Battery-swapping robot and its lifting device

Abstract

A battery-swapping robot and its lifting device, including a base (1), wherein at least two pillars (3) are vertically provided on the base (1), guide rails (13) are vertically provided on the pillars (3), a lifting support arm (5) is movably provided on the guide rails (13), and a lifting drive means (4) is connected to the lifting support arm (5). By adopting a method in which the pillars and the lifting support arm slide against each other, the upper limit of the lifting height of the lifting device is increased, overcoming the limitation in conventional technology in that the battery cannot be lifted above a beam. The battery swapping method is safer, more reliable, and more efficient, and the structural space of the battery-swapping robot employing this lifting device is more compact and effective.

Description

Technical Field

[0001] The present invention belongs to the technical field of battery replacement, and specifically belongs to a battery replacement type robot and its lifting device.

Background Art

[0002] As is well known, a general lifting device has limitations such as limited lifting height and lifting weight when lifting an object. Also, as the weight of the lifted object increases, a general pillar-type lifting device has a risk of tipping over and cannot provide a stable support effect. For example, in the field of heavy truck battery replacement, in order to realize battery replacement, usually, one lifting device is used to lift, transport, and move the battery. However, conventional lifting devices all have the problem that the lifting height must not exceed the beam. In order to make both battery replacement type heavy trucks of various heights in the market and batteries for battery replacement compatible, the only option is to increase the height of the pillars of the lifting device. When the lifting device is not operating, it clearly wastes space. Like the two patents with the publication numbers CN218703171U and CN216180672U of related patents, the prior arts disclosed in these two patents both use a pillar type to support the upper frame or beam, that is, the height of its upper frame or beam is fixed, and the stroke range of the battery for battery replacement to be lifted is limited, which affects the battery replacement efficiency.

Summary of the Invention

Problems to be Solved by the Invention

[0003] In the prior art, the lifting stroke of the battery replacement type robot is limited, which affects the battery replacement efficiency.

Means for Solving the Problems

[0004] In view of the above problems, the object of the present invention is to provide a battery replacement type robot and its lifting device. The technical solution is as follows.

[0005] A lifting device including a base, wherein at least two pillars are provided vertically on the base, guide rails are provided vertically on the pillars, a lifting support arm is movably provided on the guide rail, and a lifting drive means is connected to the lifting support arm.

[0006] Preferably, the lifting drive means includes a connecting part that is movably provided on the guide rail, a guide wheel that fits onto the guide rail is rotatably provided on the connecting part, a screw is screwed vertically into the connecting part, and a drive unit that rotates the screw is connected to the screw.

[0007] Preferably, a screw sleeve, which is screw-connected to the screw, is provided vertically at the connection portion.

[0008] Preferably, a reinforcing beam is connected between the two of the lifting support arms.

[0009] Preferably, the pillar is provided with a first reinforcing arm that is fixedly connected to the base.

[0010] Preferably, the base is provided with a movable device.

[0011] A battery-swapping robot, which moves up and down using a lifting device and includes a mounting frame fixedly attached to a lifting support arm, with an extendable device connected to the lower part of the mounting frame, and a suspension device for holding batteries attached to the extendable device.

[0012] Preferably, the telescopic device is rotatably connected to a mounting frame, and a drive device for swinging the telescopic device is attached to the mounting frame.

[0013] Preferably, an arc rail is attached to the mounting frame, and the extension mechanism is provided with rollers that fit onto the arc rail.

[0014] Preferably, an oblique support connected to a lifting support arm is attached to the mounting frame. [Effects of the Invention]

[0015] As described above, by adopting the above-mentioned technical proposal, the beneficial effects of this invention are as follows: By adopting a system in which the pillar and the lifting support arm slide against each other, the upper limit of the lifting height of the lifting device is increased, overcoming the limitation in conventional technology in that the battery could not be lifted above the beam. The battery replacement method is safer, more reliable, and more efficient, and the structural space of the battery-replacement robot employing this lifting device is more compact and effective.

[0016] To more clearly explain the technical concept of the embodiments of this invention, the following is a brief introduction to the drawings necessary for use in the embodiments. The following drawings show only a few embodiments of this invention and should not be considered a limitation of scope; those skilled in the art should understand that other relevant drawings can be derived from these drawings without any creative effort. [Brief explanation of the drawing]

[0017] [Figure 1] This is a schematic diagram of the perspective structure of a lifting device according to an embodiment of the present invention. [Figure 2] This is a schematic diagram of the enlarged structure of area A in Figure 1. [Figure 3] This is a schematic diagram of the enlarged structure of area B in Figure 1. [Figure 4] This is a schematic diagram of the perspective view structure of a lifting device according to an embodiment of the present invention, from a second viewpoint. [Figure 5] Figure 4 is a schematic diagram of the structure with a shielding cover added. [Figure 6] This is a schematic diagram of the perspective structure of a lifting device according to an embodiment of the present invention, from a third viewpoint. [Figure 7] This is a schematic diagram of a perspective view of another embodiment of the lifting device of the present invention. [Figure 8] Figure 7 is a schematic diagram of the side structure of the pillar and the lifting support arm. [Figure 9] It is a schematic structural view of another embodiment of the moving device of the present invention.

Embodiments for Carrying out the Invention

[0018] In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Usually, the components of the embodiments of the present invention described and illustrated in this drawing can be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the present invention that needs to be protected, but only shows the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments that can be obtained by those skilled in the art without creative labor belong to the protection scope of the present invention.

[0020] In the description of the present invention, if the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is the orientation or positional relationship based on the drawing, or the orientation or positional relationship usually arranged during the use of the product of this application, it is only for the convenience of explaining the present invention, and it does not indicate or imply that the indicated device or element must be structured and operated in a specific orientation and a specific orientation. Therefore, it is impossible to understand it as a limitation of the present invention because it is for simplifying the description.

[0021] The present invention will be described in detail below with reference to FIGS. 1 to 9.

[0022] Optimal Embodiment of the Present Invention The lifting device includes a base 1, to which at least two pillars 3 are vertically mounted, guide rails 13 are vertically mounted on the pillars 3, a lifting support arm 5 is movably mounted on the guide rails 13, and a lifting drive means 4 is connected to the lifting support arm 5. The battery-changing robot employing the above lifting device includes a mounting frame 6 fixedly attached to the lifting support arm 5, an extension device 7 is connected to the lower part of the mounting frame 6, and a lifting device 8 for gripping a battery 9 is attached to the extension device 7. The battery-changing robot is installed between the battery chamber 100 and the driving lane 200, and the extension device 7 has a bidirectional extension function, that is, the lifting device 8 can move above the battery chamber 100 and the driving lane 200, making it convenient to lift the battery 9 from one side of the battery chamber 100 and replace it in a vehicle parked in the driving lane 200.

[0023] As shown in Figure 1, the lifting drive means 4 drives the lifting support arm 5 to move vertically on the guide rail 13 to adjust the height. Since there is no beam restriction on the pillar 3, the lifting stroke of the lifting support arm 5 can be greatly improved, and the lifting stroke of the lifting device 8 is also improved as a result. The lifting device 8 lifts the battery 9 from one side of the battery chamber 100 and then enters the travel lane 200 via the telescopic device 7 to replace the battery 9. To avoid the risk of the battery-changing robot tipping over when lifting the battery 9, the battery 9 is passed between the two lifting support arms 5. However, in order to ensure that the battery 9 passes smoothly through the gap 15 between the lifting support arms 5, the gap 15 between the two lifting support arms 5 must be larger than the maximum width of the battery 9.

[0024] As shown in Figures 2 and 6, the lifting drive mechanism 4 includes a connecting portion 401 that is movably mounted on the guide rail 13. A guide wheel 408 that fits onto the guide rail 13 is rotatably mounted on the connecting portion 401, a screw 403 is vertically screwed into the connecting portion 401, and a drive unit that rotates the screw 403 is connected to the screw 403. The guide wheel 408 can reduce wear between the connecting portion 401 and the guide rail 13, thereby improving the service life of the lifting device. After the drive unit rotates the screw 403, the screw 403 moves up and down by driving the connecting portion 401 to move up and down, thereby achieving lifting adjustment.

[0025] The screw 403 may be biased to one side of the pillar 3, and when a load is applied to the lifting device 8, the biased screw 403 is advantageous for stabilizing the battery-swapping robot. Furthermore, the screw 403 is located on the side of the telescopic device 7 that needs to provide the maximum moment. For example, if the distance between the battery 9 on the battery chamber 100 and the pillar 3 is smaller than the distance between the battery 9 on the travel lane 200 and the pillar 3, it indicates that the telescopic device 7 needs to extend a greater moment arm to move the battery 9 in and out of the travel lane 200. For the same load, the screw 403 may be located between the pillar 3 and the travel lane 200, as the telescopic device 7 needs to generate a greater moment to complete the movement of the battery 9 in and out of the travel lane 200. Conversely, if the distance between the battery 9 on the battery chamber 100 and the pillar 3 is larger than the distance between the battery on the travel lane 200 and the pillar 3, the screw 403 may be located between the pillar 3 and the battery chamber 100.

[0026] The drive unit includes a first motor 407 provided on the base 1, to which a first direction change gearbox 406 is connected, to which a first transmission shaft 404 is rotatably connected, and to which a second direction change gearbox 405 is connected, which is connected to a screw 403. The first motor 407 transmits power from the first motor 407 to the second direction change gearbox 405 via the first direction change gearbox 406 through the two first transmission shafts 404, and transmits power to the screw 403 via the second direction change gearbox 405, driving the screw 403 to rotate vertically, thereby causing the connection part 401, which is screw-connected to the screw 403, to rise spirally relative to the screw 403. The first transmission shaft 404 is covered by a protective cover 410 to protect the first transmission shaft 404 from damage.

[0027] A screw sleeve 402 is vertically provided at the connection part 401, which is screw-connected to the screw 403. The screw sleeve 402 is hollow and tubular, and has at least partially internal female threads. The screw 403 has male threads that mesh with the female threads, allowing the screw 403 to rotate in place, and the screw sleeve 402 to move the connection part 401 and the lifting support arm 5 vertically.

[0028] A reinforcing beam 409 is connected between the two lifting support arms 5. To ensure that the battery 9 passes smoothly through the gap 15 between the lifting support arms 5, the reinforcing beam 409 is provided at the lower end of the lifting support arms 5, and the distance between the mounting frame 6 and the reinforcing beam 409 is greater than the maximum height of the battery 9.

[0029] As shown in Figures 7 and 8, the pillar 3 is provided with a first reinforcing arm 17 fixedly connected to the base 1, and the first reinforcing arm 17 provides stable triangular support to the pillar 3, with the first reinforcing arm 17 provided on both sides of the pillar 3. The mounting frame 6 is fitted with a diagonal support 10 connected to the lifting support arm 5, and the diagonal support 10 provides stable triangular support to the mounting frame 6, with the diagonal support 10 provided on both sides of the lifting support arm 5. As shown in Figure 4, the diagonal support 10 is further fixedly connected to a screw sleeve 402 to enhance the stability of the screw sleeve 402. To obtain a more stable support effect and increase the load capacity of the lifting device, a second reinforcing arm 16 is added to the outside of the diagonal support 10, and both ends of the second reinforcing arm 16 are connected to the mounting frame 6 and the lifting support arm 5, respectively, further forming a triangular support structure. A third reinforcing arm 18 is added to the inside of the first reinforcing arm 17, and both ends of the third reinforcing arm 18 are connected to the pillar 3 and the base 1, respectively, forming a triangular support structure.

[0030] The lifting support arm 5, the diagonal support 10, and the second reinforcing arm 16 are in the same vertical plane, the pillar 3, the first reinforcing arm 17, and the third reinforcing arm 18 are in the same vertical plane, and the battery 9 passes between the vertical planes in which the two lifting support arms 5 are located.

[0031] A mobile device 2 is provided on the base 1. The mobile device 2 can move the entire battery-swapping robot, thereby adjusting the position where the battery 9 is lifted to align with the mounting position on the vehicle. As shown in Figure 2, the mobile device 2 includes a movable roller rotatably mounted on the base 1, to which a second transmission shaft 204 is connected, to which a third direction-changing gearbox 203 is connected, and to which a second motor 202 is connected. The second motor 202 transmits power to the second transmission shaft 204 via the third direction-changing gearbox 203, and the second transmission shaft 204 rotates the movable roller, enabling the movement of the battery-swapping robot. A track 201 that fits onto the movable roller is fixedly provided below the mobile device 2, and the track 201 is provided parallel to the battery chamber 100 and the travel lane 200, allowing the battery-swapping robot to move stably along a predetermined path. As shown in Figure 9, the mobile device 2 may be configured as casters 19 to facilitate the movement of the battery-swapping robot.

[0032] The moving device 2 can be directly driven to rotate the moving rollers using a plurality of second motors 202, eliminating the need for structures such as the third direction changing gearbox 203 and the second transmission shaft 204. The power to move the moving device 2 horizontally and raise and lower the lifting device vertically is not limited to that provided by motors; in other embodiments, a hydraulic cylinder or a pneumatic cylinder may be used as the power source, given that the displacement requirements of the moving device 2 are limited, i.e., the length of the track 201 is limited.

[0033] The first direction-changing gearbox 406, the second direction-changing gearbox 405, and the third direction-changing gearbox 203 are all equipped with direction-changing gears (not shown), for example, two bevel gears meshing with each other to achieve direction change.

[0034] As shown in Figures 1 and 3, the telescopic device 7 is rotatably connected to the mounting frame 6, and a drive unit 11 for swinging the telescopic device 7 is mounted on the mounting frame 6. The telescopic device 7 can swing within a small range under the drive of the drive unit 11, thereby adjusting the angle of the lifting device 8 on the telescopic device 7 and facilitating the lifting device 8 to align with the battery 9. This feature eliminates the need for the driver of a battery-swapping heavy-duty truck to park perfectly parallel to the direction of movement of the battery-swapping robot. In other words, this battery-swapping robot significantly reduces the driver's parking requirements and provides a better user experience.

[0035] An arc rail 12 is attached to the mounting frame 6, and the extension device 7 is provided with rollers (not indicated in the drawing) that fit onto the arc rail 12. The arc rail 12 is positioned to open horizontally, and the rollers roll along the arc rail 12. The arc rail 12 can limit the rotation range of the extension device 7, and also prevents the extension device 7 from falling off the mounting frame 6. This ensures the stability of the swing of the extension device 7 and reduces the load on the rotating parts of the extension device 7.

[0036] The telescopic device 7 includes a fixed arm and a movable arm, the fixed arm being attached to the mounting frame 6, the movable arm being slidably attached to the fixed arm, and the lifting device 8 being provided on the movable arm. The movable arm has a first position located on one side of the pillar 3 and a second position located on the other side of the pillar 3, the first position being directly above the battery 9 on the battery-exchangeable heavy-duty truck, and the second position being above the space in the battery chamber 100 that houses the battery 9, and the first and second positions may be offset from each other.

[0037] As shown in Figure 5, a shielding cover 14 is attached to the mounting frame 6. The shielding cover 14 is fixed to the upper end of the mounting frame 6 by bolts, rivets, or snap fasteners, and can provide dust and rain protection to components located below the shielding cover 14.

[0038] Embodiment of the present invention The battery 9 in the battery chamber 100 may be installed at a certain height, meaning the battery chamber 100 may be installed at a height higher than the travel lane 200. To achieve this function, the battery 9 may be installed on a counter or stairs inside the battery chamber 100. This shortens the battery's operating trajectory, reduces power exchange time, and improves power exchange efficiency. The battery-swapping robot of this application has a lower overall height compared to the prior art; in other words, the stroke of the lifting device 8 of the battery-swapping robot may be higher than the pillar 3, and the raising and lowering of the lifting device 8 avoids the need to raise and lower the conventional lifting device and battery 9 with a hoisting rope, making this battery-swapping method safer and more reliable. [Industrial applicability]

[0039] The battery-swapping robot employs pillars 3 on both sides, allowing the battery 9 to pass through the middle of the lifting support arm 5 for power exchange. The vertical stroke of the battery 9 is not affected by the height of the pillars 3, resulting in a more reliable and flexible battery swapping function.

[0040] The foregoing are merely preferred embodiments of the present invention and are not intended to limit it. Those skilled in the art will know that the present invention is subject to various modifications and changes. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection. [Explanation of symbols]

[0041] 1 Base 2. Mobile device 201 orbit 202 Second Motor 203 Third Direction Change Gearbox 204 Second transmission shaft 3 Pillar 4. Lifting and lowering drive mechanism 401 Connection section 402 Screw Sleeve 403 Screw 404 First transmission shaft 405 Second Direction Change Gearbox 406 First Direction Change Gearbox 407 First Motor 408 Guide Wheel 409 Reinforcement beam 410 Protective Cover 5. Lifting support arm 6. Mounting frame 7 Telescopic device 8. Lifting device 9 batteries 10. Oblique support 11 Drive unit 12 Arc Rail 13 Guide rails 14 Shielding lid 15 gaps 16. Second reinforcement arm 17. First reinforcement arm 18. Third reinforcement arm 19 Casters 100 Battery Chamber 200 driving lane

Claims

1. A lifting device including a base (1), A lifting device characterized in that at least two pillars (3) are provided vertically on the base (1), guide rails (13) are provided vertically on the pillars (3), a lifting support arm (5) is movably provided on the guide rail (13), and a lifting drive means (4) is connected to the lifting support arm (5).

2. The lifting device according to claim 1, wherein the lifting drive means (4) includes a connecting portion (401) that is movably provided on the guide rail (13), a guide wheel (408) that fits onto the guide rail (13) is rotatably provided on the connecting portion (401), a screw (403) is screwed vertically into the connecting portion (401), and a drive unit that rotates the screw (403) is connected to the screw (403).

3. The lifting device according to claim 2, characterized in that a screw sleeve (402) is vertically provided at the connection portion (401) and is screw-connected to a screw (403).

4. The lifting device according to claim 1, characterized in that a reinforcing beam (409) is connected between the two lifting support arms (5).

5. The lifting device according to claim 1, characterized in that the pillar (3) is provided with a first reinforcing arm (17) that is fixedly connected to the base (1).

6. The lifting device according to claim 1, characterized in that a moving device (2) is provided on the base (1).

7. A battery-swapping robot The lifting device is raised and lowered using the lifting device described in any one of claims 1 to 6. A battery-swapping robot characterized by including a mounting frame (6) fixedly attached to a lifting support arm (5), a telescopic device (7) connected to the lower part of the mounting frame (6), and a lifting device (8) for holding a battery (9) attached to the telescopic device (7).

8. The battery-replaceable robot according to claim 7, characterized in that the telescopic device (7) is rotatably connected to the mounting frame (6), and a drive device (11) for swinging the telescopic device (7) is attached to the mounting frame (6).

9. The battery-replaceable robot according to claim 8, characterized in that an arc rail (12) is attached to the mounting frame (6), and a roller that fits into the arc rail (12) is provided on the telescopic device (7).

10. The battery-replaceable robot according to claim 7, characterized in that a diagonal support (10) connected to a lifting support arm (5) is attached to the mounting frame (6).

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