Battery swapping robot and battery swapping station

Abstract

This invention discloses a battery swapping robot and a battery swapping station. The battery swapping robot includes a frame, a ground walking mechanism, a lifting mechanism, and a deflection mechanism. The ground walking mechanism is located at the bottom of the frame and is used to drive the frame to move on the ground. The lifting mechanism is located on the frame and is used to cooperate with the lifting part on the battery box of an electric vehicle to lift the battery box. The deflection mechanism is connected to the lifting mechanism and drives the lifting mechanism to deflect so that the lifting mechanism is aligned with the lifting part. The ground walking mechanism can increase the working area of ​​the battery swapping robot, improve the flexibility of the battery swapping robot, and facilitate the battery swapping work with electric vehicles. Under the action of the deflection mechanism, the lifting mechanism located on the frame can deflect, so that even if the parking position of the electric vehicle is inaccurate, the lifting mechanism can still be aligned with the lifting part of the battery box to realize the replacement of the battery box, reducing the accuracy requirements of the battery swapping robot for the parking position of the electric vehicle.

Description

Technical Field

[0001] This invention relates to the field of electric vehicles, and in particular to a battery swapping robot and a battery swapping station. Background Technology

[0002] Currently, electric vehicle battery packs are generally installed in two ways: fixed and swappable. Fixed batteries are typically mounted on the vehicle, and the vehicle itself is the direct charging point. Swappable battery packs, on the other hand, are usually mounted on a bracket on the vehicle using a detachable installation method. The battery pack can be removed for individual replacement or charging. After charging, the removed battery pack is reinstalled on the vehicle.

[0003] For electric trucks, especially heavy-duty electric trucks, the battery boxes are typically swappable. Battery swapping equipment at battery swapping stations can replace the battery boxes.

[0004] During the battery swapping process, the parking location of electric trucks is strictly required. Electric trucks usually need to be parked in a preset area. If there is any deviation, the battery swapping equipment will have difficulty aligning with the battery box, which will prevent the electric truck from successfully completing the battery swapping. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the above-mentioned defects of the prior art in which the battery swapping equipment has high requirements for the parking location of electric vehicles, and to provide a battery swapping robot and a battery swapping station.

[0006] The present invention solves the above-mentioned technical problems through the following technical solution:

[0007] A battery swapping robot is disclosed for swapping batteries in electric vehicles. The battery swapping robot includes a frame, a ground walking mechanism, a lifting mechanism, and a deflection mechanism. The ground walking mechanism is disposed at the bottom of the frame and is used to drive the battery swapping robot to move on the ground. The lifting mechanism is disposed on the frame and is used to cooperate with the lifting part on the battery box of the electric vehicle to lift the battery box. The deflection mechanism is connected to the lifting mechanism and drives the lifting mechanism to deflect so that the lifting mechanism is aligned with the lifting part.

[0008] In this solution, by incorporating a ground-based walking mechanism, the battery-swapping robot can move on the ground, increasing its working area and flexibility. This facilitates its operation in conjunction with electric vehicles for battery swapping. Compared to aerial-walking robots, this solution's robot is easier to install, reducing the size and strength of the external frame and resulting in a more compact structure. The deflection mechanism allows the lifting mechanism mounted on the frame to deflect, enabling adjustment of the lifting mechanism's angle even if the electric vehicle's parking position is inaccurate. This ensures the lifting mechanism aligns with the battery box's mounting section, facilitating battery box replacement and reducing the robot's reliance on precise electric vehicle parking positions, thus improving battery swapping efficiency.

[0009] Preferably, the frame is provided with a deflecting frame, the lifting mechanism is provided on the deflecting frame, and the deflecting mechanism drives the deflecting frame to deflect and drives the lifting mechanism to deflect.

[0010] In this solution, by adopting the above structure, the deflection mechanism drives the deflection frame to deflect and drives the hoisting mechanism to deflect, which facilitates the control of the hoisting mechanism.

[0011] Preferably, the deflection frame is mounted on the frame via a pivot shaft, and the deflection mechanism is connected to the deflection frame and drives the deflection frame to rotate around the pivot shaft.

[0012] In this scheme, the lifting mechanism is adjusted by rotating around the pivot axis, and the adjustment process is stable.

[0013] Preferably, the lifting mechanism passes through the pivot shaft and is pivotally mounted on the frame via the pivot shaft.

[0014] In this design, the lifting mechanism is connected to the pivot frame via the pivot shaft, which facilitates the coordination between the lifting action of the lifting mechanism and the deflection action of the deflection mechanism, thus simplifying the mechanism setup.

[0015] Preferably, the pivot shaft includes a fixed bearing housing and a bearing, the fixed bearing housing sleeves the bearing, the bearing housing is disposed on the deflection frame, and the bearing is disposed on the frame.

[0016] In this design, the pivot shaft is configured to include a fixed bearing housing and a bearing, which reduces resistance during the pivoting process.

[0017] Preferably, the deflection mechanism includes a drive unit and a first transmission unit. The drive unit is disposed on the deflection frame, and the deflection frame is connected to the frame via the first transmission unit. The drive unit drives the deflection frame to deflect relative to the frame.

[0018] In this scheme, the deflection mechanism is configured to include a drive unit and a first transmission unit. The drive unit drives the deflection frame to deflect relative to the frame through the first transmission unit. The structure is simple and the power transmission efficiency is high.

[0019] Preferably, the drive unit includes a deflection motor assembly, and the transmission unit includes a first gear assembly and a first rack assembly. The deflection motor assembly and the first gear assembly are disposed on the deflection frame, and the first rack assembly is disposed on the frame. The deflection motor assembly is used to drive the first gear assembly to rotate, so that the deflection frame moves relative to the first rack assembly.

[0020] In this solution, the deflection mechanism has a simple structure. The deflection motor assembly drives the first gear assembly to rotate relative to the first rack assembly, thereby causing the deflection frame to deflect relative to the frame. The rotation process is smooth and reliable, and the adjustment angle is more accurate, so as to ensure that the lifting mechanism can be aligned with the lifting part of the battery box.

[0021] Preferably, the battery swapping robot further includes a rolling support member, which is disposed on the deflection frame, and the lifting mechanism is rotatably connected to the frame through the rolling support member.

[0022] In this solution, the resistance of the lifting mechanism to rotation relative to the frame is reduced, thereby improving stability during the adjustment process.

[0023] Preferably, the battery swapping robot further includes a connector, and the rolling support is disposed on the deflection frame via the connector.

[0024] In this design, the connector can improve the flexibility of the rolling support's placement.

[0025] Preferably, the rolling support is located at the end of the deflector frame away from the pivot axis.

[0026] In this design, the rolling support is located away from the pivot axis, so that the unit distance the rolling support moves corresponds to a smaller rotation angle, thereby enabling more precise control of the lifting mechanism's deflection.

[0027] Preferably, the lifting mechanism includes a first drive assembly and a hook assembly, the first drive assembly being drivenly connected to the hook assembly, and the first drive assembly being used to drive the hook assembly to move in a vertical direction.

[0028] In this solution, the lifting mechanism is configured to include a first drive assembly and a hook assembly. The first drive assembly drives the hook assembly to move in the vertical direction, which is simple and reliable.

[0029] Preferably, the first drive component and the hook component are configured in a one-to-one correspondence.

[0030] In this design, the first drive assembly and the hook assembly are set up one-to-one, which makes it easier to keep the battery box in a horizontal position and makes the lifting of the battery box more stable.

[0031] Preferably, the first drive component is an electric cylinder component or an electric hoist component.

[0032] In this solution, the electric cylinder assembly or electric hoist assembly drives the hook assembly to lift or lower the battery box.

[0033] Preferably, there are two sets of lifting mechanisms, and the deflection mechanism is located between the two sets of lifting mechanisms.

[0034] In this solution, two lifting mechanisms lift the battery box simultaneously, making the lifting process more stable and reliable. The deflection mechanism is located between the two lifting mechanisms to facilitate the adjustment of the lifting mechanism's angle.

[0035] Preferably, the frame is further provided with a guide frame, one end of which is connected to the frame and the other end of which has a guide hole; the hook assembly has an insertion shaft, and the guide hole is used to insert the insertion shaft to fix the hook assembly.

[0036] In this solution, after the lifting point of the hook assembly is aligned with the lifting part, the first drive assembly drives the hook assembly to rise. The insertion shaft on the hook assembly is inserted into the guide hole on the guide frame, which can improve the stability and controllability of the lifting mechanism in transferring the battery box.

[0037] Preferably, the frame includes a frame body, and the ground walking mechanism is located at the bottom of the frame body.

[0038] In this design, the ground walking mechanism is located at the bottom of the frame body, which facilitates the ground movement of the battery swapping robot. The structure is simple and reliable.

[0039] Preferably, the ground walking mechanism includes a second drive assembly, a second gear assembly, and a second rack assembly that are connected by a transmission. The second drive assembly and the second gear assembly are disposed on the frame body, and the second rack assembly is disposed on the ground. The second drive assembly is used to drive the second gear assembly to rotate, so that the frame moves relative to the second rack assembly.

[0040] In this solution, the ground walking mechanism is configured to include a second drive assembly, a second gear assembly, and a second rack assembly with transmission connection, ensuring stable walking process and controllable walking distance.

[0041] Preferably, the ground walking mechanism further includes a plurality of walking wheels, which are disposed on the frame body and move along a track on the ground.

[0042] In this design, the wheels move along the track, the movement is smooth, and the direction is controllable.

[0043] Preferably, the battery swapping robot further includes an anti-tipping component, one end of which is connected to the frame body, and the other end of which extends away from the frame body to below the lifting mechanism. The anti-tipping component is used to prevent the battery swapping robot from tipping over.

[0044] In this solution, the anti-tipping component can prevent the battery swapping robot from tipping over accidentally, thus improving the robot's stability.

[0045] Preferably, the anti-tilt assembly includes an extension rod and a support wheel, one end of the extension rod is connected to the frame body, the other end of the extension rod extends to the bottom of the lifting mechanism, and the support wheel is located at least at the bottom of the other end of the extension rod.

[0046] In this solution, the anti-tipping component includes an extension rod and a support wheel. The extension rod extends to the bottom of the lifting mechanism, which can better balance the torque generated by the weight of the battery box and prevent the battery swapping robot from tipping over.

[0047] Preferably, the battery swapping robot further includes an aerial walking mechanism for driving the lifting mechanism and the deflection mechanism to move relative to the frame.

[0048] In this solution, the aerial walking mechanism can further improve the flexibility of the battery swapping robot and increase its range of movement.

[0049] Preferably, the direction of movement of the lifting mechanism relative to the frame is not collinear with the direction of movement of the frame relative to the ground;

[0050] And / or, the direction of movement of the lifting mechanism relative to the frame is perpendicular to the direction of movement of the frame relative to the ground.

[0051] Preferably, the frame further includes an upper frame, the lifting mechanism and the deflection mechanism are both disposed on the upper frame, and the aerial walking mechanism is used to drive the upper frame to move relative to the frame body.

[0052] In this design, the lifting mechanism moves in a direction that is not collinear with the direction that the frame moves relative to the ground, which increases the working coverage area of ​​the lifting mechanism.

[0053] The lifting mechanism moves in a direction perpendicular to the frame, which is also perpendicular to the direction the frame moves relative to the ground. This allows for direct lifting of the battery box and avoids accidental contact.

[0054] The frame is configured to include an upper frame, which provides an installation platform for the lifting and deflection mechanisms, facilitating flexible configuration of the lifting and deflection mechanisms.

[0055] Preferably, the frame further includes a middle frame disposed on the frame body, the upper frame is erected on the middle frame, and the aerial walking mechanism is disposed between the middle frame and the upper frame, the aerial walking mechanism being used to drive the upper frame to move relative to the middle frame.

[0056] In this design, the frame includes a middle frame, which provides an installation platform for the aerial walking mechanism, thereby improving the stability of the aerial walking mechanism during movement.

[0057] Preferably, the aerial walking mechanism includes a power component and a guide component, the upper frame is connected to the middle frame through the guide component, and the power component drives the upper frame to move relative to the middle frame.

[0058] In this solution, the aerial walking mechanism is configured to include a power component and a guide component. The power component provides power, and the guide component controls the movement direction of the upper frame. The structure is simple and reliable.

[0059] Preferably, the aerial walking mechanism further includes a transmission component, which includes a third gear assembly and a third rack assembly. The power component includes a motor assembly. The motor assembly and the third gear assembly are disposed on the upper frame, and the third rack assembly is disposed on the middle frame. The motor assembly is used to drive the third gear assembly to rotate, so that the upper frame moves relative to the third rack assembly.

[0060] In this solution, the aerial walking mechanism is configured to include a transmission component, which facilitates greater flexibility in the placement of the power component. The transmission component is a combination of gears and racks, which can improve the accuracy of the horizontal movement of the battery swapping robot's lifting mechanism and increase the efficiency of battery swapping.

[0061] Preferably, the guide includes a channel steel and a guide wheel. The channel steel is disposed on the side of the middle frame, and the guide wheel is disposed on the upper frame. The guide wheel is engaged in the groove of the channel steel and moves along the groove.

[0062] In this design, the guide component consists of a channel steel and a guide wheel. The guide wheel moves within the groove of the channel steel. The cooperation between the channel steel and the guide wheel ensures the horizontal movement of the lifting mechanism of the battery swapping robot. The structure is simple and reliable.

[0063] Preferably, the frame body includes a base frame, a column, and a platform. The column extends upward from the base frame, the platform is located at the upper end of the column, and the middle frame is located on the upper surface of the platform.

[0064] In this design, the frame body is configured to include a base frame, columns, and a platform, ensuring the stability of the frame body structure and providing an installation platform for the middle frame. The structure is simple and easy to manufacture.

[0065] A battery swapping station, the battery swapping station comprising the battery swapping robot described above.

[0066] In this solution, the battery swapping station facilitates battery swapping for electric vehicles. Even if the electric vehicle is parked in an inaccurate position, the battery swapping robot can still align with the lifting part of the battery box to replace it, reducing the accuracy requirements of the battery swapping station on the parking position of the electric vehicle and improving the efficiency of battery swapping.

[0067] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0068] The positive and progressive effects of this invention are as follows:

[0069] This invention, by incorporating a ground-walking mechanism, allows the battery-swapping robot to move on the ground, increasing its working area and flexibility. This facilitates battery swapping with electric vehicles. Compared to aerial-walking robots, the robot in this invention is easier to install, reducing the size and strength of the external frame and resulting in a more compact structure. Under the action of the deflection mechanism, the lifting mechanism mounted on the frame can deflect. Even if the electric vehicle's parking position is inaccurate, adjusting the angle of the lifting mechanism through the deflection mechanism allows it to be aligned with the battery box's lifting section, enabling battery replacement. This reduces the precision requirements for the electric vehicle's parking position and improves the efficiency of battery swapping. Attached Figure Description

[0070] Figure 1 This is a three-dimensional structural diagram of the battery swapping robot according to Embodiment 1 of the present invention.

[0071] Figure 2 This is a schematic diagram of the battery swapping robot lifting the battery box according to Embodiment 1 of the present invention.

[0072] Figure 3 This is a schematic diagram of the battery box in Embodiment 1 of the present invention.

[0073] Figure 4 This is a schematic diagram of the lifting mechanism and deflection mechanism of Embodiment 1 of the present invention.

[0074] Figure 5 This is a cross-sectional structural schematic diagram of the lifting mechanism and deflection mechanism of Embodiment 1 of the present invention.

[0075] Figure 6This is a schematic diagram of the upper frame of Embodiment 1 of the present invention.

[0076] Figure 7 This is a partial structural schematic diagram of the battery swapping robot according to Embodiment 1 of the present invention.

[0077] Figure 8 This is a partial structural schematic diagram of the battery swapping robot of Embodiment 1 of the present invention from another perspective.

[0078] Figure 9 This is a schematic diagram of the structure of the battery swapping station according to Embodiment 2 of the present invention.

[0079] Figure 10 This is a cross-sectional structural schematic diagram of the battery swapping station according to Embodiment 2 of the present invention.

[0080] Explanation of reference numerals in the attached figures:

[0081] Battery swapping robot 100

[0082] Cable drag chain 11

[0083] Control cabinet 12

[0084] Aerial walking mechanism 14

[0085] Power Component 141

[0086] Guide component 142

[0087] Transmission component 143

[0088] Third gear assembly 144

[0089] Third rack assembly 145

[0090] 146 channel steel

[0091] Guide wheel 147

[0092] Rack 20

[0093] Rack body 21

[0094] Column 211

[0095] Platform 212

[0096] Bottom frame 213

[0097] Top frame 22

[0098] First perforation 221

[0099] First crossbeam 222

[0100] Second crossbeam 223

[0101] Second perforation 224

[0102] Third crossbeam 225

[0103] Mid-frame 23

[0104] Flange seat 24

[0105] Ground walking mechanism 30

[0106] Second drive component 31

[0107] Second gear assembly 32

[0108] Second rack assembly 33

[0109] Orbit 34

[0110] 35-inch wheels

[0111] Lifting mechanism 40

[0112] First drive component 41

[0113] Hook assembly 42

[0114] Guide frame 43

[0115] Guide hole 44

[0116] Insert shaft 45

[0117] Deflection mechanism 50

[0118] Deflection Frame 51

[0119] Pivot axis 52

[0120] Fixed bearing housing 53

[0121] Bearing 54

[0122] Drive Unit 55

[0123] First transmission unit 56

[0124] First gear assembly 561

[0125] First rack assembly 562

[0126] Rolling support 57

[0127] Installation part 58

[0128] Anti-tilt assembly 60

[0129] Extension rod 61

[0130] Support wheel 62

[0131] Battery swapping station 80

[0132] Room 81

[0133] Charger assembly 82

[0134] Battery box 83

[0135] Lifting Section 84

[0136] Lifting hole 85

[0137] Electric vehicle 90 Detailed Implementation

[0138] The present invention will be described more clearly and completely below by way of embodiments and in conjunction with the accompanying drawings, but the present invention is not limited to the scope of the embodiments.

[0139] Example 1

[0140] like Figures 1 to 8 As shown, this embodiment is a battery swapping robot 100 used to replace the battery box of an electric vehicle 90. The electric vehicle is a commercial vehicle such as a heavy truck or light truck. The battery swapping robot 100 includes: a frame 20, a ground walking mechanism 30, a lifting mechanism 40, and a deflection mechanism 50. The ground walking mechanism 30 is located at the bottom of the frame 20 and is used to drive the frame 20 to move on the ground. The lifting mechanism 40 is located on the frame 20 and is used to cooperate with the lifting part 84 on the battery box 83 of the electric vehicle to lift the battery box 83. The deflection mechanism 50 is connected to the lifting mechanism 40 and drives the lifting mechanism 40 to deflect so that the lifting mechanism 40 is aligned with the lifting part 84. By setting the ground walking mechanism 30, the battery swapping robot 100 can walk on the ground, which can increase the working area of ​​the battery swapping robot 100, improve the flexibility of the battery swapping robot 100, facilitate the battery swapping work with the electric vehicle 90, and make the battery swapping robot 100 easy to install, reducing the size and strength of the external frame and making the structure more compact. Under the action of the deflection mechanism 50, the lifting mechanism 40 mounted on the frame 20 can be deflected. Thus, even if there is an error in the parking position of the electric vehicle 90, the angle of the lifting mechanism 40 can be adjusted by the deflection mechanism 50, so that the lifting mechanism 40 can still be aligned with the lifting part 84 of the battery box 83, thereby realizing the replacement of the battery box 83. This reduces the requirements of the battery swapping robot 100 on the parking position accuracy of the electric vehicle and improves the efficiency of electric vehicle battery swapping.

[0141] like Figures 4-5 As shown, a deflection frame 51 is provided on the frame 20, and a lifting mechanism 40 is disposed on the deflection frame 51. The deflection mechanism 50 drives the deflection frame 51 to deflect, which in turn drives the lifting mechanism 40 to deflect, facilitating control of the lifting mechanism 40 and adjustment of its angle. In this embodiment, the deflection frame 51 is generally rectangular. In other embodiments, the deflection frame 51 may have other structures.

[0142] The deflection frame 51 is mounted on the frame 20 via the pivot shaft 52. The deflection mechanism 50 is connected to the deflection frame 51 and drives the deflection frame 51 to rotate around the pivot shaft 52, thereby realizing the angle adjustment of the lifting mechanism 40. The adjustment process is stable.

[0143] The lifting mechanism 40 is connected to the pivot shaft 52 and is pivotally mounted on the frame 20 via the pivot shaft 52. This facilitates the coordination between the lifting action of the lifting mechanism 40 and the deflection action of the deflection mechanism 50, and simplifies the setup of the lifting mechanism 40.

[0144] like Figure 4 and Figure 5 As shown, the pivot shaft 52 includes a fixed bearing housing 53 and a bearing 54. The bearing housing 53 is fitted with the bearing 54. The fixed bearing housing 53 is disposed on the deflection frame 51, and the bearing 54 is disposed on the frame 20. The pivot shaft 52 is configured to include the fixed bearing housing 53 and the bearing 54, which can reduce the resistance during the pivoting process. In this embodiment, the fixed bearing housing 53 is disposed on the lower surface of the deflection frame 51 and is located between the deflection frame 51 and the frame 20.

[0145] exist Figures 4-5 In this design, the deflection mechanism 50 includes a drive unit 55 and a first transmission unit 56. The drive unit 55 is mounted on the deflection frame 51, which is connected to the frame 20 via the first transmission unit 56. The drive unit 55 drives the deflection frame 51 to deflect relative to the frame 20. The drive unit 55 drives the deflection frame 51 to deflect relative to the frame 20 via the first transmission unit 56, resulting in a simple structure and high power transmission efficiency.

[0146] The drive unit 55 includes a deflection motor assembly, and the transmission unit includes a first gear assembly 561 and a first rack assembly 562. The deflection motor assembly and the first gear assembly 561 are disposed on the deflection frame 51, and the first rack assembly 562 is disposed on the frame 20. The deflection motor assembly is used to drive the first gear assembly 561 to rotate so that the deflection frame 51 moves relative to the first rack assembly 562.

[0147] The deflection motor assembly drives the first gear assembly 561 to rotate relative to the first rack assembly 562, thereby causing the deflection frame 51 to deflect relative to the frame 20. The rotation process is smooth and reliable, and the deflection accuracy is high, which can improve the accuracy of the lifting mechanism 40-degree angle adjustment.

[0148] In this embodiment, the deflection motor assembly is mounted on the deflection frame 51, and the first gear assembly 561 is located on the lower surface of the deflection frame 51. The rack in the first rack assembly 562 is an arc rack, and the center of the arc rack falls on the axis of the pivot shaft 52. The deflection motor assembly drives the first gear assembly 561 to rotate, thereby rotating the first gear assembly 561 relative to the first rack assembly 562, which in turn drives the deflection frame 51 to rotate relative to the pivot shaft 52. The lifting mechanism 40 follows the rotation of the deflection frame 51, thereby achieving the deflection of the hook assembly 42.

[0149] The battery swapping robot 100 also includes a rolling support 57, which is located at one end of the deflection frame 51. The lifting mechanism 40 is tactilely connected to the frame 20 via the rolling support 57. This reduces the resistance to rotation of the lifting mechanism 40 relative to the frame 20 and improves stability during the adjustment process.

[0150] The battery swapping robot 100 also includes a mounting bracket 58, through which a rolling support 57 is mounted to the deflection frame 51. The mounting bracket 58 can improve the flexibility of the setting position of the rolling support 57.

[0151] The rolling support 57 is located at the end of the deflector 51 away from the pivot axis 52. Because the rolling support 57 is away from the pivot axis 52, the unit distance that the rolling support 57 moves corresponds to a smaller rotation angle, thereby enabling more precise control of the deflection of the lifting mechanism 40.

[0152] In this embodiment, the rolling support 57 may include a roller, and the mounting member 58 may include a profile with a groove. Specifically, the rolling support 57 may be a caster wheel, which is engaged within the groove of the profile. The mounting member 58 is mounted on the deflection frame 51. When the deflection frame 51 rotates, the roller rolls on the frame 20. Figures 4-5 As shown, the mounting member 58 is located at the end of the deflection frame 51 away from the pivot axis 52. The mounting member 58 is generally inverted U-shaped, and the U-shaped mounting member 58 is inverted on the deflection frame 51 and extends in a direction away from the pivot axis 52. The profile is disposed inside the mounting member 58, and the roller is exposed in the groove of the profile.

[0153] In this embodiment, as Figure 2-3 As shown, the battery box 83 has two lifting parts 84 and two lifting holes 85. Correspondingly, there are two sets of lifting mechanisms 40, which are respectively arranged with the two lifting parts 84. The two sets of lifting mechanisms 40 include a first lifting mechanism 40 and a second lifting mechanism 40. The first lifting mechanism 40 passes through a pivot shaft 52 and is pivotally mounted on the frame 20 through the pivot shaft 52. The second lifting mechanism 40 is arranged adjacent to the rolling support member 57. The two sets of lifting mechanisms 40 lift the battery box 83 simultaneously, making the lifting process more stable and reliable.

[0154] The deflection mechanism 50 is located between the first lifting mechanism 40 and the second lifting mechanism 40. Under the action of the deflection mechanism 50, the deflection frame 51 rotates around the pivot axis 52 with the first lifting mechanism 40 as the fulcrum, thereby driving the second lifting mechanism 40 to deflect and adjust the angle of the second lifting mechanism 40 so that it is aligned with the lifting part 84 on the battery box 83.

[0155] The lifting mechanism 40 includes a first drive assembly 41 and a hook assembly 42. The first drive assembly 41 is mounted on the deflection frame 51 and is driven to the hook assembly 42. The first drive assembly 41 is used to drive the hook assembly 42 to move in the vertical direction, and the hook assembly 42 drives the battery box 83 to move up and down.

[0156] Preferably, the first drive assembly 41 and the hook assembly 42 are arranged in a one-to-one correspondence. In this embodiment, there are two sets of first drive assemblies 41 and hook assemblies 42, which are arranged in a corresponding manner. The two sets of first drive assemblies 41 drive the corresponding hook assemblies 42, which is more conducive to adjusting the positional deviation between the two lifting parts 84, keeping the battery box 83 in a horizontal state, and making the lifting of the battery box 83 more stable.

[0157] In this embodiment, the first drive component 41 is an electric cylinder component. In other embodiments, the first drive component 41 may also be an electric hoist component, which drives the hook component 42 to rise or fall to lift or lower the battery box 83.

[0158] The frame 20 is also equipped with a guide frame 43, one end of which is connected to the frame 20, and the other end of which has a guide hole 44. The hook assembly 42 has an insertion shaft 45, and the guide hole 44 is used to insert the insertion shaft 45 to fix the hook assembly 42. After the lifting point of the hook assembly 42 is aligned with the lifting hole 85 on the lifting part 84 and inserted into the lifting hole 85, the first drive assembly 41 drives the hook assembly 42 to rise. After the insertion shaft 45 on the hook assembly 42 is inserted into the guide hole 44 on the guide frame 43 and fixed, the lifting of the hook assembly 42 ends, and the battery swapping robot 100 transfers the battery box 83 to the charging position in the battery swapping station, which can improve the stability and controllability of transferring the battery box 83.

[0159] like Figure 7 and Figure 8As shown, the frame 20 includes a frame body 21, which includes a base frame 213, uprights 211, and a platform 212. The uprights 211 extend upward from the base frame 213, and the platform 212 is mounted on the top of the uprights 211. The ground walking mechanism 30 is located at the bottom of the base frame 213. The frame body 21 also includes several reinforcing beams. The base frame 213 and the uprights 211, as well as the uprights 211 and the platform 212, are connected by reinforcing beams, which can improve the overall strength and stability of the frame 20. In this embodiment, the frame 20 has an overall frame structure and can be made of profiles, such as square tubes or channel steel.

[0160] The ground walking mechanism 30 includes a second drive assembly 31, a second gear assembly 32, and a second rack assembly 33 connected by a transmission. The second drive assembly 31 and the second gear assembly 32 are located at the bottom of the base frame 213, while the second rack assembly 33 is located on the ground. The second drive assembly 31 drives the second gear assembly 32 to rotate, thereby moving the frame 20 relative to the second rack assembly 33. The ground walking mechanism 30 also includes several walking wheels 35 located at the bottom of the base frame 213. A corresponding track 34 is provided on the ground, and the walking wheels 35 move along the track 34. The frame 20 moves along the track 34 via the walking wheels 35, and the movement is smooth and the direction is controllable. The second drive assembly 31 drives the second gear assembly 32, which rotates relative to the second rack assembly 33. Under the push of the reaction force provided by the second rack assembly 33, the battery swapping robot 100 moves relative to the second rack assembly 33 and moves along the track 34 via the walking wheels 35. The walking process of the battery swapping robot 100 is stable and the walking distance is controllable. Preferably, two parallel tracks 34 are provided on the ground, the rack in the second rack assembly 33 is a straight rack, and the second rack assembly 33 is disposed between the two tracks 34.

[0161] like Figure 7 As shown, the control cabinet 12 is mounted on the base frame 213 and located between two columns 211. The control cabinet 12 can be used to control the power and signals of the battery swapping robot 100. A cable drag chain 11 is also laid on the ground, which provides power to the battery swapping robot 100.

[0162] The battery swapping robot 100 also includes an anti-tipping component 60. One end of the anti-tipping component 60 is connected to the frame body 21, and the other end extends away from the frame body 21 to below the lifting mechanism 40. The anti-tipping component 60 is used to prevent the battery swapping robot 100 from tipping over. The anti-tipping component 60 can prevent the battery swapping robot 100 from tipping over accidentally, thus improving the stability of the battery swapping robot 100.

[0163] In this embodiment, the anti-tilt component 60 includes an extension rod 61 and a support wheel 62. One end of the extension rod 61 is connected to the frame body 21, and the other end of the extension rod 61 extends away from the frame body 21 to below the lifting mechanism 40. The support wheel 62 is located at least at the bottom of the other end of the extension rod 61. The anti-tilt component 60 is configured to include an extension rod 61 and a support wheel 62, with the extension rod 61 extending below the lifting mechanism 40. This configuration better balances the torque generated by the gravity of the battery box 83, preventing the battery swapping robot 100 from tipping over.

[0164] In this embodiment, the extension rod 61 is located between the two tracks 34 and extends below the lifting mechanism 40. Support wheels 62 are provided at the bottom of both ends of the extension rod 61. When the hook assembly 42 lifts the battery box 83, the support wheels 62 are located below the battery box 83.

[0165] The battery swapping robot 100 also includes an overhead walking mechanism 14, which drives the lifting mechanism 40 and the deflection mechanism 50 to move relative to the frame 20. The overhead walking mechanism 14 can further improve the flexibility of the battery swapping robot 100 and increase its range of movement.

[0166] The lifting mechanism 40 moves in a direction that is not collinear with the direction in which the frame 20 moves relative to the ground, which increases the working coverage area of ​​the lifting mechanism 40. Preferably, the lifting mechanism 40 moves in a direction perpendicular to the direction in which the frame 20 moves relative to the ground, which facilitates direct lifting of the battery box 83 and avoids accidental contact.

[0167] like Figure 2 , 6 As shown in Figure 7, the frame 20 also includes an upper frame 22. A deflection frame 51 is mounted on the upper frame 22. The lifting mechanism 40 and the deflection mechanism 50 are both connected to the upper frame 22 via the deflection frame 51. The aerial walking mechanism 14 is used to drive the upper frame 22 to move relative to the frame body 21. The frame 20 is configured to include the upper frame 22, which provides an installation platform for the lifting mechanism 40 and the deflection mechanism 50, facilitating flexible configuration of the lifting mechanism 40 and the deflection mechanism 50. The upper frame 22 is generally a rectangular frame, and a first crossbeam 222, a second crossbeam 223, and a third crossbeam 225 are also provided within the frame.

[0168] The power component 141 of the aerial walking mechanism 14 passes through the first through hole 221 of the upper frame 22, and the rolling support 57 presses against the first crossbeam 222 of the upper frame 22. The first rack assembly 562 of the deflection mechanism 50 is disposed on the second crossbeam 223 of the upper frame 22, and the first gear assembly 561 of the deflection mechanism 50 is disposed on the deflection frame 51, with the first gear assembly 561 and the first rack assembly 562 being connected in a transmission manner. The third crossbeam 225 of the upper frame 22 has a second through hole 224, and the first lifting mechanism 40 passes through the deflection frame 51 and the second through hole 224. The pivot shaft 52 is located between the deflection frame 51 and the third crossbeam 225, and the bearing 54 of the pivot shaft 52 is disposed on the third crossbeam 225 of the upper frame 22. The fixed bearing seat 53 of the pivot shaft 52 is disposed on the deflection frame 51, and the fixed bearing seat 53 is sleeved on the bearing 54. Preferably, the pivot shaft 52 and the second through hole 224 are concentrically arranged. The second lifting mechanism 40 is installed between the first crossbeam 222 and the second crossbeam 223.

[0169] The frame 20 also includes a middle frame 23, which is mounted on the platform 212 of the frame body 21. An upper frame 22 is mounted on the middle frame 23. An overhead walking mechanism 14 is located between the middle frame 23 and the upper frame 22, and is used to drive the upper frame 22 to move relative to the middle frame 23. The frame 20 is configured to include the middle frame 23, which provides a mounting platform for the overhead walking mechanism 14, improving the stability of the overhead walking mechanism 14 during movement. The middle frame 23 can be a rectangular frame. A cable drag chain is also laid on the platform 212 to provide power to the battery swapping robot 100.

[0170] The aerial walking mechanism 14 includes a power component 141 and a guide component 142. The upper frame 22 is connected to the middle frame 23 through the guide component 142. The power component 141 drives the upper frame 22 to move relative to the middle frame 23 along the guide component 142, and the guide component 142 controls the direction of movement of the upper frame 22.

[0171] The aerial walking mechanism 14 also includes a transmission component 143, which is located between the upper frame 22 and the middle frame 23. The power component 141 drives the transmission component 143 to move and causes the upper frame 22 to move relative to the middle frame 23. The aerial walking mechanism 14 is configured to include the transmission component 143 to improve the flexibility of the power component 141's placement.

[0172] In this embodiment, as Figure 7As shown, the transmission component 143 includes a third gear assembly 144 and a third rack assembly 145. The power component 141 and the third gear assembly 144 are located on the upper frame 22, and the third rack assembly 145 is located on the middle frame 23. The power component 141 drives the third gear assembly 144 to rotate, thereby moving the upper frame 22 relative to the third rack assembly 145. The transmission component 143 is a combination of gears and racks, which can improve the accuracy of the horizontal movement of the lifting mechanism 40 of the battery swapping robot 100 and improve the efficiency of battery swapping. The power component 141 includes a motor assembly, and the rack of the third rack assembly 145 can be a linear rack.

[0173] The guide component 142 includes a channel steel 146 and a guide wheel 147. The channel steel 146 is located on two opposite sides of the middle frame 23, and the guide wheel 147 is located on the upper frame 22. The guide wheel 147 is engaged in the groove of the channel steel 146 and moves along the groove. The cooperation between the channel steel 146 and the guide wheel 147 ensures the horizontal movement of the lifting mechanism 40, and the structure is simple and reliable.

[0174] The upper frame 22 is pressed onto the flange seat 24, which is located on two opposite sides of the middle frame 23. The guide wheel 147 is fixedly connected to the flange seat 24. The upper frame 22 is connected to the guide wheel 147 via the flange seat 24, and the upper frame 22 is also slidably connected to the channel steel 146 via the guide wheel 147. The power component 141 drives the third gear assembly 144 to rotate. The third gear assembly 144 moves under the reaction force of the third rack assembly 145, thereby driving the guide wheel 147 to move along the channel steel 146, thus enabling the upper frame 22 to move relative to the middle frame 23. In this embodiment, three guide wheels 147 are fixedly connected to each flange seat 24, which improves the stability of the lifting mechanism 40 moving along the channel steel 146. The guide wheel 147 has an arc-shaped protrusion on its surface facing the channel steel 146. This arc-shaped protrusion guides the guide wheel 147 to move linearly along the channel steel 146, ensuring the linear movement of the lifting mechanism 40 in the horizontal direction.

[0175] The movement direction of the upper frame 22 can be perpendicular to the movement direction of the frame body 21, which can improve the coverage of the lifting mechanism 40.

[0176] Example 2

[0177] like Figures 9-10 As shown, this embodiment is a battery swapping station 80, which includes a battery swapping robot 100 as in Embodiment 1. The battery swapping station 80 facilitates battery swapping with the electric vehicle 90. Even if the electric vehicle is parked in an incorrect position, the battery swapping robot 100 can still align with the lifting part 84 of the battery box 83 to replace the battery box 83, reducing the accuracy requirements of the battery swapping station 80 for the parking position of the electric vehicle and improving the efficiency of battery swapping.

[0178] The battery swapping station 80 may specifically include a building 81, which houses a battery swapping robot 100, a charger assembly 82, and a battery box 83. The charger assembly 82 charges the battery box 83. When the electric vehicle 90 moves to the eaves of the building 81, the ground walking mechanism 30 is activated, and the battery swapping robot 100 moves to the side of the electric vehicle 90. Subsequently, the aerial walking mechanism 14 is activated, moving the upper frame 22, which in turn moves the lifting mechanism 40 and the deflection mechanism 50 above the battery box 83. The first drive assembly 41 of the lifting mechanism 40 drives the hook assembly 42 downwards to below the lifting section 84 of the battery box 83. Figure 10 In the middle, the hook assembly 42 of the first lifting mechanism 40 on the right first aligns with the lifting hole 85 of the battery box 83. Then, the front end of the deflection mechanism 50 drives the deflection frame 51 to rotate relative to the pivot axis 52, so that the hook assembly 42 of the second lifting mechanism 40 on the left follows the deflection frame 51 to rotate relative to the pivot axis 52. When the hook assembly 42 of the second lifting mechanism 40 aligns with the lifting hole 85 on the battery box 83, the deflection mechanism 50 stops. Then, the hook assembly 42 lifts the battery box 83. After the insertion shaft 45 on the hook assembly 42 is inserted into the guide hole 44 on the guide frame 43 and fixed, the lifting of the hook assembly 42 ends. The battery swapping robot 100 transfers the battery box 83 to the charger assembly 82 to realize the replacement of the battery box 83.

[0179] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A battery-swapping robot for swapping batteries in electric vehicles, characterized in that, The battery swapping robot includes: frame; A ground walking mechanism is located at the bottom of the frame and is used to drive the battery swapping robot to move on the ground; A lifting mechanism is mounted on the frame and is used to cooperate with the lifting part on the battery box of the electric vehicle to lift the battery box. A deflection mechanism is connected to the lifting mechanism and drives the lifting mechanism to deflect so that the lifting mechanism is aligned with the lifting part; The frame is equipped with a deflecting frame, and the lifting mechanism is mounted on the deflecting frame. The deflecting mechanism drives the deflecting frame to deflect and drives the lifting mechanism to deflect. The deflection frame is mounted on the frame via a pivot shaft, and the deflection mechanism is connected to the deflection frame and drives the deflection frame to rotate around the pivot shaft; The lifting mechanism passes through the pivot shaft and is pivotally mounted on the frame via the pivot shaft.

2. The battery swapping robot as described in claim 1, characterized in that, The pivot shaft includes a fixed bearing housing and a bearing. The fixed bearing housing is fitted with the bearing. The bearing housing is located on the deflection frame, and the bearing is located on the frame.

3. The battery swapping robot as described in claim 1, characterized in that, The deflection mechanism includes a drive unit and a first transmission unit. The drive unit is disposed on the deflection frame, and the deflection frame is connected to the frame via the first transmission unit. The drive unit drives the deflection frame to deflect relative to the frame.

4. The battery swapping robot as described in claim 3, characterized in that, The drive unit includes a deflection motor assembly, and the first transmission unit includes a first gear assembly and a first rack assembly. The deflection motor assembly and the first gear assembly are disposed on the deflection frame, and the first rack assembly is disposed on the frame. The deflection motor assembly is used to drive the first gear assembly to rotate, so that the deflection frame moves relative to the first rack assembly.

5. The battery swapping robot as described in claim 1, characterized in that, The battery swapping robot also includes a rolling support, which is disposed on the deflection frame, and the lifting mechanism is rotatably connected to the frame through the rolling support.

6. The battery swapping robot as described in claim 5, characterized in that, The battery swapping robot also includes a mounting component, and the rolling support is mounted to the deflection frame via the mounting component.

7. The battery swapping robot as described in claim 5, characterized in that, The rolling support is located at the end of the deflector frame away from the pivot axis.

8. The battery swapping robot as described in any one of claims 1-7, characterized in that, The lifting mechanism includes a first drive assembly and a hook assembly. The first drive assembly is driven and connected to the hook assembly, and is used to drive the hook assembly to move in the vertical direction.

9. The battery swapping robot as described in claim 8, characterized in that, The first drive component is configured in a one-to-one correspondence with the hook component.

10. The battery swapping robot as described in claim 8, characterized in that, The first drive component is an electric cylinder assembly or an electric hoist assembly.

11. The battery swapping robot as described in claim 8, characterized in that, The number of lifting mechanisms is two sets, and the deflection mechanism is located between the two sets of lifting mechanisms.

12. The battery swapping robot as described in claim 8, characterized in that, The frame is also provided with a guide frame, one end of which is connected to the frame and the other end of which has a guide hole; the hook assembly has an insertion shaft, and the guide hole is used to insert the insertion shaft to fix the hook assembly.

13. The battery swapping robot as described in claim 1, characterized in that, The frame includes a frame body, and the ground walking mechanism is located at the bottom of the frame body.

14. The battery swapping robot as described in claim 13, characterized in that, The ground walking mechanism includes a second drive assembly, a second gear assembly, and a second rack assembly that are connected by transmission. The second drive assembly and the second gear assembly are disposed on the frame body, and the second rack assembly is disposed on the ground. The second drive assembly is used to drive the second gear assembly to rotate, so that the frame moves relative to the second rack assembly.

15. The battery swapping robot as described in claim 14, characterized in that, The ground walking mechanism also includes a number of walking wheels, which are mounted on the frame body and move along a track on the ground.

16. The battery swapping robot as described in claim 13, characterized in that, The battery swapping robot also includes an anti-tipping component, one end of which is connected to the frame body, and the other end of which extends away from the frame body to the underside of the lifting mechanism. The anti-tipping component is used to prevent the battery swapping robot from tipping over.

17. The battery swapping robot as described in claim 16, characterized in that, The anti-tilt assembly includes an extension rod and a support wheel. One end of the extension rod is connected to the frame body, and the other end of the extension rod extends to the bottom of the lifting mechanism. The support wheel is located at least at the bottom of the other end of the extension rod.

18. The battery swapping robot as described in claim 13, characterized in that, The battery swapping robot also includes an aerial walking mechanism, which drives the lifting mechanism and the deflection mechanism to move relative to the frame.

19. The battery swapping robot as described in claim 18, characterized in that, The direction of movement of the lifting mechanism relative to the frame is not collinear with the direction of movement of the frame relative to the ground; And / or, the direction of movement of the lifting mechanism relative to the frame is perpendicular to the direction of movement of the frame relative to the ground.

20. The battery swapping robot as described in claim 18, characterized in that, The frame also includes an upper frame, and the hoisting mechanism and the deflection mechanism are both located on the upper frame. The aerial walking mechanism is used to drive the upper frame to move relative to the frame body.

21. The battery swapping robot as described in claim 20, characterized in that, The frame also includes a middle frame, which is disposed on the frame body. The upper frame is erected on the middle frame. The aerial walking mechanism is disposed between the middle frame and the upper frame and is used to drive the upper frame to move relative to the middle frame.

22. The battery swapping robot as described in claim 21, characterized in that, The aerial walking mechanism includes a power component and a guide component. The upper frame is connected to the middle frame through the guide component, and the power component drives the upper frame to move relative to the middle frame.

23. The battery swapping robot as described in claim 22, characterized in that, The aerial walking mechanism also includes a transmission component, which includes a third gear assembly and a third rack assembly. The power component includes a motor assembly. The motor assembly and the third gear assembly are located on the upper frame, and the third rack assembly is located on the middle frame. The motor assembly is used to drive the third gear assembly to rotate, so that the upper frame moves relative to the third rack assembly.

24. The battery swapping robot as described in claim 22, characterized in that, The guide component includes a channel steel and a guide wheel. The channel steel is located on the side of the middle frame, and the guide wheel is located on the upper frame. The guide wheel is engaged in the groove of the channel steel and moves along the groove.

25. The battery-swapping robot as described in claim 21, characterized in that, The frame body includes a base frame, columns and a platform. The columns extend upward from the base frame, the platform is located at the upper end of the columns, and the middle frame is located on the upper surface of the platform.

26. A battery swapping station, characterized in that, The battery swapping station includes the battery swapping robot as described in any one of claims 1-25.

Images