A fast automatic battery replacement system and electric vehicle

Abstract

The present invention discloses a fast automated battery replacement system and an electric vehicle, comprising: a vehicle body bracket, a battery pack bracket, a clamping mechanism and a robot; the vehicle body bracket comprises: a parallelogram frame body, wherein a group of relative frame upper parts are provided with the clamping mechanism for clamping the vehicle body, and another group of relative frame lower parts are provided with a robot; the battery pack bracket comprises: an X-shaped frame body, wherein the clamping mechanism is provided at the free end of the frame body for clamping the battery pack, a robot is provided at the central lower part of the frame body, and the X-shaped frame body is located on the inner side of the parallelogram frame body; the robot is used to drive the vehicle body bracket and the battery pack bracket to move up and down. The present invention simplifies the mechanical structure of the battery replacement system, reduces the manufacturing cost and operation and maintenance cost, and the whole process of battery replacement is completed automatically, thereby improving the efficiency of battery replacement.

Description

Technical Field

[0001] The invention discloses a rapid automatic battery replacement system and an electric vehicle, and relates to the technical field of new energy vehicles. Background Art

[0002] At present, electric vehicles and power battery technology are developing rapidly, and the sales and ownership of electric vehicles are increasing steadily. Although the rapid development of power batteries and charging technology has enabled 80% of the power to be fully charged in about half an hour, there is still a significant gap between this and the refueling time of traditional fuel vehicles. The fast charging technology that is highly praised nowadays will cause irreversible damage to the power battery itself, affecting its service life, and the high-power and high-current charging piles that go with it are also one of the safety hazards.

[0003] Compared with the current charging technology, an electric vehicle that supports battery pack replacement (using battery swapping technology) has gradually been commercialized. Battery swapping technology has the following significant advantages: the battery replacement time can be very short, even faster than the refueling process of traditional cars; the battery replacement process can be fully automated, and the user experience is better; battery swapping technology and battery leasing business complement each other, and the latter can effectively avoid asset losses to existing users due to the rapid upgrading of battery technology in the next few years; it is very convenient to carry out regular inspection and maintenance of batteries, and it is also easier to recycle scrapped batteries; battery fast charging technology is applied to specific areas, and risks can be centrally controlled; it avoids the installation and maintenance of a large number of high-power, high-risk, and high-cost super-fast charging piles, and saves resources overall; the battery charging time period is independent of the electric vehicle use time period, which is more free to use and has a wider range of applicable scenarios. It can be charged slowly at low power during the day and fast at high power at night, and is best matched with the power supply curve of the power grid.

[0004] The existing battery swapping technology solutions have a cumbersome process, requiring the car to be parked in a small space and even requiring special service; the battery swapping process takes a relatively long time, significantly longer than the refueling time of traditional cars; passengers must get off the car during the battery swapping process, resulting in a poor experience; a battery swapping center can only meet the needs of electric vehicles of the same brand and platform, with a low degree of flexibility and a very limited scope of application; the battery swapping system mechanical device is very complex, with poor manufacturing cost, reliability, durability and maintainability; and the operation and maintenance cost is also significantly high. Summary of the invention

[0005] In view of the defects in the above-mentioned background technology, the present invention provides a fast and automated battery replacement system and an electric vehicle, which increase flexibility and versatility, simplify the mechanical structure, improve reliability and durability, reduce manufacturing costs and operation and maintenance costs, improve battery replacement efficiency, and improve the human-machine experience during the battery replacement process.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows: a fast and automated battery replacement system, comprising: a body bracket, a battery pack bracket, a clamping mechanism and a robot; the body bracket comprises: a parallelogram frame body, wherein a group of relative frame upper parts are provided with the clamping mechanism for clamping the body, and another group of relative frame lower parts are provided with a robot; the robot adopts an industrial robot with mature technology and large-scale application, which is used to control the rise, fall and forward, backward, left and right movement of the body bracket and the battery pack bracket.

[0007] The battery pack bracket comprises: an X-shaped frame body, the clamping mechanism is arranged at the free end of the frame body for clamping the battery pack, a robot is arranged at the central lower part of the frame body, and the X-shaped frame body is arranged on the inner side of the parallelogram frame body;

[0008] The robot is used to drive the vehicle body bracket and the battery pack bracket to move up and down.

[0009] Furthermore, the clamping mechanism comprises: a housing, a guide rod, a lifting pad, a return spring and a rotating lock block; a guide groove for constraining the upward and downward movement of the guide rod is arranged inside the housing.

[0010] The housing is the base on which the components of the clamping mechanism are installed, and is composed of two symmetrical structures that are fastened together by bolts;

[0011] The guide rod moves up and down under the constraint of the shell guide groove, and when grabbing the battery pack shell or the car body, its upper end will be inserted into the guide hole corresponding to the battery pack shell or the car body bottom plate;

[0012] The lifting pad is rigidly connected to the guide rod. When the clamping mechanism is working, the lifting pad will be close to the battery pack shell or the bottom surface of the vehicle body floor, thereby lifting the vehicle body or the battery pack;

[0013] During the separation process of the clamping mechanism from the battery pack shell or the vehicle body floor, the return spring pushes the lifting pad and the guide rod to move upward, thereby generating a series of linkages and ultimately returning the clamping mechanism to a "released" state.

[0014] The guide rod comprises, from top to bottom, a guide section, a transition section, a drive section and a locking section; the guide section is connected to a lifting pad, the transition section is coaxially connected to a return spring, the drive section is connected to a conical boss, and the locking section is connected to a locking mechanism that constrains the guide rod from moving up and down;

[0015] The housing is provided with a spring installation groove coaxially arranged with the guide groove, the return spring is arranged in the spring installation groove, and the upper end of the return spring is connected to the lifting pad, and the lower end is connected to the bottom of the spring installation groove;

[0016] The main function of the reset spring is: when the locking pin is pushed out of the locking hole, it pushes the guide rod upward, and the conical boss of the guide rod disengages from the rotating lock block, thereby leaving a certain space to allow the rotating lock block to rotate, and finally the clamping mechanism "releases" the body floor or battery pack. In addition, the reset spring can also absorb impact and alleviate vibration, making the clamping process smoother and quieter, ensuring the comfort of the battery replacement process.

[0017] The rotating lock block is symmetrically arranged on both sides of the guide rod, with its upper part extending out of the outer side of the shell, the middle part rotatably connected to the shell, and the lower part connected to the conical boss of the driving section, and the lower part is designed in an inward concave arc shape to match the conical boss;

[0018] The shell body is provided with a cylindrical guide groove matching the up and down movement of the conical boss, and a conical surface is provided at the bottom of the guide groove. The conical boss includes a frustum and a cone. The frustum is adapted to the cylindrical guide groove, and the cone is adapted to the conical surface. When the guide rod moves from top to bottom, it drives the upper part of the rotating lock block to rotate toward the inner locking position, and the lower part of the rotating lock block moves from the cone side to the frustum side. When the guide rod is reset from bottom to top, the lifting pad will drive the upper part of the rotating lock block to rotate toward the outer release position, and the lower part of the rotating lock block moves from the frustum side to the cone side.

[0019] When the clamping mechanism is working, the upper part of the rotating lock block will extend into the locking groove corresponding to the battery pack shell or the body bottom plate, and fit tightly with the locking surface, thereby grasping and clamping the battery pack or the body; the lower part of the rotating lock block fits with the surface of the conical boss of the guide rod to achieve a linkage effect; the rotating lock block has its own rotating pin and arc surface, and is hinged to the shell in a rotating form.

[0020] The rotating lock block, guide rod, and lifting pad realize motion coupling; without the need for additional power source and electronic sensor, the vehicle body or battery pack can be grasped and clamped; the locking and clamping force of the rotating lock block is mainly maintained by the conical boss on the guide rod.

[0021] Furthermore, the locking mechanism comprises: a locking pin, a locking spring, an adjusting block, an unlocking drive device and an unlocking push rod;

[0022] The locking section comprises: a locking hole and an avoidance groove, wherein the avoidance groove is arranged at the lower side of the locking hole and communicates with the locking hole.

[0023] The locking pin moves laterally in the slide groove corresponding to the housing, one end of the locking pin is connected to one end of the locking spring, and the other end of the locking spring is connected to the adjustment block; when the guide rod moves from top to bottom to the "locking" position, the locking pin is driven by the locking spring to insert into the locking hole to limit the up and down movement of the guide rod;

[0024] The locking spring and the locking pin are in the same slide groove and are always in a compressed state. When the guide rod is in the "locked" position, the locking pin is pushed to insert into the locking hole of the guide rod. The adjustment block and the locking spring are also in the same slide groove to constrain the other end of the locking spring. An adjusting screw is provided on the other side of the adjustment block to cooperate with the adjustment block to adjust the compression amount or elastic force of the locking spring.

[0025] The front end of the unlocking push rod is in contact with the locking pin, and the rear end is connected to the unlocking driving device; the unlocking push rod moves laterally under the drive of the unlocking driving device, and then pushes the locking pin out of the locking hole to achieve unlocking.

[0026] Pushing the locking pin only requires overcoming the friction between it and the locking hole of the guide rod. The friction is relatively small, which not only helps to use a smaller electric drive device, but also increases the reliability and durability of the mechanism.

[0027] The unlocking drive device provides driving force to push the locking pin to move horizontally and unlock the guide rod to move up and down; the unlocking drive device can be a motor plus a screw, an electromagnet, a pneumatic cylinder or a hydraulic cylinder.

[0028] The front end of the unlocking push rod is in contact with the locking pin, and the rear end is connected to the unlocking driving device; it moves laterally under the drive of the driving device, thereby pushing the locking pin out of the locking hole of the guide rod to achieve unlocking; there is an avoidance groove at the lower part of the locking hole of the guide rod, and the unlocking push rod can slide up and down in the groove, eventually keeping the guide rod in an "unlocked" state until the unlocking push rod exits the avoidance groove and the locking pin is reinserted into the locking hole.

[0029] Furthermore, the vehicle body bracket includes: a crossbeam, a longitudinal beam, a connecting rod, a first flange bracket and a first articulated bracket; two pairs of the crossbeams and longitudinal beams constitute a parallelogram frame body, the first articulated bracket is connected between adjacent crossbeams and longitudinal beams, and is always vertically arranged, the robot is connected to the bottom of the crossbeam, the crossbeam and the robot are connected by a first flange bracket, the first clamping bracket is connected to the top of the longitudinal beam, and the first clamping bracket is used to connect the clamping mechanism. The ingenious parallelogram mechanism makes full use of the two robots to realize the adjustment and change of the shape and size of the vehicle body bracket.

[0030] The parallelogram frame body can be distributed at the four corners of the body bracket. The distance between the left and right longitudinal beams can be adjusted by changing the distance between the front and rear cross beams, thereby changing the shape and size of the body bracket to adapt to different vehicle models.

[0031] Furthermore, two first clamping brackets are arranged on each longitudinal beam, a driving mechanism is arranged in the middle of the longitudinal beam, guide rails are arranged on both sides of the beam, the first clamping brackets are slidably connected to the guide rails, and the driving mechanism provides power for the sliding of the first clamping brackets on both sides.

[0032] The driving mechanism can be an electric push rod, and the clamping bracket moves forward and backward along the guide rail under the electric push drive, thereby increasing the flexibility and versatility of the body bracket; ensuring that the left and right and front and back spacings of the body bracket body clamping mechanism can be adjusted independently.

[0033] Furthermore, the battery pack bracket includes: a second flange bracket, a connecting rod adjustment frame, a second articulated bracket and a second clamping bracket; the second flange bracket and the four connecting rod adjustment frames constitute an X-shaped frame body; the lower part of the second flange bracket is connected to the robot, the four corners of the second flange bracket are respectively hinged to a group of connecting rod adjustment frames, the free end of the connecting rod adjustment frame is hinged to the second clamping bracket, and the second clamping bracket is used to connect the clamping mechanism.

[0034] Furthermore, the connecting rod adjustment frame includes: a first adjustment frame and a second adjustment frame.

[0035] The first adjustment frame and the second adjustment frame are arranged in parallel, and both ends of the first adjustment frame and the second adjustment frame are hinged to the second clamping bracket and the second flange bracket respectively;

[0036] The first adjustment frame comprises: a first connecting rod and a second connecting rod; the first connecting rod and the second connecting rod are arranged parallel to each other in an upper and lower direction, both ends of the first connecting rod and the second connecting rod are hinged by a first hinge, the first hinges at both ends are hinged to the second clamping bracket and the second flange bracket respectively by a second hinge, and the hinge direction of the first hinge by the second hinge is perpendicular;

[0037] The second adjustment frame includes: a third connecting rod and a fourth connecting rod; the third connecting rod and the fourth connecting rod are arranged parallel to each other up and down, and both ends of the third connecting rod and the fourth connecting rod are hinged by a third hinge, and the third hinges at both ends are respectively hinged to the second clamping bracket and the second flange bracket through the fourth hinge, and the hinge direction of the third hinge through the fourth hinge is perpendicular.

[0038] The first hinge and the third hinge are rotating shafts with their axes in the horizontal direction; the second hinge and the fourth hinge are rotating shafts with their axes in the vertical direction;

[0039] When the connecting rod adjustment frame rotates around the horizontal axis, the lateral spacing and longitudinal spacing of the second clamping bracket can be changed at the same time. When the connecting rod adjustment frame rotates around the vertical axis, the lateral spacing of the second clamping bracket can be mainly changed.

[0040] The parallelogram structures of the first adjustment frame and the second adjustment frame move synchronously and play the same role, that is, to ensure that the vertical direction of the second clamping bracket is always parallel to the vertical direction of the flange bracket during the deformation adjustment of the battery pack bracket; the parallelogram structure between the first adjustment frame and the second adjustment frame is used to ensure that the longitudinal direction of the second clamping bracket is always parallel to the longitudinal direction of the flange bracket. Therefore, after the parallelogram multi-link mechanism of the first adjustment frame and the second adjustment frame is constrained, before and after the deformation adjustment of the battery pack bracket, the battery pack clamping mechanism installed on the second clamping bracket always remains vertically upward, ensuring that the battery pack clamping mechanism can smoothly enter the dedicated interface (guide hole and locking groove) of the battery pack.

[0041] Furthermore, a restraining bracket is respectively arranged between the first adjusting bracket and the second adjusting bracket and between the first adjusting bracket and the second adjusting bracket themselves, and the restraining bracket is one of a rigid restraining bracket and an adjustable restraining bracket;

[0042] The rigid restraint bracket includes: a first U-shaped frame and a second U-shaped frame, a horizontal waist-shaped groove is arranged on one side of the first U-shaped frame, and a vertical waist-shaped groove is arranged on the other side; the first adjustment frame and the second adjustment frame are connected through the first U-shaped frame, and the inner sides of the first adjustment frame and the second adjustment frame are respectively connected to a first U-shaped frame through a horizontal waist-shaped groove, and the vertical waist-shaped grooves between the first U-shaped frames are connected by bolts.

[0043] For the battery packs of electric vehicles that use standardized battery replacement solutions, their external dimensions and specifications are unified. After the battery pack dimensions and specifications are determined, the layout of the guide holes and locking grooves for the clamping mechanism is also determined; the battery pack bracket can adjust the angle of the parallelogram multi-link mechanism based on the above information, adjust the clamping bracket to the required position, and constrain and fix the parallelogram mechanism through the first U-shaped frame and the second U-shaped frame.

[0044] The adjustable restraint bracket includes: an electric push rod; at least one group of parallel electric push rods is arranged between the first adjustment frame and the second adjustment frame; at least one group of parallel electric push rods is arranged between the first connecting rod and the second connecting rod and between the third connecting rod and the fourth connecting rod.

[0045] When battery packs of different brands and models use different dimensions and specifications, it is impossible to unify the specifications of the battery packs. In this case, the parallelogram multi-link mechanism needs to be able to adjust in real time to change the relative spacing of the battery pack clamping mechanism to adapt to battery packs of different dimensions and specifications. By adjusting the telescopic length of the electric push rod through the electronic control system, the spacing between the connecting rods can be changed to achieve angle adjustment and locking of the parallelogram multi-link mechanism. If greater thrust and self-locking force are required, multiple electric push rods can be arranged on a set of parallelogram multi-link mechanisms, and the two ends of the electric push rods are hinged to the connecting rods of the parallelogram mechanism through bolts.

[0046] An electric vehicle, used in the above-mentioned fast automatic battery replacement system, includes: a vehicle body floor and a battery pack, the battery pack is connected to the lower side of the vehicle body floor, and interfaces for the clamping mechanism to extend into are arranged on the surface of the vehicle body floor and the battery pack, and the interfaces include: a clamped part, a guide hole is arranged in the center of the clamped part, and locking grooves are arranged on both sides of the clamped part. When the clamping mechanism is working, its guide rod extends into the guide hole, and the upper part of the rotating locking block extends into the corresponding locking groove and fits tightly with the locking surfaces on both sides of the clamped part, so as to grasp and clamp the battery pack or the vehicle body. Beneficial Effects

[0047] 1. The present invention proposes a technical solution for quickly replacing power batteries of electric vehicles, which simplifies the battery replacement process to the greatest extent, shortens the battery replacement time, and thus improves the battery replacement efficiency.

[0048] 2. The present invention proposes an electric vehicle battery pack layout scheme, a battery pack grabbing and clamping interface scheme to achieve standardization of the battery pack shell, and further achieve a standardized interface for the battery replacement device.

[0049] 3. The present invention proposes a grabbing and clamping interface solution for the underbody of an electric vehicle to achieve standardization of the underbody, and further achieve standardized connection of the battery replacement device.

[0050] 4. The present invention designs a clamping mechanism for grabbing and clamping the vehicle body floor and the battery pack shell; the grabbing and releasing process is simple and quick; the structure is simple, with few parts, high reliability, good durability, low manufacturing cost and low maintenance cost.

[0051] 5. The present invention designs a set of vehicle body brackets to stabilize the vehicle body floor during the battery replacement process, ensure the accuracy and safety of the battery replacement process, and improve the riding comfort of passengers in the vehicle during the battery replacement process; it has flexible adjustment capabilities, and through the coordinated work of the front and rear lifting robots, it can freely change the longitudinal and lateral dimensions to adapt to the floor plates of electric vehicles of different models and sizes; it has a simple structure, few components, high reliability, low manufacturing cost, good durability, and low maintenance cost.

[0052] 6. The present invention designs a battery pack bracket for grabbing, clamping and transferring battery packs; it has flexible adjustment capabilities, and can change the longitudinal and lateral spacing of the bracket mechanical arms through a rigid constraint scheme or an electric push rod adjustment scheme, so as to adapt to battery packs of different sizes; a large number of parts with uniform specifications and sizes are used, which reduces the manufacturing and maintenance costs to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a schematic diagram of the structure of the present invention;

[0054] Figure 2 It is a schematic diagram of the structure of the clamping mechanism of the present invention;

[0055] Figure 3 A three-dimensional diagram of the interior of the clamping mechanism of the present invention;

[0056] Figure 4 (a) is a schematic diagram of the unlocking push rod of the clamping mechanism of the present invention returning to the "unlocking" position;

[0057] Figure 4 (b) is a schematic diagram of the rotating locking block of the clamping mechanism of the present invention entering the locking groove of the vehicle body bottom plate;

[0058] Figure 4 (c) is a schematic diagram of the rotation of the rotating lock block of the clamping mechanism of the present invention;

[0059] Figure 4 (d) is a schematic diagram of the locking pin of the clamping mechanism of the present invention being pushed into the locking hole;

[0060] Figure 5 It is a schematic diagram of the structure of the vehicle body bracket of the present invention;

[0061] Figure 6 It is a schematic diagram of the structure of the vehicle body bracket (partial) of the present invention;

[0062] Figure 7 This is a schematic diagram of adjusting the left and right spacing of the clamping bracket of the vehicle body bracket of the present invention;

[0063] Figure 8 This is a schematic diagram of the structure of the battery pack bracket of the present invention;

[0064] Fig. 9 This is a schematic diagram of the (partial) structure of the battery pack bracket of the present invention;

[0065] Fig.10 (a) is a schematic diagram of adjusting the horizontal and vertical spacing of the battery pack bracket clamping bracket of the present invention;

[0066] Fig.10 (b) is a schematic diagram of adjusting the lateral spacing of the clamping brackets of the battery pack bracket of the present invention;

[0067] Fig.11 It is a schematic diagram of the structure of the battery pack bracket (partial, rigid constraint bracket) of the present invention;

[0068] Fig.12 This is a schematic diagram of the hinged structure of the pool bag bracket of the present invention;

[0069] Fig.13 This is the U-shaped bracket structure of the present invention;

[0070] Fig.14 It is a structural schematic diagram of the battery pack bracket (partial, first U-shaped bracket) of the present invention;

[0071] Fig.15 This is a schematic diagram of the bolt connection structure of the first U-shaped frame of the present invention;

[0072] Fig.16 It is a schematic diagram of the structure of the battery pack bracket (partial, second U-shaped bracket) of the present invention;

[0073] Fig.17 This is a schematic diagram of the bolt connection structure of the second U-shaped frame of the present invention;

[0074] Fig.18 It is a schematic diagram of the structure of the battery pack bracket (local, adjustable restraining bracket) of the present invention;

[0075] Fig.19 A schematic diagram of the initial position of the vehicle parking and battery replacement system of the present invention;

[0076] Fig. 20 This is a schematic diagram of the state in which the vehicle body bracket of the present invention clamps the vehicle body;

[0077] Fig.21 This is a schematic diagram of the battery pack holder of the present invention clamping the battery pack;

[0078] Fig. 22 This is a schematic diagram of the battery pack holder of the present invention clamping and removing the battery pack;

[0079] Fig.23 This is a schematic diagram of the battery pack holder transferring the battery pack of the present invention. DETAILED DESCRIPTION

[0080] The implementation of the technical solution is further described in detail below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention. Example

[0081] like Figure 1An embodiment shown: a fast automated battery replacement system, comprising: a vehicle body bracket 1, a battery pack bracket 2, a clamping mechanism 3 and a robot 6; the vehicle body bracket 1 comprises: a parallelogram frame body, wherein a group of relative frames are provided with the clamping mechanism 3 for clamping the vehicle body bottom plate 5, and another group of relative frames are provided with the robot 6 at the bottom;

[0082] The battery pack bracket 2 comprises: an X-shaped frame body, the clamping mechanism 3 is arranged at the free end of the frame body for clamping the battery pack 4, a robot 6 is arranged at the central lower part of the frame body, and the X-shaped frame body is located on the inner side of the parallelogram frame body;

[0083] The robot is used to drive the vehicle body bracket 1 and the battery pack bracket 2 to move up and down.

[0084] like Figure 2~3 As shown, the clamping mechanism 3 includes: a shell 30, a guide rod 31, a lifting pad 32, a return spring 33 and a rotating lock block 34; the shell 30 is provided with a guide groove for constraining the guide rod 31 to move up and down. The shell 30 is a base for installing the various components of the clamping mechanism 3, and is composed of two symmetrical structures, which are fastened together by bolts.

[0085] The guide rod 31 includes, from top to bottom, a guide section 311, a transition section 312, a drive section and a locking section 313; the outer section is connected to the lifting pad 32, the transition section 312 is coaxially connected to the return spring 33, the drive section is connected to the conical boss, and the locking section 313 is connected to a locking mechanism that constrains the guide rod 31 to move up and down;

[0086] The housing 30 is provided with a spring installation groove coaxially arranged with the guide groove, the return spring 33 is arranged in the spring installation groove, and the upper end of the return spring 33 is connected to the lifting pad 32, and the lower end is connected to the bottom of the spring installation groove;

[0087] The rotating lock block 34 is symmetrically arranged on both sides of the guide rod 31, with its upper part extending out of the outer side of the housing 30, the middle part rotatably connected to the housing 30, and the lower part connected to the conical boss of the driving section, and the lower part is designed to be concave in an arc shape;

[0088] The shell 30 is provided with a cylindrical guide groove matching the up and down movement of the conical boss, and a conical surface is provided at the bottom of the guide groove. The conical boss includes a frustum and a cone. The frustum is adapted to the cylindrical guide groove, and the cone is adapted to the conical surface. When the guide rod 31 moves from top to bottom, the conical boss moves from top to bottom, and the lower part of the rotating lock block 34 moves from the cone side of the conical boss to the frustum side, driving the upper part of the rotating lock block 34 to rotate toward the inner locking position. When the guide rod 31 is reset from bottom to top, the conical boss moves from bottom to top, and the lower part of the rotating lock block 34 moves from the frustum side of the conical boss to the cone side. At the same time, the lifting pad 32 will drive the upper part of the rotating lock block 34 to rotate toward the outer release position.

[0089] The locking mechanism includes: a locking pin 35, a locking spring 36, an adjustment block 37, an unlocking drive device 38 and an unlocking push rod 39;

[0090] The locking section 313 includes: a locking hole 3131 and an avoidance groove 3132. The avoidance groove 3132 is arranged at the lower side of the locking hole 3131 and communicates with the locking hole 3131.

[0091] The locking pin 35 moves laterally in the corresponding slide groove of the housing 30, one end of the locking pin 35 is connected to one end of the locking spring 36, and the other end of the locking spring 36 is connected to the adjustment block 37; when the guide rod 31 moves from top to bottom to the "locking" position, the locking pin 35 is driven by the locking spring 36 to insert into the locking hole 3131, thereby limiting the up and down movement of the guide rod 31;

[0092] The front end of the unlocking push rod 39 contacts the locking pin 35, and the rear end is connected to the unlocking drive device 38; the unlocking push rod 39 can move laterally under the drive of the unlocking drive device 38, thereby pushing the locking pin 35 out of the locking hole 3131 to achieve unlocking.

[0093] like Figure 4 As shown in (a) to 4 (d): the unlocking drive device 38 starts to work, and pulls the unlocking push rod 39 out of the avoidance groove 3132 at the lower part of the guide rod 31. At this time, the locking pin 35 is pushed against the side wall of the guide rod 31 by the locking spring 36; the clamping mechanism 3 moves upward under the drive of the vehicle body bracket 1, and the upper part of the guide rod 31 is inserted into the guide hole 52 corresponding to the vehicle body bottom plate 5, and the rotating lock block 34 gradually enters the locking groove 51 corresponding to the vehicle body bottom plate 5;

[0094] The clamping mechanism 3 moves upward further, and the lifting pad 32 contacts the vehicle body bottom plate 5. Then, the lifting pad 32 and the guide rod 31 remain stationary relative to the vehicle body, while the housing 30 of the clamping mechanism 3 moves downward as a whole, and the return spring 33 is compressed. At the same time, the cone side of the conical boss of the guide rod 31 drives the rotating lock block 34 to rotate.

[0095] As the clamping mechanism 3 moves further up, when the upper end surface of the shell 30 touches the lower end surface of the lifting pad, the return spring 33 is in the maximum compression state, the locking hole 3131 at the lower part of the guide rod 31 is aligned with the axis of the locking pin 35, and the locking pin 35 enters the locking hole 3131 of the guide rod 31 under the push of the locking spring 36 - until the front end touches the top of the unlocking push rod 39, and the clamping surface of the rotating locking block 34 is in close contact with the locking surface of the locking groove 51 of the vehicle body bottom plate 5; stop the further lifting action of the vehicle body bracket 1, and the clamping mechanism 3 completes the grasping and clamping of the vehicle body bottom plate 5; when the clamping mechanism 3 needs to release the vehicle body after completing the predetermined work, the unlocking drive device 38 is also started first, and the locking pin 35 is pushed out of the locking hole 3131 of the guide rod 31 through the unlocking push rod 39, and the subsequent process is the opposite of the above steps.

[0096] In the process of releasing the vehicle body, the guide rod 31 moves upward relative to the shell 30, and the conical boss also moves upward relative to the shell 30, thereby gradually releasing a certain amount of space, allowing the rotary lock block 34 to rotate a certain angle around the middle rotating pin; after the rotary lock block 34 rotates, its upper clamping surface is gradually separated from the locking surface of the locking groove 51 of the vehicle body bottom plate 5, thereby realizing the "release" of the vehicle body bottom plate 5; when the clamping mechanism 3 is completely separated from the vehicle body bottom plate 5, the guide rod 31 moves to the highest position relative to the shell 30 under the push of the return spring 33, and the bottom of its lower avoidance groove 3132 contacts the unlocking push rod 39 - the unlocking push rod 39 limits the further upward movement of the guide rod 31; the disc surface of the lifting pad 32 is also in the highest position relative to the shell 30, and limits the rotational movement of the rotary lock block 34, preventing it from rotating from the "release" state to the "locked" state, and also ensuring that it can smoothly enter the locking groove 51 of the vehicle body bottom plate 5 during the next clamping operation.

[0097] like Figures 5 to 7As shown in (b), the vehicle body bracket 1 includes: a crossbeam 11, a longitudinal beam 12, a connecting rod 13, a first hinge bracket 14 and a first flange bracket 15; two pairs of the crossbeams 11 and the longitudinal beams 12 constitute a parallelogram frame body, and the connecting rods 13 are connected between the adjacent crossbeams 11 and the longitudinal beams 12. Both ends of the connecting rods 13 are hinged to the crossbeams 11 and the longitudinal beams 12 through the first hinge bracket 14, and it is ensured that the crossbeams 11 and the longitudinal beams 12 are always arranged vertically. The robot 6 is connected to the bottom of the crossbeam 11, and the crossbeam 11 and the robot 6 are connected by a first flange. The bracket 15 is connected, and the first clamping bracket 16 is connected above the longitudinal beam 12. The first clamping bracket 16 is used to connect the clamping mechanism 3. The ingenious parallelogram mechanism makes full use of the two robots 6 to realize the adjustment and change of the shape and size of the body bracket 1; driven by the two robots 6, the front and rear first flange brackets 15 and the crossbeam 11 have multiple spatial degrees of freedom such as up and down, front and back, left and right, and rotation; at the same time, the body bracket 1 is adapted to more models of electric vehicles, eliminating the need for a dedicated drive device, further reducing costs, and increasing reliability.

[0098] The parallelogram frame body can be distributed at the four corners of the vehicle body bracket 1 , and the spacing between the left and right longitudinal beams 12 can be adjusted by changing the spacing between the front and rear cross beams 11 , thereby changing the shape and size of the vehicle body bracket 1 to adapt to different vehicle models.

[0099] Two first clamping brackets 16 are arranged on each longitudinal beam 12, a driving mechanism 18 is arranged in the middle of the longitudinal beam 12, guide rails 17 are arranged on both sides of the longitudinal beam, the first clamping brackets 16 are slidably connected to the guide rails 17, and the driving mechanism 18 provides power for the sliding of the first clamping brackets 16 on both sides.

[0100] The driving mechanism 18 can be an electric push rod, and the first clamping bracket 16 moves forward and backward along the guide rail 17 under the electric push drive, thereby increasing the flexibility and versatility of the body bracket 1 and ensuring that the left and right and front and back spacings of the body clamping mechanism 3 of the body bracket 1 can be adjusted independently.

[0101] During the battery replacement process, when the heavy-mass battery pack 4 is removed, the vehicle body will be lifted upward due to the release of the elastic potential energy of the suspension. On the one hand, this will change the relative position of the vehicle body and affect the subsequent battery replacement operation. On the other hand, it will also affect the riding comfort inside the vehicle. The application of the vehicle body bracket 1 provides a clamping force for position limitation, which can perfectly solve the above problems.

[0102] like Figures 8 to 11As shown, the battery pack bracket 2 includes: a second flange bracket 21, a connecting rod adjustment frame 22, a second articulated bracket 23 and a second clamping bracket 24; the second flange bracket 21 and the four connecting rod adjustment frames 22 form an X-shaped frame body; the lower part of the second flange bracket 21 is connected to the robot 6, and the four corners of the second flange bracket 21 are respectively hinged to a group of connecting rod adjustment frames 22 through the second articulated bracket 23, and the free end of the connecting rod adjustment frame 22 is hinged to the second clamping bracket 24 through the second articulated bracket 23, and the second clamping bracket 24 is used to connect the clamping mechanism 3.

[0103] The connecting rod adjustment frame 22 comprises: a first adjustment frame 221 and a second adjustment frame 222, wherein the first adjustment frame 221 and the second adjustment frame 222 form a parallelogram multi-link mechanism;

[0104] The first adjustment frame 221 and the second adjustment frame 222 are arranged in parallel, and both ends of the first adjustment frame 221 and the second adjustment frame 222 are hinged to the second clamping bracket 24 and the second flange bracket 21 respectively;

[0105] The first adjustment frame 221 includes: a first connecting rod 2211 and a second connecting rod 2212; the first connecting rod 2211 and the second connecting rod 2212 are arranged parallel to each other, both ends of the first connecting rod 2211 and the second connecting rod 2212 are hinged by a first hinge 223, the first hinges 223 at both ends are hinged to the second clamping bracket 24 and the second flange bracket 21 respectively by a second hinge 224, and the hinge directions of the first hinge 223 by the second hinge 224 are perpendicular;

[0106] The second adjustment frame 222 includes: a third link 2221 and a fourth link 2222; the third link 2221 and the fourth link 2222 are arranged parallel to each other, and both ends of the third link 2221 and the fourth link 2222 are hinged by a third hinge 225, and the third hinges 225 at both ends are hinged to the second clamping bracket 24 and the second flange bracket 21 respectively through a fourth hinge 226, and the hinge directions of the third hinge 225 through the fourth hinge 226 are perpendicular. Fig.12 As shown, the first hinge 223 and the third hinge 225 are rotating shafts with their axes in the horizontal direction; the second hinge 224 and the fourth hinge are rotating shafts with their axes in the vertical direction;

[0107] When the connecting rod adjustment frame 22 rotates around the horizontal axis, the lateral spacing and longitudinal spacing of the clamping bracket 16 can be changed at the same time. When the connecting rod adjustment frame 22 rotates around the vertical axis, the lateral spacing of the clamping bracket 16 can be mainly changed.

[0108] The parallelogram structures of the first adjustment frame 221 and the second adjustment frame 222 move synchronously and play the same role, that is, to ensure that the vertical direction of the clamping bracket 16 is always parallel to the vertical direction of the second flange bracket 21 during the deformation adjustment of the battery pack bracket 2; the parallelogram structure between the first adjustment frame 221 and the second adjustment frame 222 is used to ensure that the longitudinal direction of the second clamping bracket 24 is always parallel to the longitudinal direction of the second flange bracket 21. Therefore, after the parallelogram multi-link mechanism of the first adjustment frame 221 and the second adjustment frame 222 is constrained, before and after the deformation adjustment of the battery pack bracket 2, the battery pack 4 clamping mechanism 3 installed on the second clamping bracket 24 always remains vertically upward, ensuring that the battery pack 4 clamping mechanism 3 can smoothly enter the dedicated interface (guide hole 52 and locking groove 51) of the battery pack 4.

[0109] Constraint brackets are respectively arranged between the first adjustment bracket 221 and the second adjustment bracket 222 and between the first adjustment bracket 221 and the second adjustment bracket 222 . The constraint brackets include: a rigid constraint bracket 227 and an adjustable constraint bracket 228 .

[0110] like Figures 13-15 As shown, the rigid restraint bracket 227 includes: a first U-shaped frame 2271 and a second U-shaped frame 2272, a horizontal waist-shaped groove is arranged on one side of the first U-shaped frame 2271, and a vertical waist-shaped groove is arranged on the other side; the first adjustment frame 221 and the second adjustment frame 222 are connected through the first U-shaped frame 2271, and the inner sides of the first adjustment frame 221 and the second adjustment frame 222 are respectively connected to a first U-shaped frame 2271 through a horizontal waist-shaped groove, and the vertical waist-shaped grooves between the first U-shaped frames 2271 are connected by bolts.

[0111] For the battery pack 4 of an electric vehicle that adopts a standardized battery replacement solution, its external dimensions are unified. After determining the dimensions of the battery pack 4, the layout positions of the guide holes 52 and the locking grooves 51 for the clamping mechanism 3 are also determined; the battery pack bracket 2 can adjust the angle of the parallelogram multi-link mechanism according to the above information, adjust the clamping bracket 16 to the required position, and constrain and fix the parallelogram mechanism through the first U-shaped frame 2271 and the second U-shaped frame 2272.

[0112] In the first U-shaped frame 2271 or the second U-shaped frame 2272, different spacings between the upper and lower connecting rods 13 correspond to different sizes of the angles between the connecting rods 13 and the vertical direction; the spacing between the upper and lower connecting rods 13 is locked by using the U-shaped bracket, the gasket and the bolt, so that the angle between the connecting rods 13 and the vertical direction in the first U-shaped frame 2271 or the second U-shaped frame 2272 is also locked;

[0113] The spacing between adjacent connecting rods 13 of the first U-shaped frame 2271 and the second U-shaped frame 2272 is connected and locked by a pair of U-shaped brackets and bolts, screws and nuts; no gasket is used in the rigid constraint bracket 227, but the spacing between the two U-shaped brackets is adjusted by screws and nuts, thereby adjusting and locking the spacing between adjacent connecting rods 13, and finally locking the angle between the adjacent connecting rods 13 of the first U-shaped frame 2271 and the second U-shaped frame 2272 and the ZX plane (or ZY plane) of the vehicle body. Example

[0114] like Figures 16-18 Another embodiment is shown, in which the restraint bracket in the above embodiment is modified and an adjustable restraint bracket 228 is adopted, wherein the adjustable restraint bracket 228 comprises: an electric push rod 2281; at least one group of mutually parallel electric push rods 2281 is arranged between the first adjustment frame 221 and the second adjustment frame 222; at least one group of mutually parallel electric push rods 2281 is arranged between the first connecting rod 2211 and the second connecting rod 2212 and between the third connecting rod 2221 and the fourth connecting rod 2222.

[0115] When the battery packs 4 of different brands and models have different dimensions and specifications, it is impossible to achieve uniform specifications of the battery packs 4. In this case, the parallelogram multi-link mechanism needs to be able to adjust in real time to change the relative spacing of the battery pack 4 clamping mechanism 3, so as to adapt to the battery packs 4 of different dimensions and specifications. By adjusting the telescopic length of the electric push rod 2281 through the electronic control system, the spacing between the connecting rods 13 can be changed to achieve angle adjustment and locking of the parallelogram multi-link mechanism. If it is necessary to provide greater thrust and self-locking force, multiple electric push rods 2281 can be arranged on a set of parallelogram multi-link mechanisms, and the two ends of the electric push rods 2281 are hinged to the connecting rods 13 of the parallelogram mechanism by bolts.

[0116] The rigid constraint bracket 227 and the adjustable constraint bracket 228 have the same corresponding battery pack bracket 2 structure, so the two constraint schemes can be used alternately: in the early stage of the promotion of the battery swapping technology, if different OEMs have not yet achieved the standardization of the battery pack 4 size specifications, the electric push rod 2281 adjustment scheme shall be used first to adapt to as many vehicle models as possible; as the battery swapping technology gradually matures and becomes popular, the rigid constraint bracket 227 can be used instead; as long as the angle between the two parallelogram mechanisms in the robotic arm can be constrained, other similar schemes are feasible.

[0117] The above embodiment cleverly applies two parallelogram mechanisms in the robot arm (connecting rod adjustment frame) to achieve precise adjustment and control of the two angles of the robot arm; and a large number of single parts with the same specifications, simple structure, high mechanical properties and high durability are adopted, which comprehensively reduces the manufacturing cost and maintenance cost. Example

[0118] like Figures 19 to 23 An embodiment shown: an electric vehicle, used in the above-mentioned fast automatic battery replacement system, includes: a body floor 5 and a battery pack 4, the battery pack 4 is connected to the lower side of the body floor 5, and interfaces for the clamping mechanism 3 to extend into are arranged on the surface of the body floor 5 and the battery pack 4, and the interfaces include: a clamped part, a guide hole 52 is arranged in the center of the clamped part, and locking grooves 51 are arranged on both sides of the clamped part. When the clamping mechanism 3 is working, its guide rod 31 extends into the guide hole 52, and the upper part of the rotating locking block 34 extends into the corresponding locking groove 51, and fits tightly with the locking surfaces on both sides of the clamped part, so as to grasp and clamp the battery pack 4 or the body.

[0119] This embodiment can perform intelligent battery replacement operations under the guidance of the vehicle system and the intelligent guidance control system:

[0120] First, the electric vehicle is parked at the designated location. Under the guidance of the intelligent guidance control system, the robot A1 / A2 lifts the body bracket according to the calculated path and gradually approaches the body bottom plate. The body clamping mechanism on the body bracket is accurately inserted into the corresponding interface of the body bottom plate. Under the joint action of the internal motion mechanism and the electric unit of the clamping mechanism, the body clamping device tightly clamps the body bottom plate. At this time, the car body, the body clamping device, the body bracket, and the robot A1 / A2 are rigidly connected as one. The precise coordinate value of the car body is obtained by the robot A1 / A2 and fed back to the intelligent guidance control system, and then the precise coordinate value of the battery pack is calculated.

[0121] Secondly, the intelligent guidance control system controls robot B to lift the battery pack bracket and move it along the calculated path to the battery pack (the low-power battery pack to be replaced) located at the bottom of the vehicle body floor; robot B accurately inserts the battery pack clamping mechanism into the corresponding interface of the battery pack. Like the vehicle body clamping mechanism, the battery pack clamping device will firmly clamp the battery pack. At this time, the battery pack, battery pack clamping mechanism, battery pack bracket and robot B are rigidly connected as one;

[0122] Third, the intelligent guidance control system sends a signal to the vehicle system, and the vehicle system actively unlocks the battery pack installation fastening device according to the set program, releases the battery pack, and ensures that the battery pack can be removed;

[0123] Fourth, robot B, together with the battery pack bracket and the battery pack clamping mechanism, removes the battery pack and then transfers and places it to a designated location, after which the battery pack clamping mechanism releases the battery pack and separates from the battery pack;

[0124] Fifth, robot B, together with the battery pack bracket and the battery pack clamping mechanism, moves to the position of the new battery pack (the fully charged battery pack to be replaced, hereinafter referred to as "battery pack (new)"), and clamps the battery pack (new) in the same manner as described above;

[0125] Sixth, robot B together with the battery pack bracket and battery pack clamping device accurately transfers the battery pack (new) to the vehicle body floor;

[0126] Seventh, the intelligent guidance control system sends a signal to the vehicle system, and the vehicle system actively locks the battery pack installation fastening device according to the program setting. At this time, the battery pack (new) has been installed on the bottom plate of the vehicle body; the battery pack clamping device releases the battery pack (new) and is separated from the battery pack (new) under the drive of robot B; robot B moves to the initial position together with the battery pack bracket and the battery pack clamping device;

[0127] Eighth, the body clamping device releases the body bottom plate and is separated from the body bottom plate under the drive of the robot A1 / A2; the robot A1 / A2 moves to the initial position together with the body bracket and the body clamping device;

[0128] Ninth, the intelligent guidance and control system sends a signal to the vehicle system, indicating that the battery replacement is completed and the vehicle is allowed to leave.

[0129] This embodiment has very low structural requirements for the vehicle body (including the battery pack), and only requires the design of locking grooves and guide holes with simple structures; this advantage reduces the cost of automobile OEMs in developing and manufacturing electric vehicles with replaceable batteries, which is very beneficial to the popularization and application of the present invention.

[0130] The expansibility of this application is very strong. By replacing the battery pack bracket with other special brackets, some new operations can be supported. By replacing the special bracket for the fuel gun and arranging the fuel port of the traditional fuel vehicle on the bottom plate of the vehicle body, the automatic refueling operation can be realized. Similarly, by replacing the special bracket for the hydrogenation gun and arranging the hydrogenation port of the hydrogen fuel-powered vehicle on the bottom plate of the vehicle body, the automatic hydrogenation operation can be realized. Other consumables that need to be replaced / added regularly, such as lubricating oil, brake fluid, windshield washer fluid, etc., can all be automated based on the present invention.

[0131] In summary, the battery exchange center established based on the present invention can be further upgraded to a vehicle supply center and serve both new energy vehicles and traditional fuel vehicles. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present invention, and these improvements and variations should also be regarded as the scope of protection of the present invention.

Claims

1. A fast and automated battery replacement system, characterized in that: include: Body bracket, battery pack bracket, gripping mechanism and robot; The vehicle body bracket comprises: a parallelogram frame body, wherein the clamping mechanism is arranged on the upper part of one set of opposite frames for clamping the vehicle body, and the robot is arranged on the lower part of another set of opposite frames; The battery pack bracket comprises: an X-shaped frame body, the clamping mechanism is arranged at the free end of the frame body for clamping the battery pack, a robot is arranged at the central lower part of the frame body, and the X-shaped frame body is arranged on the inner side of the parallelogram frame body; The robot is used to drive the vehicle body bracket and the battery pack bracket to move up and down. The clamping mechanism comprises: a housing, a guide rod, a lifting pad, a return spring and a rotating lock block; a guide groove for constraining the upward and downward movement of the guide rod is arranged inside the housing. The guide rod comprises, from top to bottom, a guide section, a transition section, a drive section and a locking section; the guide section is connected to a lifting pad, the transition section is coaxially connected to a return spring, the drive section is connected to a conical boss, and the locking section is connected to a locking mechanism that constrains the guide rod from moving up and down; The housing is provided with a spring installation groove coaxially arranged with the guide groove, the return spring is arranged in the spring installation groove, and the upper end of the return spring is connected to the lifting pad, and the lower end is connected to the bottom of the spring installation groove; The rotating lock block is symmetrically arranged on both sides of the guide rod, with its upper part extending outward from the shell, the middle part rotatably connected in the shell, and the lower part connected to the conical boss of the driving section. When the guide rod moves from top to bottom, it drives the upper part of the rotating lock block to rotate toward the inner locking position. When the guide rod is reset from bottom to top, the lifting pad will drive the upper part of the rotating lock block to rotate toward the outer release position.

2. A fast automatic battery replacement system according to claim 1, characterized in that: The locking mechanism comprises: a locking pin, a locking spring, an adjusting block, an unlocking drive device and an unlocking push rod; The locking section comprises: a locking hole and an avoidance groove, wherein the avoidance groove is arranged at the lower side of the locking hole and communicates with the locking hole. The locking pin moves laterally in the slide groove corresponding to the housing, one end of the locking pin is connected to one end of the locking spring, and the other end of the locking spring is connected to the adjustment block; when the guide rod moves from top to bottom to the "locking" position, the locking pin is driven by the locking spring to insert into the locking hole to limit the up and down movement of the guide rod; The front end of the unlocking push rod is in contact with the locking pin, and the rear end is connected to the unlocking driving device; the unlocking push rod moves laterally under the drive of the unlocking driving device, and then pushes the locking pin out of the locking hole to achieve unlocking.

3. A fast automatic battery replacement system according to claim 1, characterized in that: The vehicle body bracket includes: a crossbeam, a longitudinal beam, a connecting rod, a first flange bracket and a first articulated bracket; two pairs of the crossbeams and longitudinal beams constitute a parallelogram frame body, the first articulated bracket is connected between adjacent crossbeams and longitudinal beams, and is always vertically arranged, the robot is connected to the robot through the first flange bracket below the crossbeam, and the first clamping bracket is connected to the longitudinal beam above, and the first clamping bracket is used to connect the clamping mechanism.

4. A fast automatic battery replacement system according to claim 3, characterized in that: Two first clamping brackets are arranged on each longitudinal beam, a driving mechanism is arranged in the middle of the longitudinal beam, guide rails are arranged on both sides of the beam, the first clamping brackets are slidably connected to the guide rails, and the driving mechanism provides power for the sliding of the first clamping brackets on both sides.

5. A fast automatic battery replacement system according to claim 1, characterized in that: The battery pack bracket includes: a second flange bracket, a connecting rod adjustment frame, a second articulated bracket and a second clamping bracket; the second flange bracket and four connecting rod adjustment frames constitute an X-shaped frame body; the lower part of the second flange bracket is connected to the robot, and the four corners of the second flange bracket are respectively hinged to a group of connecting rod adjustment frames, and the free end of the connecting rod adjustment frame is hinged to the second clamping bracket, and the second clamping bracket is used to connect the clamping mechanism.

6. A fast automatic battery replacement system according to claim 5, characterized in that: The connecting rod adjustment frame comprises: a first adjustment frame and a second adjustment frame, The first adjustment frame and the second adjustment frame are arranged in parallel, and both ends of the first adjustment frame and the second adjustment frame are hinged to the clamping bracket and the flange bracket respectively; The first adjustment frame comprises: a first connecting rod and a second connecting rod; the first connecting rod and the second connecting rod are arranged parallel to each other in an upper and lower direction, both ends of the first connecting rod and the second connecting rod are hinged by a first hinge, the first hinges at both ends are hinged to the second clamping bracket and the second flange bracket respectively by a second hinge, and the hinge direction of the first hinge by the second hinge is perpendicular; The second adjustment frame includes: a third connecting rod and a fourth connecting rod; the third connecting rod and the fourth connecting rod are arranged parallel to each other up and down, and both ends of the third connecting rod and the fourth connecting rod are hinged by a third hinge, and the third hinges at both ends are respectively hinged to the second clamping bracket and the second flange bracket through the fourth hinge, and the hinge direction of the third hinge through the fourth hinge is perpendicular.

7. A fast automatic battery replacement system according to claim 6, characterized in that: A restraining bracket is respectively arranged between the first adjusting bracket and the second adjusting bracket and between the first adjusting bracket and the second adjusting bracket themselves, wherein the restraining bracket is a rigid restraining bracket or an adjustable restraining bracket; The rigid restraint bracket comprises: a first U-shaped frame and a second U-shaped frame, one side of the first U-shaped frame is provided with a transverse waist-shaped groove, and the other side of the first U-shaped frame is provided with a vertical waist-shaped groove; the first adjustment frame and the second adjustment frame are connected through the first U-shaped frame, the inner sides of the first adjustment frame and the second adjustment frame are respectively connected to a first U-shaped frame through a transverse waist-shaped groove, and the vertical waist-shaped grooves between the first U-shaped frames are connected by bolts; The adjustable restraint bracket includes: an electric push rod; at least one group of parallel electric push rods is arranged between the first adjustment frame and the second adjustment frame; at least one group of parallel electric push rods is arranged between the first connecting rod and the second connecting rod and between the third connecting rod and the fourth connecting rod.

8. An electric vehicle, using the fast automatic battery replacement system of any one of claims 2 to 7, characterized in that: include: The vehicle body floor and battery pack, the battery pack is connected to the lower side of the vehicle body floor, the vehicle body floor and the battery pack surface are provided with interfaces for the clamping mechanism to extend into, the interfaces include: a clamped part, a guide hole is provided in the center of the clamped part, locking grooves are provided on both sides of the clamped part, when the clamping mechanism is working, its guide rod extends into the guide hole, the upper part of the rotating locking block extends into the corresponding locking groove, and is tightly fitted with the locking surfaces on both sides of the clamped part, so as to grasp and clamp the battery pack or the vehicle body.

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