A battery swap station

Abstract

This invention discloses a battery swapping station, including a battery compartment, a swapping bay, an autonomous robot, a battery rack, and a stacker crane. The battery rack and stacker crane are located inside the battery compartment. A car can park on the swapping bay. The autonomous robot can move to the swapping bay, remove the depleted battery pack from the car, and move it into the battery compartment. The stacker crane can remove the depleted battery pack from the autonomous robot and place it on the battery rack for charging. The autonomous robot can cooperate with the stacker crane to remove the fully charged battery pack from the battery rack and move it to the swapping bay for installation on the car. This battery swapping station does not require large-scale civil engineering, installation, landfill, and concrete pouring, thus improving the construction efficiency of the battery swapping station. The autonomous robot can navigate and achieve dynamic compensation, improving positioning accuracy and installation success rate. A mechanical plug-in component is set up, which uses the gravity of the battery pack to achieve automatic connection between the charging head and the charging port of the battery pack, without the need for additional control and components, greatly reducing costs.

Description

Technical Field

[0001] This invention relates to the field of battery swapping technology, and more specifically to a battery swapping station. Background Technology

[0002] Electric vehicles can be recharged in two ways: full-vehicle charging and battery swapping. Battery swapping stations are energy stations that provide rapid battery replacement for electric vehicles. With the increasing use of various types of new energy vehicles, such as pure electric vehicles and hybrid vehicles, the fast charging time, queuing time, and driving range have become the biggest anxieties for electric vehicle users. This makes rapid battery swapping particularly important.

[0003] Current battery swapping stations mainly consist of a battery compartment, charging cabinet, control system, RGV (Remotely Reinforcing Vehicle), and swapping bay. The battery compartment contains lifting, roller translation, and chain drive mechanisms; the charging cabinet contains unidirectional charging modules; the control system contains a charging management system and a centralized control unit; the RGV uses rails, scissor lift mechanisms, and locking mechanisms; and the swapping bay contains screw lifting / scissor lift mechanisms, motor-scissor drive mechanisms, and ground rail rotation mechanisms.

[0004] Most current battery swapping stations require civil engineering work, involving excavation and construction. Once a vehicle enters the station and parks on the swapping platform, it is positioned using V-shaped rollers and a motor-screw mechanism. The platform's four-post lifting device or two-wheel platform lifting mechanism then raises the vehicle to a certain height, allowing the RGV (Automated Guided Vehicle) to travel to the bottom of the vehicle to unlock the battery and remove the depleted battery. The RGV then transports the depleted battery directly to the battery compartment's lifting mechanism, where it is stored. A fully charged battery is then retrieved from the battery compartment and placed on the RGV, which travels to the bottom of the vehicle to swap the battery with the depleted one.

[0005] Another method involves using two RGVs to swap batteries. The first RGV travels from one side of the vehicle to the bottom to remove the depleted battery. Without rotating, the RGV is directly transported to the battery compartment on the other side of the vehicle. The second RGV, carrying a fully charged battery, travels along the same path as the first RGV to the bottom of the vehicle and installs the fully charged battery onto the vehicle.

[0006] The current battery swapping stations have the following shortcomings: 1. Existing stations are only suitable for swapping a single vehicle model and a single battery; 2. Existing stations require civil engineering work, including digging pits, filling them with concrete, and laying tracks; 3. They require vehicle positioning and lifting mechanisms; 4. The positioning accuracy of the RGV and the vehicle is not high, resulting in significant errors; 5. The RGV cannot compensate for positioning errors on its own to further improve the success rate of battery swapping; 6. Battery swapping operations are frequent and time-consuming, and the battery transfer efficiency is low; 7. The battery swapping experience for vehicle owners is poor; 8. Personnel are required to be stationed at the stations, etc. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a battery swapping station that eliminates the need for large-scale civil engineering, installation, backfilling, and concrete pouring, thus reducing construction time and improving efficiency. An autonomous robot enables navigation without the need for RGV tracks, achieving dynamic compensation and improving positioning accuracy and installation success rate. By incorporating a mechanical plug-in assembly, the charging head automatically connects to the battery pack's charging port using the battery pack's gravity, significantly simplifying the structure, reducing space requirements, and eliminating the need for additional control and components, thereby greatly reducing costs.

[0008] A battery swapping station includes a battery compartment, a battery swapping bay, an autonomous robot, a battery rack, and a stacker crane. The battery rack and stacker crane are located inside the battery compartment. A vehicle can park on the battery swapping bay. The autonomous robot can move to the battery swapping bay, remove a depleted battery pack from the vehicle, and move it into the battery compartment. The stacker crane can remove the depleted battery pack from the autonomous robot and place it on the battery rack for charging. The autonomous robot can cooperate with the stacker crane to remove a fully charged battery pack from the battery rack and move it to the battery swapping bay for installation on the vehicle.

[0009] Preferably, the battery swapping compartment includes a battery swapping platform, the side wall of which has a receiving cavity, the top wall of which has an opening, and a platform cover plate is provided at the opening, which can close or open the opening.

[0010] Preferably, guide rollers are provided on both sides of the top wall of the battery swapping platform.

[0011] Preferably, the battery swapping platform is equipped with a license plate recognition device and a gate. The license plate recognition device can identify the license plate of the vehicle and send the information to the battery swapping station control center. The battery swapping station control center can then control the gate to open.

[0012] Preferably, the battery swapping platform is provided with two arc-shaped parking slots. A wheel blocking mechanism is provided on the front side of the arc-shaped parking slots. The wheel blocking mechanism includes a fixed plate, a fixed frame, a blocking roller, multiple guide rods and multiple springs. The fixed plate is provided on the top wall of the battery swapping platform, the blocking roller is provided on the fixed frame, the two ends of the springs are respectively connected to the fixed frame and the fixed plate, the top end of the guide rod is connected to the fixed frame, and the bottom end of the guide rod passes through the fixed plate and is embedded in the battery swapping platform. The guide rod can move up and down.

[0013] Preferably, the battery swapping platform is equipped with a radar positioning mechanism, which can detect the position of the car parked on the battery swapping platform and transmit the information to the battery swapping station control center, which can control the movement of the autonomous robot.

[0014] Preferably, the battery rack is provided with a multi-layer charging unit. The charging unit includes a mechanical plug-in assembly and a placement rack. The mechanical plug-in assembly includes a base plate, a pad, a charging head connecting plate, a connecting rod assembly, and a first spring assembly. The pad and the charging head connecting plate are slidably disposed on the left and right sides of the front wall of the base plate, respectively. The pad is connected to the charging head connecting plate through the connecting rod assembly. The first spring assembly is installed on the base plate and is connected to the pad or the charging head connecting plate. The placement rack is connected to the pad. The charging head is disposed on the charging head connecting plate. The downward movement of the pad can compress the first spring in the first spring assembly. The downward movement of the pad can drive the charging head connecting plate downward through the connecting rod assembly. The height to which the pad falls is less than the height to which the charging head connecting plate falls.

[0015] Preferably, the linkage assembly includes a first linkage, a second linkage, a third linkage, and a fourth linkage. The lower left end of the first linkage is rotatably mounted on a pad via a first pin. The upper right end of the first linkage is rotatably connected to the upper left end of the second linkage via a second pin. The second linkage is rotatably mounted on a base plate via a third pin. The lower right end of the second linkage is connected to a fourth pin. The third linkage is rotatably mounted on the base plate via a fifth pin. A slot is formed in the lower left part of the third linkage. The fourth pin is inserted into the slot and contacts the top and bottom walls of the slot. The fourth pin can move left and right within the slot. The upper right end of the third linkage is rotatably connected to the upper left end of the fourth linkage via a sixth pin. The lower right end of the fourth linkage is rotatably connected to the charging head connection plate via a seventh pin.

[0016] Preferably, the length of the third link is greater than the length of the second link.

[0017] Preferably, the charging unit further includes a charging head mounting plate, which is disposed on the charging head connecting plate, and the charging head is disposed on the charging head mounting plate.

[0018] Preferably, the charging unit further includes a battery alignment device, which includes two alignment units arranged symmetrically on the left and right sides of the battery holder. Each alignment unit includes an alignment plate, an alignment spring, an alignment fixing plate, and an alignment guide rod. The alignment fixing plate is connected to the battery holder, and the alignment plate is connected to the alignment fixing plate via the alignment spring. One end of the alignment guide rod is connected to the alignment plate and moves through the alignment fixing plate. The two alignment plates contact the battery to position the battery pack.

[0019] Preferably, the charging unit further includes a battery positioning device, which includes a positioning pin plate and a positioning pin. The positioning pin is disposed on the positioning pin plate. When the battery pack moves downward, the positioning pin can enter the positioning hole at the bottom of the battery pack.

[0020] Preferably, the bottom of the battery rack is provided with a swapping robot assembly, which allows the stacker crane to remove fully charged battery packs from the battery rack and place them on the swapping robot assembly, and the autonomous robot to remove the fully charged battery packs from the swapping robot assembly.

[0021] Preferably, the exchange robot assembly includes a power mechanism and two robot units, which are respectively located on the left and right sides of the battery rack. Each robot unit includes a robot arm fixing plate, two robot arms, and two flat plates. The two robot arms are fixed on the robot arm fixing plate, and the two flat plates are respectively located on the two robot arms. The stacker crane can remove the fully charged battery packs from the battery rack and place them on the four flat plates. The power mechanism is located on the battery rack and is connected to the two robot arm fixing plates. The power mechanism can drive the two robot arm fixing plates to move in opposite directions or in the opposite direction.

[0022] Preferably, the autonomous robot includes a robot body, a lifting mechanism, a correction device, a radar, and a battery pack insertion / removal assembly. The robot body is equipped with a power unit that can drive the robot body to move. The radar is mounted on the robot body and can navigate the movement of the robot body. The lifting mechanism is mounted on the robot body, and the correction device is mounted on the lifting mechanism. The lifting mechanism can drive the correction device to move up and down. A second adapter plate is connected to the top of the correction device, and the battery pack can be placed on the second adapter plate. The correction device can adjust the position of the second adapter plate and thus adjust the position of the battery pack. The battery pack insertion / removal assembly is mounted on the second adapter plate and can cooperate with the vehicle chassis components to realize the installation and removal of the battery pack.

[0023] Preferably, the correction device includes a rotating mechanism, a first correction component, and a second correction component. The rotating mechanism can drive the second adapter plate to rotate in a horizontal plane, the first correction component can drive the second adapter plate to move left and right, and the second correction component can drive the second adapter plate to move back and forth.

[0024] Preferably, the output end of the lifting mechanism is connected to the lifting plate, the rotating mechanism is disposed on the lifting plate, the output end of the rotating mechanism is connected to the rotating plate, the first correction component is disposed on the rotating plate, the moving part of the first correction component is connected to the first adapter plate, the second correction component is disposed on the first adapter plate, and the second adapter plate is connected to the moving part of the second correction component.

[0025] Preferably, the rotating mechanism includes a rotary motor, a driving gear, a driven gear, and a rotating shaft. The rotary motor is mounted on the lifting plate, the driving gear is sleeved on the output shaft of the rotary motor, the rotating shaft is rotatably mounted on the lifting plate, the top end of the rotating shaft is connected to the rotating plate, the driven gear is sleeved on the rotating shaft, and the driving gear meshes with the driven gear.

[0026] Preferably, the first correction component comprises a first motor and a first lead screw mechanism. The first motor can drive the moving part of the first lead screw mechanism to move left and right, and the moving part of the first lead screw mechanism is connected to the first adapter plate.

[0027] Preferably, the second correction component is a second motor and a second lead screw mechanism. The second motor can drive the moving part of the second lead screw mechanism to move back and forth, and the moving part of the second lead screw mechanism is connected to the second adapter plate.

[0028] Preferably, the lifting mechanism is a scissor lift mechanism.

[0029] Preferably, the top wall of the second adapter plate is provided with multiple positioning posts.

[0030] Preferably, an air conditioner is installed inside the battery compartment.

[0031] The beneficial effects of this invention are reflected in:

[0032] 1. In this technical solution, the construction of battery compartments and battery swapping compartments, combined with the use of autonomous robots, eliminates the need for large-scale civil engineering, installation, landfilling, and concrete pouring. The autonomous robots are capable of navigation, eliminating the need for laying RGV ground rails, thus reducing the construction cycle of battery swapping stations and improving their construction efficiency.

[0033] 2. In this technical solution, a multi-layer charging unit is set on the battery rack. The mechanical plug-in component provided in the charging unit does not require cylinder, electric cylinder or motor drive. It can use the weight of the battery pack itself to drive the charging head to insert into the charging port of the battery pack through the linkage component, so as to charge the battery pack. It does not require an external power source. It can automatically connect the charging head to the charging port of the battery pack by only using the weight of the battery pack. It greatly simplifies the structure, reduces its space occupation, and eliminates the need for additional control and components, thus greatly reducing costs.

[0034] 3. In this technical solution, the autonomous robot is equipped with radar. The radar scans and locates the coordinates in a timely manner, avoids obstacles, realizes the positioning and navigation of the autonomous robot, and moves autonomously to the designated position. It achieves trackless movement and dynamic compensation, which greatly improves the positioning accuracy.

[0035] 4. In this technical solution, an alignment correction device is installed on the autonomous robot. The alignment correction device can rotate, align left and right, and align forward and backward on the battery pack placed on the autonomous robot, so that the battery pack can be precisely aligned with the battery pack installation cavity on the car, thereby ensuring the accuracy and success rate of battery pack installation.

[0036] 5. In this technical solution, when the car moves to the battery swapping platform, the autonomous robot removes the depleted battery pack from the car and moves it to the bottom of the swapping robot assembly. The stacker crane removes the depleted battery pack, and the autonomous robot removes the fully charged battery pack from the swapping robot assembly and moves it to the battery swapping platform to install the fully charged battery pack on the car chassis. All links work closely together to improve battery swapping efficiency. Attached Figure Description

[0037] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0038] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0039] Figure 2 This is a schematic diagram of the overall structure of the battery swapping compartment in this invention;

[0040] Figure 3 This is a schematic diagram of the wheel blocking mechanism in this invention;

[0041] Figure 4 This is a schematic diagram of the overall structure of the battery rack in this invention;

[0042] Figure 5 This is a schematic diagram of the overall structure of the mechanical plug-in assembly in its initial state according to the present invention;

[0043] Figure 6 This is a schematic diagram of the overall structure of the mechanical plug-in assembly in another state according to the present invention;

[0044] Figure 7 This is a side view of the mechanical plug-in assembly in this invention;

[0045] Figure 8 This is a front view of the battery alignment device in this invention;

[0046] Figure 9 This is a schematic diagram of the overall structure of the battery correction unit in this invention;

[0047] Figure 10 This is a schematic diagram of the overall structure of the exchange robot assembly in this invention;

[0048] Figure 11 This is a front view of the autonomous robot in this invention.

[0049] In the attached diagram, 1-battery compartment, 2-battery swapping compartment, 3-autonomous robot, 4-battery rack, 5-stallizer, 6-vehicle, 7-air conditioner, 31-robot body, 32-lifting mechanism, 33-rotating mechanism, 34-first correction component, 35-second correction component, 36-radar, 37-positioning column, 38-second adapter plate, 39-lifting plate, 40-rotating plate, 41-first adapter plate, 201-battery swapping platform, 202-accommodating cavity, 203-platform cover, 204-guide roller, 205-license plate recognizer, 206-gate, 207-arc-shaped parking slot, 208-fixing plate, 209-fixing frame. 210-Blocking roller, 211-Guide rod, 212-Spring, 213-Radar positioning mechanism, 401-Base plate, 402-Pad plate, 403-First link, 404-Second link, 405-Third link, 406-Fourth link, 407-Charging head connecting plate, 408-Charging head mounting plate, 409-First spring, 410-Placement frame, 411-Charging head, 412-Slot, 413-Alignment plate, 414-Alignment spring, 415-Alignment fixing plate, 416-Alignment guide rod, 417-Exchange robot assembly, 418-Robot arm, 419-Robot arm fixing plate, 420-Plate. Detailed Implementation

[0050] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0051] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning as understood by those skilled in the art to which this invention pertains.

[0052] Example 1

[0053] like Figure 1 As shown, this embodiment provides a battery swapping station, including a battery compartment 1, a battery swapping compartment 2, an autonomous robot 3, a battery rack 4, and a stacker crane 5. The battery rack 4 and the stacker crane 5 are located inside the battery compartment 1. A car 6 can park on the battery swapping compartment 2. The autonomous robot 3 can move to the battery swapping compartment 2, remove the depleted battery pack from the car, and then move it into the battery compartment 1. The stacker crane 5 can remove the depleted battery pack from the autonomous robot 3 and place it on the battery rack 4 for charging. The autonomous robot 3 can cooperate with the stacker crane 5 to remove the fully charged battery pack from the battery rack 4 and move it to the battery swapping compartment 2 for installation on the car 6.

[0054] In this embodiment, a battery compartment 1 and a battery swapping compartment 2 are constructed, and an autonomous robot 3 is used to transport and replace the battery packs. The specific process is as follows: the car 6 is parked in the battery swapping compartment 2; the autonomous robot 3 moves to under the chassis of the car 6 and removes the depleted battery pack from the car 6; the autonomous robot 3 carries the depleted battery pack to a designated location within the battery compartment 1; a stacker crane 5 removes the depleted battery pack from the autonomous robot 3 and places it in the charging position of the battery rack 4 for charging; then, the stacker crane 5 and the autonomous robot 3 work together to remove the fully charged battery pack from the battery rack 4 and place it on the autonomous robot 3; the autonomous robot 3 carries the fully charged battery pack to under the chassis of the car 6 and installs the fully charged battery pack onto the car 6, thus completing the battery pack replacement on the car 6. In this embodiment, a positioning sensor is installed at the bottom of the battery pack for identification and positioning at each stage.

[0055] In this embodiment, the battery rack 4 is set to one or more according to the spatial layout inside the battery compartment 1. When the battery rack 4 is set to multiple, the stacker crane 5 matches the corresponding layout to meet the use of multiple battery racks 4.

[0056] Example 2

[0057] like Figure 2-Figure 3 As shown, this embodiment further defines the battery swapping compartment 2 based on embodiment 1. In this embodiment, the battery swapping compartment 2 includes a battery swapping platform 201. The side wall of the battery swapping platform 201 has a receiving cavity 202. The top wall of the receiving cavity 202 has an opening. A platform cover plate 203 is provided at the opening. The platform cover plate 203 can close or open the opening.

[0058] In this embodiment, the battery swapping compartment 2 includes a battery swapping platform 201. A receiving cavity 202 is formed in the side wall of the battery swapping platform 201, and the top wall of the receiving cavity 202 has an opening. A platform cover 203 is provided to open or close the opening. In actual use, the car 6 is parked on the battery swapping platform 201, with the battery pack on the chassis of the car 6 located above the opening. The platform cover 203 is opened, and the autonomous robot 3 enters the receiving cavity 202. It removes the depleted battery pack from the chassis of the car 6 through the opening, and then the autonomous robot 3 carries the depleted battery pack into the battery compartment 1. In this embodiment, the construction of the battery compartment 1 and the battery swapping compartment 2, combined with the use of the autonomous robot 3, eliminates the need for large-scale civil engineering, installation, backfilling, and concrete pouring. The autonomous robot 3 can navigate, eliminating the need for laying RGV tracks, thus reducing the construction cycle of the battery swapping station and improving its construction efficiency. This battery swapping station does not require lifting the car 6, eliminating the need for a car 6 lifting mechanism, making the station structure simpler.

[0059] In this embodiment, the platform cover plate 203 opens and closes the opening. This can be achieved by setting a drive component in the receiving cavity 202. The drive component can be, for example, an electric motor that works with a gear rack to drive the platform cover plate 203 to move, or a cylinder, hydraulic cylinder, or other drive component that directly drives the platform cover plate 203 to move. Further details will not be provided here.

[0060] In this embodiment, guide rollers 204 are provided on both sides of the top wall of the battery swapping platform 201. In this embodiment, two guide rollers 204 are provided on the battery swapping platform 201 to guide the position of the vehicle 6 on both sides as it moves.

[0061] In this embodiment, the battery swapping platform 201 is equipped with a license plate recognition device 205 and a gate 206. The license plate recognition device 205 can recognize the license plate of the vehicle 6 and send the information to the battery swapping station control center. The battery swapping station control center can then control the gate 206 to open. In this embodiment, the battery swapping platform 201 is equipped with a license plate recognition device 205 and a gate 206. After the license plate recognition device 205 recognizes the license plate of the vehicle 6, it sends the information to the battery swapping station control center. The battery swapping station control center controls the gate 206 to open, allowing the vehicle 6 to proceed onto the battery swapping platform 201. Simultaneously, the battery swapping station control center sends information to the autonomous robot 3, which then moves into the receiving cavity 202.

[0062] In this embodiment, the battery swapping platform 201 is provided with two arc-shaped parking slots 207. A wheel blocking mechanism is provided on the front side of the arc-shaped parking slots 207. The wheel blocking mechanism includes a fixed plate 208, a fixed frame 209, a blocking roller 210, multiple guide rods 211, and multiple springs 212. The fixed plate 208 is provided on the top wall of the battery swapping platform 201, the blocking roller 210 is provided on the fixed frame 209, the two ends of the springs 212 are respectively connected to the fixed frame 209 and the fixed plate 208, the top end of the guide rod 211 is connected to the fixed frame 209, and the bottom end of the guide rod 211 passes through the fixed plate 208 and is embedded in the battery swapping platform 201. The guide rod 211 can move up and down.

[0063] In this embodiment, the cooperation between the arc-shaped parking groove 207 and the wheel blocking mechanism can position the front wheels of the car 6. Specifically, after the front wheels of the car 6 enter the arc-shaped parking groove 207, the car 6 stops moving forward. When the front wheels of the car 6 inertia pass over the arc-shaped parking groove 207, they are blocked by the blocking roller 210, thereby causing the front wheels of the car 6 to return to the arc-shaped parking groove 207, thus achieving the positioning of the front wheels of the car 6. After the car 6 completes the battery swap, the car 6 starts and runs over the blocking roller 210. The blocking roller 210 moves downward, and the car can directly run over the blocking roller 210. The spring 212 plays the role of returning the blocking roller 210 to its original position, and the guide rod 211 plays the role of guiding, ensuring that the up and down movement of the blocking roller 210 does not deviate. In this embodiment, the number of guide rods 211 and springs 212 is set to multiple.

[0064] In this embodiment, a radar positioning mechanism 213 is provided on the battery swapping platform 201. When the vehicle 6 stops on the battery swapping platform 201, the radar positioning mechanism 213 can locate the position of the vehicle 6. The radar positioning mechanism 213 transmits the positioning information of the vehicle 6 to the battery swapping station control center. The battery swapping station control center controls the autonomous robot 3 to run to the designated position, so that the position of the autonomous robot 3 corresponds to the position of the battery pack on the chassis of the vehicle 6, and performs the disassembly and replacement of the battery pack on the chassis of the vehicle 6.

[0065] Example 3

[0066] like Figures 4-10 As shown, this embodiment further defines the features of embodiment 1 or 2. In this embodiment, the battery rack 4 is provided with multiple charging units. Each charging unit includes a mechanical plug-in assembly and a placement rack 410. The mechanical plug-in assembly includes a base plate 401, a pad 402, a charging head connecting plate 407, a connecting rod assembly, and a first spring assembly. The pad 402 and the charging head connecting plate 407 are slidably disposed on the left and right sides of the front wall of the base plate 401, respectively. The pad 402 is connected to the charging head connecting plate via the connecting rod assembly. 407 connection, the first spring assembly is installed on the base plate 401, the first spring assembly is connected to the pad 402 or the charging head connecting plate 407, the placement rack 410 is connected to the pad 402, the charging head 411 is set on the charging head connecting plate 407, the pad 402 moves downward to compress the first spring 409 in the first spring assembly, the pad 402 moves downward to drive the charging head connecting plate 407 to move downward through the connecting rod assembly, the height of the pad 402 falling is less than the height of the charging head connecting plate 407 falling.

[0067] With the rise of various types of new energy vehicles, such as pure electric vehicles and hybrid vehicles, battery swapping stations with rapid battery replacement capabilities have emerged. During the battery swapping process, when charging a depleted battery pack, the charging head needs to be connected to the battery pack's charging port. This requires a reliable and fast plugging / unplugging mechanism. Currently, the driving method for the electrical connector plugging / unplugging mechanism uses cylinders, electric cylinders, or motor servo modules, all requiring various auxiliary components. This makes the plugging / unplugging mechanism complex and costly.

[0068] For example, 1. Cylinder drive uses compressed air to drive the cylinder, causing each component to move forward and backward on the guide rail or linear bearing with a guide rod, so that the charging head can be inserted into or removed from the charging port of the battery pack;

[0069] 2. Electric cylinder drive uses a motor to drive the electric cylinder piston, causing each component to move forward and backward on a rail or linear bearing with a guide rod, so that the charging head can be inserted into or removed from the charging port of the battery pack;

[0070] 3. The motor servo module uses the cooperation of motors, guide rails or belts to make each component move forward and backward, so that the charging head can be inserted into and detached from the charging port of the battery pack.

[0071] Its disadvantages are: the output force and torque of the cylinder are not large, the transmission efficiency is low, an external air source is required, and the gas is compressible, making it difficult to achieve precise control; the electric cylinder cannot withstand radial force and can only act on axial loads, and impact loads will affect the lead screw of the electric cylinder, thus affecting the performance of the entire system, which may make it difficult to maintain the locked position or cause gap problems; the price of electric cylinders is higher than that of pneumatic cylinders and hydraulic cylinders, increasing the cost of using electric cylinders; the ball screw and nut of the motor servo module have high machining precision, occupy a large space in the mechanism, are difficult to manufacture and have high cost; the module cannot self-lock, especially the vertical lead screw, due to the inertial force of its own weight, the moving parts cannot self-lock after the transmission stops, and a braking device is required.

[0072] The electrical connector plugging and unplugging mechanism uses cylinders, electric cylinders, and motor servo modules to drive the charging head to connect with the battery pack for charging. This makes the entire plugging and unplugging mechanism complex, takes up a lot of space, and the processing technology of each part is complicated, with high precision requirements, making mass production difficult and increasing costs.

[0073] In this embodiment, a multi-layer charging unit is provided on the battery rack 4. The charging unit includes a mechanical plug-in assembly and a placement rack 410. The mechanical plug-in assembly includes a base plate 401, a pad 402, a charging head connecting plate 407, a connecting rod assembly, and a first spring assembly. The base plate 401 is placed on the battery rack 4 to fix the mechanical plug-in assembly. In the initial state, the mechanical plug-in assembly is as follows: Figure 5 As shown, when the first spring assembly is in its natural state and the depleted battery pack is placed on the placement rack 410, the charging head 411 is located above the depleted battery pack. At this time, using the gravity of the depleted battery pack, the placement rack 410 moves downward, causing the pad 402 to move downward. The downward movement of the pad 402 compresses the first spring 409 inside the first spring assembly. The downward movement of the pad 402 causes the connecting rod assembly to move, which in turn causes the charging head connecting plate 407 to move downward. The downward movement of the charging head connecting plate 407 causes the charging head 411 to move downward. Because the charging head connecting plate 407 descends to a greater height than the pad 402, the charging head 411 descends to a greater height than the depleted battery pack. When the weight of the depleted battery pack balances the elastic restoring force of the first spring 409, the charging head 411 is just inserted into the battery pack charging port. Thus, the stacker crane 5 places the depleted battery pack into the designated position on the placement rack 410, achieving automatic connection between the charging head 411 and the battery pack charging port. After the charging head 411 is connected to the battery pack charging port, the state of the mechanical plug-in assembly is as follows: Figure 6As shown, when the battery pack needs to be removed after it is fully charged, the stacker crane 5 lifts the battery pack. At this time, due to the elastic restoring force of the first spring 409, after the battery pack is lifted, the positions of the placement rack 410 and the pad 402 are restored. At this time, the height of the charging head 411 is greater than the height of the pad 402, so the charging head 411 is disengaged from the charging port of the battery pack, thus realizing the separation of the charging head 411 and the charging port of the battery pack.

[0074] The mechanical plug-in assembly provided in this embodiment does not require cylinders, electric cylinders, or motor drives. It can use the weight of the battery pack itself to drive the charging head 411 to be inserted into or pulled out of the battery pack charging port through the linkage assembly, thereby charging the battery pack. It does not require an external power source and can automatically connect the charging head 411 to the battery pack charging port by simply using the weight of the battery pack. This greatly simplifies the structure, reduces its space occupation, and the mechanism responds quickly. It does not require additional control or components, thus greatly reducing costs.

[0075] In this embodiment, the connecting rod assembly includes a first connecting rod 403, a second connecting rod 404, a third connecting rod 405, and a fourth connecting rod 406. The lower left end of the first connecting rod 403 is rotatably mounted on a pad 402 via a first pin. The upper right end of the first connecting rod 403 is rotatably connected to the upper left end of the second connecting rod 404 via a second pin. The second connecting rod 404 is rotatably mounted on a base plate 401 via a third pin. The lower right end of the second connecting rod 404 is connected to a fourth pin. The connecting rod 405 is rotatably mounted on the base plate 401 via a fifth pin. A slot 412 is formed in the lower left part of the third connecting rod 405. A fourth pin is inserted into the slot 412 and contacts the top and bottom walls of the slot 412. The fourth pin can move left and right within the slot 412. The upper right end of the third connecting rod 405 is rotatably connected to the upper left end of the fourth connecting rod 406 via a sixth pin. The lower right end of the fourth connecting rod 406 is rotatably connected to the charging head connecting plate 407 via a seventh pin. In this embodiment, the length of the third connecting rod 405 is greater than the length of the second connecting rod 404.

[0076] The linkage assembly operates in the following states, with the initial state as follows: Figure 5 As shown, when the pad 402 moves downward, it drives the first connecting rod 403 downward. The first connecting rod 403 drives the upper left end of the second connecting rod 404 downward. At this time, the upper right end of the second connecting rod 404 moves upward, driving the lower left end of the third connecting rod 405 upward. The upper right end of the third connecting rod 405 moves downward, driving the fourth connecting rod 406 downward. The fourth connecting rod 406 drives the charging head connecting plate 407 downward. The slot 412 on the third connecting rod 405 cooperates with the fourth pin on the second connecting rod 404, providing left and right movement space for each connecting rod during movement, ensuring the movement of the first connecting rod 403, the second connecting rod 404, the third connecting rod 405, and the fourth connecting rod 406. After the charging head 411 is inserted into the battery pack charging port, it forms as shown in the figure. Figure 6 The state shown is as follows. The specific dimensions of each link are set according to the thickness of the battery pack, etc., to ensure that when the battery pack and the first spring 409 are balanced, the charging head 411 can be inserted into the charging port of the battery pack.

[0077] In this embodiment, the charging unit further includes a charging head mounting plate 408, which is disposed on the charging head connecting plate 407, and the charging head 411 is disposed on the charging head mounting plate 408.

[0078] In this embodiment, the charging head 411 is mounted on the charging head mounting plate 408, and the charging head mounting plate 408 is connected to the charging head connecting plate 407, so that the charging head 411 is mounted on the charging head connecting plate 407. In this embodiment, a compression spring is provided between the charging head 411 and the charging head mounting plate 408, which can have a buffer shrinkage amount in the vertical direction, and can realize flexible docking between the charging head 411 and the charging port of the battery pack.

[0079] In this embodiment, the charging unit further includes a battery alignment device, which comprises two alignment units arranged symmetrically on the left and right sides of the battery rack 4, respectively. Each alignment unit includes an alignment plate 413, an alignment spring 414, an alignment fixing plate 415, and an alignment guide rod 416. The alignment fixing plate 415 is connected to the battery rack 4, and the alignment plate 413 is connected to the alignment fixing plate 415 via the alignment spring 414. One end of the alignment guide rod 416 is connected to the alignment plate 413, and the alignment guide rod 416 movably passes through the alignment fixing plate 415. The two alignment plates 413 contact the battery to position the battery pack. In this embodiment, a battery alignment device is provided. When the stacker crane 5 places the depleted battery pack on the placement rack 410, the two alignment plates 413 contact the depleted battery pack. Utilizing the elastic force of the alignment spring 414, the depleted battery pack achieves balance, thus achieving left-right positioning. The rear wall of the depleted battery pack can contact and be positioned with the front wall of the pad 402. In this embodiment, the front part of the alignment plate 413 is provided with an inclined guide surface to facilitate the stacker crane 5 placing the battery pack between the two alignment plates 413.

[0080] The charging unit in this embodiment further includes a battery positioning device, which includes a positioning pin plate and a positioning pin. The positioning pin is disposed on the positioning pin plate. When the battery pack moves downward, the positioning pin can enter the positioning hole at the bottom of the battery pack. In this embodiment, the battery positioning device allows the positioning pin to be inserted into the positioning hole at the bottom of the battery pack after the battery pack moves downward, further realizing the positioning of the battery pack.

[0081] In this embodiment, a swapping robot assembly 417 is provided at the bottom of the battery rack 4. The stacker crane 5 can remove fully charged battery packs from the battery rack 4 and place them on the swapping robot assembly 417. The autonomous robot 3 can remove the fully charged battery packs from the swapping robot assembly 417. In this embodiment, when there are multiple battery racks 4, only one battery rack 4 needs to be equipped with the swapping robot assembly 417.

[0082] In this embodiment, the exchange robot assembly 417 includes a power mechanism and two robot units. The two robot units are respectively located on the left and right sides of the battery rack 4. Each robot unit includes a robot arm fixing plate 419, two robot arms 418, and two flat plates 420. The two robot arms 418 are fixed on the robot arm fixing plate 419, and the two flat plates 420 are respectively located on the two robot arms 418. The stacker crane 5 can remove the fully charged battery packs from the battery rack 4 and place them on the four flat plates 420. The power mechanism is located on the battery rack 4 and is connected to the two robot arm fixing plates 419. The power mechanism can drive the two robot arm fixing plates 419 to move in opposite directions or in the opposite direction. In this embodiment, the power mechanism can be an electric motor driving a bidirectional lead screw assembly, etc., which will not be elaborated further here.

[0083] In this embodiment, a battery swapping robot assembly 417 is set up. When the license plate recognition device 205 recognizes the license plate of vehicle 6, it sends the information to the battery swapping station control center. When the control gate 206 is opened, the control center controls the stacker crane 5 to place the fully charged battery pack on the battery rack 4 onto the four flat plates 420. Then, the position of the two sets of robot units is adjusted by the power mechanism to achieve the positioning of the fully charged battery pack in the battery swapping robot assembly 417, thus achieving the pre-storage of the fully charged battery pack. After the autonomous robot 3 removes the depleted battery pack from vehicle 6, it moves to the bottom of the battery swapping robot assembly 417. The stacker crane 5 removes the depleted battery pack from the autonomous robot 3, and the autonomous robot 3 directly takes away the fully charged battery pack from the battery swapping robot assembly 417. In this way, the autonomous robot 3 does not have to wait during the battery swapping process, reducing the battery swapping time and improving the battery swapping efficiency.

[0084] Example 4

[0085] like Figure 11As shown, this embodiment further defines the features of embodiment 2 or 3. In this embodiment, the autonomous robot 3 includes a robot body 31, a lifting mechanism 32, a correction device, a radar 36, and a battery pack insertion / removal assembly. The robot body 31 is equipped with a power unit that can drive the robot body 31 to move. The radar 36 is mounted on the robot body 31 and can navigate the movement of the robot body 31. The lifting mechanism 32 is mounted on the robot body 31, and the correction device is mounted on the lifting mechanism 32. The lifting mechanism can drive the correction device to move up and down. The top of the correction device is connected to a second adapter plate 38, and the battery pack can be placed on the second adapter plate 38. The correction device can adjust the position of the second adapter plate 38 and thus adjust the position of the battery pack. The battery pack insertion / removal assembly is mounted on the second adapter plate 38 and can cooperate with the chassis components of the vehicle 6 to realize the installation and removal of the battery pack.

[0086] In the context of the new energy trend, electric vehicles are more environmentally friendly than gasoline vehicles, leading to the establishment of charging stations and battery swapping stations. Battery swapping stations currently offer a faster and more time-efficient solution to the slow charging problem. The primary battery swapping method currently uses a chassis-based system. This requires precise disassembly and installation of the battery pack on the swapping vehicle. Current battery swapping vehicles utilize a track-based movement system, resulting in complex mechanisms, large positioning errors, and an inability to automatically adjust their position, leading to low swapping efficiency.

[0087] In this embodiment, the autonomous robot 3 includes a robot body 31, a lifting mechanism 32, a correction device, a radar 36, and a battery pack insertion / removal assembly. A power unit is mounted on the robot body 31, enabling it to move. The radar 36 is mounted on the robot body 31, scanning and positioning to acquire coordinates, avoiding obstacles, and enabling the autonomous robot 3 to navigate and move autonomously to a designated location. This allows for trackless movement with dynamic compensation, significantly improving positioning accuracy. The lifting mechanism 32 drives the correction device to move up and down, adjusting the position of the second adapter plate 38. The battery pack is placed on the second adapter plate 38, and the correction device adjusts the position of the battery pack by adjusting the second adapter plate 38, thus achieving the battery pack correction function. The battery pack insertion / removal assembly can cooperate with the chassis components of the vehicle 6 to install and remove the battery pack.

[0088] In practical use, when disassembling the battery pack on the vehicle 6, the autonomous robot 3 moves into the receiving cavity 202. The lifting mechanism 32 is activated, causing the second adapter plate 38 to rise, which in turn raises the battery pack insertion and removal assembly. The battery pack insertion and removal assembly engages with the latches on the chassis of the vehicle 6 to unlock the depleted battery pack installed on the chassis of the vehicle 6. The depleted battery pack falls onto the second adapter plate 38. The lifting mechanism 32 and the battery pack insertion and removal assembly return to their initial state. The autonomous robot 3 moves to below the exchange manipulator assembly 417, and the stacker crane 5 removes the depleted battery pack from the second adapter plate 38 of the autonomous robot 3. The lifting mechanism 32 is activated, driving the correction device and the second adapter plate 38 to rise. The rising second adapter plate 38 lifts the fully charged battery pack placed on the four flat plates 420 inside the exchange robot 417 assembly. After the autonomous robot 3 moves and drives the fully charged battery pack to move away from the exchange robot assembly 417, the lifting mechanism 32 descends. The autonomous robot 3 drives the fully charged battery pack to move into the receiving cavity 202. The position of the fully charged battery pack is adjusted by the correction device so that the position of the fully charged battery pack corresponds to the battery pack mounting cavity on the car chassis 6. The lifting mechanism 32 rises so that the fully charged battery pack is installed on the car chassis 6.

[0089] The alignment correction device in this embodiment includes a rotating mechanism 33, a first alignment correction component 34, and a second alignment correction component 35. The rotating mechanism 33 can drive the second adapter plate 38 to rotate in the horizontal plane, the first alignment correction component 34 can drive the second adapter plate 38 to move left and right, and the second alignment correction component 35 can drive the second adapter plate 38 to move back and forth. In this embodiment, through the cooperation of the rotating mechanism 33, the first alignment correction component 34, and the second alignment correction component 35, the rotational, left and right, and back and forth movements of the second adapter plate 38 are realized, thereby performing rotational, left and right, and back and forth alignment correction on the battery pack placed on the second adapter plate 38, so that the battery pack can accurately align with the battery pack mounting cavity on the vehicle 6, thereby ensuring the accuracy and success rate of battery pack installation.

[0090] In this embodiment, the output end of the lifting mechanism 32 is connected to the lifting plate 39, the rotating mechanism 33 is disposed on the lifting plate 39, the output end of the rotating mechanism 33 is connected to the rotating plate 40, the first correction component 34 is disposed on the rotating plate 40, the moving part of the first correction component 34 is connected to the first adapter plate 41, the second correction component 35 is disposed on the first adapter plate 41, and the second adapter plate 38 is connected to the moving part of the second correction component 35. In this embodiment, the lifting plate 39 is connected to the lifting mechanism 32, the rotating mechanism 33 is disposed on the lifting plate 39, the rotating plate 40 is connected to the rotating mechanism 33, the first correction component 34 is disposed on the rotating plate 40, the first adapter plate 41 is connected to the moving part of the first correction component, and the second correction component 34 is disposed on the first adapter plate 41, thereby realizing the installation and cooperation of each component.

[0091] In this embodiment, the rotating mechanism 33 includes a rotary motor, a drive gear, a driven gear, and a rotating shaft. The rotary motor is mounted on the lifting plate 39, the drive gear is sleeved on the output shaft of the rotary motor, and the rotating shaft is rotatably mounted on the lifting plate 39. The top end of the rotating shaft is connected to the rotating plate 40. The driven gear is sleeved on the rotating shaft, and the drive gear meshes with the driven gear. Thus, when the rotary motor is started, it can drive the rotating plate 40 to rotate, thereby driving the components on the rotating plate 40 to move, realizing the function of the rotating mechanism 33 driving the second adapter plate 38 to rotate.

[0092] In this embodiment, the first correction component 34 is a first motor and a first lead screw mechanism. The first motor can drive the moving part of the first lead screw mechanism to move left and right. The moving part of the first lead screw mechanism is connected to the first adapter plate 41. In this embodiment, the first correction component is a first motor and a first lead screw mechanism. The first motor drives the moving part of the first lead screw mechanism to move, thereby driving the first adapter plate 41 and the components disposed on the first adapter plate 41 to move left and right, so as to realize the function of the first correction component driving the second adapter plate 38 to move.

[0093] In this embodiment, the second correction component 35 is a second motor and a second lead screw mechanism. The second motor can drive the moving part of the second lead screw mechanism to move back and forth. The moving part of the second lead screw mechanism is connected to the second adapter plate 38. In this embodiment, the second correction component is a second motor and a second lead screw mechanism. The second motor drives the moving part of the second lead screw mechanism to move, which in turn drives the second adapter plate 38 to move back and forth, thus realizing the function of the second correction component driving the second adapter plate 38 to move back and forth.

[0094] In this embodiment, the lifting mechanism 32 is a scissor-fork lifting mechanism. Alternatively, a lead screw lifting mechanism, gear and rack, sprocket and chain, or synchronous belt can be used in conjunction with corresponding structures to achieve the lifting function. In this embodiment, the automatic navigation and correction of the autonomous robot 3 are protected. The engagement between the battery pack insertion / removal assembly and the buckle on the chassis of the vehicle 6 uses existing technology and will not be elaborated further. In this embodiment, the top wall of the second adapter plate 38 is provided with multiple positioning posts 37. When the battery pack is placed on the second adapter plate 38, the positioning posts 37 can enter the positioning holes at the bottom of the battery pack to achieve positioning of the battery pack on the second adapter plate 38.

[0095] In this embodiment, an air conditioner 7 is installed inside the battery compartment 1 to ensure that the battery compartment 1 is at a suitable temperature.

[0096] In summary, the entire system's workflow is as follows: Vehicle 6 moves to the location of license plate recognition device 205. License plate recognition device 205 identifies the license plate on vehicle 6 and sends the information to the battery swapping station's central control center. The central control center opens the gate 206, and vehicle 6 moves onto the battery swapping platform 201. Simultaneously, autonomous robot 3 moves into the receiving cavity 202, and stacker crane 5 places the fully charged battery pack from battery rack 4 onto the swapping robot assembly 417 for pre-storage. After reaching the designated position on the battery swapping platform 201, the platform cover 203 is opened, and the autonomous robot 3 removes the depleted battery pack from the chassis of the vehicle 6. The autonomous robot 3 then moves to the underside of the swapping robot assembly 417, where the stacker crane 5 removes the depleted battery pack from the autonomous robot 3. The autonomous robot 3 then removes the fully charged battery pack from the swapping robot 417 and moves it into the receiving cavity 202, where it installs the fully charged battery pack onto the chassis of the vehicle 6. In this way, during the replacement of the battery pack for the vehicle 6, all links work closely together to improve the battery swapping efficiency.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A battery swapping station, characterized in that, The system includes a battery compartment (1), a battery swapping compartment (2), an autonomous robot (3), a battery rack (4), and a stacker (5). The battery rack (4) and the stacker (5) are located inside the battery compartment (1). The vehicle (6) can park on the battery swapping compartment (2). The autonomous robot (3) can move to the battery swapping compartment (2) to remove the depleted battery pack from the vehicle and then move it to the battery compartment (1). The stacker (5) can remove the depleted battery pack from the autonomous robot (3) and place it on the battery rack (4) for charging. The autonomous robot (3) can cooperate with the stacker (5) to remove the fully charged battery pack from the battery rack (4) and move it to the battery swapping compartment (2) to install it on the vehicle (6). The battery swapping compartment (2) includes a battery swapping platform (201), the side wall of the battery swapping platform (201) has a receiving cavity (202), the top wall of the receiving cavity (202) has an opening, and a platform cover plate (203) is provided at the opening, which can close or open the opening. The battery rack (4) is provided with a multi-layer charging unit. The charging unit includes a mechanical plug-in assembly and a placement rack (410). The mechanical plug-in assembly includes a base plate (401), a pad plate (402), a charging head connecting plate (407), a connecting rod assembly, and a first spring assembly. The base plate (401) is disposed on the battery rack (4). The pad plate (402) and the charging head connecting plate (407) are slidably disposed on the left and right sides of the front wall of the base plate (401), respectively. The pad plate (402) is connected to the charging head connecting plate (407) through the connecting rod assembly. The first spring... The component is installed on the base plate (401). The first spring assembly is connected to the pad (402) or the charging head connecting plate (407). The placement rack (410) is connected to the pad (402). The charging head (411) is set on the charging head connecting plate (407). The pad (402) can compress the first spring (409) in the first spring assembly when it moves downward. The pad (402) can drive the charging head connecting plate (407) to move downward through the connecting rod assembly when it moves downward. The height at which the pad (402) falls is less than the height at which the charging head connecting plate (407) falls. The linkage assembly includes a first link (403), a second link (404), a third link (405), and a fourth link (406). The lower left end of the first link (403) is rotatably mounted on a pad (402) via a first pin. The upper right end of the first link (403) is rotatably connected to the upper left end of the second link (404) via a second pin. The second link (404) is rotatably mounted on a base plate (401) via a third pin. The lower right end of the second link (404) is connected to the fourth pin. The third link... (405) is rotatably mounted on the base plate (401) via the fifth pin. The lower left part of the third link (405) has a slot (412). The fourth pin is inserted into the slot (412) and contacts the top and bottom walls of the slot (412). The fourth pin can move left and right in the slot (412). The upper right end of the third link (405) is rotatably connected to the upper left end of the fourth link (406) via the sixth pin. The lower right end of the fourth link (406) is rotatably connected to the charging head connecting plate (407) via the seventh pin.

2. A battery swapping station according to claim 1, characterized in that, The battery swapping platform (201) is provided with two arc-shaped parking slots (207). A wheel blocking mechanism is provided on the front side of the arc-shaped parking slots (207). The wheel blocking mechanism includes a fixed plate (208), a fixed frame (209), a blocking roller (210), multiple guide rods (211) and multiple springs (212). The fixed plate (208) is located on the top wall of the battery swapping platform (201). The blocking roller (210) is located on the fixed frame (209). The two ends of the springs (212) are connected to the fixed frame (209) and the fixed plate (208) respectively. The top end of the guide rod (211) is connected to the fixed frame (209). The bottom end of the guide rod (211) passes through the fixed plate (208) and is embedded in the battery swapping platform (201). The guide rod (211) can move up and down.

3. A battery swapping station according to claim 1, characterized in that, The battery swapping platform (201) is equipped with a radar positioning mechanism (213). The radar positioning mechanism (213) can detect the position of the car (6) parked on the battery swapping platform (201) and transmit the information to the battery swapping station control center. The battery swapping station control center can control the movement of the autonomous robot (3).

4. A battery swapping station according to claim 1, characterized in that, The charging unit also includes a battery alignment device, which includes two alignment units arranged symmetrically. The two alignment units are respectively located on the left and right sides of the battery rack (4). Each alignment unit includes an alignment plate (413), an alignment spring (414), an alignment fixing plate (415), and an alignment guide rod (416). The alignment fixing plate (415) is connected to the battery rack (4). The alignment plate (413) is connected to the alignment fixing plate (415) through the alignment spring (414). One end of the alignment guide rod (416) is connected to the alignment plate (413). The alignment guide rod (416) moves through the alignment fixing plate (415). The two alignment plates (413) contact the battery to position the battery pack.

5. A battery swapping station according to claim 1, characterized in that, The bottom of the battery rack (4) is provided with a swapping robot assembly (417). The stacker (5) can remove the fully charged battery pack from the battery rack (4) and place it on the swapping robot assembly (417). The autonomous robot (3) can remove the fully charged battery pack from the swapping robot assembly (417).

6. A battery swapping station according to claim 5, characterized in that, The exchange robot assembly (417) includes a power mechanism and two robot units. The two robot units are respectively located on the left and right sides of the battery rack (4). Each robot unit includes a robot arm fixing plate (419), two robot arms (418), and two flat plates (420). The two robot arms (418) are fixed on the robot arm fixing plate (419), and the two flat plates (420) are respectively located on the two robot arms (418). The stacker (5) can remove the fully charged battery pack from the battery rack (4) and place it on the four flat plates (420). The power mechanism is located on the battery rack (4) and is connected to the two robot arm fixing plates (419). The power mechanism can drive the two robot arm fixing plates (419) to move towards each other or in opposite directions.

7. A battery swapping station according to claim 1, characterized in that, The autonomous robot (3) includes a robot body (31), a lifting mechanism (32), a correction device, a radar (36), and a battery pack insertion assembly. The robot body (31) is equipped with a power unit that can drive the robot body (31) to move. The radar (36) is installed on the robot body (31) and can navigate the movement of the robot body (31). The lifting mechanism (32) is installed on the robot body (31), and the correction device is installed on the lifting mechanism (32). The lifting mechanism can drive the correction device to move up and down. The top of the correction device is connected to a second adapter plate (38), and the battery pack can be placed on the second adapter plate (38). The correction device can adjust the position of the second adapter plate (38) and thus adjust the position of the battery pack. The battery pack insertion assembly is installed on the second adapter plate (38) and can cooperate with the chassis components of the car (6) to realize the installation and removal of the battery pack.

8. A battery swapping station according to claim 7, characterized in that, The correction device includes a rotating mechanism (33), a first correction component (34), and a second correction component (35). The rotating mechanism (33) can drive the second adapter plate (38) to rotate in the horizontal plane. The first correction component (34) can drive the second adapter plate (38) to move left and right. The second correction component (35) can drive the second adapter plate (38) to move back and forth.

9. A battery swapping station according to claim 8, characterized in that, The output end of the lifting mechanism (32) is connected to the lifting plate (39), the rotating mechanism (33) is disposed on the lifting plate (39), the output end of the rotating mechanism (33) is connected to the rotating plate (40), the first correction component (34) is disposed on the rotating plate (40), the moving part of the first correction component (34) is connected to the first adapter plate (41), the second correction component (35) is disposed on the first adapter plate (41), and the second adapter plate (38) is connected to the moving part of the second correction component (35).

Images