0051] The axes of the hook shaft 22, the first shaft 41, and the second shaft 42 are parallel to each other. The direction of the common perpendicular between the first shaft 41 and the hook shaft 22 is the first direction a, and the direction of the common perpendicular between the first shaft 41 and the second shaft 42 is the second direction b.

[0052] like Figure 7 As shown, when the hook 2 rotates to the gripping posture, the first direction a is perpendicular to the second direction b, and the second direction b is perpendicular to the extension direction of the slide rail 52.

[0053] In this embodiment, the grasping posture is the outward rotation posture of the hook 2. In this posture, the hook 2 can extend into the slot of the battery box 6 to grasp the battery box 6. When the hook 2 rotates from the grasping posture (i.e., the outward rotation posture) to the return posture, the hook 2 that was previously inserted into the slot of the battery box 6 can disengage from the slot of the battery box 6, releasing the grasp of the battery box 6.

[0054] By making the axes of the hook shaft 22, the first shaft 41, and the second shaft 42 parallel to each other, the sliding member can drive the hook 2 to rotate during reciprocating sliding. Figures 3-8 Taking the gripping device shown as an example, when this gripping device grips the battery box 6, firstly, as shown... Figure 8 As shown, the output end of the push-pull motor 3 retracts, and the push-pull motor 3 pulls the sliding member backward. The sliding member drives the hook 2 to rotate to a returning position via the first connecting rod 4. At this time, the gripping device can move the hook 2 to the vicinity of the slot in the battery box 6; then, as... Figure 6 As shown, the output end of the push-pull motor 3 extends, and the push-pull motor 3 pushes the slider forward. The slider drives the hook 2 to rotate to the grasping posture through the first connecting rod 4. At this time, as shown... Figure 3 and Figure 4As shown, the hook 2 can rotate into the slot of the battery box 6, thereby locking the battery box 6 and completing the gripping of the battery box 6.

[0055] Next, when the hook 2 is in the grasping posture and grasps the battery box, the external force exerted by the battery box 6 on the hook 2 can usually be decomposed into two components. One component points to the hook shaft 22 and can be borne by the rigidity of the hook 2, the hook shaft 22 and the main frame 1 itself. The other component is tangential to the rotation circumference of the hook 2, forcing the hook 2 to have a rotational tendency. This part of the component is defined as the rotational component.

[0056] Among them, such as Figure 7 As shown, the first direction a is the direction of the common perpendicular line between the first rotating shaft 41 and the hook rotating shaft 22, that is, the direction of the torque between the hook rotating shaft 22 and the first connecting rod 4. The second direction b is the direction of the common perpendicular line between the first rotating shaft 41 and the second rotating shaft 42. When the first connecting rod 4 is a straight rod, the second direction b is the length direction of the first connecting rod 4. Since the first direction a (i.e., the direction of the common perpendicular between the first shaft 41 and the hook shaft 22) when the hook 2 is in the grasping posture is perpendicular to the second direction b (i.e., the direction of the common perpendicular between the first shaft 41 and the second shaft 42), the force transmitted from the hook 2 to the first shaft 41 of the first connecting rod 4 under the impact of the rotational component is parallel to the second direction b. Furthermore, since the second direction b (i.e., the direction of the common perpendicular between the first shaft 41 and the second shaft 42) is perpendicular to the extension direction of the slide rail 52 (i.e., the sliding direction of the sliding member), when the first shaft 41 of the first connecting rod 4 is subjected to a force in the second direction b, the force transmitted from the second shaft 42 of the first connecting rod 4 to the sliding member is also parallel to the second direction b. When the force is directed towards b and perpendicular to the sliding direction of the slider, since the forces on the first link 4 and the slider are both perpendicular to the sliding direction of the slider, it is difficult to generate a component force parallel to the sliding direction of the slider on the first link 4 and the slider. Therefore, the first link 4 is difficult to deflect under the action of the rotational component force, and the slider is difficult to slide under the action of the rotational component force. At this time, when the external force is applied to the hook 2, the hook 2, the first link 4, and the slider are in a nearly jammed state. The rotational component force is borne by the rigidity of the sliding block, the slide rail 52, and the main frame 1 itself, and does not need to be borne by the push-pull motor 3. This reduces or even avoids damage to the push-pull motor 3 under the action of external force and reduces the maintenance cost of the push-pull motor 3.

[0057] Furthermore, when the hook 2 is in the gripping posture, the hook 2, the first link 4, and the sliding component are in a nearly jammed state, making it difficult for the hook 2, the first link 4, and the sliding component to move under the external force brought by the battery box 6, thereby ensuring the stability of the hook 2 in gripping the battery box 6.

[0058] In summary, this design enables the gripping device to withstand greater impacts during battery replacement, improving the stability of the gripping operation and reducing damage to the push-pull motor 3, thereby reducing maintenance costs.

[0059] Optionally, the extension direction of the slide rail 52 is also perpendicular to the axis of the hook shaft 22, the first shaft 41, and the second shaft 42.

[0060] Optionally, the hook 2 can be rotatably connected to the first connecting rod 4 via a crank 21 arranged coaxially.

[0061] Optionally, the sliding member can be an integrated block structure that is rotatably connected to the first link 4, thereby improving the sliding member's ability to withstand external forces and thus improving the stability of the gripping operation; or it can include a slider 51 and a second link 53, which are rotatably connected to the first link 4, thereby reducing the weight of the sliding member, thereby improving the load-bearing capacity of the gripping device and reducing the production cost of the gripping device.

[0062] In some embodiments, in conjunction with the above embodiments, the sliding member includes a slider 51 and a second connecting rod 53. The slider 51 is slidably connected to the slide rail 52, and the slider 51 is fixedly connected to the second connecting rod 53. At least one end of the second connecting rod 53 is rotatably connected to the second end of the first connecting rod 4 through the second rotating shaft 42. The length direction of the second connecting rod 53 is perpendicular to the extension direction of the slide rail 52.

[0063] In this embodiment, when the hook 2 rotates to the gripping posture, by making the length direction of the second link 53 perpendicular to the extension direction of the slide rail 52, when the sliding member is subjected to an external force transmitted by the first link 4, the external force on the second link 53 is aligned with the length direction of the second link 53, thereby enabling the second link 53 to form an effective support, improving the sliding member's ability to withstand shear force, reducing or even avoiding the possibility of the second link 53 bending under external pressure and pulling on the push-pull motor 3, and further improving the protection capability of the push-pull motor 3.

[0064] Optionally, each sliding member can be connected to a second link 53, and one or both ends of the second link 53 can be connected to the hook 2 via the first link 4; or multiple second links 53 can be connected, and one or both ends of each second link 53 can be connected to different hooks 2 via the first link 4.

[0065] In conjunction with the above embodiments, in some embodiments, the two ends of the second connecting rod 53 are respectively rotatably connected to the first connecting rod 4 via the second rotating shaft 42, and each of the first connecting rods 4 is rotatably connected to the hook 2.

[0066] In this embodiment, a single sliding member is connected to at least two hooks 2 via a transmission, enabling the two hooks 2 to be driven into the gripping posture simultaneously by the same push-pull motor 3. This reduces the number of sliding members and push-pull motors 3 required, thereby reducing the production cost of the gripping device.

[0067] Optionally, the output end of the push-pull motor 3 can be connected to the center point of the second link 53 (i.e., the midpoint of the length direction of the second link 53), or the slider 51 can be connected to the center point of the second link 53, or neither the push-pull motor 3 nor the slider 51 can be connected to the center point of the second link 53, but to other positions of the second link 53.

[0068] In conjunction with the above embodiments, in some embodiments, the slider 51 is fixedly connected to the center point of the second connecting rod 53, and the first connecting rod 4 and the hook 2, which are respectively connected to both ends of the second connecting rod 53, are symmetrically arranged about the center point of the second connecting rod 53.

[0069] In this embodiment, when the gripping device is subjected to an external force from the battery box 6 on one side, the two hooks 2 on the same side of the gripping device are usually subjected to the external force at the same time. At this time, the two ends of the second link 53 are subjected to the external force transmitted from the two hooks 2 at the same time. Since the center points of the two hooks 2 and the connected first link 4 are symmetrically arranged, the forces transmitted to the two ends of the second link 53 are in opposite directions, and the forces at both ends can cancel each other out to a certain extent, thereby improving the load-bearing capacity of the sliding part and further improving the stability of the gripping operation.

[0070] In conjunction with the above embodiments, in some embodiments, the sum of the distance between the hook pivot 22 and the first pivot 41 and the distance between the first pivot 41 and the second pivot 42 may be less than the distance between the second pivot 42 and the center point of the second connecting rod 53.

[0071] In this embodiment, considering that if the distance between the hook pivot 22 and the first pivot 41 or the distance between the first pivot 41 and the second pivot 42 is too long, the slider may need to slide a long distance to drive the hook 2 to complete the switch between the swing posture and the gripping posture. Therefore, the distance between the center points of each pivot and the second link 53 is limited, thereby minimizing the sliding distance required by the slider when the hook 2 rotates between the gripping posture and the swing posture, and improving the efficiency of the hook 2 entering the gripping posture; at the same time, the change amplitude of the second link 53 when it moves or bends under the action of external force is reduced, thereby reducing the pushing and pulling amplitude of the push-pull motor 3 and improving the protection of the push-pull motor 3.

[0072] Optionally, the distance between the hook pivot 22 and the first pivot 41, and the distance between the first pivot 41 and the second pivot 42, are both 1 / 4 or less of the distance between the second pivot 42 and the center point of the second connecting rod 53.

[0073] Optionally, the push-pull motor 3 can be connected to the slider 51; the push-pull motor 3 can also be connected to the second connecting rod 53. In this case, the push-pull motor 3 and the slider 51 are arranged side by side, which can save the space required for the gripping device to arrange the push-pull motor 3 and the slider 51.

[0074] Optionally, the push-pull motor 3 can be fixedly arranged on the main frame 1, in which case the output direction of the push-pull motor 3 (i.e. the moving direction of the output end of the push-pull motor 3) is parallel to the extension direction of the slide rail 52; or it can be movably connected (such as rotatably connected) on the main frame 1, in which case the connection between the push-pull motor 3 and the sliding part is movably connected (such as rotatably connected).

[0075] In conjunction with the above embodiments, in some embodiments, the output end of the push-pull motor 3 is connected to the second connecting rod 53; the output direction of the push-pull motor 3 is parallel to the extension direction of the slide rail 52.

[0076] In some embodiments, in conjunction with the above embodiments, the output end of the push-pull motor 3 and the second connecting rod 53 are elastically connected or movably connected.

[0077] In this embodiment, by making the output end of the push-pull motor 3 and the second connecting rod 53 elastically or movably connected, a buffer part can be formed between the output end of the push-pull motor 3 and the second connecting rod 53, so as to avoid the second connecting rod 53 directly squeezing the push-pull motor 3 when it bends or displaces under the action of external force, thereby improving the protection of the push-pull motor 3.

[0078] Optionally, the elastic connection can be made by connecting the two through rubber and spring; the movable connection can be made by connecting the two through a movable pin and pin hole.

[0079] In conjunction with the above embodiments, in some embodiments, the output end of the push-pull motor 3 is connected to the second connecting rod 53 by a pin and a pin hole. The pin hole is an oblong hole, and the pin passes through the pin hole and can slide in the pin hole along the extension direction of the slide rail 52 (not shown in the figure).

[0080] In this embodiment, the length direction of the pin hole is parallel to the extension direction of the slide rail 52. When the second connecting rod 53 is subjected to force and moves or bends, the drive end of the push-pull motor 3 can adapt to the movement or bending of the second connecting rod 53 by the movement of the pin shaft in the pin hole, thereby reducing the possibility of the output end of the push-pull motor 3 being stretched or compressed and improving the protection of the push-pull motor 3.

[0081] Optionally, a pin can be arranged at the output end of the push-pull motor 3, and a sleeve can be arranged at the corresponding position of the second connecting rod 53, with a pin hole provided on the sleeve. When the output end of the push-pull motor 3 enters the sleeve, the pin engages with the pin hole. Alternatively, an outwardly extending rod can be arranged at the corresponding position of the second connecting rod 53, with a pin arranged on the rod, and a sleeve can be arranged at the output end of the push-pull motor 3, with a pin hole provided on the sleeve. When the rod enters the sleeve, the pin engages with the pin hole.

[0082] In some embodiments, in conjunction with the above embodiments, the distance from the output connection point of the push-pull motor 3 to the center point of the second connecting rod 53 is less than 1 / 4 of the distance from the second rotating shaft 42 to the center point of the second connecting rod 53.

[0083] In this embodiment, by making the distance from the output connection point of the push-pull motor 3 to the center point of the second link 53 less than 1 / 4 of the distance from the second shaft 42 to the center point of the second link 53, the output end of the push-pull motor 3 is brought as close as possible to the center point of the second link 53 (i.e., the part where the slider 51 is connected to the second link 53). This reduces the displacement of the point on the second link 53 connected to the output end of the push-pull motor 3 when the second link 53 is bent under force, thereby reducing the pulling amplitude of the second link 53 on the push-pull motor 3 and improving the protection of the push-pull motor 3.

[0084] Optionally, the first link 4 or the second link 53 can be a curved rod; however, it is preferable that the first link 4 and the second link 53 are both straight rods, which improves the ability of the first link 4 and the second link 53 to withstand external forces when the hook 2 is in the grabbing posture, reduces the possibility of the first link 4 or the second link 53 bending under force, and thus reduces or even avoids the second link 53 pulling on the push-pull motor 3, thereby improving the protection of the push-pull motor 3.

[0085] This application also proposes a battery swapping station, which includes a rotary hook gripping device as described in any of the above embodiments.

[0086] Among them, such as Figure 3 As shown, the gripping device can be installed under the telescopic fork 7. The telescopic fork 7 drives the gripping device to move, thereby realizing the transportation of the battery box 6.

[0087] It should be understood that although preferred embodiments of the present application have been described in this specification, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of this application.

[0088] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0089] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A rotary hook gripping device, characterized in that, include: Main framework (1); Hook (2), which is rotatably mounted on the main frame (1) via hook pivot (22); A sliding member is slidably disposed on the main frame (1) via a slide rail (52); The first link (4) has its first end rotatably connected to the hook (2) via a first rotating shaft (41) and its second end rotatably connected to the sliding member via a second rotating shaft (42). Push-pull motor (3), the output end of which is connected to the sliding member, is used to drive the sliding member to slide back and forth so that the hook (2) rotates from the swing posture to the grasping posture; The axes of the hook shaft (22), the first shaft (41), and the second shaft (42) are parallel to each other. The direction of the common perpendicular between the first shaft (41) and the hook shaft (22) is the first direction, and the direction of the common perpendicular between the first shaft (41) and the second shaft (42) is the second direction. When the hook (2) rotates to the gripping posture, the first direction is perpendicular to the second direction, and the second direction is perpendicular to the extension direction of the slide rail (52).

2. The rotary hook gripping device according to claim 1, characterized in that, The sliding component includes a slider (51) and a second connecting rod (53). The slider (51) is slidably connected to the slide rail (52). The slider (51) is fixedly connected to the second connecting rod (53). At least one end of the second connecting rod (53) is rotatably connected to the second end of the first connecting rod (4) through the second rotating shaft (42). The length direction of the second link (53) is perpendicular to the extension direction of the slide rail (52).

3. The rotary hook gripping device according to claim 2, characterized in that, The two ends of the second link (53) are respectively rotatably connected to the first link (4) via the second pivot (42), and each of the first links (4) is rotatably connected to the hook (2).

4. The rotary hook gripping device according to claim 3, characterized in that, The slider (51) is fixedly connected to the center point of the second connecting rod (53), and the first connecting rod (4) and the hook (2) connected to both ends of the second connecting rod (53) are symmetrically arranged about the center point of the second connecting rod (53).

5. A rotary hook gripping device according to claim 4, characterized in that, The sum of the distance between the hook pivot (22) and the first pivot (41) and the distance between the first pivot (41) and the second pivot (42) is less than the distance between the second pivot (42) and the center point of the second connecting rod (53).

6. A rotary hook gripping device according to any one of claims 2-5, characterized in that, The output end of the push-pull motor (3) is connected to the second connecting rod (53); The output direction of the push-pull motor (3) is parallel to the extension direction of the slide rail (52).

7. A rotary hook gripping device according to claim 6, characterized in that, The output end of the push-pull motor (3) is elastically or movably connected to the second connecting rod (53).

8. A rotary hook gripping device according to claim 6, characterized in that, The output end of the push-pull motor (3) is connected to the second connecting rod (53) by a pin and a pin hole. The pin hole is an elongated hole. The pin passes through the pin hole and can slide in the pin hole along the extension direction of the slide rail (52).

9. A rotary hook gripping device according to claim 6, characterized in that, The distance from the output connection point of the push-pull motor (3) to the center point of the second connecting rod (53) is less than 1 / 4 of the distance from the second rotating shaft (42) to the center point of the second connecting rod (53).

10. A battery swapping station, characterized in that, Includes a rotary hook gripping device as described in any one of claims 1 to 9.

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