Battery swapping device

Abstract

The application discloses a chassis type battery replacing equipment for replacing batteries of a battery replacing vehicle, and the battery replacing equipment comprises a first module, a second module and a third module which are detachably connected in sequence along a first direction; a walking driving mechanism and a walking mechanism are arranged in the first module and the third module; a battery replacing device and a lifting mechanism are arranged in the second module, the battery replacing device is arranged on the lifting mechanism; and a lifting driving mechanism is arranged in at least one of the first module or the third module. By being divided into independent modules in sequence, independent processing and part installation and debugging of the modules can be better realized, and the assembly and integration of workers are facilitated. The battery replacing equipment can enter from the bottom of a truck to replace batteries of the vehicle, so that the safety of battery replacement is improved, the stability during battery replacement is ensured, the workers are facilitated in dismounting and repairing, the flexibility and universality of application of the battery replacing equipment are enhanced, and the applicability of the battery replacing equipment is stronger.

Description

Technical Field

[0001] This invention relates to a chassis-type battery swapping device. Background Technology

[0002] With the development and popularization of new energy vehicles, battery pack quick-swapping technology has also developed rapidly. In existing technologies, since passenger car batteries are generally located at the bottom of the vehicle, battery swapping is achieved by a swapping cart carrying the battery into the vehicle's underside. However, for large vehicles, such as heavy trucks, the large weight of the vehicle body and cargo necessitates a higher capacity battery pack to support a range of hundreds of kilometers. Therefore, in current technologies, large new energy vehicles use a top-mounted method to fix a large battery container to the vehicle's frame, with the container positioned close to the driver's cab. This poses significant safety hazards to the driver and the vehicle itself during driving and the top-mounted battery swapping process; moreover, battery malfunctions can directly cause personal injury to the driver. Furthermore, the top-mounted method requires a large site for the swapping station, necessitating a sufficiently large area for hoisting equipment to transfer and store batteries, resulting in high construction costs.

[0003] Therefore, there is an urgent need for a safer, more reliable, and easier-to-use battery swapping method for large vehicles, such as swapping batteries from the bottom of heavy-duty trucks. However, the current battery swapping cart structure used in passenger cars is difficult to adapt to heavy-duty trucks, so designers need to develop battery swapping equipment that is compatible with the larger size and heavier weight of batteries in heavy-duty trucks. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of insufficient safety in the prior art of battery swapping for heavy trucks, and to provide a chassis-type battery swapping device.

[0005] The present invention solves the above-mentioned technical problems through the following technical solution:

[0006] A chassis-type battery swapping device is used for swapping batteries in battery swapping vehicles. The battery swapping device includes: a first module, a second module, and a third module that are detachably connected in sequence along a first direction; the first module and the third module are provided with a travel drive mechanism and a travel mechanism, the travel drive mechanism being used to provide power to the travel mechanism, and the travel mechanism being used to drive the battery swapping device to run along the first direction; the second module is provided with a battery swapping device and a lifting mechanism, the battery swapping device being mounted on the lifting mechanism, and the lifting mechanism being used to drive the battery swapping device to rise and fall; at least one of the first module or the third module is provided with a lifting drive mechanism, the lifting drive mechanism being used to drive the lifting mechanism to rise and fall.

[0007] This solution provides a chassis-type battery swapping device that can be accessed from the bottom of a heavy-duty truck to swap batteries, thus improving safety. The device is divided into three independent modules: a first module, a second module, and a third module. This allows for independent processing and component installation and debugging of each module. The corresponding modules house the relatively independent functional mechanisms of the swapping device, facilitating assembly and integration by workers, shortening the production cycle, and simplifying disassembly and repair. This enhances the flexibility and versatility of the device, making it more applicable. Furthermore, the first and third modules are equipped with a walking mechanism and a driving mechanism, respectively, which improves the load-bearing capacity of the swapping device. A lifting mechanism allows the swapping device to be raised and lowered vertically, accommodating batteries on truck chassis of varying heights. This improves the tightness of the connection between the swapping device and the battery during replacement, preventing gaps that could lead to swapping failures and ultimately increasing swapping efficiency.

[0008] Preferably, the walking drive mechanism is disposed on one side wall of the first module and the third module extending along the first direction. The walking mechanism includes: a walking synchronous shaft, which passes through two opposite side walls of the first module and the third module extending along the first direction; a walking transmission assembly, which connects the walking drive mechanism and the walking synchronous shaft so that the walking drive mechanism provides power to the walking synchronous shaft through the walking transmission assembly; and walking wheels, which are disposed at both ends of the walking synchronous shaft and located outside the side wall and away from the second module.

[0009] In this design, the stability of the battery swapping equipment's movement is ensured by setting up a traveling synchronous shaft and a traveling transmission assembly. The traveling drive mechanism provides power to the traveling synchronous shaft and the traveling transmission assembly, achieving stable operation of the battery swapping equipment while saving space resources. The traveling wheels ensure the synchronicity of the traveling mechanism's operation, improving the reliability and smoothness of the battery swapping equipment's operation. Furthermore, the traveling transmission assembly between the traveling drive mechanism and the traveling synchronous shaft ensures their synchronicity, and by placing the traveling wheels at both ends of the traveling synchronous shaft, the speed ratio of the traveling wheels can be changed by adjusting the movement of the traveling drive mechanism's shaft, ensuring consistent operation of the battery swapping equipment.

[0010] Preferably, the battery swapping equipment further includes a lifting synchronous shaft, and the lifting drive mechanism is disposed on one side wall of the first module or the third module extending along the first direction. The lifting synchronous shaft passes through two opposite side walls of the first module or the third module extending along the first direction. The two ends of the lifting synchronous shaft extending out of the side wall are respectively connected to the lifting transmission mechanism outside the side wall and close to the second module. The lifting synchronous shaft is also connected to the lifting drive mechanism so as to be driven by the lifting drive mechanism.

[0011] In this solution, a lifting synchronous shaft is installed in the battery swapping equipment, and this shaft is used to drive the lifting drive mechanism to the lifting mechanism, ensuring the stability of the lifting mechanism's movement. Simultaneously, the lifting synchronous shaft can be connected to different lifting mechanisms, enabling synchronous operation of different lifting mechanisms, ensuring the consistency of the battery swapping device's lifting and lowering, and thus guaranteeing the smoothness of the battery swapping device's lifting and lowering.

[0012] Preferably, the lifting transmission mechanism extends from the first module to the second module along the first direction and cooperates with the lifting mechanism in the second module so that the lifting drive mechanism provides power to the lifting mechanism through the lifting synchronous shaft and the lifting transmission mechanism.

[0013] In this design, a lifting transmission mechanism is used to output driving force to the lifting drive mechanism, ensuring the stability of the lifting mechanism's movement. The lifting drive mechanism provides power to the lifting synchronous shaft and the lifting transmission mechanism, achieving stable operation of the battery swapping equipment while saving space.

[0014] Preferably, the first module or the third module is provided with a braking resistor, which is disposed at least horizontally on the outer side wall of the first module or the third module on one side extending in the first direction, and is electrically connected to the motor of the walking drive mechanism or the motor of the lifting drive mechanism.

[0015] In this solution, a braking resistor is installed on the battery swapping equipment and connected to the motors of the lifting drive mechanism and the walking drive mechanism, respectively. This allows for the rapid dissipation of the mechanical energy generated during motor braking, which is then converted into electrical energy through the braking resistor, thus improving motor safety. Furthermore, installing the braking resistor on the outer surface of either the third module or the first module facilitates heat dissipation during braking. Compared to placing the braking resistor inside the module, this avoids heat dissipation issues that could damage internal cables, improving heat dissipation efficiency and ensuring the safety of the battery swapping equipment.

[0016] Preferably, when the lifting drive mechanism is disposed in the first module, the braking resistor is disposed on the outer wall of the third module.

[0017] In this solution, the braking resistor and the lifting drive mechanism are set on different modules to make reasonable use of the space of each module and make the structure of each module more compact.

[0018] Preferably, when the lifting drive mechanism is disposed in the first module, the lifting drive mechanism and the walking drive mechanism are respectively disposed on two opposite side walls of the first module extending along the first direction.

[0019] In this solution, the lifting drive mechanism and the walking drive mechanism are respectively set on two opposite side walls of the first module extending along the first direction, so as to avoid interfering with the normal operation of other components in the first module and save space resources in the first module.

[0020] Preferably, the first module further includes a first stop block, which is respectively disposed on two outer side walls of the first module extending along the first direction along the height direction and located between the traveling wheel and the lifting transmission mechanism to protect the lifting transmission mechanism; and / or, the third module further includes a second stop block, which is disposed on two outer side walls of the third module extending along the first direction along the height direction and located between the traveling wheel and the braking resistor to protect the braking resistor.

[0021] In this solution, by setting a first stop and / or a second stop, the traveling wheels are prevented from detaching from the battery swapping equipment in the event of an accident, thus avoiding interference with the normal operation of the lifting transmission mechanism and / or the braking resistor.

[0022] Preferably, the lower end of the first stop is not lower than the lower end of the traveling wheel and not higher than the lower edge of the first module, so as to provide support for the first module before or during assembly; and / or, the lower end of the second stop is not lower than the lower end of the traveling wheel and not higher than the lower edge of the third module, so as to provide support for the third module before or during assembly.

[0023] In this solution, by setting a first stop and / or a second stop, the first module and / or the third module are temporarily supported before or during assembly with the second module, thus preventing the bottom surfaces of the first module and the third module from contacting the ground and causing wear.

[0024] Preferably, the battery swapping device includes a battery replacement module and a support frame, the battery replacement module is disposed on the support frame, and the support frame is connected to the lifting mechanism disposed on two opposing inner sidewalls of the second module extending along the first direction.

[0025] In this design, the support frame provides a platform for the battery replacement module and is connected to a lifting mechanism, enabling the battery replacement module to be raised and lowered vertically. By placing the battery replacement module in the middle area of ​​the support frame, the force on the module during battery replacement is made more stable. Furthermore, the support frame supports the battery replacement module, facilitating the integrated installation of more complex battery replacement modules.

[0026] Preferably, the lifting mechanism has a pivot extending to two opposing sidewalls of the second module extending in the first direction. The pivot is connected to a lifting transmission mechanism located outside the second module and powered by the lifting drive mechanism, thereby enabling the lifting mechanism to move around the pivot.

[0027] In this solution, the lifting mechanism is raised and lowered by setting a rotating shaft, which can raise and lower the battery swapping device to different heights to meet the needs of car chassis of different heights and enhance its versatility.

[0028] Preferably, the battery replacement module includes a base and a positioning mechanism and an unlocking mechanism disposed on the base. The base is horizontally movable relative to the support frame in a second direction perpendicular to the first direction, which can move the positioning mechanism to facilitate positioning with the vehicle and / or the battery. Thus, the unlocking mechanism can perform operations to lock the battery to the vehicle and unlock the battery from the vehicle.

[0029] In this solution, by setting up a positioning mechanism and an unlocking mechanism, the battery and the car chassis are accurately positioned during the battery replacement process, avoiding battery installation failure due to positioning errors.

[0030] Preferably, the base includes a first layer plate and a second layer plate arranged in a horizontally staggered manner. The first layer plate and the second layer plate are each fixed to the support frame by a moving mechanism so that they can move relative to the support frame in the second direction. The first layer plate is provided with at least two first positioning posts for positioning with the battery on the vehicle, and the second layer plate is provided with at least two second positioning posts for positioning with the vehicle.

[0031] In this solution, by staggering the first and second layers horizontally, the height difference between them can be further reduced, or even eliminated, thereby lowering the overall height of the battery replacement module and compressing the height of the battery swapping equipment to meet the minimum height requirements for heavy-duty truck battery swapping. Simultaneously, positioning posts are provided on both the first and second layers to correspond with the vehicle and battery, respectively, allowing the battery swapping device to accurately locate the battery and effectively remove and install it.

[0032] Preferably, the distance between the first positioning post and the second positioning post along the second direction is not less than half the length of the battery.

[0033] In this solution, this structural form can improve the accuracy of battery and vehicle positioning and the reliability of connection, and avoid the loss of positioning and connection functions due to the first positioning post and the second positioning post being too close together.

[0034] Preferably, the second layer plate has a protrusion along the second direction, and the second positioning post is disposed at the edge of the extension of the second layer plate.

[0035] In this solution, this structural form further enhances the precision of the connection between the battery and the vehicle chassis, improves the fit between the battery and the bottom of the vehicle during battery replacement, and ensures the tightness of the battery connection to the vehicle. At the same time, only the second layer plate is provided with an extension, so that the size of other areas of the entire battery swapping equipment does not need to be increased, thus saving costs.

[0036] Preferably, the base further includes a battery tray, which is disposed above the first layer and is floatingly connected to the first layer. The first layer carries the battery through the battery tray, and the battery tray is provided with clearance holes for the unlocking mechanism and / or the first positioning post to extend.

[0037] In this solution, the structural design increases the contact area between the battery tray and the battery during the battery swapping process, thereby avoiding stress concentration and reducing or preventing structural damage to the battery swapping equipment caused by hard collisions between the equipment and the battery.

[0038] Preferably, the battery tray includes at least two tray units, each tray unit being separately arranged, and each tray unit being floatingly connected to the first layer plate.

[0039] In this solution, the structure is designed to achieve multi-point independent contact between the battery tray and the battery, thereby improving the load-bearing stability of the battery tray on the battery and preventing the battery tray from shaking under large external impacts, thus ensuring the stability of the battery during the battery swapping equipment's movement.

[0040] Preferably, there are two tray units, and the two tray units are spaced apart and located on both sides of the second module along the second direction. The outer sides of the two tray units have extension mechanism receiving areas into which the extension mechanism of the battery transfer device can extend.

[0041] In this solution, by using relatively spaced pallet units, the overall area of ​​the battery pallet is reduced without compromising load-bearing capacity, which helps to reduce costs. Furthermore, the installation space for other equipment is provided between the pallet units, making the overall battery swapping equipment more compact. At the same time, reasonable operating space is provided on the outside of the pallet units, allowing external palletizers to perform battery loading and unloading operations relative to the battery swapping equipment by extending their double extension mechanisms into the area between the two pallet units.

[0042] Preferably, the second module includes a walking guide mechanism, which is disposed at the bottom of the second module. The walking guide mechanism is located inside the lifting transmission mechanism and is offset from the walking wheels of the walking mechanism in a first direction.

[0043] In this design, to ensure the accuracy of the primary direction of the battery swapping equipment during its movement, a guiding mechanism is installed at the bottom of the housing. When the equipment moves on the ground, it is only necessary to ensure that the guiding mechanism and the track beneath the equipment cooperate, allowing the guiding mechanism to run along the designated route. The guiding mechanism and the wheels are offset in the primary direction to prevent the track from interfering with the normal operation of the wheels.

[0044] Preferably, the walking guide mechanism includes: a grooved wheel that can cooperate with a ground track so that the battery swapping equipment can travel along the track; an elastic element that is compressible in the vertical direction, the grooved wheel being rotatably disposed at the lower end of the elastic element, and the upper end of the elastic element being connected to the second module.

[0045] In this solution, the rolling mechanism of the walking guide mechanism is set as a grooved wheel to improve the rolling positioning performance relative to the guide rail. At the same time, the grooved wheel is connected to the second module through an elastic element to ensure that the grooved wheel and the rail always maintain effective contact, so that even when the rail is slightly uneven, it can still guide smoothly.

[0046] Preferably, the second module includes a positioning and identification mechanism, and the second module is provided with a mounting bracket on one side along the first direction. The mounting bracket extends outward from the side wall of the second module and does not interfere with the lifting transmission mechanism. The positioning and identification mechanism is mounted on the mounting bracket.

[0047] In this solution, the battery swapping equipment needs to be accurately positioned relative to the vehicle and battery during the swapping process. Therefore, a positioning and identification mechanism is installed on the battery swapping equipment. When the battery swapping equipment moves to the bottom of the vehicle chassis, the current vehicle position can be determined through the image information transmitted by the positioning and identification mechanism. This allows the battery replacement module on the battery swapping equipment to be further adjusted to the optimal position, ensuring the accuracy of the battery swapping equipment during loading and unloading.

[0048] Preferably, the first module and / or the third module are respectively provided with anti-collision mechanisms, the anti-collision mechanisms being located on the side wall of the first module away from the second module along the first direction and / or on the side wall of the third module away from the second module along the first direction.

[0049] In this solution, anti-collision mechanisms are installed at both ends of the box structure along the first direction of the power swapping equipment to protect the power swapping equipment from collisions with nearby objects. During the movement of the power swapping equipment, there may be other objects in front of and behind it, and the power swapping equipment runs at a relatively high speed, so it is inevitable that it will be damaged when it comes into contact with other objects. Therefore, anti-collision mechanisms are provided on the surface of the power swapping equipment in the first direction to ensure that the power swapping equipment can be moved intact.

[0050] The positive and progressive effects of this invention are as follows: The battery swapping equipment, by being sequentially divided into independent first, second, and third modules, allows for better independent processing and component installation and debugging of each module. Furthermore, the corresponding modules house the relatively independent functional mechanisms within the battery swapping equipment, facilitating assembly and integration by workers, shortening the production cycle, and simplifying disassembly and repair. This enhances the flexibility and versatility of the battery swapping equipment, making it more applicable. Simultaneously, the use of a lifting mechanism to raise and lower the battery swapping device allows it to accommodate batteries on vehicle chassis of varying heights. This enables access from under heavy-duty trucks for battery swapping. The lifting mechanism allows the swapping device to be raised and lowered to a suitable position for battery installation and removal, improving safety and ensuring stability during swapping. This avoids issues such as gaps between the swapping equipment and the battery that could lead to swapping failures, thereby improving swapping efficiency. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the overall structure of the battery swapping equipment according to a preferred embodiment of the present invention.

[0052] Figure 2 This is a schematic diagram of the overall structure of the battery swapping device according to another preferred embodiment of the present invention.

[0053] Figure 3 for Figure 2 Enlarged view of section A.

[0054] Figure 4 This is a schematic diagram of the first module in the power swapping equipment.

[0055] Figure 5 This is a schematic diagram of the second module in the power swapping equipment.

[0056] Figure 6 This is a structural diagram of the second module's box mechanism and lifting mechanism.

[0057] Figure 7 for Figure 6 Enlarged view of section B.

[0058] Figure 8 This is a schematic diagram of the supporting frame in the power swapping equipment.

[0059] Figure 9 This is a schematic diagram of the structure of the first layer plate and battery tray in the battery swapping equipment.

[0060] Figure 10 This is a schematic diagram of the structure of the first layer plate in the power swapping equipment.

[0061] Figure 11 This is a schematic diagram of the structure of the second layer plate in the power swapping equipment.

[0062] Figure 12 This is a schematic diagram of the third module in the power swapping equipment.

[0063] Figure 13 This is a schematic diagram of the walking guide mechanism in the battery swapping equipment.

[0064] Figure 14 This is a bottom view of a battery swapping device according to a preferred embodiment of the present invention.

[0065] Figure 15 for Figure 14 Enlarged view of section C.

[0066] Explanation of reference numerals in the attached figures:

[0067] 100 battery swapping devices

[0068] Module 1 200

[0069] Walking drive mechanism 21

[0070] Walking mechanism 22

[0071] Traveling synchronous shaft 221

[0072] Walking transmission assembly 222

[0073] The first gear 2221

[0074] Second gear 2222

[0075] 223 Walking Wheels

[0076] Lifting drive mechanism 23

[0077] Lifting synchronous shaft 24

[0078] Lifting drive assembly 25

[0079] Lifting first gear 251

[0080] Lifting second gear 252

[0081] Module 2 300

[0082] Battery swapping device 31

[0083] Battery Replacement Module 311

[0084] First layer 3111

[0085] First positioning post 31111

[0086] Second layer board 3112

[0087] Second positioning post 31121

[0088] Battery tray 3113

[0089] 31131

[0090] Pallet unit 31132

[0091] Support frame 312

[0092] Mobile Agency 313

[0093] Slide rail 314

[0094] Slider 315

[0095] 316 coil spring

[0096] Lifting mechanism 32

[0097] Lifting boom 321

[0098] Shaft 322

[0099] Walking guide mechanism 33

[0100] Grooved wheel 331

[0101] Elastic element 332

[0102] Location identification agency 34

[0103] Module 3 400

[0104] First block 41

[0105] Braking resistor 42

[0106] Collision avoidance mechanism 43

[0107] Lifting transmission mechanism 500

[0108] First Coordinating Organization 51

[0109] Second Coordinating Organization 52

[0110] Lifting Gear 53

[0111] Chain 54

[0112] First direction X

[0113] Second direction Y Detailed Implementation

[0114] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments.

[0115] like Figure 1-15 As shown, the present invention provides a battery swapping device 100 for swapping batteries in electric vehicles, particularly heavy-duty trucks, to either remove the battery from the bottom of the electric vehicle or install the battery on the bottom of the electric vehicle. Figure 1 As shown, the battery swapping equipment 100 includes a first module 200, a second module 300 and a third module 400 arranged sequentially along the first direction X (i.e. the direction of travel of the battery swapping equipment 100). These three modules are connected by positioning pins and screws.

[0116] like Figure 2-4 As shown, both the first module 200 and the third module 400 are equipped with a walking drive mechanism 21 and a walking mechanism 22. In each module, the walking drive mechanism 21 and the walking mechanism 22 are connected. The walking drive mechanism 21 is used to provide power to the walking mechanism 22, so that the walking mechanism 22 drives the battery swapping equipment 100 to move back and forth along the first direction X.

[0117] The second module 300 is equipped with a battery swapping device 31 and a lifting mechanism 32. The battery swapping device 31 is used to swap the battery of electric vehicles and is mounted on the lifting mechanism 32. The lifting mechanism 32 is mounted on the second module 300 and drives the battery swapping device 31 to rise and fall, thus completing the battery swapping task of the battery swapping device 31.

[0118] At least one of the first module 200 or the third module 400 is provided with a lifting drive mechanism 23, which is connected to the lifting mechanism 32. The lifting drive mechanism 23 is used to provide power to the lifting mechanism 32, so that the lifting mechanism drives the battery swapping device 31 to move in the height direction, so that the battery swapping device 100 can be matched with the height of the vehicle chassis for battery replacement.

[0119] This solution provides a chassis-type battery swapping device that can be accessed from the bottom of a heavy-duty truck to swap batteries, thus improving safety. The battery swapping device 100 is sequentially divided into three independent modules: a first module 200, a second module 300, and a third module 400. This allows for independent processing and component installation and debugging of each module. Furthermore, the relatively independent functional mechanisms within the battery swapping device 100 are installed on corresponding modules, facilitating simultaneous assembly, debugging, and integration of modules at different locations. This shortens the production cycle and also facilitates disassembly and repair, enhancing the flexibility and versatility of the battery swapping device 100 and making it more applicable.

[0120] Meanwhile, the first module 200 and the third module 400 are respectively equipped with a walking mechanism 22 and a walking drive mechanism 21, which helps to improve the load-bearing capacity of the battery swapping equipment 100; and the lifting mechanism 32 is used to drive the battery swapping device 31 to rise and fall in the height direction, so that the battery swapping device 31 can meet the position of the battery on the car chassis of different heights, improve the tightness of the battery swapping device 100 in contact with the battery when replacing the battery, avoid the problem of battery swapping failure caused by gaps between the battery swapping device 100 and the battery, and thus improve the battery swapping efficiency.

[0121] In this embodiment, each module is a box structure that is open at the top and closed on all sides and bottom (e.g., Figure 6 As shown, this is the box structure of the second module 300. All modules adopt this structural form, resulting in a simple structure that easily accommodates multiple other components and saves space. The box structure is composed of plate-like parts; these plate-like parts are smaller and easier to manufacture, allowing for processing with smaller, more common machine tools, reducing the size of the parts being processed, lowering processing difficulty and cost, and making it possible to manufacture larger-sized battery swapping devices 100. In other embodiments, each module can also be configured as a box structure that is open at the top and bottom and closed on all four sides.

[0122] After installing the necessary components into each module, the first module 200, the second module 300, and the third module 400 are connected and positioned using locating pins. Using locating pins to position each module enhances the connection while ensuring its accuracy. Therefore, when assembling each module, only locating pins are needed for positioning, simplifying the operator's work and ensuring accurate positioning of each module during repeated disassembly and reassembly.

[0123] like Figure 2-4 As shown, in this embodiment, the walking drive mechanism 21 is disposed within the first module 200 and the third module 400, and on one side wall extending along the first direction X.

[0124] The walking mechanism 22 includes a walking synchronous shaft 221, a walking transmission assembly 222, and walking wheels 223. Two walking wheels 223 are provided in both the first module 200 and the third module 400. The walking drive mechanism 21 and the walking synchronous shaft 221 are connected through the walking transmission assembly 222, ensuring the stability of the movement of the battery swapping equipment 100 driven by the walking mechanism 22. The walking drive mechanism 21 provides power to the walking synchronous shaft 221 and the walking transmission assembly 222, achieving stable operation of the battery swapping equipment 100 while saving space resources. The two walking wheels 223 are located at both ends of the walking synchronous shaft 221, on the outer surface of the sidewall of the corresponding module, and relatively far from the second module 300. The walking wheels 223 ensure the synchronicity of the walking mechanism 22's operation, improving the reliability and stability of the battery swapping equipment 100's operation. Meanwhile, a walking transmission assembly 222 is set between the walking drive mechanism 21 and the walking synchronous shaft 221 to ensure the synchronicity of the operation of the walking drive mechanism 21 and the walking synchronous shaft 221. Furthermore, by setting two walking wheels 223 on both ends of the walking synchronous shaft 221, the running speed ratio of the walking wheels 223 can be changed by adjusting the speed of the output shaft of the walking drive mechanism 21, thus ensuring the consistency of the operation of the walking wheels 223 on both sides.

[0125] Specifically, the travel transmission assembly 222 includes a first travel gear 2221 and a second travel gear 2222. The first travel gear 2221 is mounted on the shaft of the travel drive mechanism 21, and the second travel gear 2222 is mounted on the travel synchronization shaft 221, meshing with each other. This structural design ensures the synchronicity of the travel synchronization shaft 221 and the shaft of the travel drive assembly through the precision of the gear meshing transmission. This allows the speed ratio of the travel mechanism 22 to be changed by adjusting the movement of the shaft of the travel drive mechanism 21. Furthermore, the gear meshing also ensures the smooth operation of the travel mechanism 22.

[0126] Specifically, in this embodiment, the traveling wheel 223 is a rubber-coated wheel. The rubber-coated wheel increases the friction between the wheel and the ground, and also increases the gripping force of the wheel on the ground. This ensures that the traveling wheel 223 maintains constant contact with the ground, improving the reliability of the battery swapping equipment 100. Of course, in other embodiments, the structural form of the traveling wheel 223 can be selected and configured as needed.

[0127] like Figure 2-4 As shown, the battery swapping equipment 100 includes a lifting synchronous shaft 24 and a lifting transmission mechanism 500. The lifting synchronous shaft 24 passes through two opposing side walls of the first module 200 or the third module 400 extending along a first direction X, and its two ends extending out of the side walls are respectively connected to the lifting transmission mechanism 500 located outside the side walls and close to the second module 300. In this embodiment, the lifting drive mechanism 23 and the lifting synchronous shaft 24 are disposed within the first module 200. By providing the lifting synchronous shaft 24 in the battery swapping equipment 100 and using the lifting synchronous shaft 24 to achieve the drive connection between the lifting drive mechanism 23 and the lifting mechanism 32, the stability of the movement of the lifting mechanism 32 is ensured. Meanwhile, one end of the lifting transmission mechanism 500 is connected to the lifting synchronous shaft 24, and the other end is connected to the lifting mechanism 32. It is located on the outer side wall of the battery swapping equipment 100 and extends along the first direction X from the first module 200 to the second module 300. This arrangement of the lifting transmission mechanism 500 enables the output of driving force to the lifting drive mechanism 23, ensuring the stability of the movement of the lifting mechanism 32. The lifting drive mechanism 23 provides power to the lifting synchronous shaft 24 and the lifting transmission mechanism 500, achieving stable operation of the battery swapping equipment 100 while saving space.

[0128] Specifically, the battery swapping equipment 100 also includes a lifting transmission assembly 25. The shaft of the lifting drive motor is connected to one end of the lifting transmission assembly 25, and the other end of the lifting transmission assembly 25 is connected to the lifting synchronous shaft 24. The lifting transmission assembly 25 is provided between the lifting drive mechanism 23 and the lifting synchronous shaft 24 to ensure the synchronicity of the operation of the lifting drive mechanism 23 and the lifting synchronous shaft 24.

[0129] Furthermore, the lifting transmission assembly 25 includes a first lifting gear 251 and a second lifting gear 252. The first lifting gear 251 is mounted on the shaft of the lifting drive mechanism 23, and the second lifting gear 252 is mounted on the lifting synchronous shaft 24, meshing with each other. This structural design ensures the synchronicity of the operation of the shafts of the lifting synchronous shaft 24 and the lifting drive mechanism 23 through the precision of the gear meshing transmission. This allows the speed ratio of the lifting mechanism 32 to be changed by adjusting the operation of the shaft of the lifting drive mechanism 23. Furthermore, the gear meshing also ensures the smooth operation of the lifting mechanism 32.

[0130] like Figure 2-5As shown, the lifting transmission mechanism 500 includes a first coordinating mechanism 51. One end of the first coordinating mechanism 51 is connected to the lifting synchronous shaft 24, and the other end of the first coordinating mechanism 51 is connected to the lifting mechanism 32. The first coordinating mechanism 51 is used to drive the lifting mechanism 32 to lift and lower using the power provided by the lifting synchronous shaft 24, thereby achieving smooth operation of the lifting mechanism 32, increasing the path of transmission from the lifting drive mechanism 23 to the lifting mechanism 32, reducing the torque required to drive the lifting mechanism 32 to lift and lower, and enhancing the service life of the lifting drive mechanism 23 and the lifting mechanism 32.

[0131] like Figure 6-7 As shown, the lifting mechanism 32 includes a lifting arm 321 and a rotating shaft 322. One end of the lifting arm 321 is sleeved on the rotating shaft 322, and the other end of the lifting arm 321 is connected to the battery swapping device 31. The rotating shaft 322 extends from inside the second module 300 to the outside of two opposite side walls of the second module 300 extending along the first direction X. The first coordinating mechanism 51 drives the lifting mechanism 32 to move along the rotating shaft 322, thereby realizing the lifting and lowering operation of the lifting mechanism 32. This allows the battery swapping device 31 to be raised and lowered to a suitable position for battery installation and removal on the vehicle. Furthermore, the battery swapping device 31 can be raised and lowered to different heights to meet the needs of car chassis of different heights, enhancing its versatility.

[0132] Specifically, the first coordinating mechanism 51 includes two coordinating gears and a chain 54. The chain 54 covers the outer surface of the two coordinating gears and is used to drive the two coordinating gears to rotate synchronously. One coordinating gear is coaxially connected to the lifting synchronous shaft 24, and the other coordinating gear is coaxially connected to the rotating shaft 322. This ensures the consistency of operation between the first coordinating mechanism 51, the lifting mechanism 32, and the lifting drive mechanism 23. By using two coordinating gears to connect to the lifting mechanism 32 and the lifting synchronous shaft 24 respectively, the synchronicity of transmission between the various mechanisms is ensured.

[0133] Multiple lifting mechanisms 32 are installed inside the housing structure of the second module 300. The multiple lifting mechanisms 32 operate synchronously, ensuring the smooth lifting and lowering of the battery swapping device 31. Furthermore, placing the lifting mechanisms 32 inside the housing structure of the second module 300 results in a compact structure, saving space while increasing the connection surface between the lifting mechanisms 32 and the battery swapping device 31, further enhancing the smoothness and reliability of the battery swapping device 31's lifting and lowering.

[0134] like Figure 2-5As shown, the lifting transmission mechanism 500 includes a second coordinating mechanism 52. The second coordinating mechanism 52 is disposed on the side surface of the housing structure of the second module 300 along the moving direction of the battery swapping device 100. The second coordinating mechanism 52 is used to drive the synchronous lifting and lowering of multiple lifting mechanisms 32, achieving consistency in the operation of the multiple lifting mechanisms 32, thereby ensuring the smoothness of the lifting and lowering of the battery swapping device 31. By disposing of the second coordinating mechanism 52 on the outer surface of the housing structure of the second module 300, and separating the second coordinating mechanism 52 from the lifting mechanisms 32, it is ensured that the second coordinating mechanism 52 does not interfere with the operation of the lifting mechanisms 32, guaranteeing the synchronous operation of each mechanism and ensuring that each performs its specific function.

[0135] Specifically, the second coordinating mechanism 52 also includes two coordinating gears and a chain 54. The chain 54 covers the outer surface of the two coordinating gears and is used to drive the synchronous rotation of the two coordinating gears. Both coordinating gears are coaxially connected to the rotating shaft 322, and one of the rotating shafts 322 cooperates with the first coordinating mechanism 51. This allows the second coordinating mechanism 52 to operate synchronously with the first coordinating mechanism 51, ensuring the consistency and synchronicity of each lifting mechanism 32, and making the battery swapping device 31 more stable during the lifting process.

[0136] like Figure 2 As shown, a braking resistor 42 is provided on the first module 200 or the third module 400. The braking resistor 42 is located on the outer wall of the first module 200 or the third module 400 extending in the first direction X along the horizontal direction, and is electrically connected to the motor of the walking drive mechanism 21 or the motor of the lifting drive mechanism 23. The purpose of setting the braking resistor 42 is to quickly dissipate the mechanical energy generated during motor braking by dissipating it as electrical energy through the braking resistor, thereby improving the safety of the motor. At the same time, installing the braking resistor 42 on the outer surface of the third module 400 or the first module 200 facilitates heat dissipation of the braking resistor 42 during braking. Compared with placing the braking resistor 42 inside the module, it avoids the burning of cables inside the module due to heat dissipation of the braking resistor 42, improves heat dissipation efficiency, and ensures the safety of the power swapping equipment 100.

[0137] In this embodiment, the lifting drive mechanism 23 is disposed within the first module 200, and the braking resistor 42 is disposed on the outer wall of the third module 400. By disposing of the braking resistor 42 and the lifting drive mechanism 23 on different modules, the space of each module is utilized more efficiently, resulting in a more compact module structure.

[0138] In this embodiment, the lifting drive mechanism 23 is disposed within the first module 200. The lifting drive mechanism 23 and the walking drive mechanism 21 are respectively disposed on two opposite side walls of the first module 200 extending along the first direction X. This avoids interfering with the normal operation of other components within the first module 200 and saves space resources within the first module 200.

[0139] like Figure 2 As shown, a first stop 41 is also provided on the first module 200. The first stop 41 is respectively provided on two outer side walls of the first module 200 extending along the first direction X along the height direction, and is located between the traveling wheel 223 and the lifting transmission mechanism 500 to protect the lifting transmission mechanism 500; and / or, the third module 400 also includes a second stop (not shown in the figure). The second stop is provided on two outer side walls of the third module 400 extending along the first direction X along the height direction, and is located between the traveling wheel 223 and the braking resistor 42 to protect the braking resistor 42. By providing the first stop 41 and / or the second stop, it is prevented that the traveling wheel 223 will accidentally detach from the power swapping equipment 100, thus interfering with the normal operation of the lifting transmission mechanism 500 and / or the braking resistor 42.

[0140] Specifically, the lower end of the first stop 41 is not lower than the lower end of the traveling wheel 223 and not higher than the lower edge of the first module 200, to provide support for the first module 200 before or during assembly; and / or, the lower end of the second stop is not lower than the lower end of the traveling wheel 223 and not higher than the lower edge of the third module 400, to provide support for the third module 400 before or during assembly. This provides temporary support for the first module 200 and / or the third module 400 before or during assembly with the second module 300, preventing the bottom surfaces of the first module 200 and the third module 400 from contacting the ground and causing wear.

[0141] like Figure 5-11 As shown, the battery swapping device 31 includes a battery swapping module 311 and a support frame 312. The entire battery swapping module 311 is mounted on the support frame 312. The support frame 312 is connected to lifting mechanisms 32 mounted on the two opposite inner sidewalls of the second module 300 along the first direction X (the positions of each lifting mechanism 32 within the second module 300 are as follows). Figure 6(As shown). In this design, the support frame 312 provides a platform for the battery replacement module 311, and the support frame 312 is connected to the lifting mechanism 32, enabling the battery replacement module 311 to be lifted vertically. By placing the battery replacement module 311 in the middle area of ​​the support frame 312, the force on the battery replacement module 311 during battery replacement is made more stable. Simultaneously, the support frame 312 is used to support the battery replacement module 311, facilitating the integrated installation of the relatively complex battery replacement module 311.

[0142] The battery replacement module 311, located above the support frame 312, specifically includes a base and a positioning mechanism and an unlocking mechanism mounted on the base. The positioning mechanism is used to position the battery or electric vehicle relative to it. Positioning with the electric vehicle ensures the accuracy of the vehicle's position relative to the battery replacement device 100 during the battery replacement process. Positioning with the battery ensures that the battery can be effectively moved during the replacement process, enabling unlocking and locking relative to the electric vehicle. The unlocking mechanism unlocks the removed battery relative to the electric vehicle during the replacement process, allowing the battery replacement device 100 to smoothly remove the battery from the vehicle. Simultaneously, the unlocking mechanism locks the installed battery relative to the electric vehicle during the replacement process, ensuring that the battery does not detach from the electric vehicle during normal operation.

[0143] The base can move horizontally relative to the support frame 312 along a second direction Y (perpendicular to the direction of travel of the battery swapping equipment 100) perpendicular to the first direction X, and drive the positioning mechanism to move. This allows the positioning mechanism to accurately position itself with the vehicle and battery during the lifting process, enabling the unlocking mechanism to perform operations to lock the battery onto the vehicle or unlock it. By setting up the positioning and unlocking mechanisms, precise positioning of the battery and the vehicle chassis is ensured during battery replacement, avoiding battery installation failure due to positioning errors.

[0144] The base also includes a first layer plate 3111 and a second layer plate 3112 that are staggered in the horizontal direction. The first layer plate 3111 and the second layer plate 3112 are respectively fixed to the support frame 312 by a moving mechanism 313, so that they can move relative to the support frame 312 in the second direction Y.

[0145] The installation positions of the respective moving mechanisms 313 on the support frame 312 are as follows: Figure 8As shown, in this embodiment, the moving mechanism 313 is a screw and nut moving mechanism 313 driven by a motor. The first layer plate 3111 moves in the second direction Y through two sets of moving mechanisms 313 located on the outer side, and the second layer plate 3112 moves in the second direction Y through two sets of moving mechanisms 313 located on the inner side. In addition, to ensure the stability of the movement, two sets of slide rails 314 are provided on the support frame 312. The sliders 315 on the slide rails 314 are connected to the first layer plate 3111 and the second layer plate 3112 respectively, realizing the positioning and guidance of the first layer plate 3111 and the second layer plate 3112.

[0146] At least two first positioning posts 31111 are provided on the first layer plate 3111 for positioning with the battery on the vehicle, and at least two second positioning posts 31121 are provided on the second layer plate 3112 for positioning with the vehicle. Therefore, in this embodiment, the positioning mechanism includes first positioning posts 31111 and second positioning posts 31121 for positioning with the battery and the vehicle, respectively.

[0147] By staggering the first layer plate 3111 and the second layer plate 3112 in the horizontal direction, the height difference between the first layer plate 3111 and the second layer plate 3112 can be further reduced, or even eliminated, thereby reducing the overall height of the battery replacement module 311 and further compressing the height of the battery swapping device 100 to meet the minimum height requirements for heavy-duty truck battery swapping. Simultaneously, positioning posts are provided on the first layer plate 3111 and the second layer plate 3112 respectively for positioning corresponding to the vehicle and the battery, allowing the battery swapping device 31 to accurately locate the battery, thus enabling effective battery removal and installation.

[0148] In this embodiment, the two first positioning posts 31111 located on both sides of the three first positioning posts 31111 also serve to unlock the battery by driving the linkage mechanism inside. Therefore, the first positioning posts 31111 are also used as unlocking mechanisms. Of course, in other embodiments, independent unlocking mechanisms can also be provided on the first layer plate 3111 or the second layer plate 3112 to unlock the battery.

[0149] Specifically, the distance between the first positioning post 31111 and the second positioning post 31121 along the second direction Y is not less than half the length of the battery. This can improve the accuracy of battery and vehicle positioning and the reliability of connection, and avoid the first positioning post 31111 and the second positioning post 31121 being too close together, which would cause the positioning and connection functions to be lost.

[0150] Specifically, the second layer plate 3112 has a protrusion along the second direction Y, and the second positioning post 31121 is disposed at the edge of the extension of the second layer plate 3112. This further enhances the accuracy of the connection between the battery and the vehicle chassis, improves the fit between the battery and the bottom of the vehicle during battery replacement, and ensures the tightness of the battery connection to the vehicle. At the same time, by providing an extension only for the second layer plate 3112, the dimensions of other areas of the entire battery swapping equipment do not need to be increased, thus saving costs.

[0151] Meanwhile, the base also includes a battery tray 3113, which is positioned above the first layer plate 3111 and is floatingly connected to the first layer plate 3111. The first layer plate 3111 carries the battery through the battery tray 3113, and the battery tray 3113 is provided with clearance holes 31131 for the unlocking mechanism and / or the first positioning post 31111 to extend out. This allows the battery tray 3113 to have a certain degree of elastic freedom in the height direction relative to the first layer plate 3111, thereby increasing the contact area between the battery tray 3113 and the battery during the battery swapping process to avoid stress concentration. It can also reduce or avoid structural damage to the battery swapping equipment caused by hard collisions between the battery and the swapping equipment.

[0152] In this embodiment, the battery tray 3113 includes two tray units 31132, which are separately spaced and relatively independent. Each tray unit 31132 is floatingly connected to the first layer plate 3111. This achieves multi-point independent contact between the battery tray 3113 and the battery, improving the battery tray 3113's load-bearing stability and preventing overall shaking under large external impacts. This ensures the stability of the battery during the movement of the battery swapping device 100 carrying the battery. In this embodiment, there are two tray units 31132, located on opposite sides of the second module 300 along the second direction X. The outer sides of each tray unit 31132 have an extension mechanism receiving area into which the extension mechanism of the battery transfer device can extend. By using relatively spaced tray units 31132, the overall area of ​​the battery tray 3113 is reduced without compromising load-bearing capacity, which helps to lower costs. Furthermore, the tray units 31132 provide installation space for other equipment, making the overall battery swapping equipment more compact. Simultaneously, the tray units 31132 provide reasonable operational space, allowing an external palletizer to perform battery loading and unloading operations relative to the battery swapping equipment 100 by extending its double-extending mechanism into the area between two tray units 31132. In other embodiments, there may be more than two tray units 31132, for example, four.

[0153] In this embodiment, as Figure 10 As shown, the floating connection between the tray unit 31132 and the first layer plate 3111 is achieved through multiple helical springs 316 installed on the first layer plate 3111. These helical springs 316 are positioned on the upper surface of the first layer plate 3111. By contacting the upper end of the helical springs 316 with the corresponding tray unit 31132 of the battery tray 3113, the floating support of the tray unit 31132 and the battery is achieved. In addition, in this embodiment, a limiting rod is provided below the tray unit 31132. The limiting rod is located within each helical spring 316, allowing the tray unit 31132 to be detachably connected to the helical spring 316, thereby facilitating installation and maintenance. In other embodiments, the helical springs 316 can also be fixed to the tray unit 31132 to ensure that the tray unit 31132 will not detach from the first layer plate 3111 under any circumstances. However, such a structural arrangement is not conducive to the individual replacement of the tray unit 31132, resulting in poor maintainability.

[0154] like Figure 13-15 As shown, the second module 300 includes a walking guide mechanism 33, which is located at the bottom of the second module 300. The walking guide mechanism 33 is situated inside the lifting transmission mechanism 500 and is offset from the walking wheels 223 along the first direction X. In this design, during the movement of the power swapping equipment 100, it is necessary to ensure the accuracy of the first direction X of the power swapping equipment 100. Therefore, a walking guide mechanism 33 is provided at the bottom of the housing structure. When the power swapping equipment 100 moves on the ground, it is only necessary to ensure that the walking guide mechanism 33 cooperates with the track below the power swapping equipment 100, allowing the walking guide mechanism 33 to run on the predetermined route. The walking guide mechanism 33 and the walking wheels 223 are offset in the first direction X, ensuring that the track cooperating with the walking guide mechanism 33 does not affect the normal operation of the walking wheels 223.

[0155] Specifically, the walking guide mechanism 33 includes a grooved wheel 331 and an elastic element 332. The grooved wheel 331 can cooperate with the ground track to allow the power swapping equipment 100 to travel along the track. The elastic element 332 is compressible in the vertical direction, and the grooved wheel 331 is rotatably disposed at the lower end of the elastic element 332, with the upper end of the elastic element 332 connected to the second module 300. By setting the rolling mechanism of the walking guide mechanism 33 to the grooved wheel 331, the rolling positioning performance relative to the guide rail is improved. At the same time, the connection between the grooved wheel 331 and the second module 300 is achieved through the elastic element 332, ensuring that the grooved wheel 331 maintains effective contact with the track at all times, and ensuring smooth guidance even when the track is slightly uneven. In this embodiment, the elastic element 332 is a compression spring.

[0156] like Figure 1As shown, the second module 300 includes a positioning and identification mechanism 34. The second module 300 has a mounting bracket on one side along the first direction X. The mounting bracket extends outward from the side wall of the second module 300 and does not interfere with the lifting transmission mechanism 500 on the outside of the second module 300. The positioning and identification mechanism 34 is mounted on the mounting bracket. This ensures the accuracy of the battery swapping equipment 100 installed on the vehicle chassis. With the positioning and identification mechanism 34 on the battery swapping equipment 100, when the battery swapping equipment 100 moves to the bottom of the vehicle chassis, the current vehicle position can be determined through the image information transmitted by the positioning and identification mechanism 34. This allows the battery replacement module on the battery swapping equipment to be further adjusted to the optimal position, ensuring the accuracy of the battery swapping equipment 100 during loading and unloading. In this embodiment, the positioning and identification mechanism 34 is a vision camera.

[0157] like Figure 1-2 As shown, the first module 200 and / or the third module 400 are respectively provided with anti-collision mechanisms 43. The anti-collision mechanisms 43 are located on the side wall of the first module 200 away from the second module 300 along the first direction X and / or on the side wall of the third module 400 away from the second module 300 along the first direction X. The purpose of providing anti-collision mechanisms 43 is to protect the power swapping equipment 100 from collisions with nearby objects. During the movement of the power swapping equipment 100, there may be other objects in front of and behind it, and the power swapping equipment 100 runs at a relatively high speed, so it is inevitable that it will be damaged when it comes into contact with other objects. Therefore, anti-collision mechanisms 43 are provided on the surface of the power swapping equipment 100 in the first direction X to ensure that the power swapping equipment 100 can move intact.

[0158] Specifically, the anti-collision mechanism 43 is made of silicone, which increases the contact area between the battery swapping equipment 100 and other objects when it moves, reduces the force on the battery swapping equipment 100, and thus avoids damage to the battery swapping equipment 100.

[0159] 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 chassis-type battery swapping device for swapping batteries in battery swapping vehicles, characterized in that, The battery swapping equipment includes: The first module, the second module, and the third module are detachably connected in sequence along the first direction; The first module and the third module are provided with a walking drive mechanism and a walking mechanism. The walking drive mechanism is used to provide power to the walking mechanism, and the walking mechanism is used to drive the battery swapping equipment to run along the first direction. The second module includes a battery swapping device and a lifting mechanism. The battery swapping device is mounted on the lifting mechanism, which is used to drive the battery swapping device to move up and down. At least one of the first module or the third module is provided with a lifting drive mechanism, which is used to drive the lifting mechanism to move up and down. The battery swapping equipment also includes a lifting synchronous shaft. The lifting drive mechanism is disposed on one side wall of the first module or the third module extending along the first direction. The lifting synchronous shaft passes through two opposite side walls of the first module or the third module extending along the first direction. The two ends of the lifting synchronous shaft extending out of the side wall are respectively connected to the lifting transmission mechanism on the outside of the side wall and close to the second module. The lifting synchronous shaft is also connected to the lifting drive mechanism so as to be driven by the lifting drive mechanism.

2. The chassis-type battery swapping equipment as described in claim 1, characterized in that, The walking drive mechanism is disposed on one side wall of the first module and the third module extending along the first direction, and the walking mechanism includes: A walking synchronous shaft, which passes through two opposite sidewalls of the first module and the third module extending along the first direction; A walking transmission assembly is connected to the walking drive mechanism and the walking synchronous shaft respectively, so that the walking drive mechanism provides power to the walking synchronous shaft through the walking transmission assembly; The walking wheels are disposed at both ends of the walking synchronization shaft and are located on the outside of the side wall and away from the second module; The battery swapping device includes a battery replacement module and a support frame. The battery replacement module is mounted on the support frame, and the support frame is connected to the lifting mechanism mounted on the second module.

3. The chassis-type battery swapping equipment as described in claim 2, characterized in that, The lifting transmission mechanism extends from the first module to the second module along the first direction and cooperates with the lifting mechanism in the second module so that the lifting drive mechanism provides power to the lifting mechanism through the lifting synchronous shaft and the lifting transmission mechanism.

4. The chassis-type battery swapping equipment as described in claim 2, characterized in that, The first module or the third module is provided with a braking resistor. The braking resistor is disposed at least horizontally on the outer side wall of the first module or the third module on one side extending along the first direction, and is electrically connected to the motor of the walking drive mechanism or the motor of the lifting drive mechanism.

5. The chassis-type battery swapping equipment as described in claim 4, characterized in that, When the lifting drive mechanism is installed in the first module, the braking resistor is installed on the outer wall of the third module.

6. The chassis-type battery swapping equipment as described in claim 2, characterized in that, When the lifting drive mechanism is installed in the first module, the lifting drive mechanism and the walking drive mechanism are respectively installed on two opposite side walls of the first module extending along the first direction.

7. The chassis-type battery swapping equipment as described in claim 5, characterized in that, The first module further includes a first stop block, which is respectively disposed on two outer side walls of the first module extending along the first direction along the height direction, and is located between the walking wheel and the lifting transmission mechanism to protect the lifting transmission mechanism; And / or, the third module further includes a second stop block, which is disposed along the height direction on two outer side walls of the third module extending along the first direction and located between the traveling wheel and the braking resistor to protect the braking resistor.

8. The chassis-type battery swapping equipment as described in claim 7, characterized in that, The lower end of the first stop is not lower than the lower end of the walking wheel and not higher than the lower edge of the first module, so as to provide support for the first module before or during assembly; and / or, the lower end of the second stop is not lower than the lower end of the walking wheel and not higher than the lower edge of the third module, so as to provide support for the third module before or during assembly.

9. The chassis-type battery swapping equipment as described in claim 1, characterized in that, The battery swapping device includes a battery replacement module and a support frame. The battery replacement module is mounted on the support frame, and the support frame is connected to the lifting mechanism mounted on two opposing inner sidewalls of the second module extending along the first direction.

10. The chassis-type battery swapping equipment as described in claim 9, characterized in that, The lifting mechanism has a pivot extending to the outside of two opposing sidewalls of the second module extending in the first direction. The pivot is connected to a lifting transmission mechanism located outside the second module and powered by the lifting drive mechanism, thereby enabling the lifting mechanism to move around the pivot.

11. The chassis-type battery swapping equipment as described in claim 9, characterized in that, The battery replacement module includes a base and a positioning mechanism and an unlocking mechanism disposed on the base. The base can move horizontally relative to the support frame in a second direction perpendicular to the first direction, which can drive the positioning mechanism to move so as to position it with the vehicle and / or the battery. Thus, the unlocking mechanism can perform operations to lock the battery to the vehicle and unlock the battery from the vehicle.

12. The chassis-type battery swapping equipment as described in claim 11, characterized in that, The base includes a first layer plate and a second layer plate arranged in a horizontally staggered manner. The first layer plate and the second layer plate are each fixed to the support frame by a moving mechanism so that they can move relative to the support frame in the second direction. The first layer plate is provided with at least two first positioning posts for positioning with the battery on the vehicle, and the second layer plate is provided with at least two second positioning posts for positioning with the vehicle.

13. The chassis-type battery swapping equipment as described in claim 12, characterized in that, The distance between the first positioning post and the second positioning post along the second direction is not less than half the length of the battery.

14. The chassis-type battery swapping equipment as described in claim 13, characterized in that, The second layer plate has a protrusion along the second direction, and the second positioning post is disposed at the edge of the extension of the second layer plate.

15. The chassis-type battery swapping equipment as described in claim 14, characterized in that, The base also includes a battery tray, which is disposed above the first layer and is floatingly connected to the first layer. The first layer carries the battery through the battery tray, and the battery tray is provided with clearance holes for the unlocking mechanism and / or the first positioning post to extend out.

16. The chassis-type battery swapping equipment as described in claim 15, characterized in that, The battery tray includes at least two tray units, which are separately arranged and are respectively floatingly connected to the first layer plate.

17. The chassis-type battery swapping equipment as described in claim 16, characterized in that, There are two tray units, and the two tray units are respectively located on both sides of the second module along the second direction. The outer sides of the two tray units have an extension mechanism receiving area into which the extension mechanism of the battery transfer device can extend.

18. The chassis-type battery swapping equipment as described in claim 10, characterized in that, The second module includes a walking guide mechanism, which is located at the bottom of the second module. The walking guide mechanism is located inside the lifting transmission mechanism and is offset from the walking wheels of the walking mechanism along the first direction.

19. The chassis-type battery swapping equipment as described in claim 18, characterized in that, The walking guide mechanism includes a grooved wheel, which can cooperate with a ground track to allow the power swapping equipment to travel along the track. An elastic element is provided, which is compressible in the vertical direction. The grooved wheel is rotatably disposed at the lower end of the elastic element, and the upper end of the elastic element is connected to the second module.

20. The chassis-type battery swapping equipment as described in claim 10, characterized in that, The second module includes a positioning and identification mechanism. The second module has a mounting bracket on one side along the first direction. The mounting bracket extends outward from the side wall of the second module and does not interfere with the lifting transmission mechanism. The positioning and identification mechanism is mounted on the mounting bracket.

21. The chassis-type battery swapping equipment as described in claim 2, characterized in that, The first module and / or the third module are respectively provided with anti-collision mechanisms, which are located on the side wall of the first module away from the second module along the first direction and / or on the side wall of the third module away from the second module along the first direction.

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