Battery-swapping robot and battery swapping station

Abstract

A battery-swapping robot and a battery swapping station, which belong to the technical field of battery swapping. The battery-swapping robot (100) comprises a chassis (10), locking-unlocking platforms (20) and lifting mechanisms (30). The locking-unlocking platforms are used for removing a battery from an electric device or installing a battery onto the electric device. Each lifting mechanism comprises a telescopic rod (31) and a driving member (32), wherein each telescopic rod is mounted to the chassis in a telescopic manner in a first direction; each telescopic rod is connected to the corresponding locking-unlocking platform; and each driving member is in transmission connection with the corresponding telescopic rod and is configured to drive the corresponding telescopic rod to extend and retract in the first direction, so as to drive the corresponding locking-unlocking platform to ascend or descend relative to the chassis in the first direction. The battery-swapping robot enables the telescopic rods to not only drive the locking-unlocking platforms to ascend or descend in the first direction but also to play a guiding and limiting role in the lifting and lowering of the locking-unlocking platforms, which facilitates improving the stability and reliability of the lifting mechanisms when driving the locking-unlocking platforms to ascend or descend in the first direction, thereby enhancing the operational stability and battery swapping accuracy of the battery-swapping robot.

Description

Battery replacing robot and battery replacing station TECHNICAL FIELD

[0001] The present application relates to the technical field of battery replacing, in particular to a battery replacing robot and a battery replacing station. BACKGROUND

[0002] With the progress of science and technology, the battery industry has developed rapidly, and the market share and use frequency of electric devices are also increasing. Electrically driven vehicles such as electric vehicles are gradually appearing in various application scenarios. In order to improve the convenience of electric devices, especially electrically driven vehicles, battery replacing stations for quickly replacing batteries have appeared in the market. In order to improve the battery replacing efficiency of the battery replacing station, the battery replacing station is usually provided with a battery replacing robot, which carries batteries and dismounts and installs batteries on vehicles, so as to improve the automation degree and battery replacing efficiency of the battery replacing station. However, the stability of the existing battery replacing robot in the battery replacing process is low and the battery replacing precision is poor.

[0003] SUMMARY

[0004] The embodiments of the present application provide a battery replacing robot and a battery replacing station, which can effectively improve the use stability and battery replacing precision of the battery replacing robot.

[0005] In a first aspect, the embodiments of the present application provide a battery replacing robot, which comprises a chassis, a locking and unlocking platform and a lifting mechanism. The locking and unlocking platform is used for placing a battery, and is also used for dismounting a battery on an electric device or installing a battery on an electric device. The lifting mechanism comprises a telescopic rod and a driving member. The telescopic rod is telescopically mounted on the chassis along a first direction. The telescopic rod is connected with the locking and unlocking platform. The driving member is in transmission connection with the telescopic rod. The driving member is configured to drive the telescopic rod to telescopically extend or retract along the first direction, so as to drive the locking and unlocking platform to lift or lower relative to the chassis along the first direction.

[0006] In the technical scheme, the chassis of the battery replacing robot is provided with a lifting mechanism and a locking and unlocking platform, the lifting mechanism can drive the locking and unlocking platform to lift along the first direction, so as to realize that the locking and unlocking platform can dismount or mount the battery on the power device, thereby realizing the battery replacing function of the battery replacing robot. The lifting mechanism comprises a telescopic member and a driving member, the telescopic member is telescopically arranged on the chassis along the first direction, and the driving member is in transmission connection with the telescopic member, so that the driving member can drive the telescopic member to telescope in the first direction, so as to drive the locking and unlocking platform connected to one end of the telescopic member away from the chassis to lift. The battery replacing robot with the structure can guide and limit the lifting stroke of the locking and unlocking platform when the telescopic rod drives the locking and unlocking platform to lift along the first direction, which is beneficial to improving the stability and reliability of the lifting mechanism in driving the locking and unlocking platform to lift or descend in the first direction, and further improving the stability and reliability of the locking and unlocking platform of the battery replacing robot in lifting along the first direction during the mounting and dismounting of the battery by the battery replacing robot, so as to improve the use stability and battery replacing precision of the battery replacing robot.

[0007] In some embodiments, the telescopic rod comprises a plurality of sleeves sequentially sleeved from inside to outside, and in adjacent two sleeves, one sleeve can move relative to the other sleeve along the first direction; wherein the plurality of sleeves comprises a first sleeve located at the outermost side and a second sleeve located at the innermost side, one of the first sleeve and the second sleeve is mounted on the chassis, and the other is connected with the locking and unlocking platform.

[0008] In the technical scheme, the telescopic rod is provided with a plurality of sleeves sequentially sleeved from inside to outside, and one of the first sleeve located at the outermost side and the second sleeve located at the innermost side of the plurality of sleeves is fixed on the chassis, and the other is connected with the locking and unlocking platform. The battery replacing robot with the structure can drive the locking and unlocking platform to lift or descend along the first direction when the plurality of sleeves of the telescopic rod move relative to each other and extend or retract, which is simple in structure and convenient to assemble. On the other hand, after the plurality of sleeves retract relative to each other, the telescopic rod can reduce the space occupied in the first direction, which is beneficial to reducing the interference between the battery replacing robot and other devices during the battery replacing process, and facilitating the storage and transportation of the battery replacing robot.

[0009] In some embodiments, the first sleeve is mounted on the chassis, and the second sleeve is connected to the locking and unlocking platform.

[0010] In the technical scheme, the first sleeve located at the outermost side of the plurality of sleeves of the telescopic rod is fixedly installed on the base plate, and the second sleeve located at the innermost side of the plurality of sleeves of the telescopic rod is connected with the unlocking platform, so that the telescopic rod has a larger structure at one end close to the base plate in the first direction after being stretched, and the telescopic rod has a structure of being large below and small above in the first direction after being stretched. The battery replacing robot with the structure facilitates the telescopic rod to stretch and retract in the first direction, and is beneficial to reducing the difficulty of the lifting mechanism driving the unlocking platform to lift in the first direction. In addition, the structure stability and the structural strength of the telescopic rod installed on the base plate are improved, and the stability and reliability of the lifting mechanism driving the unlocking platform to lift in the first direction are improved.

[0011] In some embodiments, an end of the second sleeve away from the base plate is connected with a connecting portion, the connecting portion protrudes from the outer circumferential surface of the first sleeve, and the connecting portion is connected with the unlocking platform.

[0012] In the technical scheme, the connecting portion is arranged at the end of the second sleeve away from the base plate, the connecting portion is connected with the unlocking platform, and the connecting portion protrudes from the outer circumferential surface of the first sleeve. The battery replacing robot with the structure can increase the size of the area of the telescopic rod used for assembly connection with the unlocking platform, reduce the assembly difficulty between the unlocking platform and the telescopic rod, improve the connection stability between the unlocking platform and the telescopic rod, and facilitate the connecting portion to limit the second sleeve. When the second sleeve is retracted into the first sleeve, the connecting portion can abut against the end of the first sleeve away from the base plate, thereby reducing the phenomenon that the second sleeve is stuck in the first sleeve after being retracted.

[0013] In some embodiments, the sleeve is in a cylindrical shape, and an axis of the sleeve extends in the first direction.

[0014] In the technical scheme, the sleeve is in a cylindrical shape. On the one hand, the machining difficulty of the sleeve is reduced, and the plurality of sleeves are facilitated to be assembled and connected with each other. On the other hand, the guide precision of the mutual movement between the plurality of sleeves is improved, and the fitting precision of the mutual sleeving between the plurality of sleeves is improved, so that the phenomenon of radial deflection of the sleeve during the stretching and retraction of the telescopic rod is reduced.

[0015] In some embodiments, a wear-resistant sleeve is arranged between each adjacent two sleeves, and the adjacent two sleeves are an outer sleeve and an inner sleeve. The outer sleeve is sleeved outside the wear-resistant sleeve, and the wear-resistant sleeve is sleeved outside the inner sleeve. One of the outer sleeve and the inner sleeve is fixed with the wear-resistant sleeve, and the other is slidingly connected with the wear-resistant sleeve in the first direction.

[0016] In the technical scheme, the wear-resistant sleeve is arranged between each two adjacent sleeves, the adjacent inner sleeve and outer sleeve and the wear-resistant sleeve arranged between the adjacent inner sleeve and outer sleeve are sequentially sleeved, the wear-resistant effect between the adjacent inner sleeve and outer sleeve is increased, the assembly precision of the adjacent inner sleeve and outer sleeve is prevented from being reduced due to wear and scratch, and the service life and stability of the telescopic rod of the lifting mechanism are improved.

[0017] In some embodiments, the outer sleeve is fixed with the wear-resistant sleeve, and the inner sleeve is slidingly fitted with the wear-resistant sleeve in the first direction.

[0018] In the technical scheme, the wear-resistant sleeve is fixed with the outer sleeve and slidingly fitted with the inner sleeve in the first direction, the difficulty of assembling the wear-resistant sleeve between the adjacent outer sleeve and inner sleeve is reduced, and the assembly efficiency of the telescopic rod is improved.

[0019] In some embodiments, the wear-resistant sleeve is screwed to the inner side of the outer sleeve.

[0020] In the technical scheme, the outer sleeve is sleeved on the outer side of the wear-resistant sleeve and fixed with the wear-resistant sleeve through the threaded connection, on one hand, the assembly difficulty between the outer sleeve and the wear-resistant sleeve is reduced, and the assembly efficiency of the telescopic rod is improved, and on the other hand, the wear-resistant sleeve is convenient to disassemble and replace in the subsequent use process, and the difficulty and cost of the later maintenance of the battery replacing robot are reduced.

[0021] In some embodiments, the outer sleeve is provided with a first limiting hole, the wear-resistant sleeve is provided with a second limiting hole, and the first limiting hole and the second limiting hole extend along the radial direction of the wear-resistant sleeve; wherein a limiting piece is further arranged between the outer sleeve and the wear-resistant sleeve, and the limiting piece is inserted into the first limiting hole and the second limiting hole along the radial direction of the wear-resistant sleeve to limit the circumferential rotation of the wear-resistant sleeve relative to the outer sleeve.

[0022] In the technical scheme, the outer sleeve of the adjacent outer sleeve and inner sleeve is provided with a first limiting hole extending along the radial direction of the wear-resistant sleeve, and the wear-resistant sleeve is provided with a second limiting hole extending along the radial direction of the wear-resistant sleeve, a limiting piece is inserted into the first limiting hole and the second limiting hole, the limiting piece can limit the wear-resistant sleeve and the outer sleeve, the relative rotation of the wear-resistant sleeve and the outer sleeve is limited, the assembly stability between the wear-resistant sleeve and the outer sleeve is further improved, and the rotation of the wear-resistant sleeve relative to the outer sleeve is reduced during the extension and contraction of the telescopic rod, and the stability of the lifting mechanism driving the unlocking platform to ascend and descend in the first direction is improved.

[0023] In some embodiments, a limiting structure is arranged between the inner sleeve and the wear sleeve, and the limiting structure is configured to limit the rotation of the inner sleeve relative to the wear sleeve in the circumferential direction.

[0024] In the above technical solution, in the adjacent outer sleeve and inner sleeve, by arranging the limiting structure between the inner sleeve and the wear sleeve, the limiting structure can limit the rotation of the inner sleeve relative to the wear sleeve when the inner sleeve moves relative to the wear sleeve in the first direction, which helps to improve the stability and reliability of the telescopic rod during extension and retraction, thereby effectively improving the stability of the lifting mechanism driving the unlocking platform to lift in the first direction.

[0025] In some embodiments, the limiting structure includes a limiting protrusion and a limiting groove, one of the limiting protrusion and the limiting groove is arranged on the inner circumferential surface of the wear sleeve, and the other is arranged on the outer circumferential surface of the inner sleeve, the limiting groove extends in the first direction, and the limiting protrusion is inserted into the limiting groove.

[0026] In the above technical solution, the limiting structure is provided with a limiting protrusion and a limiting groove, one of the limiting protrusion and the limiting groove is arranged on the inner circumferential surface of the wear sleeve, and the other is arranged on the outer circumferential surface of the inner sleeve, and the limiting protrusion is inserted into the limiting groove, so as to realize the rotation of the inner sleeve relative to the wear sleeve by the cooperation of the limiting groove and the limiting protrusion. The structure is simple and easy to process and assemble. In addition, by arranging the limiting groove to extend in the first direction, the limiting protrusion and the limiting groove can be allowed to slide relative to the wear sleeve in the first direction while realizing the cooperation of the limiting protrusion and the limiting groove to limit the rotation of the inner sleeve relative to the wear sleeve, and the cooperation of the limiting protrusion and the limiting groove can also guide the inner sleeve to a certain extent when the inner sleeve slides relative to the wear sleeve in the first direction, thereby improving the stability of the inner sleeve sliding relative to the wear sleeve in the first direction.

[0027] In some embodiments, the limiting structure includes a plurality of limiting protrusions and a plurality of limiting grooves, the limiting protrusions and the limiting grooves correspond to each other, and the plurality of limiting grooves are arranged in the circumferential direction of the wear sleeve.

[0028] In the above technical solution, the limiting structure is provided with a plurality of limiting protrusions and a plurality of limiting grooves, and by arranging the plurality of limiting grooves in the circumferential direction of the wear sleeve and inserting each limiting protrusion into a limiting groove, the effect of the limiting structure limiting the rotation of the inner sleeve relative to the wear sleeve can be further improved, and the guiding effect on the inner sleeve can be improved, thereby further improving the stability of the inner sleeve sliding relative to the wear sleeve in the first direction.

[0029] In some embodiments, the lifting mechanism further includes a transmission assembly, and the driving member and the telescopic rod are drivingly connected through the transmission assembly.

[0030] In the above technical solution, the lifting mechanism is further provided with a transmission assembly, and the driving member is in a structure of being in transmission connection with the telescopic rod through the transmission assembly. The lifting mechanism adopting this structure can on one hand realize that the assembly positions of the driving member and the telescopic rod are not limited by assembly, and is beneficial to optimizing the structure of the lifting mechanism according to actual conditions. On the other hand, the driving force transmitted to the telescopic rod by the driving member can be adjusted through the transmission assembly to adapt to different use scenarios, thereby being beneficial to improving the use range of the battery replacing robot.

[0031] In some embodiments, the driving member has an output shaft, the transmission assembly includes a chain wheel and a rigid chain, the chain wheel is in meshing connection with the rigid chain, the chain wheel is connected to the output shaft, and the rigid chain is connected to the telescopic rod.

[0032] In the above technical solution, the transmission assembly is provided with a chain wheel and a rigid chain. The chain wheel is arranged on the output shaft of the driving member, and the chain wheel is in meshing connection with the rigid chain. After the driving member drives the chain wheel to rotate, the rigid chain can be driven to climb or descend along the first direction, so as to drive the telescopic rod connected to the rigid chain to extend or retract along the first direction, thereby realizing that the lifting mechanism drives the locking and unlocking platform to lift along the first direction. The transmission assembly adopting this structure can on one hand improve the load capacity of the lifting mechanism and has good transmission stability. On the other hand, the driving force of lifting the rigid chain can be converted to the telescopic member, so that the telescopic member can guide and limit the climbing or descending of the rigid chain, which is beneficial to relieving the phenomenon of radial deformation of the rigid chain, thereby improving the stability and reliability of the rigid chain in the process of climbing or descending along the first direction. In the process of installing and dismounting the battery by the battery replacing robot, the stability and reliability of the locking and unlocking platform of the battery replacing robot in lifting along the first direction can be improved, so as to improve the use stability and battery replacing precision of the battery replacing robot.

[0033] In some embodiments, the telescopic rod has opposite first and second ends in the first direction, the first end is mounted to the chassis, and the second end is connected to the locking and unlocking platform. One end of the rigid chain extends into the interior of the telescopic rod from the first end and is connected to the telescopic rod.

[0034] In the technical scheme, the one end of the rigid chain is inserted into the telescopic rod and connected with the telescopic rod from the first end of the telescopic rod installed on the chassis, so that the telescopic rod can be driven to stretch and retract along the first direction by the rigid chain, and the rigid chain can be arranged in the telescopic rod, which can optimize the space occupied by the lifting mechanism, protect the rigid chain, improve the anti-damage and dustproof effects of the rigid chain, and further improve the guiding and limiting effects of the telescopic rod on the rigid chain.

[0035] In some embodiments, the extension direction of the axis of the output shaft intersects the first direction.

[0036] In the technical scheme, the extension direction of the axis of the output shaft of the driving member is set to intersect the telescopic direction of the telescopic rod, so as to save the space occupied by the driving member and the telescopic rod in the first direction, optimize the space occupied by the lifting mechanism, and reduce the space occupied by the lifting mechanism in the first direction when the telescopic rod is retracted, thereby reducing the interference between the battery replacing robot and other devices during the battery replacing process.

[0037] In some embodiments, the extension direction of the axis of the output shaft is perpendicular to the first direction.

[0038] In the technical scheme, the extension direction of the axis of the output shaft of the driving member is set to be perpendicular to the telescopic direction of the telescopic rod, so as to further save the space occupied by the driving member and the telescopic rod in the first direction, further optimize the space occupied by the lifting mechanism, and further reduce the space occupied by the lifting mechanism in the first direction when the telescopic rod is retracted, thereby further reducing the interference between the battery replacing robot and other devices during the battery replacing process.

[0039] In some embodiments, the lifting mechanism further comprises a chain box.

[0040] In the technical scheme, the lifting mechanism is further provided with the chain box, which can accommodate the excess part of the rigid chain, so as to protect the rigid chain, improve the anti-damage and dustproof effects of the rigid chain.

[0041] In some embodiments, the telescopic rod has a connecting portion connected to the locking and unlocking platform, the connecting portion has a first position and a second position along the first direction, the length of the telescopic rod when the connecting portion is at the first position is greater than the length of the telescopic rod when the connecting portion is at the second position; wherein the lifting mechanism further comprises a detection member for detecting the position of the rigid chain, and the driving member is configured to stop acting in response to the detection member and when the connecting portion is at the first position and the second position.

[0042] In the above technical solution, the lifting mechanism is further provided with a detection member, which can detect the position of the rigid chain to obtain the information that the connecting portion of the telescopic rod is at the first position and the second position, and the driving member can stop acting in response to the detection result of the detection member. The lifting mechanism with such a structure can improve the accuracy of driving the locking and unlocking platform to lift along the first direction, thereby improving the battery replacement accuracy of the battery replacement robot, and can also alleviate the phenomenon that the driving member drives the telescopic rod to extend or shorten to the limit position, which is conducive to protecting the limit position of the telescopic rod and reducing the risk of damage to the telescopic rod and the driving member.

[0043] In some embodiments, the driving member is a servo motor with an absolute value encoder.

[0044] In the above technical solution, the servo motor with the absolute value encoder is used to drive the telescopic rod to extend or shorten, so as to drive the locking and unlocking platform to lift along the first direction. The lifting mechanism with such a structure can accurately control the length of the telescopic rod to extend or shorten, thereby improving the accuracy of controlling the locking and unlocking platform to lift along the first direction.

[0045] In some embodiments, the telescopic rod has a connecting portion, and the battery replacement robot further comprises a chain, the connecting portion being connected to the locking and unlocking platform through the chain; wherein along the first direction, the connecting position of the chain and the connecting portion is higher than the connecting position of the chain and the locking and unlocking platform.

[0046] In the above technical solution, the connecting portion of the telescopic rod is connected to the locking and unlocking platform through the chain, and the connecting position of the chain and the connecting portion is higher than the connecting position of the chain and the locking and unlocking platform in the first direction, so that the locking and unlocking platform is a structure hung on the connecting portion of the telescopic rod through the chain. The battery replacement robot with such a structure can realize that the locking and unlocking platform has a certain floating space, which can absorb the deviation of the locking and unlocking platform during the installation or removal of the battery, and can also adjust the height or angle of the locking and unlocking platform according to the actual operation demand to adapt to different use scenarios, thereby improving the use range of the battery replacement robot.

[0047] In some embodiments, each of the unlocking platforms is provided with a plurality of lifting mechanisms, and the plurality of lifting mechanisms are arranged around the unlocking platform.

[0048] In the above technical solution, by providing a plurality of lifting mechanisms corresponding to each unlocking platform, the unlocking platform is a structure connected with the plurality of lifting mechanisms, and the plurality of lifting mechanisms are arranged around the unlocking platform, so as to further improve the load capacity of the battery replacing robot and further improve the stability and reliability of the unlocking platform in the first direction.

[0049] In some embodiments, the battery replacing robot comprises a plurality of unlocking platforms, and the plurality of unlocking platforms are arranged at intervals in a second direction, each of the unlocking platforms is connected with at least one lifting mechanism, and the second direction is perpendicular to the first direction.

[0050] In the above technical solution, the battery replacing robot is provided with a plurality of unlocking platforms, the plurality of unlocking platforms are arranged at intervals in a second direction, and each of the unlocking platforms is connected with at least one lifting mechanism, so that the plurality of unlocking platforms are structures operating independently of each other. The battery replacing robot with this structure can simultaneously load a plurality of batteries to realize the installation and disassembly of the plurality of batteries, thereby improving the battery replacing efficiency of the battery replacing robot.

[0051] In a second aspect, the embodiments of the present application further provide a battery replacing station comprising the above battery replacing robot. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0053] FIG. 1 is a structural schematic diagram of a battery replacing robot according to some embodiments of the present application;

[0054] FIG. 2 is a structural schematic diagram of a lifting mechanism according to some embodiments of the present application;

[0055] FIG. 3 is a sectional view of the lifting mechanism according to some embodiments of the present application;

[0056] FIG. 4 is a partial enlarged view of A of the lifting mechanism shown in FIG. 3;

[0057] FIG. 5 is a structural schematic diagram of a telescopic rod of the lifting mechanism according to some embodiments of the present application;

[0058] Fig. 6 is a partial enlarged view of B of the telescopic rod shown in Fig. 5;

[0059] Fig. 7 is a sectional view of a telescopic rod of a lifting mechanism provided by some embodiments of the present application;

[0060] Fig. 8 is a partial enlarged view of C of the battery swapping robot shown in Fig. 1.

[0061] Fig. 1 is a schematic diagram of a battery swapping robot according to an embodiment of the present application; DETAILED DESCRIPTION

[0062] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0063] Unless otherwise defined, all technical and scientific terms used in the present application have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs; the terms used in the specification of the present application are only for the purpose of describing the specific embodiments of the present application, and are not intended to limit the present application; the terms "include" and "have" and any variations thereof in the specification and claims of the present application and the above description of drawings are intended to cover not exclusive inclusion. The terms "first", "second" and the like in the specification and claims of the present application and the above description of drawings are used to distinguish different objects, and are not intended to describe a particular order or primary and secondary relationship.

[0064] Reference to an "example" in this application means that a particular feature, structure, or characteristic described in connection with the example can be included in at least one example of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same example, nor are they necessarily mutually exclusive or alternative examples to one another.

[0065] In the description of the application, it needs to be explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "attachment" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0066] The term "and / or" in this application is only to describe the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent the existence of A alone, the existence of A and B together, and the existence of B alone. In addition, the character " / " in this application generally represents that the front and rear associated objects have an "or" relationship.

[0067] In the embodiments of the application, the same reference signs represent the same parts, and for the sake of brevity, the detailed description of the same parts is omitted in different embodiments. It should be understood that the thickness, length and width of various components in the embodiments of the application shown in the drawings, as well as the overall thickness, length and width of the integrated device, are only exemplary and should not constitute any limitation on the application.

[0068] "Multiple" appearing in this application means more than two (including two).

[0069] In the embodiments of the application, the battery cell can be a secondary battery, which refers to a battery cell that can be activated by charging after discharging.

[0070] The battery cell can be a lithium ion battery, a sodium ion battery, a sodium lithium ion battery, a lithium metal battery, a sodium metal battery, a lithium sulfur battery, a magnesium ion battery, a nickel hydrogen battery, a nickel cadmium battery, a lead-acid battery, etc. The embodiments of the application are not limited thereto.

[0071] As an example, the battery cell can be a cylindrical battery cell, a prismatic battery cell, a soft package battery cell or a battery cell of other shapes, and the prismatic battery cell includes but is not limited to a square cell, a blade cell, a multi-prismatic battery, for example, a hexagonal prism battery, etc.

[0072] The battery mentioned in the embodiments of the present application refers to a single physical module including one or more battery monomers to provide higher voltage and capacity.

[0073] In some embodiments, the battery can be a battery module, and when there are multiple battery monomers, the multiple battery monomers are arranged and fixed to form a battery module.

[0074] In some embodiments, the battery can be a battery pack, and the battery pack includes a box body and battery monomers, and the battery monomers or battery modules are accommodated in the box body.

[0075] With the progress of science and technology, new energy vehicles have developed rapidly, and the market share and use frequency of electric vehicles are also increasing. Electric commercial vehicles, such as electric heavy trucks and electric light trucks, are gradually appearing in various application scenarios, and battery replacement stations for electric trucks are also built to replace battery components.

[0076] In the field of new energy vehicles, the endurance of electric vehicles is affected by the capacity of the battery, especially electric trucks, which have a large load and a long driving distance, and consume more energy than ordinary passenger cars. Therefore, in order to achieve endurance, electric vehicles need to be frequently replaced, and thus battery replacement stations for electric vehicles have appeared on the market. By driving the electric vehicle into the battery replacement station, the battery with low power can be removed and replaced with a fully charged battery, thereby improving the endurance of the electric vehicle. In related technologies, in order to improve the battery replacement efficiency of the battery replacement station, the battery replacement robot is usually provided with a chassis, a lifting mechanism, and a locking and unlocking platform. The locking and unlocking platform is used to place the battery, and the locking and unlocking mechanism is provided on the locking and unlocking platform for dismounting and mounting the battery. The lifting mechanism is arranged on the chassis, and the lifting mechanism is connected with the locking and unlocking platform, so that the locking and unlocking platform can be lifted by the lifting mechanism to realize the dismounting and mounting of the battery on the vehicle. However, the lifting mechanism of the battery replacement robot in the related technology usually adopts a structure in which a motor and a rigid chain cooperate to drive the locking and unlocking platform to lift, that is, the rigid chain is connected with the locking and unlocking platform, and the motor is used to drive the rigid chain to climb or descend to drive the locking and unlocking platform to lift. However, in the process of lifting the locking and unlocking platform, the rigid chain of the battery replacement robot in the related technology is prone to radial deformation or deviation, which leads to poor stability and reliability of the locking and unlocking platform in the process of mounting and dismounting the battery in the first direction, thereby causing low stability and poor accuracy of the battery replacement robot in the battery replacement process.

[0077] In view of the above, in order to solve the problems of low stability and poor battery replacement accuracy of the battery replacement robot in the battery replacement process, the application provides a battery replacement robot, which comprises a chassis, a locking and unlocking platform and a lifting mechanism. The locking and unlocking platform is used for placing a battery, and is also used for dismounting or mounting the battery on an electric device. The lifting mechanism comprises a telescopic rod and a driving member. The telescopic rod is telescopically mounted on the chassis in a first direction, and is connected with the locking and unlocking platform. The driving member is in transmission connection with the telescopic rod, and is configured to drive the telescopic rod to telescopically extend or retract in the first direction, so as to drive the locking and unlocking platform to ascend or descend relative to the chassis in the first direction.

[0078] In the battery replacement robot with the above structure, the chassis of the battery replacement robot is provided with the lifting mechanism and the locking and unlocking platform. The locking and unlocking platform can be lifted or lowered in the first direction by the lifting mechanism, so as to realize the functions of dismounting or mounting the battery on the electric device, thereby realizing the battery replacement function of the battery replacement robot. The lifting mechanism comprises a telescopic member and a driving member. The telescopic member is telescopically arranged on the chassis in the first direction, and the driving member is in transmission connection with the telescopic member. The driving member can drive the telescopic member to telescopically extend or retract in the first direction, so as to drive the locking and unlocking platform connected to one end of the telescopic member away from the chassis to ascend or descend in the first direction. The battery replacement robot with the above structure can guide and limit the lifting stroke of the locking and unlocking platform when the telescopic rod drives the locking and unlocking platform to ascend or descend in the first direction. This is conducive to improving the stability and reliability of the lifting mechanism in driving the locking and unlocking platform to ascend or descend in the first direction, and further improving the stability and reliability of the locking and unlocking platform in ascending or descending in the first direction during the mounting and dismounting of the battery by the battery replacement robot, so as to improve the stability and battery replacement accuracy of the battery replacement robot.

[0079] The application provides a battery replacement robot, which can solve the problems of low stability and poor battery replacement accuracy of the battery replacement robot in the battery replacement process due to the poor stability and reliability of the locking and unlocking platform in ascending or descending in the first direction during the mounting and dismounting of the battery by the battery replacement robot. The specific structure of the battery replacement robot is described in detail below with reference to the accompanying drawings.

[0080] According to some embodiments of the present application, referring to FIG. 1, FIG. 2, FIG. 3 and FIG. 4, FIG. 1 is a structural schematic diagram of a battery replacing robot 100 provided by some embodiments of the present application, FIG. 2 is a structural schematic diagram of a lifting mechanism 30 provided by some embodiments of the present application, FIG. 3 is a sectional view of the lifting mechanism 30 provided by some embodiments of the present application, and FIG. 4 is a partial enlarged view of position A of the lifting mechanism 30 shown in FIG. 3. The present application provides a battery replacing robot 100, which comprises a chassis 10, a locking and unlocking platform 20 and a lifting mechanism 30. The locking and unlocking platform 20 is used to place a battery, and the locking and unlocking platform 20 is also used to dismount or mount the battery on an electric device. The lifting mechanism 30 comprises a telescopic rod 31 and a driving member 32, the telescopic rod 31 is telescopically mounted on the chassis 10 along a first direction X, the telescopic rod 31 is connected with the locking and unlocking platform 20, and the driving member 32 is in transmission connection with the telescopic rod 31. The driving member 32 is configured to drive the telescopic rod 31 to telescopically extend or retract along the first direction X, so as to drive the locking and unlocking platform 20 to ascend or descend relative to the chassis 10 along the first direction X.

[0081] The chassis 10 is used to mount and carry the lifting mechanism 30 and the locking and unlocking platform 20. The structure of the chassis 10 can be various. For example, in FIG. 1, the chassis 10 is a movable chassis 10, which is an automated guided vehicle (AGV). Of course, in other embodiments, the chassis 10 can also be a fixed chassis 10, such as a fixed seat or a carrying platform.

[0082] The locking and unlocking platform 20 is used to carry a battery and dismount or mount the battery. In FIG. 1, the locking and unlocking platform 20 comprises a placing table 21 and a locking and unlocking mechanism 22 arranged on the placing table 21. The placing table 21 is connected with the telescopic rod 31, and the locking and unlocking mechanism 22 is used to dismount or mount the battery on an electric device, such as an electric screwdriver. The specific structure of the locking and unlocking mechanism 22 can refer to related technologies, which will not be described here.

[0083] The lifting mechanism 30 is used to drive the locking and unlocking platform 20 to ascend or descend along the first direction X, which is the direction of gravity or the direction approximately close to the direction of gravity. The structure of the lifting mechanism 30 can be various. In the embodiments of the present application, the lifting mechanism 30 comprises the telescopic rod 31 and the driving member 32. The telescopic rod 31 is mounted on the chassis 10, and the telescopic rod 31 is connected with the placing table 21 of the locking and unlocking platform 20. The driving member 32 is used to drive the telescopic rod 31 to telescopically extend or retract along the first direction X, so as to drive the locking and unlocking platform 20 to ascend or descend along the first direction X.

[0084] The telescopic rod 31 is telescopically mounted on the chassis 10 in the first direction X, the telescopic rod 31 is connected with the unlocking platform 20, that is, one end of the telescopic rod 31 in the first direction X is mounted on the chassis 10, and the telescopic rod 31 can be telescopically extended in the first direction X, and the other end of the telescopic rod 31 away from the chassis 10 is connected with the unlocking platform 20. For example, in FIG. 3, the telescopic rod 31 has opposite first and second ends 311 and 312 in the first direction X, the first end 311 is fixedly mounted on the chassis 10, and the second end 312 is connected with the placement table 21 of the unlocking platform 20, and the second end 312 can be close to or away from the first end 311 when the telescopic rod 31 is telescopically extended in the first direction X.

[0085] The lifting mechanism 30 can further include a mounting seat 33 fixedly mounted on the chassis 10, and the driving member 32 is mounted on the mounting seat 33, and the first end 311 of the telescopic rod 31 is fixedly mounted on the mounting seat 33.

[0086] Optionally, the structure that the first end 311 of the telescopic rod 31 is fixedly mounted on the mounting seat 33 can be various, such as welding connection, bolt connection or clamping connection, and the structure that the mounting seat 33 is fixedly mounted on the chassis 10 can also be various, such as welding connection, bolt connection or clamping connection.

[0087] Optionally, the telescopic rod 31 and the placement table 21 of the unlocking platform 20 can be directly connected or indirectly connected, for example, in FIG. 1, the telescopic rod 31 and the placement table 21 of the unlocking platform 20 are indirectly connected through the chain 40.

[0088] The driving member 32 is in transmission connection with the telescopic rod 31, and the driving member 32 is configured to drive the telescopic rod 31 to telescopically extend in the first direction X, that is, the driving member 32 can act on the telescopic rod 31 to make the telescopic rod 31 telescopically extend in the first direction X, for example, in FIG. 4, the driving member 32 is in transmission connection with the telescopic rod 31 through the transmission assembly 34, and of course, in other embodiments, the driving member 32 can also be directly connected with the telescopic rod 31.

[0089] Optionally, the structure of the transmission assembly 34 can be various, such as gear and rack structure, worm and gear structure or screw and screw sleeve structure. Similarly, the structure of the driving member 32 can also be various, such as motor or hydraulic motor.

[0090] It should be noted that the battery replacing robot 100 disclosed in the embodiments of the present application can be used for replacing batteries of vehicles, but is not limited to this, and can also be used for replacing batteries of electric tools, electric vehicles, ships, spacecraft, etc.

[0091] In the embodiment, the chassis 10 of the battery replacing robot 100 is provided with the lifting mechanism 30 and the unlocking platform 20. The unlocking platform 20 can be lifted along the first direction X by the lifting mechanism 30 to realize the unlocking platform 20 to dismount or mount the battery on the power device, thereby realizing the battery replacing function of the battery replacing robot 100. The lifting mechanism 30 comprises a telescopic member and a driving member 32. The telescopic member is telescopically arranged on the chassis 10 along the first direction X. The driving member 32 is in transmission connection with the telescopic member, so that the driving member 32 can drive the telescopic member to telescopically move along the first direction X to lift the unlocking platform 20 connected to one end of the telescopic member away from the chassis 10 along the first direction X. The telescopic rod 31 of the battery replacing robot 100 with the above structure can guide and limit the lifting stroke of the unlocking platform 20 while lifting the unlocking platform 20 along the first direction X under the driving of the driving member 32, which is beneficial to improve the stability and reliability of the unlocking platform 20 of the battery replacing robot 100 during the lifting process of the unlocking platform 20 along the first direction X under the driving of the lifting mechanism 30, thereby improving the stability and reliability of the unlocking platform 20 of the battery replacing robot 100 during the mounting and dismounting of the battery, and improving the use stability and battery replacing precision of the battery replacing robot 100.

[0092] According to some embodiments of the present application, referring to FIG. 2 and FIG. 3, and further referring to FIG. 5, which is a structural schematic diagram of the telescopic rod 31 of the lifting mechanism 30 provided by some embodiments of the present application. The telescopic rod 31 comprises a plurality of sleeves 313 which are sequentially sleeved from inside to outside. In the two adjacent sleeves 313, one sleeve 313 can move relative to the other sleeve 313 along the first direction X. The plurality of sleeves 313 comprises a first sleeve 3131 located at the outermost side and a second sleeve 3132 located at the innermost side. One of the first sleeve 3131 and the second sleeve 3132 is mounted on the chassis 10, and the other is connected to the unlocking platform 20.

[0093] The telescopic rod 31 comprises a plurality of sleeves 313 which are sequentially sleeved from inside to outside. In the two adjacent sleeves 313, one sleeve 313 can move relative to the other sleeve 313 along the first direction X, that is, the telescopic rod 31 is a telescopic structure formed by sequentially sleeving a plurality of sleeves 313, and each sleeve 313 can move relative to the adjacent sleeve 313 along the first direction X. That is, the part of each section of the telescopic rod 31 which can telescopically move along the first direction X is a cylindrical structure. It should be noted that the sleeve 313 is a hollow structure with openings at both ends in the first direction X.

[0094] Optionally, the shape of the sleeve 313 can be various, such as cylindrical or prismatic.

[0095] The plurality of sleeves 313 includes a first sleeve 3131 located at the outermost side and a second sleeve 3132 located at the innermost side, that is, when the telescopic rod 31 is contracted together, the sleeve 313 located at the outermost side among the plurality of sleeves 313 is the first sleeve 3131, and the sleeve 313 located at the innermost side is the second sleeve 3132.

[0096] One of the first sleeve 3131 and the second sleeve 3132 is mounted on the chassis 10, and the other is connected with the unlocking platform 20, that is, among the plurality of sleeves 313 of the telescopic rod 31, the sleeve 313 located at the outermost side is fixedly mounted on the mounting seat 33, and correspondingly, the sleeve 313 located at the innermost side is connected with the placement table 21 of the unlocking platform 20, or the sleeve 313 located at the innermost side is fixedly mounted on the mounting seat 33, and correspondingly, the sleeve 313 located at the outermost side is connected with the placement table 21 of the unlocking platform 20, that is, the telescopic rod 31 can be in a structure of right side up or upside down in the first direction X.

[0097] In the embodiment, the telescopic rod 31 is provided with a plurality of sleeves 313 which are sequentially sleeved from the inside to the outside, and one of the first sleeve 3131 located at the outermost side and the second sleeve 3132 located at the innermost side among the plurality of sleeves 313 is fixed on the chassis 10, and the other is connected with the unlocking platform 20. The battery replacing robot 100 with such a structure can drive the unlocking platform 20 to ascend or descend along the first direction X when the plurality of sleeves 313 of the telescopic rod 31 move relative to each other and extend or retract, which is simple in structure and convenient for assembly. On the other hand, after the plurality of sleeves 313 are retracted relative to each other, the telescopic rod 31 can occupy less space in the first direction X, which is conducive to reducing the interference between the battery replacing robot 100 and other devices during the battery replacing process, and facilitating the storage and transportation of the battery replacing robot 100.

[0098] In some embodiments, referring to FIGS. 2 and 3, the first sleeve 3131 is mounted on the chassis 10, and the second sleeve 3132 is connected to the unlocking platform 20. That is, the first sleeve 3131 located at the outermost side among the plurality of sleeves 313 of the telescopic rod 31 is fixedly mounted on the mounting seat 33, and correspondingly, the second sleeve 3132 located at the innermost side among the plurality of sleeves 313 of the telescopic rod 31 is connected with the placement table 21 of the unlocking platform 20, that is, the telescopic rod 31 is in a structure of right side up in the first direction X.

[0099] It should be noted that, in the embodiment in which the telescopic rod 31 has the opposite first end 311 and second end 312 in the first direction X, the first end 311 is fixedly installed on the chassis 10, and the second end 312 is connected to the placement table 21 of the unlocking platform 20, the first sleeve 3131 which is the outermost one of the plurality of sleeves 313 of the telescopic rod 31 has the first end 311 at the end close to the chassis 10 in the first direction X, and the second sleeve 3132 which is the innermost one of the plurality of sleeves 313 of the telescopic rod 31 has the second end 312 at the end away from the chassis 10 in the first direction X.

[0100] In the embodiment, by fixing the first sleeve 3131 which is the outermost one of the plurality of sleeves 313 of the telescopic rod 31 on the chassis 10, and connecting the second sleeve 3132 which is the innermost one of the plurality of sleeves 313 of the telescopic rod 31 to the unlocking platform 20, the telescopic rod 31 has a structure that the end close to the chassis 10 in the first direction X is larger after being stretched, so that the telescopic rod 31 has a structure that the lower part is larger than the upper part in the first direction X after being stretched. The battery replacing robot 100 adopting such a structure has the advantages that on the one hand, the telescopic rod 31 is convenient to stretch and retract along the first direction X, which is beneficial to reduce the difficulty of the lifting mechanism 30 driving the unlocking platform 20 to lift along the first direction X, and on the other hand, the structural stability and strength of the telescopic rod 31 installed on the chassis 10 can be improved, which is beneficial to improve the stability and reliability of the lifting mechanism 30 driving the unlocking platform 20 to lift along the first direction X.

[0101] According to some embodiments of the present application, as shown in FIGS. 2, 3 and 5, along the first direction X, the end of the second sleeve 3132 away from the chassis 10 is connected with a connecting part 314, the connecting part 314 protrudes from the outer circumferential surface of the first sleeve 3131, and the connecting part 314 is connected to the unlocking platform 20.

[0102] Among them, along the first direction X, the end of the second sleeve 3132 away from the chassis 10 is connected with a connecting part 314, that is, the connecting part 314 is connected to the second end 312 of the second sleeve 3132, and the connecting structure between the connecting part 314 and the second sleeve 3132 can be various, such as welding connection, bolt connection or clamping connection, etc.

[0103] The connecting part 314 protrudes from the outer circumferential surface of the first sleeve 3131, that is, at least part of the orthographic projection of the connecting part 314 is located outside the orthographic projection of the first sleeve 3131 in the plane perpendicular to the first direction X, so that in the first direction X, the connecting part 314 can abut against the end of the first sleeve 3131 away from the chassis 10.

[0104] It should be noted that, in the embodiment in which the telescopic rod 31 is indirectly connected to the placing table 21 of the unlocking platform 20 through the chain 40, the chain 40 is a structure connecting the connecting portion 314 of the telescopic rod 31 and the placing table 21 of the unlocking platform 20.

[0105] In the embodiment, by arranging the connecting portion 314 at the end of the second sleeve 3132 away from the chassis 10, the connecting portion 314 is connected to the unlocking platform 20, and the connecting portion 314 protrudes from the outer circumferential surface of the first sleeve 3131. This structure of the battery replacing robot 100 can increase the size of the area of the telescopic rod 31 used for assembly connection with the unlocking platform 20, which is beneficial to reduce the assembly difficulty between the unlocking platform 20 and the telescopic rod 31 and improve the connection stability between the unlocking platform 20 and the telescopic rod 31. On the other hand, the connecting portion 314 can play a certain limiting role on the second sleeve 3132. When the second sleeve 3132 is retracted into the first sleeve 3131, the connecting portion 314 can abut against the end of the first sleeve 3131 away from the chassis 10, thereby facilitating to reduce the phenomenon that the second sleeve 3132 is stuck after being retracted into the first sleeve 3131.

[0106] According to some embodiments of the present application, referring to FIG. 5, the sleeve 313 is cylindrical, and the axis of the sleeve 313 extends along the first direction X. That is, the projection of the sleeve 313 on the first direction X is circular.

[0107] In the embodiment, by arranging the sleeve 313 in a cylindrical structure, on the one hand, the processing difficulty of the sleeve 313 can be reduced, and the sleeves 313 can be easily assembled with each other. On the other hand, the guiding precision of the movement between the sleeves 313 can be improved, and the fitting precision of the sleeves 313 being sleeved with each other can be improved, thereby reducing the phenomenon of radial deflection of the sleeve 313 during the extension and retraction of the telescopic rod 31.

[0108] According to some embodiments of the present application, referring to FIG. 5, and further referring to FIG. 6 and FIG. 7, FIG. 6 is a partial enlarged view of B of the telescopic rod 31 shown in FIG. 5, and FIG. 7 is a sectional view of the telescopic rod 31 of the lifting mechanism 30 provided by some embodiments of the present application. A wear-resistant sleeve 315 is arranged between each adjacent two sleeves 313, and the adjacent two sleeves 313 are an outer sleeve 3133 and an inner sleeve 3134, respectively. The outer sleeve 3133 is sleeved on the outside of the wear-resistant sleeve 315, and the wear-resistant sleeve 315 is sleeved on the outside of the inner sleeve 3134. One of the outer sleeve 3133 and the inner sleeve 3134 is fixed with the wear-resistant sleeve 315, and the other is slidingly fitted with the wear-resistant sleeve 315 along the first direction X.

[0109] The wear-resistant sleeve 315 is arranged between every two adjacent sleeves 313, and the two adjacent sleeves 313 are an outer sleeve 3133 and an inner sleeve 3134, that is, the wear-resistant sleeve 315 is arranged between every two adjacent sleeves 313 in the plurality of sleeves 313 arranged in the telescopic rod 31 in sequence, and in every two adjacent sleeves 313, the sleeve 313 located on the outer side is defined as the outer sleeve 3133, and the sleeve 313 located on the inner side is defined as the inner sleeve 3134. Correspondingly, the wear-resistant sleeve 315 is arranged between the corresponding outer sleeve 3133 and the inner sleeve 3134.

[0110] Exemplarily, in FIGS. 5 and 6, the telescopic rod 31 includes three sleeves 313 arranged in sequence, when the sleeve 313 located on the outermost side is the outer sleeve 3133, and the sleeve 313 located in the middle is the inner sleeve 3134, and when the sleeve 313 located in the middle is the outer sleeve 3133, and the sleeve 313 located on the innermost side is the inner sleeve 3134, of course, when the telescopic rod 31 includes four, five or six sleeves 313 arranged in sequence, the same applies. It should be noted that when the telescopic rod 31 includes only two sleeves 313, the sleeve 313 located on the outermost side is the outer sleeve 3133, and the sleeve 313 located on the innermost side is the inner sleeve 3134.

[0111] The outer sleeve 3133 is arranged on the outer side of the wear-resistant sleeve 315, and the wear-resistant sleeve 315 is arranged on the outer side of the inner sleeve 3134, that is, the wear-resistant sleeve 315 and the corresponding outer sleeve 3133 and inner sleeve 3134 are arranged in sequence, and the wear-resistant sleeve 315 is located between the corresponding outer sleeve 3133 and the inner sleeve 3134.

[0112] One of the outer sleeve 3133 and the inner sleeve 3134 is fixed with the wear-resistant sleeve 315, and the other is in sliding fit with the wear-resistant sleeve 315 along the first direction X, that is, the wear-resistant sleeve 315 can be fixedly installed with the corresponding outer sleeve 3133, and the corresponding inner sleeve 3134 can slide relative to the wear-resistant sleeve 315 along the first direction X, of course, the wear-resistant sleeve 315 can be fixedly installed with the corresponding inner sleeve 3134, and the corresponding outer sleeve 3133 can slide relative to the wear-resistant sleeve 315 along the first direction X.

[0113] Exemplarily, the material of the wear-resistant sleeve 315 can be brass or high-strength brass, and the material of the sleeve 313 can be steel or aluminum alloy.

[0114] In the embodiment, the wear-resistant sleeve 315 is arranged between each two adjacent sleeves 313, and the adjacent inner sleeve 3134 and outer sleeve 3133 and the wear-resistant sleeve 315 arranged between the adjacent inner sleeve 3134 and outer sleeve 3133 are sequentially sleeved, so as to increase the wear-resistant effect between the adjacent inner sleeve 3134 and outer sleeve 3133, thereby relieving the phenomenon of assembly precision decline of the adjacent inner sleeve 3134 and outer sleeve 3133 due to wear and scratch, and further facilitating to improve the service life and use stability of the telescopic rod 31 of the lifting mechanism 30.

[0115] According to some embodiments of the present application, referring to FIGS. 6 and 7, the outer sleeve 3133 is fixed with the wear-resistant sleeve 315, and the inner sleeve 3134 is slidingly fitted with the wear-resistant sleeve 315 along the first direction X. That is, the wear-resistant sleeve 315 is fixedly installed with the corresponding outer sleeve 3133, and the corresponding inner sleeve 3134 is a structure capable of sliding along the first direction X relative to the wear-resistant sleeve 315.

[0116] It should be noted that the structure of the wear-resistant sleeve 315 fixedly installed with the corresponding outer sleeve 3133 can be various, such as threaded connection, bolt connection, welding connection or bonding, etc.

[0117] Optionally, in the adjacent outer sleeve 3133 and inner sleeve 3134, the inner sleeve 3134 can further be provided with a limiting portion at one end close to the chassis 10 in the first direction X, the limiting portion protrudes from the outer circumferential surface of the corresponding inner sleeve 3134, the limiting portion is gap-set with the inner circumferential surface of the corresponding outer sleeve 3133, and the limiting portion is used to abut against one end of the corresponding wear-resistant sleeve 315 close to the chassis 10 in the first direction X, so as to limit the inner sleeve 3134 from disengaging from the adjacent outer sleeve 3133, that is, the projection of the limiting portion in the first direction X at least partially overlaps the projection of the wear-resistant sleeve 315 in the first direction X.

[0118] Exemplarily, the limiting portion is an annular structure extending along the circumference of the corresponding inner sleeve 3134. Of course, in other embodiments, the limiting portion can also be a plurality of block structures arranged at intervals along the circumference of the corresponding inner sleeve 3134. Similarly, in other embodiments, the limiting portion can also be a structure protruding on the outer circumferential surface of the corresponding inner sleeve 3134.

[0119] In the embodiment, by setting the wear-resistant sleeve 315 as a structure fixed with the outer sleeve 3133 and slidingly fitted with the inner sleeve 3134 in the first direction X, it is beneficial to reduce the difficulty of assembling the wear-resistant sleeve 315 between the adjacent outer sleeve 3133 and inner sleeve 3134, so as to improve the assembly efficiency of the telescopic rod 31.

[0120] In some embodiments, referring to FIGS. 6 and 7, the wear sleeve 315 is screwed to the inner side of the outer sleeve 3133. That is, the outer circumferential surface of the wear sleeve 315 is provided with external threads, and the inner circumferential surface of the corresponding outer sleeve 3133 is provided with internal threads, so that the wear sleeve 315 and the corresponding outer sleeve 3133 are in a threaded connection structure.

[0121] In this embodiment, the outer sleeve 3133 is sleeved on the outer side of the wear sleeve 315 and fixed to each other in a threaded connection structure, which can reduce the assembly difficulty between the outer sleeve 3133 and the wear sleeve 315, thereby improving the assembly efficiency of the telescopic rod 31. On the other hand, it is convenient to disassemble and replace the wear sleeve 315 in the subsequent use process, which can reduce the difficulty and cost of the later maintenance of the battery replacement robot 100.

[0122] In some embodiments, referring to FIGS. 6 and 7, the outer sleeve 3133 is provided with a first limiting hole 3133a, and the wear sleeve 315 is provided with a second limiting hole 3151. The first limiting hole 3133a and the second limiting hole 3151 both extend along the radial direction of the wear sleeve 315. A limiting piece 316 is further arranged between the outer sleeve 3133 and the wear sleeve 315. The limiting piece 316 is inserted into the first limiting hole 3133a and the second limiting hole 3151 along the radial direction of the wear sleeve 315 to limit the circumferential rotation of the wear sleeve 315 relative to the outer sleeve 3133.

[0123] The first limiting hole 3133a and the second limiting hole 3151 both extend along the radial direction of the wear sleeve 315, that is, the extension direction of the central axis of the first limiting hole 3133a and the extension direction of the central axis of the second limiting block are both the radial direction of the wear sleeve 315. The radial direction of the wear sleeve 315 is perpendicular to the first direction X, and the radial direction of the wear sleeve 315 is as follows: in a plane perpendicular to the first direction X, the central axis of the wear sleeve 315 points to the outer circumferential surface of the wear sleeve 315 or the outer circumferential surface of the wear sleeve 315 points to the central axis of the wear sleeve 315.

[0124] For example, in FIG. 7, the first limiting hole 3133a penetrates the inner circumferential surface and the outer circumferential surface of the outer sleeve 3133 along the radial direction of the wear sleeve 315, the second limiting hole 3151 penetrates the inner circumferential surface and the outer circumferential surface of the wear sleeve 315 along the radial direction of the wear sleeve 315, and the first limiting hole 3133a and the second limiting hole 3151 are correspondingly arranged.

[0125] The limiting piece 316 is inserted into the first limiting hole 3133a and the second limiting hole 3151 along the radial direction of the wear sleeve 315, that is, the limiting piece 316 is a structure extending along the radial direction of the wear sleeve 315. Part of the limiting piece 316 is inserted into the first limiting hole 3133a, and part of the limiting piece 316 is inserted into the second limiting hole 3151.

[0126] Exemplarily, the structure of the limiting member 316 can be various, such as a bolt, a stud or the like.

[0127] Optionally, in FIG. 7, the outer sleeve 3133 is provided with a plurality of first limiting holes 3133a which are arranged along the circumference of the wear-resistant sleeve 315, the wear-resistant sleeve 315 is provided with a plurality of second limiting holes 3151 which are arranged one by one corresponding to the first limiting holes 3133a, and a plurality of limiting members 316 are further arranged between the outer sleeve 3133 and the wear-resistant sleeve 315, each limiting member 316 is inserted into one first limiting hole 3133a and one second limiting hole 3151.

[0128] In the embodiment, among the adjacent outer sleeve 3133 and inner sleeve 3134, the outer sleeve 3133 is provided with a first limiting hole 3133a extending along the radial direction of the wear-resistant sleeve 315, and the wear-resistant sleeve 315 is provided with a second limiting hole 3151 extending along the radial direction of the wear-resistant sleeve 315, and the limiting member 316 is inserted into the first limiting hole 3133a and the second limiting hole 3151, so that the limiting member 316 can limit the wear-resistant sleeve 315 and the outer sleeve 3133, to limit the relative rotation of the wear-resistant sleeve 315 and the outer sleeve 3133, thereby further improving the assembly stability between the wear-resistant sleeve 315 and the outer sleeve 3133, and reducing the phenomenon of the rotation of the wear-resistant sleeve 315 relative to the outer sleeve 3133 during the extension and retraction of the telescopic rod 31, to improve the stability of the lifting mechanism 30 driving the unlocking platform 20 to lift along the first direction X.

[0129] According to some embodiments of the present application, referring to FIGS. 5, 6 and 7, a limiting structure is arranged between the inner sleeve 3134 and the wear-resistant sleeve 315, and the limiting structure is configured to limit the circumferential rotation of the inner sleeve 3134 relative to the wear-resistant sleeve 315.

[0130] The limiting structure limits the circumferential rotation of the inner sleeve 3134 relative to the wear-resistant sleeve 315, that is, the limiting structure can limit the rotation of the wear-resistant sleeve 315 relative to the corresponding inner sleeve 3134 around the axis extending along the first direction X. It should be noted that the structure of the limiting structure can be various, such as a limiting protrusion 3152 arranged on the inner circumferential surface of the wear-resistant sleeve 315 and a groove arranged on the outer circumferential surface of the corresponding inner sleeve 3134, or a bolt connected to the outer circumferential surface of the inner sleeve 3134 and a strip-shaped hole arranged on the inner circumferential surface of the wear-resistant sleeve 315.

[0131] In the embodiment, the limiting structure is arranged between the inner sleeve 3134 and the wear-resistant sleeve 315, and is capable of limiting the rotation of the inner sleeve 3134 relative to the wear-resistant sleeve 315 when the inner sleeve 3134 moves relative to the wear-resistant sleeve 315 along the first direction X, which is beneficial to improving the stability and reliability of the telescopic rod 31 during extension and retraction, thereby effectively improving the stability of the lifting mechanism 30 during driving and unlocking the platform 20 to move along the first direction X.

[0132] According to some embodiments of the present application, referring to FIGS. 6 and 7, the limiting structure can include a limiting protrusion 3152 and a limiting groove 3136, one of which is arranged on the inner circumferential surface of the wear-resistant sleeve 315, and the other of which is arranged on the outer circumferential surface of the inner sleeve 3134. The limiting groove 3136 extends along the first direction X, and the limiting protrusion 3152 is inserted into the limiting groove 3136.

[0133] For example, the limiting protrusion 3152 is protruded on the inner circumferential surface of the wear-resistant sleeve 315, and the limiting groove 3136 is arranged on the outer circumferential surface of the corresponding inner sleeve 3134, and the limiting groove 3136 is a strip-shaped groove structure extending along the first direction X. Of course, in other embodiments, the limiting groove 3136 can also be arranged on the inner circumferential surface of the wear-resistant sleeve 315, and correspondingly, the limiting protrusion 3152 is protruded on the outer circumferential surface of the corresponding inner sleeve 3134.

[0134] In the embodiment, the limiting structure is arranged between the inner sleeve 3134 and the wear-resistant sleeve 315, and is capable of limiting the rotation of the inner sleeve 3134 relative to the wear-resistant sleeve 315 when the inner sleeve 3134 moves relative to the wear-resistant sleeve 315 along the first direction X, which is beneficial to improving the stability and reliability of the telescopic rod 31 during extension and retraction, thereby effectively improving the stability of the lifting mechanism 30 during driving and unlocking the platform 20 to move along the first direction X.

[0135] In some embodiments, please continue to refer to FIG. 6 and FIG. 7, the limiting structure can include a plurality of limiting protrusions 3152 and a plurality of limiting grooves 3136, the limiting protrusions 3152 and the limiting grooves 3136 correspond to each other, and the plurality of limiting grooves 3136 are arranged along the circumference of the wear-resistant sleeve 315.

[0136] The limiting protrusions 3152 and the limiting grooves 3136 correspond to each other, that is, each limiting protrusion 3152 is inserted into one limiting groove 3136, so that the plurality of limiting protrusions 3152 and the plurality of limiting grooves 3136 are arranged along the circumference of the wear-resistant sleeve 315.

[0137] In this embodiment, the limiting structure is provided with a plurality of limiting protrusions 3152 and a plurality of limiting grooves 3136, by arranging the plurality of limiting grooves 3136 along the circumference of the wear-resistant sleeve 315, and each limiting protrusion 3152 is inserted into one limiting groove 3136, so as to further improve the effect of the limiting structure on limiting the rotation of the inner sleeve 3134 relative to the wear-resistant sleeve 315, and improve the guiding effect on the inner sleeve 3134, so as to further improve the stability of the inner sleeve 3134 sliding along the first direction X relative to the wear-resistant sleeve 315.

[0138] According to some embodiments of the present application, referring to FIG. 2, FIG. 3 and FIG. 4, the lifting mechanism 30 can further include a transmission assembly 34, and the driving member 32 and the telescopic rod 31 are drivingly connected through the transmission assembly 34.

[0139] The driving member 32 and the telescopic rod 31 are drivingly connected through the transmission assembly 34, that is, the driving member 32 is a structure for transmitting driving force to the telescopic rod 31 through the transmission assembly 34 to drive the telescopic rod 31 to extend or retract along the first direction X.

[0140] For example, the structure of the transmission assembly 34 can be various, such as a gear and rack structure, a worm and gear structure, or a screw and screw sleeve structure, etc.

[0141] It should be noted that in other embodiments, the driving member 32 can also be a structure directly connected to the telescopic rod 31, such as a pneumatic cylinder or an electric push rod, etc.

[0142] In this embodiment, the lifting mechanism 30 is further provided with the transmission assembly 34, and the driving member 32 is a structure drivingly connected to the telescopic rod 31 through the transmission assembly 34. The lifting mechanism 30 with this structure can realize the assembly position of the driving member 32 and the telescopic rod 31 not being limited by assembly, which is beneficial to optimizing the structure of the lifting mechanism 30 according to the actual situation, and on the other hand, the driving force transmitted by the driving member 32 to the telescopic rod 31 can be adjusted through the transmission assembly 34 to adapt to different use scenarios, thereby facilitating to improve the use range of the battery swap robot 100.

[0143] In some embodiments, referring to FIGS. 3 and 4, the driving member 32 has an output shaft 321, and the transmission assembly 34 includes a chain wheel 341 and a rigid chain 342, the chain wheel 341 is engaged with the rigid chain 342, the chain wheel 341 is connected to the output shaft 321, and the rigid chain 342 is connected to the telescopic rod 31.

[0144] The chain wheel 341 is sleeved on the output shaft 321 of the driving member 32 and is fixedly connected to the output shaft 321, so that the driving member 32 can drive the chain wheel 341 to rotate to drive the rigid chain 342 engaged with the chain wheel 341 to move. The specific structure of the rigid chain 342 can be referred to the related technology, which will not be described here.

[0145] In the embodiment in which the telescopic rod 31 includes a plurality of sleeves 313 sleeved in sequence, one end of the rigid chain 342 is connected to the sleeve 313 of the plurality of sleeves 313 connected to the locking and unlocking platform 20, so that the driving member 32 can drive the rigid chain 342 to climb or descend along the first direction X through the chain wheel 341, thereby driving the telescopic rod 31 connected to the rigid chain 342 to extend or retract along the first direction X to drive the locking and unlocking platform 20 to rise and fall in the first direction X.

[0146] In the embodiment, the transmission assembly 34 is provided with the chain wheel 341 and the rigid chain 342, the chain wheel 341 is arranged on the output shaft 321 of the driving member 32, and the chain wheel 341 is engaged with the rigid chain 342, so that the driving member 32 can drive the rigid chain 342 to climb or descend along the first direction X after driving the chain wheel 341 to rotate, thereby driving the telescopic rod 31 connected to the rigid chain 342 to extend or retract along the first direction X, so as to realize the driving of the locking and unlocking platform 20 along the first direction X by the lifting mechanism 30. The transmission assembly 34 with such a structure can improve the load capacity of the lifting mechanism 30 and has good transmission stability, and can convert the driving force for lifting and lowering the rigid chain 342 to the telescopic rod, so that the telescopic rod can guide and limit the climbing or descending of the rigid chain 342, which is conducive to relieving the radial deformation of the rigid chain 342, thereby improving the stability and reliability of the rigid chain 342 during the climbing or descending in the first direction X, and further improving the stability and reliability of the locking and unlocking platform 20 along the first direction X during the installation and removal of the battery by the battery replacing robot 100, so as to improve the use stability and battery replacing precision of the battery replacing robot 100.

[0147] According to some embodiments of the present application, referring to FIGS. 3 and 4, the telescopic rod 31 has opposite first and second ends 311 and 312 in the first direction X, the first end 311 is mounted to the chassis 10, and the second end 312 is connected to the locking and unlocking platform 20. One end of the rigid chain 342 extends into the interior of the telescopic rod 31 and is connected to the telescopic rod 31.

[0148] One end of the rigid chain 342 extends into the interior of the telescopic rod 31 from the first end 311 and is connected to the telescopic rod 31, that is, the end of the rigid chain 342 for connecting to the telescopic rod 31 is a structure that penetrates the plurality of sleeves 313 of the telescopic rod 31, so that the rigid chain 342 is a structure that realizes internal wiring in the plurality of sleeves 313 of the telescopic rod 31.

[0149] Exemplarily, the rigid chain 342 is connected to one end of the second sleeve 3132 close to the chassis 10 in the first direction X.

[0150] In this embodiment, by extending one end of the rigid chain 342 into the telescopic rod 31 from the first end 311 of the telescopic rod 31 mounted on the chassis 10 and connecting it to the telescopic rod 31, the rigid chain 342 can realize internal wiring in the telescopic rod 31 while driving the telescopic rod 31 to expand and contract in the first direction X, on the one hand, it can optimize the space occupied by the lifting mechanism 30, and can protect the rigid chain 342 to a certain extent, which is conducive to improving the damage prevention and dust prevention effect of the rigid chain 342, on the other hand, it can further improve the guiding effect and limiting effect of the telescopic rod 31 on the rigid chain 342, which is conducive to further alleviating the phenomenon of radial deformation of the rigid chain 342, so as to further improve the stability and reliability of the rigid chain 342 during climbing or descending in the first direction X.

[0151] According to some embodiments of the present application, as shown in FIGS. 3 and 4, the extension direction of the axis of the output shaft 321 intersects the first direction X.

[0152] The angle between the extension direction of the axis of the output shaft 321 and the first direction X can be an acute angle, a right angle or an obtuse angle, etc.

[0153] In this embodiment, by setting the extension direction of the axis of the output shaft 321 of the driving member 32 to intersect the telescopic direction of the telescopic rod 31, the space occupied by the driving member 32 and the telescopic rod 31 in the first direction X is saved, which is conducive to optimizing the space occupied by the lifting mechanism 30, and when the telescopic rod 31 is retracted, the space occupied by the lifting mechanism 30 in the first direction X can be reduced, which is conducive to reducing the interference between the battery replacing robot 100 and other equipment during the battery replacing process.

[0154] In some embodiments, in FIGS. 3 and 4, the extension direction of the axis of the output shaft 321 is perpendicular to the first direction X. That is, the angle between the extension direction of the axis of the output shaft 321 and the first direction X is a right angle, that is, the extension direction of the axis of the output shaft 321 of the driving member 32 is located in a plane perpendicular to the first direction X.

[0155] In the embodiment, the extension direction of the axis of the output shaft 321 of the driving member 32 is perpendicular to the extension direction of the telescopic rod 31, so as to further save the space occupied by the driving member 32 and the telescopic rod 31 in the first direction X, to further optimize the space occupied by the lifting mechanism 30, and to further reduce the space occupied by the lifting mechanism 30 in the first direction X when the telescopic rod 31 is retracted, so as to further reduce the interference between the battery replacing robot 100 and other devices during the battery replacing process.

[0156] According to some embodiments of the present application, referring to FIGS. 2 and 3, the lifting mechanism 30 can further include a chain box 35 for accommodating the rigid chain 342.

[0157] The chain box 35 accommodates the rigid chain 342. When the driving member 32 drives the telescopic rod 31 to extend, the driving member 32 can drive the rigid chain 342 to climb in the first direction X through the sprocket 341, so as to push the rigid chain 342 out of the chain box 35. Conversely, when the driving member 32 drives the telescopic rod 31 to retract, the driving member 32 can drive the rigid chain 342 to descend in the first direction X through the sprocket 341, so as to retract the rigid chain 342 into the chain box 35.

[0158] For example, the chain box 35 is installed on the mounting seat 33 of the lifting mechanism 30, and the connection structure between the chain box 35 and the mounting seat 33 can be various, such as bolted connection, welded connection or clamped connection.

[0159] In the embodiment, the lifting mechanism 30 further includes the chain box 35, which can accommodate the excess part of the rigid chain 342, so as to protect the rigid chain 342 to a certain extent, and to improve the damage prevention and dust prevention effects of the rigid chain 342.

[0160] According to some embodiments of the present application, referring to FIGS. 2, 3 and 4, the telescopic rod 31 has a connecting portion 314 connected to the locking and unlocking platform 20. In the first direction X, the connecting portion 314 has a first position and a second position. The length of the telescopic rod 31 when the connecting portion 314 is in the first position is greater than the length of the telescopic rod 31 when the connecting portion 314 is in the second position. The lifting mechanism 30 further includes a detection member 36 for detecting the position of the rigid chain 342. The driving member 32 is configured to stop acting in response to the detection member 36 and when the connecting portion 314 is in the first position and the second position.

[0161] The first position and the second position of the connecting portion 314 correspond to the extension state of the telescopic rod 31 when the locking and unlocking platform 20 is lifted to the highest position and the retraction state of the telescopic rod 31 when the locking and unlocking platform 20 is lowered to the lowest position, respectively.

[0162] The length of the telescopic rod 31 when the connecting portion 314 is in the first position is greater than the length of the telescopic rod 31 when the connecting portion 314 is in the second position, that is, the connecting portion 314 in the first position is farther away from the chassis 10 in the first direction X than the connecting portion 314 in the second position, that is, in the first direction X, the height of the connecting portion 314 when in the first position is higher than the height of the connecting portion 314 when in the second position.

[0163] The detection member 36 is used to detect the position of the rigid chain 342, that is, the detection member 36 can detect the position of the rigid chain 342 climbing or descending in the first direction X, or the detection member 36 can detect the position of the rigid chain 342 pushed out or recovered from the chain box 35, to indirectly obtain the first position and the second position of the connecting portion 314. Exemplarily, the detection member 36 is two pairs of photoelectric sensors arranged on the chain box 35, which are a pair of low photoelectric sensors 361 and a pair of high photoelectric sensors 362. The pair of low photoelectric sensors 361 and the pair of high photoelectric sensors 362 are arranged on the chain box 35. When the rigid chain 342 descends to the lowest position, the rigid chain 342 will be contracted and wound in the chain box 35 under the action of the sprocket 341. At this time, the pair of low photoelectric sensors 361 can detect the signal of the other end of the rigid chain 342 away from the one end connected to the telescopic rod 31, and the pair of high photoelectric sensors 362 can detect the signal of the middle segment of the rigid chain 342, so that when the pair of low photoelectric sensors 361 and the pair of high photoelectric sensors 362 both obtain the signal, it is judged that the rigid chain 342 descends to the lowest position. Conversely, when the rigid chain 342 climbs to the highest position, the rigid chain 342 will exit the chain box 35 under the action of the sprocket 341. During the process that the rigid chain 342 exits the chain box 35, the pair of low photoelectric sensors 361 will lose the signal first, and then the pair of high photoelectric sensors 362 will also lose the signal, so that when the pair of low photoelectric sensors 361 and the pair of high photoelectric sensors 362 cannot obtain the signal, it is judged that the rigid chain 342 climbs to the highest position. Of course, in other embodiments, the detection member 36 can also be two proximity switches arranged on the chain box 35, and similarly, the detection member 36 can also be a pull cord encoder connected to the rigid chain 342.

[0164] The driving member 32 is configured to respond to the detection member 36 and stop acting when the connecting portion 314 is in the first position and the second position, that is, after the detection member 36 indirectly obtains the first position and the second position of the connecting portion 314 by detecting the position of the rigid chain 342, the driving member 32 can stop acting.

[0165] In the embodiment, the lifting mechanism 30 is further provided with a detection member 36, the position of the rigid chain 342 can be detected through the detection member 36 to obtain the information that the connecting portion 314 of the telescopic rod 31 is located at the first position and the second position, and the driving member 32 can stop acting in response to the detection result of the detection member 36. The lifting mechanism 30 adopting such a structure can improve the precision of driving the unlocking platform 20 to lift along the first direction X to improve the battery replacement precision of the battery replacement robot 100, and can alleviate the phenomenon that the driving member 32 drives the telescopic rod 31 to extend or shorten to the limit position, which is beneficial to protect the limit position of the telescopic rod 31, thereby reducing the risk of damage of the telescopic rod 31 and the driving member 32.

[0166] According to some embodiments of the present application, the driving member 32 is a servo motor with an absolute value encoder. The specific structure of the driving member 32 can be referred to the related technology, which will not be described here.

[0167] In the embodiment, the servo motor with the absolute value encoder is used to drive the telescopic rod 31 to extend or shorten to drive the unlocking platform 20 to lift along the first direction X. The lifting mechanism 30 adopting such a structure can accurately control the size of the telescopic rod 31 to extend or shorten, thereby improving the precision of controlling the unlocking platform 20 to lift along the first direction X.

[0168] According to some embodiments of the present application, referring to FIG. 1, FIG. 2 and FIG. 5, and further referring to FIG. 8, which is a partial enlarged view of C of the battery replacement robot shown in FIG. 1. The telescopic rod 31 has a connecting portion 314, and the battery replacement robot 100 can further include a chain 40, and the connecting portion 314 is connected to the unlocking platform 20 through the chain 40. Along the first direction X, the connecting position of the chain 40 and the connecting portion 314 is higher than the connecting position of the chain 40 and the unlocking platform 20.

[0169] The connecting portion 314 is connected to the unlocking platform 20 through the chain 40, that is, the connecting portion 314 of the telescopic rod 31 is indirectly connected to the placement table 21 of the unlocking platform 20 through the chain 40. Of course, in other embodiments, the connecting portion 314 of the telescopic rod 31 can be directly connected to the placement table 21 of the unlocking platform 20.

[0170] Along the first direction X, the connecting position of the chain 40 and the connecting portion 314 is higher than the connecting position of the chain 40 and the unlocking platform 20, that is, the connecting position of the chain 40 and the connecting portion 314 is farther away from the chassis 10 than the connecting position of the chain 40 and the unlocking platform 20 in the first direction X, that is, the unlocking platform 20 is a structure hung on the connecting portion 314 of the telescopic rod 31 through the chain 40.

[0171] In the embodiment, the connecting portion 314 of the telescopic rod 31 is connected to the unlocking platform 20 through the chain 40, and the connecting position of the chain 40 and the connecting portion 314 is higher than the connecting position of the chain 40 and the unlocking platform 20 in the first direction X, so that the unlocking platform 20 is hung on the connecting portion 314 of the telescopic rod 31 through the chain 40. The battery replacing robot 100 adopting the structure can realize that the unlocking platform 20 has a certain floating space, which can absorb the deviation of the unlocking platform 20 during the installation or removal of the battery, and can adjust the height or angle of the unlocking platform 20 according to the actual operation demand to adapt to different use scenarios, thereby improving the use range of the battery replacing robot 100.

[0172] According to some embodiments of the present application, referring to FIG. 1, each unlocking platform 20 is provided with a plurality of lifting mechanisms 30, and the plurality of lifting mechanisms 30 are arranged around the unlocking platform 20.

[0173] Each unlocking platform 20 is provided with a plurality of lifting mechanisms 30, that is, each unlocking platform 20 is connected to the telescopic rods 31 of the plurality of lifting mechanisms 30, so that the plurality of lifting mechanisms 30 can simultaneously provide driving force for the unlocking platform 20 to rise and fall in the first direction X.

[0174] The plurality of lifting mechanisms 30 are arranged around the unlocking platform 20, that is, the plurality of lifting mechanisms 30 are arranged at intervals along the circumference of the unlocking platform 20, and the plurality of lifting mechanisms 30 are arranged around the outside of the unlocking platform 20.

[0175] For example, in FIG. 1, each unlocking platform 20 of the battery replacing robot 100 is provided with four lifting mechanisms 30, and the placement table 21 of the unlocking platform 20 is a cuboid structure. Correspondingly, the four lifting mechanisms 30 are respectively located at the four corners of the placement table 21. Of course, in other embodiments, the number of lifting mechanisms 30 corresponding to each unlocking platform 20 of the battery replacing robot 100 can also be two, three, five, six, etc.

[0176] In the embodiment, the plurality of lifting mechanisms 30 corresponding to each unlocking platform 20 are arranged, so that the unlocking platform 20 is connected to the plurality of lifting mechanisms 30, and the plurality of lifting mechanisms 30 are arranged around the unlocking platform 20, thereby further improving the load capacity of the battery replacing robot 100 and further improving the stability and reliability of the unlocking platform 20 rising and falling in the first direction X.

[0177] According to some embodiments of the present application, please continue to refer to FIG. 1, the battery replacing robot 100 can include a plurality of unlocking platforms 20, the plurality of unlocking platforms 20 are arranged at intervals along a second direction Y, each unlocking platform 20 is connected with at least one lifting mechanism 30, and the second direction Y is perpendicular to the first direction X.

[0178] Exemplarily, the battery replacing robot 100 is provided with three unlocking platforms 20, and the three unlocking platforms 20 are arranged at intervals along the second direction Y, wherein the placement table 21 of the unlocking platform 20 is a cuboid structure, the height direction of the placement table 21 is the first direction X, the width direction of the placement table 21 is the second direction Y, and the length direction of the placement table 21 is the third direction Z, and the first direction X, the second direction Y and the third direction Z are perpendicular to each other.

[0179] Of course, in other embodiments, the plurality of unlocking platforms 20 can also be arranged at intervals along the third direction Z. Similarly, the number of the unlocking platforms 20 can also be two, four, five or six, etc.

[0180] In the embodiment, the battery replacing robot 100 is provided with a plurality of unlocking platforms 20, the plurality of unlocking platforms 20 are arranged at intervals along the second direction Y, and each unlocking platform 20 is connected with at least one lifting mechanism 30, so that the plurality of unlocking platforms 20 are independently operated structures, and the battery replacing robot 100 adopting the structure can simultaneously load a plurality of batteries, so as to realize the installation and dismounting of the plurality of batteries, thereby facilitating the improvement of the battery replacing efficiency of the battery replacing robot 100.

[0181] According to some embodiments of the present application, the present application also provides a battery replacing station, the battery replacing station including the battery replacing robot 100 of any one of the above solutions.

[0182] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0183] The above is only the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A battery swapping robot, comprising: a chassis; a locking and unlocking platform configured to place a battery, and further configured to detach or mount the battery on an electric device; a lifting mechanism comprising a telescopic rod and a driving member, the telescopic rod being telescopically mounted on the chassis along a first direction, the telescopic rod being connected to the locking and unlocking platform, the driving member being in transmission connection with the telescopic rod, the driving member being configured to drive the telescopic rod to telescopically extend along the first direction, so as to drive the locking and unlocking platform to lift along the first direction relative to the chassis. The telescopic rod comprises a plurality of sleeves which are sequentially sleeved from inside to outside, and in each two adjacent sleeves, one of the sleeves is movable relative to the other along the first direction.

2. The battery replacing robot according to claim 1, wherein, The plurality of sleeves comprises a first sleeve located at the outermost side and a second sleeve located at the innermost side, one of the first sleeve and the second sleeve being mounted on the chassis, and the other being connected to the locking and unlocking platform. The first sleeve is mounted on the chassis, and the second sleeve is connected to the locking and unlocking platform.

3. The battery replacing robot according to claim 2, wherein, Along the first direction, one end of the second sleeve away from the chassis is connected with a connecting portion, the connecting portion protruding from the outer circumferential surface of the first sleeve, and the connecting portion being connected to the locking and unlocking platform.

4. The battery replacing robot according to claim 3, wherein, The sleeves are in a cylindrical shape, and the axes of the sleeves extend along the first direction.

5. The battery swapping robot according to any one of claims 2-4, wherein, A wear-resistant sleeve is arranged between each two adjacent sleeves, and the two adjacent sleeves are an outer sleeve and an inner sleeve respectively, the outer sleeve being sleeved on the outside of the wear-resistant sleeve, and the wear-resistant sleeve being sleeved on the outside of the inner sleeve.

6. The battery swapping robot according to any one of claims 2-5, wherein, One of the outer sleeve and the inner sleeve is fixed with the wear-resistant sleeve, and the other is in sliding fit with the wear-resistant sleeve along the first direction. The outer sleeve is fixed with the wear-resistant sleeve, and the inner sleeve is in sliding fit with the wear-resistant sleeve along the first direction.

7. The battery replacing robot according to claim 6, wherein, The wear-resistant sleeve is screwed on the inside of the outer sleeve.

8. The battery replacing robot according to claim 7, wherein, The outer sleeve is provided with a first limiting hole, and the wear-resistant sleeve is provided with a second limiting hole, the first limiting hole and the second limiting hole both extending along the radial direction of the wear-resistant sleeve.

9. The battery replacing robot according to claim 8, wherein, A limiting member is further arranged between the outer sleeve and the wear-resistant sleeve, the limiting member being inserted into the first limiting hole and the second limiting hole along the radial direction of the wear-resistant sleeve, so as to limit the wear-resistant sleeve from rotating circumferentially relative to the outer sleeve. A limiting structure is arranged between the inner sleeve and the wear-resistant sleeve, the limiting structure being configured to limit the inner sleeve from rotating circumferentially relative to the wear-resistant sleeve.

10. The battery swapping robot according to any one of claims 7-9, wherein, The limiting structure comprises a limiting protrusion and a limiting groove, one of the limiting protrusion and the limiting groove being arranged on the inner circumferential surface of the wear-resistant sleeve, and the other being arranged on the outer circumferential surface of the inner sleeve, the limiting groove extending along the first direction, and the limiting protrusion being inserted into the limiting groove.

11. The battery replacing robot according to claim 10, wherein, The limiting structure comprises a plurality of limiting protrusions and a plurality of limiting grooves, the limiting protrusions and the limiting grooves corresponding to each other, and the plurality of limiting grooves being arranged in intervals along the circumferential direction of the wear-resistant sleeve.

12. The battery replacing robot according to claim 11, wherein, ​ 13. The battery swapping robot according to any one of claims 1-12, wherein, The lifting mechanism further comprises a transmission assembly, the driving member is in transmission connection with the telescopic rod through the transmission assembly. 14.The battery replacing robot according to claim 13, wherein, The driving member has an output shaft, the transmission assembly comprises a chain wheel and a rigid chain, the chain wheel is in meshing connection with the rigid chain, the chain wheel is connected to the output shaft, and the rigid chain is connected to the telescopic rod.

15. The battery replacing robot according to claim 14, wherein, The telescopic rod has opposite first and second ends in the first direction, the first end is mounted to the chassis, and the second end is connected to the unlocking platform. One end of the rigid chain extends into the interior of the telescopic rod from the first end and is connected to the telescopic rod.

16. The battery swapping robot according to claim 14 or 15, wherein, The extension direction of the axis of the output shaft intersects the first direction.

17. The battery swapping robot according to claim 16, wherein, The extension direction of the axis of the output shaft is perpendicular to the first direction.

18. The battery swapping robot according to any one of claims 14-17, wherein, The lifting mechanism further comprises: A chain box for accommodating the rigid chain.

19. The battery swapping robot according to any one of claims 14-18, wherein, The telescopic rod has a connecting portion connected to the unlocking platform, along the first direction, the connecting portion has first and second positions, and the length of the telescopic rod when the connecting portion is at the first position is greater than the length of the telescopic rod when the connecting portion is at the second position. The lifting mechanism further comprises a detection member for detecting the position of the rigid chain, and the driving member is configured to stop acting in response to the detection member and when the connecting portion is at the first and second positions.

20. The battery swapping robot according to any one of claims 1-19, wherein, The driving member is a servo motor with an absolute value encoder.

21. The battery swapping robot according to any one of claims 1-20, wherein, The telescopic rod has a connecting portion, and the battery replacing robot further comprises a chain, the connecting portion is connected to the unlocking platform through the chain. Along the first direction, the connection position of the chain and the connecting portion is higher than the connection position of the chain and the unlocking platform.

22. The battery swapping robot according to any one of claims 1-21, wherein, Each of the unlocking platforms is provided with a plurality of lifting mechanisms, and the plurality of lifting mechanisms are arranged around the unlocking platform.

23. The battery swapping robot according to any one of claims 1-22, wherein, The battery replacing robot comprises a plurality of unlocking platforms, the plurality of unlocking platforms are arranged at intervals along a second direction, each of the unlocking platforms is connected to at least one lifting mechanism, and the second direction is perpendicular to the first direction.

24. A battery replacing station comprising the battery replacing robot according to any one of claims 1-23.

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