CN214383659U - Battery changing robot - Google Patents

Abstract

The utility model provides a trade electric robot, include: a hanger; the moving frame is movably arranged on the hanging frame along a first horizontal direction and penetrates through the hanging frame along a second horizontal direction, and the first horizontal direction and the second horizontal direction are arranged at a preset angle; the picking part is movably hung on the moving frame along the second horizontal direction and comprises a lifting appliance, and the height of the lifting appliance is adjustable. The utility model discloses a trade electric robot only needs to treat to change the battery box and mentions the take-up height, moves along the electric motor car width direction who treats to change the battery box, and need not like prior art, and the battery bottom of the case portion need be higher than electric vehicle could rotate and trade the electricity, thereby makes the utility model discloses a trade electric robot's whole height and reduce, occupation space is littleer, meanwhile, pick up the portion setting on removing the frame, removes the movably setting of frame and establishes on the portal for the battery box removes in-process weight and undertakes simultaneously by removing frame and gallows, has better rigidity, and structural stability is higher.

Description

Battery changing robot

Technical Field

The utility model relates to a hoist and mount at vehicle top trade electrical equipment technical field particularly, relate to a trade electric robot.

Background

For pure electric heavy-duty vehicle top hoisting type battery replacement, the current cantilever beam top hoisting type structure usually adopts a battery grabbing mechanism arranged on a cantilever beam to grab a power-shortage battery box on a vehicle to be replaced from the top, the power-shortage battery box is hoisted and rotated by a certain angle and placed in a battery storage area, or a charged battery box is grabbed from the top of the battery storage area and the charged battery box is hoisted and rotated by a certain angle and placed on the vehicle to be replaced. By adopting the cantilever beam top hoisting type structure, the grabbing mechanism can rotate only by lifting the battery box to be higher than the height of a vehicle, the height of the cantilever beam is higher, the building height of an indoor electricity changing ceiling is higher, and the cost is increased; in addition, the rotation radius is rotated within a certain angle range, avoidance is needed, and the space utilization rate is low; the independent column body supports, and rigidity is little, and the reliability is lower relatively.

SUMMERY OF THE UTILITY MODEL

A primary object of the utility model is to provide a trade electric robot to the hoist and mount formula of solving among the prior art trades the problem that electricity space utilization is low.

In order to achieve the above object, the utility model provides a trade electric robot, include: a hanger; the moving frame is movably arranged on the hanging frame along a first horizontal direction and penetrates through the hanging frame along a second horizontal direction, and the first horizontal direction and the second horizontal direction are arranged at a preset angle; the picking part is movably hung on the moving frame along the second horizontal direction and comprises a lifting appliance, and the height of the lifting appliance is adjustable.

Further, the movable frame comprises a first support and a second support, the first support is movably arranged on the hanging frame along a first horizontal direction, the second support is arranged at the top of the first support and penetrates through the hanging frame along a second horizontal direction, and the picking part is movably arranged on the second support.

Further, the gallows includes portal and ground rail, and the portal has the opening towards ground, and portal and ground rail are all fixed subaerial, and the ground rail sets up at the opening part, and the top of portal is equipped with first track, and the upper end of first support is movably to be inlayed and is established on first track, and the lower extreme of moving the frame is movably to be inlayed and is established on ground rail.

Further, the movable frame further comprises a plurality of diagonal draw bars, the plurality of diagonal draw bars are respectively located on two sides of the first support, the first ends of the diagonal draw bars are connected to the side face of the top of the first support, and the other ends of the diagonal draw bars are connected to the top face of the second support.

Further, first support includes two stand frames, and the upper end of two stand frames is movably to be inlayed and is established on first track, and the lower extreme of two stand frames is movably to be inlayed and is established on the ground rail, and two stand frames include two stands, and the second support sets up between two stands.

Furthermore, the second bracket is provided with at least one second rail, and the second rail extends along a second horizontal direction; the picking part comprises a frame and a travelling mechanism arranged above the frame, the travelling mechanism comprises a plurality of travelling wheel sets, and the travelling wheel sets are movably embedded in the second track.

Further, be equipped with a plurality of balladeur trains on the frame, the balladeur train is inside to be provided with the U-shaped groove, and a plurality of walking wheelsets set up with a plurality of balladeur trains one-to-one, and walking wheelset includes the gyro wheel of two relative settings, and two gyro wheels of relative setting are located two lateral walls in U-shaped groove respectively, and the second track is worn to establish in the U-shaped groove.

Furthermore, the plurality of carriages are divided into two groups, the plurality of carriages in each group are arranged at intervals along a second horizontal direction, the number of the second tracks is two, the two second tracks are arranged at intervals along the first horizontal direction, and the two groups of carriages and the two second tracks are arranged in a one-to-one correspondence manner; the walking mechanism further comprises a first driving part arranged on the frame and a transmission shaft in driving connection with the first driving part, the first end of the transmission shaft is in driving connection with one roller on one group of sliding carriages, and the second end of the transmission shaft is in driving connection with one roller on the other group of sliding carriages.

Furthermore, the picking part also comprises a hoisting device arranged below the frame, the hoisting device comprises a second driving part, a transmission mechanism and a lifting appliance, the transmission mechanism comprises a flexible part and a winding drum, the second driving part is in driving connection with the winding drum, one end of the flexible part is wound on the winding drum, and the other end of the flexible part is connected with the lifting appliance so as to drive the lifting appliance to lift or lower; the transmission mechanisms are multiple and are arranged below the frame at intervals along a first horizontal direction and a second horizontal direction.

Furthermore, the picking part also comprises a guide post and a guide sleeve which are positioned between the frame and the lifting appliance, the guide post is arranged on one of the frame and the lifting appliance, the guide sleeve is arranged on the other of the frame and the lifting appliance, and the guide post can be arranged in the guide sleeve in a penetrating way; a groove is formed in the inner wall of the guide sleeve, a plurality of antifriction balls are arranged in the groove, and the antifriction balls are abutted to the outer wall of the guide column.

Use the technical scheme of the utility model, the utility model discloses a trade electric robot only needs to wait to change the battery box and mentions the take-up height, removes along the electric motor car width direction who waits to change the battery box, and need not just like prior art, and the battery box bottom portion need be higher than electric vehicle could rotate and trade the electricity, thereby makes the utility model discloses a trade electric robot's whole height and reduce, occupation space is littleer, and meanwhile, pick up the portion and set up on removing the frame, remove the movably the inlaying of frame and establish on the portal for battery box removes in-process weight and undertakes simultaneously by removing frame and gallows, has better rigidity, and structural stability is higher.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 schematically shows a structure diagram of an application of a swapping robot in a swapping system;

fig. 2 schematically shows a structure diagram of the swapping robot of the present application;

FIG. 3 schematically shows a structural view of the pickup of the present application;

FIG. 4 is a schematic cross-sectional view of the present application showing the attachment of the running gear to the frame;

figure 5 schematically illustrates a block diagram of one embodiment of the hoist of the present application;

wherein the figures include the following reference numerals:

100. a battery replacement robot; 200. a charging area; 300. a battery box; 400. a battery replacement area; 110; a hanger; 111. a gantry; 112. a ground rail; 120. a movable frame; 121. a second bracket; 1211. a second track; 122. a first bracket; 123. a diagonal brace; 130. a pickup section; 41. a traveling mechanism; 411. a roller; 412. a drive shaft; 413. a first driving section; 414. a guide member; 42. a lifting mechanism; 421. a frame; 422. a guide post; 423. a U-shaped groove; 43. a spreader; 431. a guide sleeve; 11. a reel; 101. a flexible member; 12. a rotating shaft; 13. a fixed seat; 14. a second driving section; 15. a synchronizing shaft; 16. a coupling;

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

As described in the background art, for top-mounted battery replacement of a pure electric heavy-duty vehicle, a current cantilever beam top-mounted structure generally adopts a battery grabbing mechanism arranged on a cantilever beam to grab a power-deficient battery box on the vehicle to be replaced from above, and the power-deficient battery box is hoisted and rotated by a certain angle to be placed in a battery storage area, or a charged battery box is grabbed from above the battery storage area, and the charged battery box is hoisted and rotated by a certain angle to be placed on the vehicle to be replaced. By adopting the cantilever beam top hoisting type structure, the grabbing mechanism can rotate only by lifting the battery box to be higher than the height of a vehicle, the height of the cantilever beam is higher, the building height of an indoor electricity changing ceiling is higher, and the cost is increased; in addition, the rotation radius is rotated within a certain angle range, avoidance is needed, and the space utilization rate is low; the independent column body supports, and rigidity is little, and the reliability is lower relatively.

In order to solve the above problem, referring to fig. 1 to 5, an embodiment of the present invention provides a swapping robot, which includes a hanging bracket 110, a moving bracket 120 and a picking portion 130, wherein the moving bracket 120 is movably disposed on the hanging bracket 110 along a first horizontal direction and passes through the hanging bracket 110 along a second horizontal direction, and the first horizontal direction and the second horizontal direction are at a preset angle; the pickup portion 130 is movably hung on the moving frame 120 in the second horizontal direction, and includes a hanger, the height of which is adjustable. When the battery box on the electric automobile to be replaced needs to be replaced, the lifting appliance of the pickup part lifts the battery box to be replaced by a preset height along the Z direction, wherein the preset height is larger than the height of the battery box to be replaced which is matched with the automobile, the battery box to be replaced is lifted by the pickup part 130 to move along the width direction of the electric automobile, namely the Y direction, and then the battery box to be replaced is placed at a target position along the X direction. Wherein, the X direction is first horizontal direction promptly, and the Y direction is the second horizontal direction, and the Z direction is for promoting or the direction that reduces the battery box height, the utility model discloses a trade the electric robot only need will treat to change the battery box and mention a take the altitude, moves along the electric motor car width direction who treats to change the battery box, and need not like prior art, and the battery bottom of the case portion need be higher than electric vehicle could rotate and trade the electricity, thereby makes the utility model discloses a trade the whole high reduction of electric robot, occupation space is littleer, and meanwhile, pick up the portion and set up on removing the frame, remove the movably the inlaying of frame and establish on the gallows for battery box weight is undertaken simultaneously by removing frame and gallows in the removal process, has better rigidity, and structural stability is higher.

According to the utility model discloses another aspect also provides a trade electric system, trade electric robot 100 of this embodiment is used in trading electric system, as shown in fig. 1 and fig. 2, trade electric system and include charging area 200, battery box 300 and trade electric area 400, the district that charges

The field 200 is used for storing the battery box 300 and can charge the battery box 300; the battery replacement area 400 includes an electric vehicle for parking a battery box to be replaced. As shown in fig. 2, the swapping robot 100 includes a hanger 110, and the hanger 110 is located between a battery box for storage and charging and an electric vehicle to which the battery box is to be replaced, and as shown in fig. 1 and 2, a preset angle between a first horizontal direction and a second horizontal direction is 90 degrees.

Referring to fig. 2, in order to transport the pickup unit to and from both sides of the cradle and to transport the battery box on both sides of the cradle, the moving frame 120 in this embodiment includes a first bracket 122 and a second bracket 121, the first bracket 122 is movably disposed on the cradle 110 along a first horizontal direction, the second bracket 121 is disposed on the top of the first bracket 122 and passes through the cradle 110 along a second horizontal direction, and the pickup unit 130 is movably mounted on the second bracket 121.

In order to achieve accurate sliding of the first support, the hanger 110 in this embodiment includes a door frame 111 and a ground rail 112, the door frame 111 has an opening facing the ground, the door frame 111 and the ground rail 112 are both fixed on the ground, the ground rail 112 is disposed at the opening, the top of the door frame 111 is provided with the first rail, the upper end of the first support 122 is movably embedded on the first rail, and the lower end of the movable frame 120 is movably embedded on the ground rail 112. By adopting the structure, the accurate movement along the first direction can be realized through the matching of the moving frame, the first track and the ground track, and the moving support of the battery box is realized.

In order to prevent the second support from inclining, guarantee the structural strength between second support and the first support, removal frame 120 in this embodiment still includes a plurality of diagonal draw bars 123, and a plurality of diagonal draw bars 123 are located the both sides of first support 122 respectively, and the first end of diagonal draw bar 123 is connected in the side at first support 122 top, and the other end of diagonal draw bar 123 is connected in the top surface of second support 121. The first support 122 and the second support 121 which are arranged in a crossed mode are pulled by the plurality of diagonal draw bars, so that the mechanical strength of the control end can be enhanced, the inclination caused by unbalance loading is avoided, and the control accuracy of the control end and the horizontal posture of the battery box are guaranteed.

The first bracket 122 in this embodiment includes a double-upright frame 421, an upper end of the double-upright frame 421 is movably embedded on the first rail, a lower end of the double-upright frame 421 is movably embedded on the ground rail 112, the double-upright frame 421 includes two uprights, and the second bracket 121 is disposed between the two uprights. Specifically, as shown in fig. 2, the double-column frame includes two columns and a plurality of beams located between the two columns, and a beam perpendicular to the columns, preferably, two beams are disposed at an interval at the top, a beam is disposed at the bottom, the second support is disposed between the two columns, and is perpendicular to the first support, the second support is connected to the bottom of the beam below the top, two sides of the beam above the top are connected to the top surface of the second support 121 through a plurality of diagonal braces 123, the battery box is moved in the second direction by arranging the first support 122 and the second support 121 in a crossing manner, the first support 122 and the second support 121 in the crossing manner are pulled by a plurality of diagonal braces, so as to enhance the mechanical strength of the control end, avoid the unbalance loading causing the inclination, and ensure the control accuracy of the control end and the horizontal posture of the battery box.

In order to realize the movement of the pickup part on the moving rack, the second support 121 in this embodiment is provided with at least one second rail 1211, the second rail 1211 being arranged to extend in a second horizontal direction; the pickup portion 130 includes a frame 421 and a traveling mechanism 41 disposed above the frame 421, and the traveling mechanism 41 includes a plurality of traveling wheel sets movably embedded in the second rail 1211. During operation, the walking wheel set realizes the embedding between the walking wheel set and the second track to establish spacing, and reduce the frictional force between the walking wheel set and the second track through rolling friction.

The frame 421 in this embodiment is provided with a plurality of carriages, the inside of the carriage is provided with a U-shaped groove 423, the plurality of traveling wheel sets and the plurality of carriages are arranged in a one-to-one correspondence manner, each traveling wheel set includes two rollers 411 arranged oppositely, the two rollers 411 arranged oppositely are respectively located on two side walls of the U-shaped groove 423, and the second rail 1211 is arranged in the U-shaped groove 423 in a penetrating manner. Specifically, the second rail 1211 is at least partially disposed in the U-shaped groove, the axis of the roller 411 is perpendicular to the side wall of the U-shaped groove, the second rail 1211 is an i-shaped rail, and the set of wheels are embedded on two sides of the i-shaped rail

As shown in fig. 3, the plurality of carriages in the present embodiment are divided into two groups, the plurality of carriages in each group are arranged at intervals in the second horizontal direction, the number of the second rails 1211 is two, two second rails 1211 are arranged at intervals in the first horizontal direction, and the two groups of carriages are arranged in one-to-one correspondence with the two second rails 1211; the traveling mechanism 41 further includes a first driving portion 413 disposed on the frame 421 and a transmission shaft 412 drivingly connected to the first driving portion 413, wherein a first end of the transmission shaft 412 is drivingly connected to one roller 411 on one set of carriages, and a second end of the transmission shaft 412 is drivingly connected to one roller 411 on the other set of carriages. In an embodiment, the first driving portion is disposed on the frame, and two ends of the transmission shaft 412 are respectively connected to the corresponding rollers 411 in a driving manner, so that the transmission shaft 412 is driven by the first driving portion to drive the corresponding rollers 411 to rotate, thereby implementing the traveling of the traveling mechanism. In a preferred embodiment, to avoid tilting during the movement, the frame 421 is further provided with a plurality of guiding members 414, the plurality of guiding members 414 are located between the two second tracks 1211, and the guiding members 414 abut against the inner side walls of the bottom of the second tracks and are in sliding fit or rolling fit to guide the picking part 130 through the guiding members 414. In the embodiment of rolling fit, the guide part is a roller, the axis of the roller is vertically arranged, and the outer part of the roller is sleeved with a rubber sleeve.

As shown in fig. 3 and 5, the pickup portion 130 in this embodiment further includes a hoisting device disposed below the frame 421, the hoisting device includes a second driving portion 14, a transmission mechanism and a lifting tool 43, the transmission mechanism includes a flexible member 101 and a winding drum 11, the second driving portion 14 is in driving connection with the winding drum 11, one end of the flexible member 101 is wound on the winding drum 11, and the other end of the flexible member 101 is connected with the lifting tool 43 to drive the lifting tool 43 to lift or lower; drive mechanism is a plurality of, and a plurality of drive mechanism set up in frame 421 below along first horizontal direction and second horizontal direction interval, form the matrix and arrange, specifically, and flexible 101 promotes hoist 43 through the reel drive, or, reduces hoist 43 through reel drive release flexible 101. In one embodiment as shown in fig. 5, the lifting mechanism 42 includes a frame 421 and a second driving part 14 disposed on the frame, and four reels 11 drivingly connected to the transmission mechanism, and the reels are wound with flexible members 101, one end of each flexible member 101 is fixed to one reel 11, and the other end of each flexible member is connected to the spreader 43, so that the four reels 11 are driven by the second driving part to simultaneously rotate and wind the corresponding flexible member 101 to move the spreader 43 toward or away from the frame 421. The transmission mechanism further comprises two rotating shafts 12 which are arranged on the frame 421 and are in driving connection with the second driving portion, the two rotating shafts are arranged at two ends of the frame 421 at intervals, fixing seats 13 are arranged on the frame 421, the fixing seats 13 are bearing seats with bearings, and two ends of each rotating shaft are in running fit with corresponding bearings so as to achieve installation of the rotating shafts. Two winding drums 11 are sleeved on the rotating shaft at intervals along the axis direction, and the rotating shaft is in driving connection with the corresponding two winding drums 11. The number of the second driving portions 14 is two, the two second driving portions 14 are respectively in driving connection with the two rotating shafts, and the second driving portions are located between the two corresponding winding drums 11. In order to ensure the synchronous speed of each reel for winding and unwinding the flexible element and prevent the lifting appliance from inclining, the transmission mechanism preferably further comprises a synchronizing shaft 15, and the synchronizing shaft 15 is located between the two second driving parts 14 and is in transmission connection with the two second driving parts 14. The second driving parts are speed reducers, one of the two second driving parts is connected with the output end of a driving motor, the driving motor is not shown in the figure, the output shaft of the speed reducer is in driving connection with the rotating shaft 12, the opposite ends of the input shafts of the two speed reducers are respectively connected with the two ends of the synchronizing shaft 15 through a coupler 16, and the other end of the input shaft of one speed reducer is in driving connection with the output shaft of the motor. Of course, the speed reducing motor can also be arranged between the two speed reducers, and the synchronizing shaft is in driving connection with the speed reducing motor. The battery box can be stably lifted or lowered to move along the Z direction, and in addition, the four winding drums 11 are driven to synchronously rotate, so that the flexible parts respectively arranged on the four winding drums 11 keep the same length in the winding process, and the battery can keep a horizontal posture in the hoisting process. Wherein, four reels 11 are independent to twine flexible member 101, and the flexible member is the lifting rope, effectively avoids the rope messy, the emergence of fold rope phenomenon.

In order to prevent the horizontal dislocation between the frame 421 and the hanger 43, the pick-up 130 in this embodiment further includes a guide post 422 and a guide sleeve 431 between the frame 421 and the hanger 43, the guide post 422 is disposed on one of the frame 421 and the hanger 43, the guide sleeve 431 is disposed on the other, and the guide post 422 can be inserted into the guide sleeve 431; so as to realize the lifting and descending guidance of the lifting appliance through the matching of the guide sleeve 431 and the guide column 422, and prevent the horizontal dislocation of the frame 421 and the lifting appliance 43. In the embodiment shown in the figure, the guide posts 422 are arranged on the frame 421, the guide sleeves 431 are arranged on the hanger, it should be noted that, in the process of grabbing the battery by the hanger, the guide posts 422 and the guide sleeves 431 are arranged at intervals, the hanger and the frame are in a flexible connection state, so that the hanger is convenient to hang, when the lifting mechanism lifts the hanger to a preset height, the guide posts 422 penetrate into the guide sleeves to be matched with the guide sleeves 431 for guiding, and the hanger and the frame are in a rigid connection state and cannot be dislocated. Preferably, one end of the guide sleeve 431 close to the guide post is provided with a gradually enlarged guide opening to facilitate the entry of the guide post; be provided with the recess on the inner wall of uide bushing, be provided with a plurality of antifriction balls in the recess, antifriction ball butt is on the outer wall of guide post 422 to reduce the frictional force between uide bushing and the guide post.

From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects:

the utility model discloses a trade electric robot only needs to treat to change the battery box and mentions the take-up height, moves along the electric motor car width direction who treats to change the battery box, and need not like prior art, and the battery bottom of the case portion need be higher than electric vehicle could rotate and trade the electricity, thereby makes the utility model discloses a trade electric robot's whole height and reduce, occupation space is littleer, meanwhile, pick up the portion setting on removing the frame, removes the movably setting of frame and establishes on the portal for the battery box removes in-process weight and undertakes simultaneously by removing frame and gallows, has better rigidity, and structural stability is higher.

It should be noted that the above detailed description is exemplary and is intended to provide further explanation of the disclosure. 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 application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.

Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.

For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the foregoing detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, like numerals typically identify like components, unless context dictates otherwise. The illustrated embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented here. It will be readily understood that the aspects of the present disclosure, as generally described herein, and illustrated in the figures, can be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, all of which are explicitly contemplated herein.

The present disclosure in accordance with certain embodiments described herein is not to be limited in scope by the specific aspects illustrated. As will be apparent to those skilled in the art, many modifications and variations are possible without departing from the spirit and scope of the disclosure. Functionally equivalent methods and apparatuses, in addition to those enumerated herein, will be apparent to those skilled in the art from the foregoing description, within the scope of the present disclosure. Such modifications and variations are intended to fall within the scope of the appended claims. The disclosure is to be limited only by the terms of the appended claims, along with the full scope of equivalents to which such claims are entitled. It is to be understood that this disclosure is not limited to particular methods, reagents, compounds, compositions or biological systems, which can, of course, vary. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A battery replacement robot, comprising:

a hanger (110);

the moving frame (120) is movably arranged on the hanging frame (110) along a first horizontal direction, and penetrates through the hanging frame (110) along a second horizontal direction, and the first horizontal direction and the second horizontal direction are arranged at a preset angle;

the picking part (130) is movably hung on the moving frame (120) along the second horizontal direction, the picking part comprises a lifting appliance (43), and the height of the lifting appliance (43) is adjustable.

2. The swapping robot as recited in claim 1, wherein the moving rack (120) comprises a first bracket (122) and a second bracket (121), the first bracket (122) is movably disposed on the cradle (110) along the first horizontal direction, the second bracket (121) is disposed on top of the first bracket (122) and passes through the cradle (110) along the second horizontal direction, and the picking part (130) is movably mounted on the second bracket (121).

3. The swapping robot as recited in claim 2, wherein the cradle (110) comprises a gantry (111) and a ground rail (112), the gantry (111) has an opening facing the ground, the gantry (111) and the ground rail (112) are both fixed on the ground, the ground rail (112) is disposed at the opening, a first rail is disposed on the top of the gantry (111), the upper end of the first bracket (122) is movably embedded on the first rail, and the lower end of the moving bracket (120) is movably embedded on the ground rail (112).

4. The battery replacing robot as claimed in claim 2, wherein the moving frame (120) further comprises a plurality of diagonal braces (123), the plurality of diagonal braces (123) are respectively located at two sides of the first support (122), a first end of each diagonal brace (123) is connected to a side surface of the top of the first support (122), and the other end of each diagonal brace (123) is connected to a top surface of the second support (121).

5. The battery replacement robot as recited in claim 3, wherein the first bracket (122) comprises a double-column frame (421), an upper end of the double-column frame (421) is movably embedded on the first rail, a lower end of the double-column frame (421) is movably embedded on the ground rail (112), the double-column frame (421) comprises two columns, and the second bracket (121) is disposed between the two columns.

6. The battery replacing robot as recited in claim 2, wherein the second support (121) is provided with at least one second rail (1211), the second rail (1211) extending along the second horizontal direction; the pickup part (130) comprises a frame (421) and a traveling mechanism (41) arranged above the frame (421), wherein the traveling mechanism (41) comprises a plurality of traveling wheel sets which are movably embedded in the second track (1211).

7. The battery replacement robot according to claim 6, wherein a plurality of carriages are arranged on the frame (421), a U-shaped groove (423) is formed in each carriage, the plurality of traveling wheel sets and the plurality of carriages are arranged in a one-to-one correspondence manner, each traveling wheel set comprises two rollers (411) which are arranged oppositely, the two rollers (411) which are arranged oppositely are respectively located on two side walls of the U-shaped groove (423), and the second rail (1211) is arranged in the U-shaped groove (423) in a penetrating manner.

8. The swapping robot as claimed in claim 7, wherein the plurality of carriages are divided into two groups, the plurality of carriages in each group are spaced apart along the second horizontal direction, the number of the second tracks (1211) is two, two of the second tracks (1211) are spaced apart along the first horizontal direction, and the two groups of carriages are disposed in one-to-one correspondence with the two second tracks (1211);

the travelling mechanism (41) further comprises a first driving portion (413) arranged on the frame (421) and a transmission shaft (412) in driving connection with the first driving portion (413), a first end of the transmission shaft (412) is in driving connection with one roller (411) on one group of the sliding frame, and a second end of the transmission shaft (412) is in driving connection with one roller (411) on the other group of the sliding frame.

9. The battery replacing robot according to claim 6, wherein the picking part (130) further comprises a hoisting device arranged below the frame (421), the hoisting device comprises a second driving part (14), a transmission mechanism and the lifting appliance (43), the transmission mechanism comprises a flexible member (101) and a winding drum (11), the second driving part (14) is in driving connection with the winding drum (11), one end of the flexible member (101) is wound on the winding drum (11), and the other end of the flexible member (101) is connected with the lifting appliance (43) to drive the lifting appliance (43) to be lifted or lowered; the transmission mechanisms are arranged below the frame (421) at intervals along the first horizontal direction and the second horizontal direction.

10. The battery replacing robot according to claim 9, wherein the pick-up part (130) further comprises a guide post (422) and a guide sleeve (431) between the frame (421) and the spreader (43), the guide post (422) is disposed on one of the frame (421) and the spreader (43), the guide sleeve (431) is disposed on the other, and the guide post (422) is capable of being inserted into the guide sleeve (431); be provided with the recess on the inner wall of uide bushing (431), be provided with a plurality of antifriction balls in the recess, antifriction ball butt is in on the outer wall of guide post (422).

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