Manipulator, locking and unlocking device, battery swap robot, and battery swap facility

Abstract

The present invention relates to the technical field of battery swap facilities, and particularly provides a manipulator, a locking and unlocking device, a battery swap robot and a battery swap facility. The present application aims at solving the problem of a plurality of manipulators with different functions occupying a large space. For this purpose, the manipulator of the present application comprises an ascending and descending assembly and a first rotating assembly, the first rotating assembly being arranged at the output end of the ascending and descending assembly and being configured to ascend and descend in the vertical direction under the action of the ascending and descending assembly and also drive a locking and unlocking head on the output end of the first rotating assembly to rotate along a first axis, such that under the action of the ascending and descending assembly and the first rotating assembly, the position of the locking and unlocking head on the first rotating assembly can be adjusted in all directions on the horizontal plane and the vertical plane, thereby ensuring the accuracy and reliability of the locking and unlocking head in locking and unlocking processes. In addition, the manipulator of the present application integrates the functions of ascending, descending and rotation, thereby preventing the problem of a plurality of manipulators with different functions occupying a large space.

Description

Manipulator, unlocking device, battery swapping robot and battery swapping facilities

[0001] This application claims priority to Chinese patent application No. 202420428635.0 filed on March 5, 2024, with the invention name “Manipulator, locking and unlocking device, battery swapping robot and battery swapping facility”. The entire contents of the above Chinese patent application are incorporated into this application by reference. Technical Field

[0002] The present invention relates to the field of battery swapping facilities, and specifically provides a manipulator, a locking and unlocking device, a battery swapping robot, and a battery swapping facility. Background Art

[0003] In recent years, the electric vehicle industry has experienced rapid growth, and its recharging methods have become increasingly diverse. Among these, battery swapping at charging and swapping stations has gained popularity among users due to its efficiency and convenience. Currently, when an electric vehicle uses battery swapping facilities at a charging and swapping station, the locking and unlocking head on the battery swapping robot typically unlocks the fastener in the battery hole, and then replaces the battery with a new one and relocks it. However, because the locking and unlocking head is fixed in position, and the battery hole locations vary across different vehicle models, each charging and swapping station can only support battery swapping for specific vehicle models.

[0004] To address these issues, a battery-swapping robot typically includes multiple sets of manipulators with lifting and translation capabilities, each equipped with a locking and unlocking head for locking or unlocking the battery. This allows the robot to swap batteries for a variety of vehicle models, improving its versatility and practicality. However, this also presents a challenge: multiple sets of manipulators with lifting and translation capabilities take up a lot of space, while the battery-swapping robot has limited space. This limited space limits the manipulators' range of motion, which in turn affects battery swapping.

[0005] Therefore, this field needs a new technical solution to solve the above problems. Summary of the Invention

[0006] In order to solve at least one problem in the prior art, namely, the problem that multiple sets of manipulators with different functions occupy a large space, the present application provides a manipulator comprising:

[0007] Lifting components;

[0008] The first rotating assembly is arranged at the output end of the lifting assembly, so that the first rotating assembly can be lifted and lowered in the vertical direction; the first rotating assembly is configured to be able to be lifted and lowered in the vertical direction under the action of the lifting assembly, and can also drive the locking and unlocking head on its output end to rotate along the first axis, and the first axis is parallel to the vertical direction.

[0009] In the preferred technical solution of the above-mentioned manipulator, the first rotating assembly includes:

[0010] a first driving mechanism, the first driving mechanism being arranged at an output end of the lifting assembly;

[0011] A first rotating arm is provided at an output end of the first driving mechanism.

[0012] In the preferred technical solution of the above-mentioned manipulator, at least one connecting hole is provided on the first rotating arm for installing the locking and unlocking head.

[0013] In the preferred technical solution of the above-mentioned manipulator, the manipulator further comprises:

[0014] The second rotating assembly is provided with an output end of the lifting assembly, and the output end of the second rotating assembly is provided with the first rotating assembly.

[0015] In the preferred technical solution of the above-mentioned manipulator, the second rotating assembly includes:

[0016] a second driving mechanism, the second driving mechanism being disposed at an output end of the lifting assembly;

[0017] A second rotating arm is provided at the output end of the second driving mechanism and the first rotating assembly is provided thereon.

[0018] In the preferred technical solution of the above-mentioned manipulator, the lifting assembly includes:

[0019] Lifting drive mechanism;

[0020] A lifting plate is provided at the output end of the lifting drive mechanism, and the first rotating assembly is provided on a side of the lifting plate away from the lifting drive mechanism.

[0021] In the preferred technical solution of the above-mentioned manipulator, the lifting assembly further includes:

[0022] A mounting seat, on which the lifting drive mechanism is provided;

[0023] A column is provided on the mounting seat, and the column is configured to enable the lifting plate to move along its length direction under the drive of the lifting drive mechanism.

[0024] In the preferred technical solution of the above-mentioned manipulator, the lifting plate is sleeved on the column; or

[0025] A track is provided on the column, and a slider connected with the lifting plate is provided on the track.

[0026] The present application also provides a locking and unlocking device, which includes at least one locking and unlocking head and the manipulator described in the above preferred technical solution, and the locking and unlocking head is arranged at the output end of the second rotating component.

[0027] The present application also provides a battery-swapping robot, which includes the locking and unlocking device described in the above-mentioned preferred technical solution.

[0028] The present application also provides a battery exchange facility, which includes the battery exchange robot described in the above-mentioned preferred technical solution.

[0029] Those skilled in the art will appreciate that the manipulator of the present application, by locating the first rotating assembly at the output end of the lifting assembly, enables the locking and unlocking heads on the first rotating assembly to fully adjust their positions horizontally and vertically under the action of the lifting assembly and the first rotating assembly, thereby ensuring the accuracy and reliability of the locking and unlocking heads during the locking and unlocking processes. Furthermore, the manipulator of the present application integrates both lifting and rotating functions, avoiding the problem of multiple manipulators with different functions occupying large spaces.

[0030] Furthermore, by setting the first rotating arm at the output end of the lifting assembly and setting a locking and unlocking head on the first rotating arm, the locking and unlocking head on the first rotating assembly can rotate 360° under the action of the first rotating arm, thereby realizing the position adjustment of the locking and unlocking head on the horizontal and vertical planes, which is beneficial for the locking and unlocking head to lock or unlock the fasteners of the battery.

[0031] Furthermore, by providing a connecting hole on the second rotating arm, it is convenient to install and disassemble the locking and unlocking head.

[0032] Furthermore, by arranging a second rotating assembly between the lifting assembly and the first rotating assembly, the second rotating assembly can provide additional rotational freedom for the locking and unlocking head, so that the locking and unlocking head can be fine-tuned or precisely aligned, which is beneficial for the locking and unlocking head to lock or unlock the fastener of the battery.

[0033] Furthermore, by arranging the second driving mechanism at the output end of the lifting assembly and arranging the second rotating arm at the output end of the second driving mechanism, the second rotating assembly can provide an additional degree of rotational freedom for the locking and unlocking head.

[0034] Furthermore, by arranging the columns so that the lifting plate can move along its length direction under the drive of the lifting drive mechanism, the stability of the lifting plate during the lifting process can be improved, ensuring the accuracy and reliability of the locking and unlocking heads during the locking and unlocking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0036] FIG1 is a structural diagram of a manipulator of the present invention.

[0037] List of reference numerals:

[0038] 1. Lifting assembly; 11. Lifting drive mechanism; 12. Lifting plate; 13. Mounting seat; 14. Column; 2. First rotating assembly; 21. First drive mechanism; 22. First rotating arm; 3. Second rotating assembly; 31. Second drive mechanism; 32. Second rotating arm; 4. Locking and unlocking head. DETAILED DESCRIPTION

[0039] The preferred embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application.

[0040] It should be noted that, in the description of this application, terms such as "upper", "lower", "inner", "bottom", "end" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on this application.

[0041] In addition, it should be noted that in the description of this application, unless otherwise specified, stipulated, or limited, the terms "disposed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, 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.

[0042] First, the robot arm of the present application will be described with reference to Figure 1 , which is a structural diagram of the robot arm of the present invention.

[0043] As shown in Figure 1, to address the issue of a manipulator with multiple functions occupying a relatively large space, the manipulator of the present application includes a lifting assembly 1 and a first rotating assembly 2. The first rotating assembly 2 is disposed at the output end of the lifting assembly 1, enabling the first rotating assembly 2 to be raised and lowered in the vertical direction. The first rotating assembly 2 is configured to simultaneously be raised and lowered in the vertical direction under the action of the lifting assembly 1 and to drive the locking and unlocking head 4 at its output end to rotate along a first axis parallel to the vertical direction.

[0044] The present invention disposes the first rotating assembly 2 at the output end of the lifting assembly 1, thereby enabling the locking and unlocking head 4 on the first rotating assembly 2 to fully adjust its position in both the horizontal and vertical planes under the action of the lifting assembly 1 and the first rotating assembly 2, thereby ensuring the accuracy and reliability of the locking and unlocking head 4 during the locking and unlocking process. In addition, the manipulator of the present invention integrates lifting and rotating functions, avoiding the problem of multiple manipulators with different functions occupying a large space.

[0045] Below, with further reference to FIG1 , a preferred embodiment of the manipulator of the present application is introduced. Those skilled in the art will understand that the embodiment described below is merely used to illustrate the principles of the present application and is not intended to limit the scope of protection of the present application. On the premise that the manipulator includes at least a lifting assembly 1 and a first rotating assembly 2, those skilled in the art can adjust the following settings so that the present application can be applied to more specific application scenarios.

[0046] Referring to Figure 1 , the manipulator includes a lifting assembly 1, a first rotating assembly 2, and a second rotating assembly 3. The second rotating assembly 3 is provided at the output end of the lifting assembly 1, the first rotating assembly 2 is provided at the output end of the second rotating assembly 3, and a locking and unlocking head 4 is provided at the output end of the first rotating assembly 2. This locking and unlocking head 4 can be adjusted in position by the lifting assembly 1, the first rotating assembly 2, and the second rotating assembly 3 to lock or unlock the battery fastener.

[0047] It should be noted that, in other preferred embodiments, the second rotating assembly 3 is not required, and those skilled in the art can select it according to the configuration requirements. In the case where the second rotating assembly 3 is not provided, the first rotating assembly 2 is directly provided at the output end of the lifting assembly 1 .

[0048] Referring to Figure 1 , the lifting assembly 1 includes a lifting drive mechanism 11, a lifting plate 12, a mounting base 13, and columns 14. The lifting drive mechanism 11 is mounted on the mounting base 13, with the fixed end of the lifting drive mechanism 11 secured to the mounting base 13. The lifting plate 12 is provided at the output end of the lifting drive mechanism 11. The mounting base 13 is provided with four columns 14, which are arranged longitudinally (in the Y direction as shown in Figure 1 ) on the mounting base 13. The lifting plate 12 is provided with holes for the columns 14 to pass through, allowing the lifting plate 12 to move along the length of the columns 14 (in the Y direction as shown in Figure 1 ) when driven by the lifting drive mechanism 11.

[0049] Of course, the number of columns 14 provided in this application is not fixed, and those skilled in the art can adjust it according to the needs of the configuration. For example, the number of columns 14 can be 1, 2, 3, or another number. In other preferred embodiments, the provision of columns 14 is not required, and those skilled in the art can adjust it according to the needs.

[0050] Furthermore, the present application does not specify the manner in which the lifting plate 12 moves along the pillars 14, and those skilled in the art may adjust this as needed. For example, a track may be provided on the pillars 14, with a slider connected to the lifting plate 12 on the track, thereby enabling the lifting plate 12 to move along the pillars 14 under the drive of the lifting drive mechanism 11. Furthermore, in other preferred embodiments, the provision of the lifting plate 12 and / or mounting base 13 is not mandatory, and those skilled in the art may adjust this as needed.

[0051] It should be noted that the column 14 can also be tilted on the mounting base 13, as long as the lifting plate 12 can be lifted and lowered in the vertical direction (such as the Y direction shown in FIG. 1 ) under the drive of the lifting drive mechanism 11.

[0052] Referring to Figure 1 , the second rotating assembly 3 includes a second driving mechanism 31 and a second rotating arm 32. The second driving mechanism 31 is disposed on the lifting plate 12, so that the second rotating assembly 3 can be raised and lowered in the vertical direction under the drive of the lifting driving mechanism 11. The fixed end of the second driving mechanism 31 is fixed to the lifting plate 12, and the output end is provided with a second rotating arm 32. The second rotating arm 32 can rotate along a second axis (such as line A shown in Figure 1 ) under the drive of the second driving mechanism 31. The second axis is parallel to the vertical direction, that is, the rotation plane of the second rotating arm 32 is perpendicular to the vertical direction, so that the second rotating arm 32 can rotate in a horizontal plane under the action of the second driving mechanism 31, thereby facilitating the adjustment of the position of the locking and unlocking head 4 on the first rotating assembly 2.

[0053] It should be noted that, in the case where the lifting plate 12 is not provided, the second drive mechanism 31 can also be directly provided at the output end of the lifting drive mechanism 11. In addition, the present application has no limitation on the second drive mechanism 31, as long as the second drive mechanism 31 can drive the second rotating arm 32 to rotate, for example, the second drive mechanism 31 can be a drive motor.

[0054] It should also be noted that the present application does not restrict the rotation axis of the second rotating arm 32, i.e., the second axis. As long as the first rotating assembly 2 on the second rotating assembly 3 can simultaneously achieve lifting and lowering while also being able to rotate along the second axis parallel to the vertical direction, it is sufficient. For example, the second axis can be non-parallel to the vertical direction, such as the angle between the second axis and the vertical direction can be 5°, 10°, etc.

[0055] Referring to Figure 1 , the first rotating assembly 2 includes a first drive mechanism 21 and a first rotating arm 22. The first drive mechanism 21 is mounted on a second rotating arm 32. The fixed end of the first drive mechanism 21 is secured to the second rotating arm 32, and the output end is provided with the first rotating arm 22. Driven by the first drive mechanism 21, the first rotating arm 22 is capable of rotating along a first axis (e.g., line B in Figure 1 ). The first axis is parallel to the vertical direction, meaning that the rotational plane of the first rotating arm 22 is perpendicular to both the first and second axes. A connecting hole is provided on the first rotating arm 22 for mounting the locking and unlocking head 4.

[0056] Of course, the number of connection holes provided in this application is not fixed, and those skilled in the art can adjust it according to the specific application scenario. For example, the number of connection holes can be 2, 3, or another number. When the number of connection holes is 2 or more, the shape and size of the connection holes can be different to accommodate different models of locking and unlocking heads 4.

[0057] It should be noted that the present application does not restrict the location of the fixed end of the first driving mechanism 21, as long as the first driving mechanism 21 can be disposed on the first rotating arm 22. For example, the fixed end of the first driving mechanism 21 can be disposed on a side of the first rotating arm 22 close to the first driving mechanism 21, or on a side of the first rotating arm 22 away from the first driving mechanism 21, as long as the first driving mechanism 21 can rotate under the drive of the first rotating assembly 2 and can drive the first rotating arm 22 to rotate. In addition, the present application does not restrict the first driving mechanism 21, as long as the first driving mechanism 21 can drive the first rotating arm 22 to rotate, such as the first driving mechanism 21 can be a driving motor.

[0058] It should also be noted that the locking and unlocking head 4 is arranged on the side of the first rotating arm away from the first axis, so as to facilitate the adjustment of the position of the locking and unlocking head 4. In addition, the first driving mechanism 21 is arranged on the side of the second rotating arm away from the second axis, so as to facilitate the adjustment of the position of the locking and unlocking head 4.

[0059] In addition, the present invention also provides a locking and unlocking device, which includes at least one locking and unlocking head 4 and the manipulator in any of the above embodiments, and the locking and unlocking head 4 is arranged at the output end of the first rotating component 2.

[0060] It should be noted that the locking and unlocking heads 4 can be installed in the connecting holes on the first rotating arm 22. When there are two or more locking and unlocking heads 4, a corresponding number of connecting holes can be provided on the first rotating arm 22 to accommodate different models of locking and unlocking heads 4, due to the different models of locking and unlocking heads 4 and the different shapes and sizes of the parts where the locking and unlocking heads 4 connect with the connecting holes. If the models of the locking and unlocking heads 4 are different and the shapes and sizes of the parts where the locking and unlocking heads 4 connect with the connecting holes are the same, a single connecting hole can be provided on the first rotating arm 22.

[0061] In addition, the present invention also provides a battery-swapping robot, which includes the locking and unlocking device described in any of the above embodiments.

[0062] In addition, the present invention also provides a battery exchange facility, which includes a battery exchange robot described in any one of the above embodiments.

[0063] Those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are intended to be within the scope of this application and to form different embodiments. For example, in the claims of this application, any of the claimed embodiments may be used in any combination.

[0064] Thus far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present application.

Claims

1. A robot, characterized in that: The manipulator comprises: Lifting components; The first rotating assembly is arranged at the output end of the lifting assembly, so that the first rotating assembly can be lifted and lowered in the vertical direction; the first rotating assembly is configured to be able to be lifted and lowered in the vertical direction under the action of the lifting assembly, and can also drive the locking and unlocking head on its output end to rotate along the first axis, and the first axis is parallel to the vertical direction.

2. The manipulator according to claim 1, characterized in that: The first rotating assembly includes: a first driving mechanism, the first driving mechanism being arranged at an output end of the lifting assembly; A first rotating arm is provided at an output end of the first driving mechanism.

3. The manipulator according to claim 2, characterized in that: At least one connecting hole is provided on the first rotating arm for installing the locking and unlocking head.

4. The manipulator according to claim 1, characterized in that: The manipulator further comprises: The second rotating assembly is provided with an output end of the lifting assembly, and the output end of the second rotating assembly is provided with the first rotating assembly.

5. The robot according to claim 4, characterized in that: The second rotating assembly includes: a second driving mechanism, the second driving mechanism being disposed at an output end of the lifting assembly; A second rotating arm is provided at the output end of the second driving mechanism and the first rotating assembly is provided thereon.

6. The robot according to claim 1, characterized in that: The lifting assembly comprises: Lifting drive mechanism; A lifting plate is provided at the output end of the lifting drive mechanism, and the first rotating assembly is provided on a side of the lifting plate away from the lifting drive mechanism.

7. The robot according to claim 6, characterized in that: The lifting assembly further comprises: A mounting seat, on which the lifting drive mechanism is provided; A column is provided on the mounting seat, and the column is configured to enable the lifting plate to move along its length direction under the drive of the lifting drive mechanism.

8. The robot according to claim 7, characterized in that: The lifting plate is sleeved on the column; or A track is provided on the column, and a slider connected with the lifting plate is provided on the track.

9. A locking and unlocking device, characterized in that: The locking and unlocking device includes at least one locking and unlocking head and the manipulator according to any one of claims 1 to 8, and the locking and unlocking head is arranged at the output end of the first rotating component.

10. A battery-swapping robot, characterized in that: The battery-swapping robot includes the locking and unlocking device described in claim 9.

11. A battery replacement facility, characterized in that: The battery exchange facility includes the battery exchange robot described in claim 10.

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