Chain-lifting battery swapping robot and falling prevention system thereof

Abstract

A chain-lifting battery swapping robot and a falling prevention system thereof. The chain-lifting battery swapping robot comprises: a base (12) moving along a track (11) and a lifting / lowering mechanism (10) mounted on the base (12); the lifting / lowering mechanism (10) comprises a fixed part (2) mounted on the base (12) and a lifting / lowering part (3) slidably connected to the fixed part (2); driving gears (211) are rotatably provided at the lower end of the fixed part (2), and transmission gears (212) are rotatably provided at the upper end of the fixed part (2); a driving unit (120) is provided on the base (12); the driving unit (120) drives the driving gears (211) to rotate by means of a rotating shaft parallel to a plane where the track (11) is located; the driving gears (211) and the transmission gears (212) rotate synchronously by means of transmission chains (4); and the lifting / lowering part (3) is provided with mounting parts (32) fixedly connected to at least part of the transmission chains (4).

Description

A chain-lift battery swapping robot and its fall protection system Technical Field

[0001] This invention belongs to the field of battery swapping technology for new energy heavy-duty trucks, specifically to a chain-lifting battery swapping robot and its anti-fall system. Background Technology

[0002] Battery swapping robots are intelligent devices that can automatically replace batteries and play an important role in many fields. Technical issues

[0003] Existing technologies, such as the patent with publication number CN218088812U, disclose a special lifting device for battery swapping stations. This device adopts a chain lifting structure, fixing the lifting motor to the gantry, thus placing the lifting motor at a high position. Another example is the battery swapping station lifting machine with anti-fall function disclosed in the patent with publication number CN220811721U, which also adopts a chain lifting structure. This lifting machine uses two sets of sprockets and chains as the lifting power. Although placing the drive unit at the bottom facilitates maintenance and assembly, setting the drive units on both sides increases the cost of parts. In addition, since the lifting height is limited by the height of the column itself, in order to meet the requirements for lifting the battery, the height of the column must be increased. That is to say, the existing chain lifting method still has insufficient space utilization. In view of this, it is necessary to develop a chain lifting battery swapping robot with a more compact structure and more reasonable space utilization. Technical solutions

[0004] To address the aforementioned problems, the present invention aims to provide a chain-lifting battery swapping robot and its fall prevention system. This chain-lifting battery swapping robot has a compact drive system that is easy to assemble and maintain, and has higher lifting capacity.

[0005] The technical solution adopted in this invention is as follows:

[0006] A chain-lifted battery swapping robot for hoisting battery swapping includes a base that travels along a track and a lifting mechanism mounted on the base. The lifting mechanism includes a fixed part mounted on the base and a lifting part slidably connected to the fixed part. The fixed part has a certain height, and a drive gear is rotatably provided at the lower end of the fixed part and a transmission gear is rotatably provided at the upper end of the fixed part. The drive gear and the transmission gear are vertically aligned. A drive unit is provided on the base, and the drive unit drives the drive gear to rotate through a rotating shaft parallel to the plane of the track. The drive gear and the transmission gear rotate synchronously through a transmission chain. The lifting part is provided with a mounting part that is fixedly connected to at least a part of the transmission chain.

[0007] Preferably, the fixing part includes a support arm extending in a vertical direction, the support arm is provided with a vertically extending sliding guide rail, and the transmission gear is offset from the sliding guide rail along the extension direction of the rail.

[0008] Preferably, the mounting portion has an upper mounting portion and a lower mounting portion fixedly disposed opposite to each other, and the transmission chain has an upper end connected to the upper mounting portion and a lower end connected to the lower mounting portion; the upper end of the transmission chain is adjustablely connected to the upper mounting portion and / or the lower end of the transmission chain is adjustablely connected to the lower mounting portion by adjusting bolts and adjusting nuts.

[0009] A fall prevention system for a chain-lifted battery swapping robot includes a fixed part with sliding guide rails extending vertically on both sides and a lifting part slidably connected to the fixed part. The lifting part includes a pair of lifting arms that slide with the sliding guide rails and mounting parts installed on each lifting arm. Each mounting part is provided with a clamping device. The two clamping devices located on different mounting parts are connected to each other by a pull line to achieve synchronous fall prevention.

[0010] Preferably, the two sides of the fixing part are respectively provided with brake guide rails extending in the vertical direction. The clamping device includes locking blocks disposed opposite to the two sides of the brake guide rail and guide grooves fixedly installed on the mounting part, which are also located on the two sides of the brake guide rail. The guide grooves are symmetrically arranged along the brake guide rail and form an angle with the brake guide rail. The locking block is provided with a limiting post, and the limiting post is at least partially located in the corresponding guide groove.

[0011] Preferably, the clamping device includes a synchronizing lever, which is pivotally connected to the mounting part via a rotating shaft. The synchronizing lever includes a force-applying end that is simultaneously connected to the locking blocks located on both sides of the brake guide rail and a force-transmitting end that is connected to the pull cable.

[0012] Preferably, the force-applying end has a lifting rod arranged parallel to the rotating shaft, and locking blocks located on both sides of the brake guide rail are respectively connected to both ends of the lifting rod by screws.

[0013] Preferably, a transmission chain is connected to the mounting part and a linkage rod is installed thereon. The linkage rod includes a linkage end connected to the transmission chain and a linkage end connected to the force-applying end of the synchronous lever on the clamping device. The linkage rod is rotatably mounted on the mounting part.

[0014] Preferably, one end of the pull cable is connected to the force transmission end of the synchronous lever on the mounting part located on one side of the lifting part, and the other end is connected to the linkage end of the linkage rod on the mounting part located on the other side of the lifting part.

[0015] Preferably, a first elastic element is provided between the linkage end of the linkage rod and the transmission chain, and a second elastic element is provided between the linkage end of the linkage rod and the force-applying end of the synchronous lever of the clamping device. Beneficial effects

[0016] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0017] 1. The overall height of the robot is reduced by using a combination of a fixed part and a lifting part to lower the lifting height. At the same time, placing the drive unit at the bottom makes the spatial layout of the chain-lifted battery swapping robot more compact and stable, making both assembly and maintenance more convenient.

[0018] 2. The fall protection systems on both sides are interconnected by a cable. When the fall protection system on one side is activated, the fall protection system on the other side responds synchronously, making the battery swapping process safer and more reliable. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 is a three-dimensional structural schematic diagram provided in an embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of the main view structure provided in an embodiment of the present invention;

[0022] Figure 3 is a three-dimensional structural schematic diagram of the lifting part provided in an embodiment of the present invention;

[0023] Figure 4 is a magnified structural diagram of point A in Figure 3;

[0024] Figure 5 is a magnified structural diagram of point B in Figure 3.

[0025] Reference numerals: 11-track; 10-lifting mechanism; 101-output shaft; 102-drive shaft; 103-gearbox; 12-base; 120-drive unit; 17-flexible cable chain; 2-fixed part; 21-support arm; 211-drive gear; 212-transmission gear; 23-sliding guide rail; 24-brake guide rail; 3-lifting part; 30-sliding arm; 31-lifting arm; 303-sliding guide groove; 32-mounting part; 321-upper mounting part; 322-lower mounting part; 323-adjusting bolt; 324-adjusting nut; 38-top beam; 4-transmission chain; 41-upper end; 42-lower... End; 43-Modular shaft; 430-Pivot; 5-Clamping device; 50-Main body; 501-First pull line; 502-Second pull line; 504-Variable clamping groove; 51-Locking block; 510-Limiting post; 511-Screw; 52-Guide groove; 54-Synchronous lever; 541-Force application end; 542-Force transmission end; 543-Lifting rod; 56-Rotating shaft; 6-Linkage rod; 61-Linkage end 1; 62-Linkage end 2; 63-Pivot connection; 630-Pivot shaft; 71-First elastic element; 72-Second elastic element; 73-Third elastic element; 8-Lifting mechanism; 81-Telescopic arm; 82-Lifting device. The best embodiment of the present invention

[0026] A chain-lift battery swapping robot is used for hoisting swapping batteries (not shown), for example, to replace batteries in heavy-duty trucks. This chain-lift battery swapping robot can move back and forth along a track 11. In some other embodiments, the chain-lift battery swapping robot also uses casters to move in any direction (forward, backward, left, or right), which will not be elaborated here. The chain-lift battery swapping robot includes a frame-shaped base 12 that travels along the track 11 and a lifting mechanism 10 mounted on the base 12. The lifting mechanism 10 includes a fixed part 2 fixedly mounted on the base 12 and a lifting part 3 slidably connected to the fixed part 2. The fixed part 2 includes two support arms 21 extending upward from opposite sides of the base 12, each support arm 21 having a sliding guide rail 23 extending vertically. The swapping battery has a thickness and a certain height along the length of the track 11. The distance between the two sliding guide rails 23 is greater than the thickness of the swapping battery, allowing the battery's trajectory to pass through the chain-lift battery swapping robot in a direction perpendicular to the track 11, thereby enabling the battery to be transferred from one side of the track 11 to the other.

[0027] The lifting unit 3 has a frame-shaped top beam 38, and a pair of lifting arms 31 extending downward along both sides of the top beam 38 are slidably engaged with the sliding guide rail 23. Preferably, the lifting arms 31 engage with the sliding guide rail 23 through sliding arms 30 set on the lifting arms 31. The lifting arms 31 are roughly inverted triangles, with the sliding arms 30 being the axis of symmetry of the inverted triangle. The mounting part 32 is fixedly installed on the lifting arms 31. A hoisting mechanism 8 is installed on the top beam 38 of the lifting unit 3. The lifting arms 31 are preferably inverted triangle structures with good stability, and the support arms 21 are preferably equilateral triangle structures with good stability. The hoisting mechanism 8 is installed on the top of the lifting unit 3. The hoisting mechanism 8 is preferably a telescopic arm 81 with multi-stage telescopic function, and a lifting device 82 is provided at the front end of the telescopic arm 81. The lifting device 82 has the function of locking the battery swapping device by grabbing, clamping, or internally supporting it. For example, in this embodiment, after the battery is picked up by the lifting device 82, the lifting unit 3 can lift the battery along the Z direction. The battery can be moved along the Y direction by extending and retracting the telescopic arm. The battery can be moved along the X direction, i.e., along the track 11, by lifting the battery swapping robot with the overall moving chain.

[0028] Each support arm 21 is also provided with a brake guide rail 24 arranged parallel to the sliding guide rail 23. That is, the two sides of the fixing part 2 are respectively provided with brake guide rails 24 extending in the vertical direction. The brake guide rails 24 and the sliding guide rail 23 are arranged parallel to each other, that is, they are both fixedly installed on the base 12 in the vertical direction. The lifting part 3 moves up and down along the sliding guide rail 23 through the lifting arms 31 on both sides. In this embodiment, the mounting part 32 is fixedly mounted on the lifting arm 31 and is located between the sliding guide rail 23 and the lifting arm 31 that matches the sliding guide rail 23. The lifting arm 31 is provided with sliding guide grooves 303 that match the sliding guide rail 23 on the upper and lower sides of the mounting part 32, respectively. In other embodiments, there may be multiple sliding guide grooves 303 and they may be aligned in the vertical direction. The positions of the sliding guide rail 23 and the sliding guide grooves 303 may also be interchanged. That is, the guide rail may be located on the lifting arm 31 and the guide groove may be located on the support arm 21. This will not be described in detail here.

[0029] Furthermore, the support arm 21 of the fixed part 2 has a certain height, which is greater than the height of the battery. A drive gear 211 is rotatably provided at the lower end of the support arm 21 of the fixed part 2, and a transmission gear 212 is rotatably provided at the upper end of the fixed part 2. The drive gear 211 and the transmission gear 212 are aligned in the vertical direction. At the same time, both the transmission gear 212 and the drive gear 211 are set off from the sliding guide rail 23 along the extension direction of the track 11. That is to say, the lifting power of the lifting part 3 is not at the center of the lifting part 3. The advantage of this setting is that it can reduce the deflection of the telescopic arm 81 of the hoisting mechanism 8 on the lifting part 3. In particular, it is preferable to position the drive unit 120, transmission gear 212, and drive gear 211 on the side closer to the battery swapping truck. This is because the telescopic arm 81 on this side often needs to extend further to facilitate lifting the battery from the truck, while the other side, which is the location for storing the battery, usually does not require the telescopic arm 81 to be fully extended. Therefore, the above-mentioned driving force offsetting technology reduces the deflection of the telescopic arm 81, making the battery swapping operation safer and improving its service life and reliability.

[0030] Preferably, the drive gears 211 on the two support arms 21 are synchronously driven by the same drive unit 120 on the base 12. The drive motor 120 drives the drive gears 211 to rotate through a rotating shaft parallel to the plane of the track 11. Preferably, the drive unit 120 is a motor. The drive unit 120 transmits the driving force to the two transmission shafts 102 extending in the Y direction through a gearbox 103 connected to the output shaft 101 extending in the X direction and a bevel gear set (not shown) located in the gearbox 103. The driving force is then transmitted to the drive gears 211 on the support arms 21 on both sides of the fixed part 2. The drive gears 211 then drive the transmission gears 212 to rotate synchronously through the transmission chain 4. In this embodiment, the aforementioned rotating shaft includes the output shaft 101 of the motor and the transmission shaft 102 rotatably coupled to the output shaft 101 through the gearbox 103. The output shaft 101 and the transmission shaft 102 are in a "T" shape.

[0031] To fully utilize the internal space of the chain-lifted battery swapping robot and make its structure more reasonable and compact, the battery can pass through the interior of the chain-lifted battery swapping robot. That is, the battery can be moved from one side of the track 11 to the other side. The transmission gear 212 and drive gear 211 on the same support arm 21 are located on the first plane (not shown), and the transmission gear 212 and drive gear 211 on one support arm 21 are located on the second plane (not shown). The distance between the first plane and the second plane is greater than the thickness of the battery.

[0032] In some other embodiments, multi-stage transmission can also be achieved through more rotating shafts. For example, when four driving gears 211 are driven simultaneously by one motor (not shown), two sets of sprockets can be respectively arranged on both sides of the support arm 21. At this time, one driving shaft can be used to drive four auxiliary shafts to make the four driving gears 211 rotate synchronously. The driving shaft and the auxiliary shafts can be in the shape of "dry" or "Mi", etc. Only a bevel gear set needs to be arranged at the direction-changing position, which will not be elaborated here. Preferably, the extending direction of the axis of the output shaft 101 of the driving unit 120 is parallel to the extending directions of the first plane and the track 11. The advantage of such a design is that it makes full use of the internal space of the base 12 and does not occupy the space above the base 12, which is more convenient for the operator to assemble and repair. Particularly, when the driving unit 120 is located at the middle position of the base 12, the torsion distributed to both sides is approximately equal, which can make the lifting movement more stable.

[0033] As can be seen from the above, the lifting mechanism 10 further includes a transmission chain 4 that meshes with the driving gear 211 and the transmission gear 212 respectively. At least a part of the transmission chain 4 is fixedly connected to the aforementioned mounting portion 32. During the rotation of the driving gear 211, the transmission chain 4 is driven to roll, and then the lifting part of the transmission chain 4 is used to drive the mounting portion 32 to perform a lifting movement. It is easy to understand that since the hoisting mechanism 8 is installed at the top of the lifting portion 3, when the lifting portion 3 rises to the highest point, the height of the hoisting mechanism 8 is jointly determined by the height of the sliding guide rail 23 on the support arm 21 of the fixing portion 2 and the height of the sliding arm 30, and is not solely limited by the height of the fixing portion 2. That is to say, by adopting the sliding cooperation of the sliding guide rail 23 and the sliding arm 30 for lifting, the requirement for the overall height of the chain-lifting battery swapping robot is reduced, which undoubtedly improves the space utilization rate and is more convenient for transportation.

[0034] Preferably, the transmission chain 4 has an upper end portion 41 and a lower end portion 42 that are relatively spaced apart and are respectively installed on the mounting portion 32. That is to say, the transmission chain 4 is open and disconnected in this embodiment. An anti-falling system is connected to the upper end portion 41 and / or the lower end portion 42 of the transmission chain 4. When the transmission 4 breaks, the anti-falling system抱紧制动导轨24 (抱紧制动导轨24 is not clear in the original Chinese, assuming it means something like tightly holds and brakes the guide rail 24), which can play a role in preventing the lifting portion 3 from falling and enhancing the safety of the battery swapping operation. In some other embodiments, the transmission chain 4 can also be closed and form a closed loop. In this case, only the anti-falling system needs to be connected to a local part of the transmission chain 4 at a suitable position.

[0035] Since the chain-lifting battery swapping robot conforming to the present invention has a hoisting mechanism 8 installed on the top beam 38 of the lifting portion 3, in order to enable the lifting tooling 82 to have the ability to actively match the battery to be swapped, a driving system usually needs to be arranged on the top beam 38. Therefore, preferably, at least one flexible drag chain 17 is connected between the fixing portion 2 and the lifting portion 3. The flexible drag chain 17 contains a power line, a control signal line, etc., which will not be elaborated here.

[0036] Furthermore, the mounting part 32 is provided with an upper mounting part 321 and a lower mounting part 322 that are opposite to and fixed on each other. The upper end 41 of the transmission chain 4 is connected to the upper mounting part 321, and the lower end 42 of the transmission chain 4 is connected to the lower mounting part 322. The upper end 41 of the transmission chain 4 and the upper mounting part 321 and / or the lower end 42 of the transmission chain 4 and the lower mounting part 322 are adjustablely connected by adjusting bolts 323 and adjusting nuts 324. By adjusting the engagement degree of the adjusting nut 324 and the adjusting bolt 323, the transmission chain 4 is tensioned, which can make the lifting movement of the lifting part 3 more precise.

[0037] By adopting the above technical solution, the chain lifting battery swapping robot conforming to the present invention adopts the method of superimposing the lifting height of the fixed part 2 and the lifting part 3 to reduce the requirements on the overall height, which facilitates transportation. At the same time, by placing the drive unit 120 at the bottom, the spatial layout of the chain lifting battery swapping robot is more compact and stable, making it more convenient for both assembly and maintenance.

[0038] A fall prevention system for a chain-lifted battery swapping robot is disclosed. The fall prevention system includes a fixed part 2 with sliding guide rails 23 extending vertically on both sides, and a lifting part 3 slidably connected to the fixed part 2. The lifting part 3 includes a pair of lifting arms 31 that slide with the sliding guide rails 23 and mounting parts 32 installed on each lifting arm 31. Each mounting part 32 is provided with a clamping device 5. The two clamping devices 5 located on different mounting parts 32 are connected to each other by a pull line to achieve synchronous fall prevention.

[0039] To prevent falls, clamping devices 5 are provided on the mounting portions 32 on both sides of the lifting part 3. Each clamping device 5 has a box-shaped, hollow body portion 50. The clamping device 5 includes locking blocks 51 that are disposed opposite to each other on both sides of the brake guide rail 24 and located inside the body portion 50, and guide grooves 52 that are fixedly installed on the mounting portion 32, also located on both sides of the brake guide rail 24 and opened on the body portion 50. A variable clamping groove 504 is provided between the locking blocks 51 on both sides of the brake guide rail 24. When the locking blocks 51 do not clamp the brake guide rail 24, the variable clamping groove 504 is in an open state, allowing the mounting portion 32 to move up and down along the automatic guide rail 24. A linkage rod 6 is provided between the upper end 41 of the transmission chain 4 and the clamping device 5. The linkage rod 6 is rotatably mounted on the mounting part 32 through the pivot shaft 630 at the pivot part 63. The linkage rod 6 includes a linkage end 61 connected to the transmission chain 4 and a linkage end 62 connected to the clamping device 5. When the transmission chain 4 breaks, the linkage rod 6 triggers the clamping device 5 to hold the brake guide rail 24 through the linkage end 62, which can play a role in preventing falls.

[0040] The guide groove 52 is symmetrically arranged along the brake guide rail 24 and forms an angle with the brake guide rail 24, for example, in a figure-eight shape. Each locking block 51 is provided with a limiting post 510, which is at least partially located in the corresponding guide groove 52. When the locking block 51 is pulled upwards, because the limiting post 510 is confined in the guide groove 52, the locking blocks 51 on both sides of the brake guide rail 24 move upwards and closer to each other, thereby clamping the brake guide rail 24 and achieving the effect of braking and preventing fall. A lifting rod 543 is provided between the locking blocks 51. One end of the second elastic member 72 is connected to the lifting rod 543, and the other end is connected to the linkage end 62 of the linkage rod 6. Pulling the lifting rod 543 upwards will cause the locking block 51 to rise along the guide groove 52 and clamp the brake guide rail 24. In some other embodiments, the guide groove 52 can also be set in an inverted figure-eight shape, and the locking effect can be achieved by pulling the locking block 51 downwards.

[0041] Furthermore, a first elastic element 71 is provided between the linkage end 61 and the transmission chain 4, and a second elastic element 72 is provided between the linkage end 62 and the clamping device 5. Furthermore, the fall protection system also includes a synchronous lever 54 that passes through the mounting part 32. The synchronous lever 54 is pivotally connected to the mounting part 32 via a rotating shaft 56. The synchronous lever 54 includes a force-applying end 541 that simultaneously connects to the locking blocks 51 located on both sides of the brake guide rail 24 and a force-transmitting end 542 connected to the pull cable. The aforementioned lifting rod 543 is located at the force-applying end 541, meaning that the second elastic element 72 is located between the linkage end 62 and the force-applying end 541 of the synchronous lever 54 of the clamping device 5.

[0042] The stay wire passes through the bottom of the lifting part 3 and is connected to the clamping device 5 located on another mounting part 32. That is to say, the two clamping devices 5 located on different mounting parts 32 are connected to each other through the stay wire to achieve synchronous anti-falling. Among them, the stay wire includes a first stay wire 501 and a second stay wire 501, and can be made of steel wire or a material with certain flexibility that can be bent but has a small radial deformation. Specifically, one end of the first stay wire 501 is connected to the force transmission end 542 of the synchronous lever 54 on the mounting part 32 on one side of the lifting part 3, and the other end of the first stay wire 501 is connected to the second linkage end 62 of the linkage rod 6 on the mounting part 32 on the other side of the lifting part 3. When the transmission chain 4 on either side fails and breaks, the first linkage end 61 of the linkage rod 6 moves downward under the pushing of the first elastic member 71, and the second linkage end 62 moves upward synchronously, driving the locking block 51 to move upward and clamp the braking guide rail 24. At the same time, one end of the first stay wire 501 is pulled upward, causing the force transmission end 542 of the synchronous lever 54 in the clamping device 5 on the other side to move downward and the force application end 541 to move upward, so as to make the clamping device 5 on the other side of the lifting part 3 synchronously clamp another braking guide rail 24 and achieve synchronous anti-falling. In order to achieve a better synchronous effect, at least one end of the stay wire is provided with a third elastic member 73. For example, the third elastic member 73 is arranged at one end close to the force transmission end 542. The setting of the third elastic member 73 can make the clamping forces, that is, the braking forces, of the clamping devices 5 on both sides of the lifting part 3 roughly equal.

[0043] In order to achieve a better synchronous anti-falling effect, the synchronous lever 54 is in the shape of a Chinese character 'Ri'. The force application end 541 has a lifting rod 543 arranged parallel to the rotating shaft 56. The locking blocks 51 located on both sides of the braking guide rail 24 are respectively connected to both ends of the lifting rod 543 through screws 511 and nuts (not labeled). That is to say, the positions of the locking blocks 51 are adjustable, and it is easy to replace and disassemble them after wear, and the clamping device 5 is easy to maintain.

[0044] Furthermore, the linkage end 61 is connected to the transmission chain 4 via a movable shaft 43. The first elastic element 71 is a disc spring fitted on the movable shaft 43. When the transmission chain 4 is taut, it pulls the movable shaft 43 to compress the disc spring. When the transmission chain 4 is slack, it releases the compression of the disc spring, thereby pushing the linkage end 61 downward and causing the linkage end 62 upward, which in turn pulls the second elastic element 72. In some preferred embodiments, the movable shaft 43 is also equipped with a sensor to monitor the working status of the transmission chain 4. For example, when the movable shaft 43 moves relative to the mounting part 32, a current loop is formed. When the transmission chain 4 is taut, it pulls the movable shaft 43 to break the current loop. Alternatively, a position sensor, a force sensor, etc., can be installed on the movable shaft 43, which will not be elaborated further. Since the movable shaft 43 moves in the vertical direction, and the linkage rod 6 is rotatably mounted on the mounting part 32 through the pivot shaft 630 at the pivot part 63, that is to say, the linkage end 61 can only rotate around the pivot shaft 630. Therefore, the linkage end 61 and the movable shaft 43 are hingedly connected through the pivot shaft 430. Embodiments of the present invention

[0045] A chain-lifted battery swapping robot for hoisting battery swapping includes a base 12 that travels along a track 11 and a lifting mechanism 10 mounted on the base 12. The lifting mechanism 10 includes a fixed part 2 mounted on the base 12 and a lifting part 3 slidably connected to the fixed part 2. The fixed part 2 has a certain height, and a drive gear 211 is rotatably provided at the lower end of the fixed part 2 and a transmission gear 212 is rotatably provided at the upper end of the fixed part 2. The drive gear 211 and the transmission gear 212 are vertically aligned. A drive unit 120 is provided on the base 12. The drive unit 120 drives the drive gear 211 to rotate through a rotating shaft parallel to the plane of the track 11. The drive gear 211 and the transmission gear 212 rotate synchronously through a transmission chain 4. The lifting part 3 is provided with a mounting part 32 that is fixedly connected to at least a part of the transmission chain 4.

[0046] The fixing part 2 includes a support arm 21 extending in a vertical direction, a vertically extending sliding guide rail 23 on the support arm 21, and a transmission gear 212 offset from the sliding guide rail 23 along the extension direction of the track 11.

[0047] The mounting part 32 is provided with an upper mounting part 321 and a lower mounting part 322 that are opposite to and fixed on each other. The transmission chain 4 has an upper end 41 connected to the upper mounting part 321 and a lower end 42 connected to the lower mounting part 322. The upper end 41 of the transmission chain 4 is adjustablely connected to the upper mounting part 321 and / or the lower end 42 of the transmission chain 4 is adjustablely connected to the lower mounting part 322 by adjusting bolts 323 and adjusting nuts 324.

[0048] A fall prevention system for a chain-lifted battery swapping robot includes a fixed part 2 with sliding guide rails 23 extending vertically on both sides, and a lifting part 3 slidably connected to the fixed part 2. The lifting part 3 includes a pair of lifting arms 31 that slide with the sliding guide rails 23 and mounting parts 32 installed on each lifting arm 31. Each mounting part 32 is provided with a clamping device 5. The two clamping devices 5 located on different mounting parts 32 are connected to each other by a pull line to achieve synchronous fall prevention.

[0049] The fixing part 2 is also provided with brake guide rails 24 extending in the vertical direction on both sides. The clamping device 5 includes locking blocks 51 disposed on both sides of the brake guide rail 24 and guide grooves 52 fixedly installed on the mounting part 32, which are also located on both sides of the brake guide rail 24. The guide grooves 52 are symmetrically arranged along the brake guide rail 24 and form an angle with the brake guide rail 24. The locking block 51 is provided with a limiting post 510, and the limiting post 510 is at least partially located in the corresponding guide groove 52.

[0050] The clamping device 5 includes a synchronizing lever 54, which is pivotally connected to the mounting part 32 via a rotating shaft 56. The synchronizing lever 54 includes a force-applying end 541 that is simultaneously connected to the locking blocks 51 located on both sides of the brake guide rail 24 and a force-transmitting end 542 that is connected to the pull cable.

[0051] The force-applying end 541 has a lifting rod 543 arranged parallel to the rotating shaft 56, and locking blocks 51 located on both sides of the brake guide rail 24 are respectively connected to the two ends of the lifting rod 543 by screws 511.

[0052] The mounting part 32 is connected to a transmission chain 4 and a linkage rod 6 is mounted thereon. The linkage rod 6 includes a linkage end 61 connected to the transmission chain 4 and a linkage end 62 connected to the force-applying end 541 of the synchronous lever 54 on the clamping device 5. The linkage rod 6 is rotatably mounted on the mounting part 32.

[0053] One end of the pull cable is connected to the force transmission end 542 of the synchronous lever 54 on the mounting part 32 on one side of the lifting part 3, and the other end is connected to the linkage end 62 of the linkage rod 6 on the mounting part 32 on the other side of the lifting part 3.

[0054] A first elastic element 71 is provided between the linkage end 61 of the linkage rod 6 and the transmission chain 4, and a second elastic element 72 is provided between the linkage end 62 of the linkage rod 6 and the force-applying end 541 of the synchronous lever 54 of the clamping device 5. Industrial applicability

[0055] The battery swapping robot with synchronous anti-fall protection on both sides according to the present invention adopts anti-fall protection systems on both sides, and the two anti-fall protection systems are braked synchronously by pull lines, which can ensure that the battery swapping process is safer and more reliable and improve the safety of the working environment.

Claims

1. A chain-lifting battery swap robot for hoisting a battery for swapping, comprising a base (12) for walking along a track (11) and a lifting mechanism (10) mounted on the base (12), the lifting mechanism (10) comprising a fixed part (2) mounted on the base (12) and a lifting part (3) in sliding connection with the fixed part (2), characterized in that, The fixed part (2) has a certain height, and a driving gear (211) is rotatably arranged at the lower end of the fixed part (2), and a transmission gear (212) is rotatably arranged at the upper end of the fixed part (2), the driving gear (211) and the transmission gear (212) are vertically aligned, a driving unit (120) is arranged on the base (12), the driving unit (120) drives the driving gear (211) to rotate through a rotating shaft parallel to the plane of the track (11), the driving gear (211) and the transmission gear (212) are synchronously rotated through a transmission chain (4), and the lifting part (3) is provided with a mounting part (32) fixedly connected with at least part of the transmission chain (4).

2. The chain-lifting battery swap robot according to claim 1, wherein, The fixed part (2) comprises a support arm (21) extending in the vertical direction, and the support arm (21) is provided with a vertical sliding guide rail (23), and the transmission gear (212) is arranged offset from the sliding guide rail (23) along the extension direction of the track (11).

3. The chain-lifting battery swap robot according to claim 1, wherein, Opposite and fixed upper mounting parts (321) and lower mounting parts (322) are arranged on the mounting part (32), the transmission chain (4) has an upper end (41) connected to the upper mounting part (321) and a lower end (42) connected to the lower mounting part (322), and the upper end (41) of the transmission chain (4) and the upper mounting part (321) and / or the lower end (42) of the transmission chain (4) and the lower mounting part (322) are adjustably connected through an adjusting bolt (323) and an adjusting nut (324).

4. A fall-preventing system of a chain-lifting battery swap robot, comprising a fixed part (2) and a lifting part (3) which are respectively provided with sliding rails (23) extending in a vertical direction, the lifting part (3) comprising a pair of lifting arms (31) in sliding cooperation with the sliding rails (23) and a mounting part (32) mounted on each lifting arm (31), characterized in that, The mounting part (32) is respectively provided with a clamping device (5), and two clamping devices (5) located on different mounting parts (32) are connected with each other through a pull wire to realize synchronous anti-falling.

5. The anti-falling system of the chain lifting battery swap robot according to claim 4, characterized in that, The fixed part (2) is further provided with brake guide rails (24) extending in the vertical direction on both sides, the clamping device (5) comprises locking blocks (51) arranged on both sides of the brake guide rail (24) and guide grooves (52) fixedly installed on the mounting part (32) and also located on both sides of the brake guide rail (24), the guide grooves (52) are symmetrically arranged along the brake guide rail (24) and form an included angle with the brake guide rail (24), and the locking block (51) is provided with a limiting column (510), and the limiting column (510) is at least partially located in the corresponding guide groove (52).

6. The anti-falling system of the chain lifting battery swap robot according to claim 5, wherein, The clamping device (5) comprises a synchronous lever (54), the synchronous lever (54) is pivoted to the mounting part (32) through a rotating shaft (56), and the synchronous lever (54) comprises a force applying end (541) connected to the locking blocks (51) located on both sides of the brake guide rail (24) and a force transmitting end (542) connected to the pull wire.

7. The anti-falling system of the chain lifting battery swap robot according to claim 6, characterized in that, The force applying end (541) has a pull rod (543) arranged parallel to the rotating shaft (56), and the locking blocks (51) located on both sides of the brake guide rail (24) are respectively connected to both ends of the pull rod (543) through screw rods (511).

8. The anti-falling system of the chain lifting battery swap robot according to claim 6, wherein, The installation part (32) is connected with a transmission chain (4) and is installed with a linkage rod (6), the linkage rod (6) includes a linkage one end (61) connected with the transmission chain (4) and a linkage two end (62) connected with a force applying end (541) of a synchronous lever (54) of the clamping device (5), and the linkage rod (6) is rotatably installed on the installation part (32).

9. The anti-falling system of the chain lifting battery swap robot according to claim 8, wherein, One end of the pull wire is connected with a force transmission end (542) of the synchronous lever (54) on the installation part (32) on one side of the lifting part (3), and the other end is connected with the linkage two end (62) of the linkage rod (6) on the installation part (32) on the other side of the lifting part (3).

10. The anti-falling system of the chain lifting battery swap robot according to claim 8, wherein, The linkage one end (61) of the linkage rod (6) is provided with a first elastic member (71) between the transmission chain (4), and the linkage two end (62) of the linkage rod (6) is provided with a second elastic member (72) between the force applying end (541) of the synchronous lever (54) of the clamping device (5).

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