CN112757959B

CN112757959B - Battery replacement mechanical arm and battery replacement method

Info

Publication number: CN112757959B
Application number: CN202110197132.8A
Authority: CN
Inventors: 王伟; 梁雄俊; 温华锋; 王俊; 何忠祖; 赵伟; 李永昌
Original assignee: Shenzhen Jingzhi Machine Co Ltd
Current assignee: Shenzhen Jingzhi Machine Co Ltd
Priority date: 2021-02-22
Filing date: 2021-02-22
Publication date: 2023-03-17
Anticipated expiration: 2041-02-22
Also published as: CN112757959A

Abstract

The invention relates to a battery replacement mechanical arm and a method, wherein the battery replacement mechanical arm comprises: a substrate; and the bearing part is movably connected to the base body, and after the bearing part moves to the position below the battery box support relative to the base body, the base body bears the battery box support through the bearing part so as to move the battery box. According to the battery replacing mechanical arm and the battery replacing method, the bearing piece is embedded below the support of the battery box, and then the bearing piece is driven to move along the vertical direction through the lifting part, so that the battery box is moved from the side face of the battery box.

Description

Battery replacement mechanical arm and battery replacement method

Technical Field

The invention belongs to the field of battery replacement equipment, and particularly relates to a battery replacement mechanical arm and a battery replacement method.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

In recent years, with the rapid development of new energy automobiles, electric vehicles gradually enter the public vision, and the battery box loaded by the electric vehicle has the characteristics of large volume, heavy weight, long charging time, inconvenience in carrying and difficulty in replacement due to the working property of the electric vehicle.

The existing battery replacement equipment is characterized in that a battery box is lifted by a lifting appliance and moved to a storage area for storage and charging, and the battery box is large in size and weight, so that the risk of overturning exists when the battery box of an electric heavy truck is carried, and the service efficiency of a vehicle is seriously influenced.

Disclosure of Invention

In view of the above, it is desirable to provide a battery changing robot arm and method that can handle a battery box from the side.

A swapping mechanical arm, comprising:

a substrate;

the bearing piece is movably connected to the base body, and after the bearing piece moves relative to the base body so that the bearing piece at least partially moves below the battery box bracket, the base body bears the battery box bracket through the bearing piece to move the battery box;

still including being used for driving bear the weight of drive mechanism that the piece removed, drive mechanism includes:

the movable pulley is rotationally connected to the bearing piece;

the first transmission chain is connected with the base body at one end and bypasses the movable pulley, so that when the base body pulls the first transmission chain to move, the first transmission chain bypasses the movable pulley to drive the bearing piece to move relative to the base body;

the fixed pulley is rotationally connected to the base body, the first transmission chain winds around the fixed pulley to form a first connecting part and a second connecting part which are positioned on two sides of the fixed pulley, the first connecting part is connected to the base body, and the end part of the second connecting part is connected to the base body after winding around the movable pulley; when the first connecting part is driven to move when the base body moves, the first connecting part drives the movable pulley to move, so that the bearing piece is pulled to move along the base body;

the base body comprises a rack and a telescopic mechanism, and the telescopic mechanism is connected with the rack; the fixed pulley is rotationally connected with the telescopic mechanism and drives the fixed pulley to move when the telescopic mechanism is telescopic, so that the fixed pulley drives the movable pulley to move through the first transmission chain to drive the bearing piece to move relative to the telescopic mechanism;

the telescopic mechanism comprises:

a telescopic driving member;

the first telescopic part comprises a first telescopic arm, a second transmission chain and a transmission wheel; the first telescopic arm is movably connected to the rack in a telescopic direction; the driving wheel is rotationally connected with the first telescopic arm, and the second driving chain bypasses the driving wheel and extends along the telescopic direction of the first telescopic arm to form a third connecting part and a fourth connecting part which are positioned at two sides of the driving wheel; the telescopic driving part is connected with the first telescopic arm, and a third connecting part of the second transmission chain is connected with the rack;

the second telescopic component comprises a second telescopic arm, the second telescopic arm is movably connected with the first telescopic arm along the telescopic direction, the bearing piece is movably connected with the second telescopic arm, and the fixed pulley is rotatably connected with the second telescopic arm;

when the telescopic driving part drives the first telescopic arm to move along the rack, the driving wheel moves along with the first telescopic arm, and pulls the fourth connecting part of the second driving chain to move in the same direction with the first telescopic arm so as to drive the second telescopic arm to move in the same direction with the first telescopic arm;

the second telescopic arm drives the fixed pulley to move when moving, so that the fixed pulley drives the movable pulley to move through the first transmission chain to drive the bearing piece to move relative to the second telescopic arm.

Preferably, the first connecting portion of the first transmission chain is connected to the first telescopic arm, and the second connecting portion includes two end portions of the first transmission chain;

the number of the movable pulleys is at least two, one end of the first transmission chain is connected to one end of the second telescopic arm, and the first transmission chain is connected to the other end of the second telescopic arm after sequentially passing around one of the movable pulleys, the fixed pulley and the other movable pulley;

when the first transmission chain moves, the first transmission chain drives one end of the bearing piece to move along the extending direction through one of the movable pulleys, and drives the other end of the bearing piece to move along the extending direction through the other movable pulley.

Preferably, the transmission mechanism further comprises a sprocket plate, the sprocket plate comprises a plurality of sprockets arranged along the extending direction of the second telescopic arm, one side of the sprocket plate is connected to the first telescopic arm, and the sprockets are inserted into the first connecting portion of the first transmission chain;

when the second telescopic arm moves along the telescopic direction relative to the first telescopic arm, the sprocket plate pulls the first connecting part through the sprockets, so that the first transmission chain drives the bearing piece to move relative to the second telescopic arm through the movable pulley.

A battery replacement method comprises the following steps:

the bearing piece of the battery replacing mechanical arm moves along the horizontal direction, so that at least part of the bearing piece moves to the position below the support of the battery box; wherein, trade the below that the support that holds carrier part at least removed to the battery box along the horizontal direction of electric arm includes: the telescopic driving part drives the first telescopic arm to move along the telescopic direction, so that a driving wheel which is rotationally connected with the first telescopic arm moves along with the first telescopic arm, and the driving wheel drives the second telescopic arm to move in the same direction as the first telescopic arm through a fourth connecting part of a second driving chain; when the second telescopic arm moves, the fixed pulley arranged on the second telescopic arm moves along with the second telescopic arm, so that the fixed pulley drives the movable pulley which is rotationally connected with the bearing piece to move through the first transmission chain, and the bearing piece is driven to move relative to the second telescopic arm;

the base member drives and holds carrier removal for hold carrier and hold battery box support in order to remove the battery box.

Compared with the prior art, the battery replacing mechanical arm and the battery replacing method have the advantages that the bearing piece is at least partially embedded below the battery box support of the battery box, and then the bearing piece moves, so that the battery box is moved from the side face of the battery box.

In addition, in the battery replacing mechanical arm and the battery replacing method, the base drives the fixed pulley to move in the moving process of the base, so that the fixed pulley drives the movable pulley to move through the first transmission chain, and the movable pulley drives the bearing piece to move in the moving process. Because the moving speed of the movable pulley is half of the moving speed of the base, the stroke of the bearing piece cannot exceed the stroke of the base in the moving process, and the bearing piece is always positioned in the base and cannot be suspended and extended out of the base in the moving process of the battery box, so that the connection strength of the bearing piece is improved, and the reliability of carrying the battery box is improved.

Drawings

In order to illustrate the embodiments more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are some embodiments of the invention, and that other drawings may be derived from those drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a vehicle.

Fig. 2 is a schematic structural view of the battery case.

Fig. 3 is a schematic structural diagram of the battery box clamped by the battery replacing mechanical arm.

FIG. 4 is a schematic structural diagram of the battery changing mechanical arm.

Fig. 5 is a schematic structural view of the telescopic mechanism.

Fig. 6 is a schematic structural view of the first telescopic mechanism.

Fig. 7 is a schematic sectional view of the first telescopic mechanism.

Fig. 8 is a schematic structural view of the transmission mechanism.

Fig. 9 is a structural schematic diagram of the sprocket plate.

Fig. 10 is a schematic view of the structure of the sprocket plate engaged with the first transmission chain.

Fig. 11 is a schematic structural view of the carrier.

Fig. 12 is a schematic view of the carrier in a state of being located below the battery box support.

Description of the main elements

The following detailed description will further illustrate the invention in conjunction with the above-described figures.

Detailed Description

So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict. In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely a subset of the embodiments of the present invention, rather than a complete embodiment. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

In various embodiments, for convenience in description and not limitation, the term "coupled" as used in the specification and claims of the present application is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.

The battery replacement mechanical arm is used for replacing the battery box 2 for the vehicle 1, namely replacing the fully charged battery box 2 to the vehicle 1, and completing battery replacement operation of the vehicle 1.

Fig. 1 is a schematic structural view of a vehicle. A battery box 2 is connected to the vehicle 1, and the battery box 2 is disposed at a position rearward of the cab of the vehicle 1. After the vehicle 1 drives into the preset position and the battery box 2 on the vehicle 1 is positioned and locked, the battery replacing mechanical arm 4 starts the battery replacing operation to replace the battery for the vehicle 1.

Fig. 2 is a schematic structural diagram of the battery box 2, as shown in fig. 2, the battery box 2 may be a box-shaped structure, or may be a structure with other shapes, as an example, a battery box bracket 3 is provided at the top of the battery box 2, in this embodiment, 4 battery box brackets 3 having a substantially "7" shape are provided at the top of each battery box 2, and the battery box brackets 3 are arranged opposite to each other, so that a passage is formed between the battery box brackets 3 (in the direction of a shown in fig. 2). In the embodiment shown in fig. 3, the switch arm 4 extends below the battery box support 3 in the longitudinal direction of the battery box 2, but in other embodiments, the direction of the battery box support 3 may be changed so that the switch arm 4 extends below the battery box support 3 in the width direction of the battery box 2.

Fig. 3 is a schematic structural diagram of the battery box 2 clamped by the battery replacing mechanical arm 4. As shown in fig. 3, the replacement robot arm 4 is used to carry the battery box 2 to replace the battery box 2 for the electric vehicle. In the process of transporting the battery box 2, the battery replacing mechanical arm 4 needs to be connected with the battery box 2, and also needs to be disconnected from the battery box 2. When the battery box 2 needs to be moved, the battery replacing mechanical arm 4 can stretch out to the lower part of the battery box support 3 through aligning the battery box 2, and then the battery replacing mechanical arm 4 moves upwards to carry the battery box 2. The battery box 2 is supported by the dead weight of the battery box 2 in the process of moving the battery box 2, so that the battery box 2 can be moved.

Fig. 4 is a schematic structural view of the charging robot arm 4. As shown in fig. 4, the battery replacing mechanical arm 4 includes a base, a bearing member 50, and a transmission mechanism. The carrier 50 is movably connected to the base for movement relative thereto, and a transmission mechanism is connected to the base and the carrier 50 for driving the carrier 50 to be movable in the direction a shown in fig. 2 to below the rack 3 for carrying the battery box 2.

In this embodiment, the base includes a frame 20 and a telescopic mechanism. The frame 20 is generally a frame-shaped structure, and is used for connecting other components of the battery replacing device, for example, the frame may be fixedly mounted on a lifting mechanism, so that the battery replacing mechanical arm 4 may move in the vertical direction under the action of the lifting mechanism (not shown in the figure) to move the battery box 2 in the vertical direction. In the process of carrying the battery box 2, because the weight of the battery box 2 is large, for example, the weight of the battery box 2 of the engineering vehicle 30 can reach 2 to 4 tons, a higher requirement is put forward on the connection strength of the battery replacement mechanical arm 4.

The telescoping mechanism is coupled to the frame 20 for extension or retraction in a telescoping direction, such as horizontally. Fig. 5 is a schematic structural view of a telescopic mechanism, which includes a telescopic driving part 10, a first telescopic part and a second telescopic part, as shown in fig. 5.

As an example, the telescopic driving part 10 may include a telescopic driving motor and a transmission part, and the transmission part (e.g., a gear transmission structure, a chain-sprocket structure, a transmission wheel-transmission belt structure, etc.) is driven by the telescopic driving motor to move the first telescopic arm 30 of the first telescopic mechanism in the telescopic direction.

Fig. 6 is a schematic structural view of the first telescoping mechanism, and fig. 7 is a schematic sectional structural view of the first telescoping mechanism. As shown in fig. 6-7, the first telescopic member comprises a first telescopic arm 30, a second drive chain 32 and a drive wheel 33. The first telescopic arm 30 is disposed at the bottom or side of the frame 20, and is movably connected to the frame 20 through a slider-rail structure or other connection members in a telescopic direction, so that the first telescopic arm 30 can be extended or retracted relative to the frame 20. To drive the first telescopic arm 30 to move, the telescopic driving part 10 is connected to the first telescopic arm 30 at a driving connection point. In this embodiment, the first telescopic arm 30 is provided with a rack 31 extending in the telescopic direction, a gear of a transmission member of the telescopic driving mechanism is engaged with the rack 31 (an engagement point is a driving connection point), and the telescopic driving motor drives the first telescopic arm 30 to move in the telescopic direction through the transmission member and the rack 31.

A transmission wheel 33 is rotatably connected to the first telescopic arm 30, and a second transmission chain 32 passes around the transmission wheel 33 for moving a second telescopic arm 40 of the second telescopic member when the first telescopic arm 30 moves. In the present embodiment, two driving wheels 33 are provided at both ends of the first telescopic arm 30, respectively, so that the second telescopic arm 40 can be driven to move back and forth in the telescopic direction. The number of the second transmission chains 32 is two, and the two second transmission chains respectively correspond to the transmission wheels 33 and respectively bypass the corresponding transmission wheels 33. In the present embodiment, the second transmission chain 32 bypasses the transmission wheel 33 and extends along the telescopic direction, so that the second transmission chain 32 forms a third connecting portion 321 and a fourth connecting portion 322 on two sides (upper side and lower side) of the transmission wheel 33, wherein the third connecting portion 321 is fixedly connected to the frame 20 at a first connecting point (in the present embodiment, the first connecting point is located at an end portion of the second transmission chain 32), and the fourth connecting portion 322 is fixedly connected to the second telescopic arm 40 at a second connecting point (in the present embodiment, the second connecting point is located at the other end portion of the second transmission chain 32). When the telescopic driving part 10 drives the first telescopic arm 30 to move along the rack 20, the driving wheel 33 moves along with the first telescopic arm 30, pulls the fourth connecting part 322 of the second driving chain 32 to move in the same direction as the first telescopic arm 30, and the fourth connecting part 322 drives the second telescopic arm 40 to move in the same direction as the first telescopic arm 30.

Referring back to fig. 5, the second telescoping member includes a second telescoping arm 40. The second telescopic arm 40 may be movably connected to the first telescopic arm 30 in a telescopic direction by a slider-slide structure or other connection components, so that the second telescopic arm 40 may also be extended or retracted in the telescopic direction with respect to the first telescopic arm 30. When the first telescopic arm 30 is extended or retracted, the second telescopic arm 40 can be moved in the same direction as the first telescopic arm 30 by the second driving chain 32 to extend or retract. Since the first telescopic arm 30 drives the second telescopic arm 40 to move through the pulley structure formed by the second transmission chain 32 and the transmission wheel 33, the moving speed of the second telescopic arm 40 is twice the moving speed of the first telescopic arm 30, so that the telescopic mechanism can be rapidly extended or retracted.

The transmission mechanism is used for driving the bearing piece 50 to move when the second telescopic arm 40 moves. In the battery replacing process of the battery replacing mechanical arm 4, because the weight of the battery box 2 is large, if the bearing part 50 is suspended from the connection strength of the bearing part 50 of the telescopic mechanism, the risk that the bearing part 50 is broken with the telescopic mechanism in the process of carrying the battery box 2 is caused. The transmission mechanism disclosed by the embodiment drives the bearing piece 50 through the movable pulley structure, and the moving speed of the bearing piece 50 is smaller than that of the telescopic mechanism, so that the moving stroke of the bearing piece 50 is always positioned in the telescopic mechanism in the moving process, the suspension extending out of the telescopic mechanism is avoided, and the connecting strength of the bearing piece 50 can be improved.

Fig. 8 is a schematic structural view of the transmission mechanism. As shown in fig. 5 and 8, the transmission mechanism includes a fixed pulley 63, a first transmission chain 62, a movable pulley 60, and a tension pulley 61. The fixed pulleys 63 are rotatably connected to the base, but in the present embodiment, the fixed pulleys 63 may be sprockets and rotatably connected to the second telescopic arm 40, and the number of the fixed pulleys 63 is 4, and the fixed pulleys are provided at both ends of the second telescopic arm 40. It will be understood by those skilled in the art that the telescoping mechanism is not required, and the base body may include only the frame 20, and the fixed pulley 63 may be rotatably disposed on the frame 20 to enable the supporting member 50 to move and telescope relative to the frame 20.

The first drive chain 62 may be a chain or other drive belt. The first transmission chain 62 passes around the fixed pulley 63 and extends along the extending and retracting direction of the second telescopic arm 40, and in the present embodiment, the middle portion of the first transmission chain passes around the fixed pulley 63, and both ends of the first transmission chain face the bearing member 50, so as to form a first connecting portion 621 and a second connecting portion 622 on both sides of the fixed pulley 63. The first connecting portion 621 is located at a side close to the first telescopic arm 30, and the second connecting portion 622 is located at a side close to the carrying member 50, including two end portions of the first transmission chain 62.

In some embodiments, the first connection 621 connects the first telescopic arm 30 to the third connection. In the present embodiment, the first connecting portion 621 is connected to the first telescopic arm 30 via the sprocket plate 64 of the transmission mechanism.

Fig. 9 is a schematic view of the sprocket plate 64. As shown in fig. 9, the sprocket plate 64 has a substantially strip-shaped structure, and a side surface facing the first connecting portion 621 is provided with a plurality of sprockets 641 arranged along the extending and retracting direction of the second telescopic arm 40. Fig. 10 is a schematic view of the structure in which the sprocket plate 64 is engaged with the first transmission chain 62. As shown in fig. 10, one side of the sprocket plate 64 opposite to the sprocket 641 is fixedly connected to the first telescopic arm 30, and the sprocket 641 is inserted into a gap of the first connecting portion of the first transmission chain. When the sprocket plate 64 and the first transmission chain 62 are relatively moved to the end of the sprocket plate 64, the sprocket plate 64 is still partially engaged with the first transmission chain 62, so that the telescopic stroke of the second telescopic arm 40 can be increased.

The chain pulley 60 and the tension pulley 61 are rotatably connected to the carrier 50. In the present embodiment, the number of the movable pulleys 60 is two, the number of the tension pulleys 61 is also two, one end of the first transmission chain is connected to one end of the second telescopic arm 40, and then passes through the tension pulley 61, the movable pulley 60 and the fixed pulley 63 in sequence, and then passes through the other movable pulley 60 and the tension pulley 61 again, and then the other end is connected to the other end of the second telescopic arm 40, so that when the second telescopic arm 40 moves in the telescopic direction, the first transmission chain 62 can drive the carrier 50 to move back and forth in the telescopic direction, that is, the fixed pulley 63 of the second telescopic arm 40 can drive the movable pulley 60 to move through the first transmission chain 62, so as to drive one end of the carrier 50 in the telescopic direction to move, and similarly, the second telescopic arm 40 can drive the other end of the carrier 50 in the telescopic direction through the other movable pulley 60.

When the second telescopic arm 40 moves relative to the first telescopic arm 30, the fixed pulley 63 moves along with the second telescopic arm 40, and the fixed pulley 63 drives the movable pulley 60 to move through the first transmission chain 62 when moving, so that the bearing piece 50 can be driven to move along the telescopic direction. The second telescopic arm 40 moves the load bearing member 50 relative to the second telescopic arm 40 through the pulley structure formed by the fixed pulley 63, the first transmission chain 62 and the movable pulley 60, so that the moving speed of the load bearing member 50 is half of that of the second telescopic arm 40. After the flexible arm 40 of second stretches out fast, hold carrier 50 and be close to battery box 2 with comparatively gentle speed to can not surpass the flexible arm 40 of second and unsettled stretch out in the flexible arm 40 of second, like this, can realize under the condition of single power supply, the control is held the removal stroke that carrier 50 is located the flexible arm 40 of second, can be in order to avoid holding carrier 50 overhang in the flexible arm 40 of second, prevent that the joint strength who holds carrier 50 from reducing, security and reliability in the battery box handling have been ensured.

Fig. 11 is a schematic structural view of the carrier 50. As shown in fig. 11, the carrier 50 may be of a generally flat plate-like configuration, or may be of other configurations. The supporting member 50 has a concave structure along the length direction and has an opening. The carrier 50 can be driven by the telescopic mechanism to extend laterally into the lower part of the bracket 3 of the battery box 2 to carry the battery box 2. In this embodiment, a plurality of sliders 52 are provided on the side surface of the carrier 50, and a slide rail (not shown) corresponding to the sliders 52 is provided on the bottom surface of the second telescopic arm 40, so that the carrier 50 is movably connected to the second telescopic arm 40 of the base body through the sliders 52 and the slide rail. Furthermore, the carrier 50 is provided with a rotatably connected roller 51. The carrier 50 is moved relative to the battery box 2 by the rollers 51, so that friction between the carrier 50 and the battery box holder 3 can be reduced.

The battery replacement method implemented based on the battery replacement mechanical arm 4 is described in detail below.

Firstly, the telescopic driving mechanism drives the first telescopic arm 30 to extend towards the battery box 2, and in the extending and moving process of the first telescopic arm 30, because the third connecting part 321 of the second transmission chain 32 is fixedly connected to the frame 20, the transmission wheel 33 drives the fourth connecting part 322 of the second transmission chain 32 to move in the same direction as the first telescopic arm 30 in the moving process of following the first telescopic arm 30.

Then, since the fourth connecting portion 322 of the second transmission chain 32 is connected to the second telescopic arm 40, the second telescopic arm 40 is driven to move in the same direction as the first telescopic arm 30 in the moving process of the fourth connecting portion 322, and the moving speed is 2 times that of the first telescopic arm 30.

Then, in the moving process of the second telescopic arm 40, since the first connecting portion 621 of the first transmission chain 62 is connected to the first telescopic arm 30, and the second telescopic arm 40 moves relative to the first telescopic arm 30, the chain tooth plate 64 pulls the first connecting portion 621 of the first transmission chain 62 to drive the movable pulley 60 to move, and further drive the bearing member 50 to move in the telescopic direction until the bearing member 50 at least partially extends into the lower portion of the battery box support 3 of the battery box 2.

Fig. 12 is a schematic view of the carrier 50 in a state of being located below the battery case holder 3 of the battery case 2. As shown in fig. 12, the carrier 50 of the swapping robot arm 4 extends below the battery box holder 3 of the battery box 2.

Then, the bearing member 50 is lifted upward, so that the battery box support 3 is in contact with the battery box support 3 under the self-weight action of the battery box 2, thereby bearing the battery box 2 and driving the battery box 2 to be lifted.

The battery replacing mechanical arm 4 and the battery replacing method are embedded below the battery box bracket 3 of the battery box 2 through the bearing piece 50 to bear the battery box 2, so that the lateral battery replacing can be realized.

Further, because the speed of the second telescopic arm 40 is 2 times the speed of the first telescopic arm 30, the bearing part 50 can be quickly close to the battery box 2, and the battery replacement efficiency is improved. On the other hand, the moving speed of the bearing piece 50 is half of that of the second telescopic arm 40, and under the condition of a single power source, the stroke of the bearing piece 50 is always located between the second telescopic arms 40, so that the situation that the bearing piece 50 is suspended from the second telescopic arms 40 to reduce the connection strength of the battery replacing mechanical arm 4 can be avoided, and the safety of carrying the battery box 2 is improved.

In the several embodiments provided in the present invention, it is apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. The terms first, second, etc. are used to denote names, but not any particular order.

Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a trade electric arm which characterized in that includes:

a substrate;

still include and be used for driving the drive mechanism that holds carrier and remove, drive mechanism includes:

the movable pulley is rotationally connected to the bearing piece;

the base body comprises a rack and a telescopic mechanism, and the telescopic mechanism is connected to the rack; the fixed pulley is rotationally connected with the telescopic mechanism and drives the fixed pulley to move when the telescopic mechanism is telescopic, so that the fixed pulley drives the movable pulley to move through the first transmission chain to drive the bearing piece to move relative to the telescopic mechanism;

the telescopic mechanism comprises:

a telescopic driving member;

the first telescopic part comprises a first telescopic arm, a second transmission chain and a transmission wheel; the first telescopic arm is movably connected to the rack along the telescopic direction; the driving wheel is rotationally connected with the first telescopic arm, and the second driving chain bypasses the driving wheel and extends along the telescopic direction of the first telescopic arm to form a third connecting part and a fourth connecting part which are positioned at two sides of the driving wheel; the telescopic driving part is connected with the first telescopic arm, and a third connecting part of the second transmission chain is connected with the rack;

2. The battery changing mechanical arm as claimed in claim 1, wherein a first connecting portion of the first transmission chain is connected with the first telescopic arm, and the second connecting portion comprises two end portions of the first transmission chain;

3. The swapping mechanical arm of claim 2, wherein the transmission mechanism further comprises a sprocket plate, the sprocket plate comprises a plurality of sprockets arranged along the extension direction of the second telescopic arm, one side of the sprocket plate is connected to the first telescopic arm, and the sprockets are inserted into the first connecting portion of the first transmission chain;

4. The battery replacement method is characterized by comprising the following steps:

the bearing piece of the battery replacing mechanical arm moves along the horizontal direction, so that at least part of the bearing piece moves below the bracket of the battery box; wherein, trade the below that electric arm's the carrier part at least removed the support of battery box to along the horizontal direction includes: the telescopic driving part drives the first telescopic arm to move along the telescopic direction, so that a driving wheel which is rotationally connected with the first telescopic arm moves along with the first telescopic arm, and the driving wheel drives the second telescopic arm to move in the same direction as the first telescopic arm through a fourth connecting part of a second driving chain; when the second telescopic arm moves, the fixed pulley arranged on the second telescopic arm moves along with the second telescopic arm, so that the fixed pulley drives the movable pulley which is rotationally connected with the bearing piece to move through the first transmission chain, and the bearing piece is driven to move relative to the second telescopic arm;