An execution terminal, a battery replacement vehicle and a battery replacement method

Abstract

The present application relates to an execution terminal, a battery-swapping trolley and a battery-swapping method. The execution terminal includes: a connecting seat; a rotating seat, rotatably connected to the connecting seat; an actuator, including a first gear, a plurality of second gears and a working device, the first gear meshing with the second gear; the working device is rotatably connected to the rotating seat and connected to the second gear; the rotating seat rotates relative to the connecting seat to select the working device, and the first gear drives the working device to rotate through the second gear. The above-mentioned execution terminal, battery-swapping trolley and battery-swapping method connect multiple working devices to the rotating seat, and rotate the rotating seat according to the type of vehicle to select the working device corresponding to the vehicle, so that different types of vehicles can be unlocked or locked, which increases the scope of application of the battery-swapping equipment to vehicles.

Description

Technical Field

[0001] The present invention relates to the field of battery replacement equipment, and in particular to an execution terminal, a battery replacement vehicle and a battery replacement method. Background Art

[0002] Battery-swap new energy vehicles can be recharged by replacing the battery box. The vehicle fixes the battery box through a locking mechanism. When the battery box needs to be replaced, the battery-swap equipment docks with the locking mechanism to unlock the locking structure to remove the depleted battery box, and then replaces the fully charged battery box with the vehicle, and then docks with the locking mechanism to fix the battery box on the vehicle.

[0003] However, due to the large number of vehicle types, the disassembly methods of the battery boxes installed in new energy vehicles produced by various manufacturers are different. The existing battery swapping equipment generally only disassembles and assembles a single type of battery box and cannot replace battery boxes for multiple types of vehicles, which seriously affects the working scope of existing battery swapping stations. Summary of the invention

[0004] In view of the above, it is necessary to provide an execution terminal, a battery replacement vehicle and a battery replacement method, which are designed to be able to replace battery boxes for different types of vehicles.

[0005] To this end, the present disclosure first provides an execution terminal, including:

[0006] Connecting seat;

[0007] A rotating seat, rotatably connected to the connecting seat;

[0008] The actuator comprises a first gear, a plurality of second gears and a working device, wherein the first gear is meshed with the second gears; the working device is rotatably connected to the rotating seat and connected to the second gears;

[0009] The rotating seat rotates relative to the connecting seat to select the working device, and the first gear drives the working device to rotate through the second gear.

[0010] According to the execution terminal, it also includes a first driver and a connecting gear, the first driver is connected to the connecting gear, the connecting gear is connected to the rotating seat, and the first driver drives the rotating seat to rotate relative to the connecting seat through the connecting gear.

[0011] According to the execution terminal, it also includes a second driver connected to the first gear, and the second driver is used to drive the first gear to rotate, and the working device is driven to rotate through the second gear.

[0012] According to the execution terminal, the plurality of workers are located in the same plane, the first gear and the second gear are bevel gears, and the first gear is parallel to the plane where the workers are located.

[0013] According to the execution terminal, an end of the working device away from the second gear is provided with an unlocking portion corresponding to the locking mechanism of the battery box.

[0014] In addition, the present disclosure also provides a battery-swap vehicle suitable for a variety of vehicle models, including:

[0015] Vehicle body;

[0016] A mechanical arm connected to the vehicle body;

[0017] An execution terminal connected to the mechanical arm, the execution terminal comprising a connection seat connected to the mechanical arm, a rotating seat and an execution mechanism, the rotating seat rotatably connected to the connection seat, the execution mechanism comprising a plurality of workers corresponding to the locking mechanism of the battery box, the workers connected to the rotating seat;

[0018] The robotic arm is used to move the execution terminal to dock with the locking mechanism of the battery box, and the execution terminal is used to rotate the rotating seat according to the locking mechanism of the battery box to select the working device corresponding to the locking mechanism to unlock or lock the locking mechanism.

[0019] According to the battery-swap vehicle suitable for various vehicle models, the mechanical arm includes one or more movable joints and a connecting arm, and the connecting arm is connected through the movable joint and is used to unfold or fold in a horizontal plane to move the execution terminal to dock with the locking mechanism.

[0020] According to the battery-swap vehicle applicable to various vehicle models, the number of the execution terminals is greater than or equal to the locking mechanism.

[0021] According to the battery-exchange vehicle suitable for various vehicle models, it also includes a carrying platform, which is movably connected to the vehicle body in a vertical direction, and the mechanical arm is connected to the carrying platform to drive the execution terminal to move in the vertical direction through the mechanical arm.

[0022] According to the battery-swap vehicle suitable for various vehicle models, the execution terminal is an execution terminal provided by the present invention, which is used for, after the working device corresponding to the locking mechanism is selected to dock with the locking mechanism, the first gear of the execution terminal drives the working device to rotate through the second gear of the execution terminal to lock or unlock the locking mechanism.

[0023] Furthermore, the present disclosure provides a battery replacement method, comprising the following steps:

[0024] Receiving vehicle model information, wherein the vehicle model information includes a type of a locking mechanism of the battery box;

[0025] Rotate the rotating seat according to the type of the locking mechanism to select a working device corresponding to the locking mechanism;

[0026] The working device is moved and inserted into the locking mechanism to unlock or lock the locking mechanism.

[0027] According to the battery replacement method, moving the working device includes: driving the working device to move to a position where it docks with the locking mechanism through a mechanical arm.

[0028] According to the battery replacement method, moving the working device includes: the robotic arm extends or retracts in a horizontal plane to move the working device in the horizontal plane; and the supporting platform moves in a vertical direction relative to the vehicle body, and the working device is driven to move in the vertical direction by the robotic arm.

[0029] According to the battery replacement method, moving the working device to be plugged into the locking mechanism includes: the working device moves in a vertical direction to push the locking mechanism to unlock or lock the locking mechanism; or, the working device rotates to unlock or lock the locking mechanism.

[0030] Compared with the prior art, the above-mentioned execution terminal, battery exchange vehicle and battery exchange method connect multiple working devices to a rotating seat, and rotate the rotating seat according to the type of vehicle to select the working device corresponding to the vehicle, so that different types of vehicles can be unlocked or locked, thereby improving the applicability of the battery exchange equipment to vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the specific implementation methods, the drawings required for use in the description of the implementation methods will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 It is a schematic diagram of the structure of the battery-swapping vehicle under the state of the loaded battery box;

[0033] Figure 2 It is a structural diagram of the battery-swapping vehicle;

[0034] Figure 3 It is a schematic diagram of the structure of the robot arm and the execution terminal;

[0035] Figure 4 It is a schematic diagram of the structure of the execution terminal;

[0036] Figure 5 It is a structural schematic diagram of the rotating seat;

[0037] Figure 6 It is a schematic diagram of the structure of the actuator;

[0038] Figure 7 It is a flow chart of the battery replacement method;

[0039] In the figure, 10, battery box; 11, locking mechanism; 12, fixing part; 20, vehicle body; 21, walking wheel; 30, carrying platform; 40, mechanical arm; 41, movable joint; 42, connecting arm; 50, execution terminal; 51, connecting seat; 52, rotating seat; 521, connecting gear; 522, through hole; 53, working device; 531, unlocking part; 54, second drive; 55, first drive; 551, driving gear; 56, first gear; 57, second gear.

[0040] The following specific implementations will further illustrate the present disclosure in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0041] In order to more clearly understand the above-mentioned purposes, features and advantages of the present disclosure, the present disclosure is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth in order to fully understand the present disclosure, and the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present disclosure belongs. The terms used in the specification herein are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0043] In each embodiment, for the convenience of description and not to limit the present disclosure, the term "connection" used in the patent specification and claims of the present disclosure is not limited to physical or mechanical connection, but may include electrical connection, whether direct or indirect. "Up", "down", "below", "left", "right", etc. are only used to indicate relative position relationship. When the absolute position of the described object changes, the relative position relationship also changes accordingly.

[0044] Example 1

[0045] Figure 1 This is a schematic diagram of the structure of the battery-swap vehicle under the load battery box 10 state. Figure 1As shown, the battery-swapping cart suitable for a variety of vehicle models can be used to replace the battery box 10 for the vehicle, and move the load battery box 10 to a preset position. Specifically, when the vehicle reaches the battery-swapping position for replacing the battery, the battery-swapping cart moves to the bottom of the vehicle, and transfers the exhausted battery box 10 on the vehicle from the vehicle to the battery-swapping cart; then the exhausted battery box 10 is moved to the power-collecting position close to the battery rack, and the exhausted battery box 10 is moved to the battery box 10, and the fully charged battery box 10 is obtained from the battery rack; then, the battery-swapping cart moves the fully charged battery box 10 to the bottom of the vehicle, and installs the fully charged battery box 10 on the vehicle to complete the battery-swapping operation. In a specific implementation, the battery-swapping operation process of the battery-swapping cart may also involve cooperation with other equipment, and the steps of the battery-swapping action may also differ.

[0046] Specifically, the battery box 10 is provided with a plurality of locking mechanisms 11, and is fixedly connected to a fixing member 12 of the vehicle through the locking mechanisms 11. Figure 1 In the illustrated embodiment, there are six locking mechanisms 11, and three locking mechanisms 11 are provided in the length direction of both sides of the battery box 10 to achieve the connection between the battery box 10 and the fixing part 12 of the vehicle. The structure of the locking mechanism 11 is of various types, for example, some are connected to the fixing part 12 of the vehicle by bolts with a non-structural structure, and some are connected to the battery box 10 and the locking part by a plug-in clamping structure. Therefore, for different locking mechanisms 11, different execution terminals 50 need to be used to operate the locking mechanism 11.

[0047] Figure 2 This is a schematic diagram of the structure of the battery-swapping vehicle. Figure 1 and Figure 2 As shown, the battery swapping vehicle includes a vehicle body 20, a carrying platform 30, a mechanical arm 40 and an execution terminal 50. The vehicle body 20 is used to load other components of the battery swapping vehicle, the carrying platform 30 is used to load the battery box 10, and the mechanical arm 40 and the execution terminal 50 are used to unlock or lock the battery box 10, remove the battery box 10 from the vehicle to the carrying platform 30; or install the battery box 10 on the carrying platform 30 onto the vehicle.

[0048] The vehicle body 20 is generally a flat frame structure with a plurality of running wheels 21 at the bottom for realizing the walking and moving function of the vehicle body 20 . The running wheels 21 move along a preset route to move between the battery replacement position and the power collection position, or move along other preset routes.

[0049] The carrying platform 30 is generally a frame structure and is disposed on the vehicle body 20. In some embodiments, the carrying platform 30 can be connected to the vehicle body 20 in a floating manner in the horizontal direction to facilitate the docking of the carrying platform 30 and the battery box 10. In other embodiments, the carrying platform 30 can also be lifted and lowered in the vertical direction relative to the vehicle body 20 to approach the battery box 10 or move the battery box 10 to the installation position of the vehicle. However, in order to achieve vertical movement, the lifting or lowering of the carrying platform 30 can also be achieved by lifting the vehicle body 20 as a whole.

[0050] The robotic arm 40 is used to move the execution terminal 50 to dock with the locking mechanism 11 of the battery box 10. In the present embodiment, the number of the robotic arms 40 is multiple, for example, it may be 6, but it may also be other numbers. Preferably, in order to improve the efficiency of replacing the battery box 10 and realize the action of simultaneously disconnecting and connecting the locking mechanism 11 of the battery box 10, the number of the robotic arms 40 is greater than or equal to the number of the locking mechanisms 11 of the battery box 10, so as to realize parallel operation. However, in some embodiments, the number of the robotic arms 40 may also be less than the number of the locking mechanisms 11, and the preset access action to the battery box 10 may also be realized through the serial operation of individual robotic arms 40, that is, after unlocking or locking one locking mechanism 11, the other locking mechanism 11 is operated.

[0051] Figure 3 Schematic diagram of the structure of the robot arm 40 and the execution terminal 50. Figure 3 As shown, one end of the robot arm 40 is connected to the carrying platform 30, and the other end is connected to the execution terminal 50, which is used to move the execution terminal 50 to dock with the locking structure to lock or unlock the locking mechanism 11. In some embodiments, the robot arm 40 adopts a multi-joint structure, which can move the execution terminal 50 in the horizontal direction and the vertical direction. In other embodiments, the robot arm 40 may also include a telescopic mechanism, which is used to drive the execution terminal 50 to extend or retract in the telescopic direction to drive the execution terminal 50 to dock with the locking structure. As an example, in this embodiment, the robot arm 40 includes one or more movable joints 41 and multiple connecting arms 42. For example, in Figure 3 In the illustrated embodiment, the robotic arm 40 includes three connecting arms 42 and three movable pipes, wherein the connecting arm 42 at the head end is connected to the side of the supporting platform 30 at one end, and the other end is connected to the middle connecting arm 42 through a movable pipe; the middle connecting arm 42 is connected to the rear connecting arm 42 through a movable joint 41, and the rear connecting arm 42 is connected to the execution terminal 50 through a movable joint 41.

[0052] In this embodiment, the movable joint 41 allows the connecting arm 42 to be folded or opened in the horizontal plane, so that the execution terminal 50 can be unfolded or folded in the horizontal plane to move the execution terminal 50 to dock with the locking mechanism 11. The carrying platform 30 moves in the vertical direction on the vehicle body 20, so that the execution terminal 50 can be moved in the horizontal plane and the height of the execution terminal 50 can be adjusted in the vertical direction to achieve docking with the locking mechanism 11.

[0053] Figure 4 is a schematic diagram of the structure of the execution terminal 50. Figure 3 and Figure 4 As shown, the execution terminal 50 is connected to the free end of the mechanical arm 40, and includes a connection seat 51, a rotating seat 52 and an execution mechanism. When working, the execution terminal 50 is used to rotate the rotating seat 52 according to the type of the locking mechanism 11 of the battery box 10 to select the working device 53 corresponding to the locking mechanism 11 to unlock or lock the locking mechanism 11.

[0054] The connection base 51 is used to dock the mechanical arm 40, and the rotating base 52 is used to adjust and select the locking mechanism 11 corresponding to the locking mechanism 11, and the locking mechanism 11 is used to operate the locking mechanism 11 to achieve locking or unlocking of the locking mechanism 11. Specifically, the connection base 51 is connected to the movable joint 41 at the tail end of the mechanical arm 40, and the movable joint 41 pulls the connection arm 42 to fold, rotate, and unfold to achieve the movement of the execution terminal 50 in the horizontal plane.

[0055] Figure 5 Schematic diagram of the structure of the rotating seat 52. Figure 4 and Figure 5 As shown, the rotating seat 52 is rotatably connected to the connecting seat 51, and is used to rotate relative to the connecting seat 51. In this embodiment, the execution terminal 50 also includes a first driver 55, a driving gear 551 and a connecting gear 521. The first driver 55 is connected to the connecting seat 51, and is used to drive the rotating seat 52 to rotate relative to the connecting seat 51 through the connecting gear 521. Specifically, the first driver 55 can be a motor, which is connected to the mechanical arm 40 through the connecting seat 51, and is used to drive the rotating seat 52 to rotate. The driving gear 551 is connected to the output shaft of the first driver 55 and meshes with the connecting gear 521. The connecting gear 521 is fixed to the rotating seat 52 by a plurality of screws or bolts, and meshes with the driving gear 551. In this way, the first driver 55 can drive the connecting gear 521 to rotate through the driving gear 551, thereby driving the connecting seat 51 to rotate.

[0056] Figure 6 It is a schematic diagram of the structure of the actuator. Figure 5 and Figure 6As shown, the actuator includes a first driver 55, a first gear 56, a second gear 57 and a working device 53. The first driver 55 is arranged relatively parallel to the second driver 54 and the first driver 55 can be a motor, which is fixedly connected to the second driver 54. In this embodiment, the rotating seat 52 can be rotatably connected to the first driver 55 by means of a bearing, etc., and is connected to the connecting seat 51 through the first driver 55 and the second driver 54. The output shaft of the first driver 55 is Figure 5 The through hole 522 is shown to extend into the cavity inside the rotating seat 52 .

[0057] The first gear 56 and the second gear 57 are located in the cavity of the rotating seat 52. The first gear 56 is connected to the output shaft of the first driver 55 and can rotate relative to the rotating seat 52 in the cavity. The second gear 57 is connected to the working device 53 and meshes with the first gear 56 to drive the working device 53 to rotate. Specifically, in this embodiment, the first gear 56 and the second gear 57 are bevel gears, and the rotating shafts of the first gear 56 and the second gear 57 are vertical to achieve vertical transmission.

[0058] The worker 53 is rotatably connected to the rotating seat 52 and connected to the second gear 57. In the present embodiment, the number of the workers 53 is four, which are rotatably connected to the four sides of the rotating seat 52 and are spaced 90° apart, and extend from the four sides of the rotating seat 52 in four different directions. However, in other embodiments, the number of the workers 53 may also be six or other numbers, and those skilled in the art may set the number of the workers 53 as needed. The end of the worker 53 away from the second gear 57 has an unlocking portion 531 corresponding to the locking mechanism 11, for example, it may be a straight-line structure, or a fork-shaped structure, a conical structure or a hexagonal structure, and the other end is connected to the second gear 57, so that it can rotate under the drive of the second gear 57 to realize the operation of the unlocking mechanism. In the present embodiment, the plurality of workers 53 are located in the same plane, and the plane where the first gear 56 is located is parallel to the plane where the workers 53 are located, so that the space of the execution terminal 50 can be saved.

[0059] During operation, the rotating seat 52 rotates relative to the connecting seat 51 to select the working device 53 corresponding to the locking mechanism 11, and the second driver 54 drives the first gear 56 to rotate, driving the second gear 57 to rotate and drive the working device 53 to rotate, thereby realizing the unlocking or locking operation of the locking mechanism 11.

[0060] Figure 7 This is a flow chart of the battery replacement method. Figure 7 A battery replacement method based on the above-mentioned battery replacement vehicle is described. Figure 7 As shown, the battery replacement method includes steps S701 to S703.

[0061] Step S701: Receive vehicle model information, wherein the vehicle model information includes the type of the locking mechanism 11 of the battery box 10. In this step, when the vehicle enters the battery swapping area, the type of the locking mechanism 11 can be obtained by scanning with a scanning device installed on the vehicle's passage track, or when the user issues a battery swapping instruction, the corresponding vehicle model information can be obtained according to the vehicle information provided by the user, and the type of the locking mechanism 11 of the battery box 10 can be obtained according to the vehicle model information.

[0062] Step S702: Rotate the rotating seat 52 according to the type of the locking mechanism 11 to select the working device 53 corresponding to the locking mechanism 11. In this step, the first driver 55 drives the driving gear 551 to rotate, and the driving gear 551 drives the connecting gear 521 to rotate a preset angle, so as to rotate the selected working device 53 to a preset orientation, for example, the selected working device 53 can be rotated to an upward position to dock with the locking mechanism 11 upward.

[0063] Step S703: Move the working device 53 and insert it into the locking mechanism 11 to unlock or lock the locking mechanism 11. Specifically, the method of moving the working device 53 includes driving the working device 53 to move to the position of docking with the locking mechanism 11 by the mechanical arm 40, or the mechanical arm 40 extends or retracts in the horizontal plane to move the working device 53 in the horizontal plane; and the carrying platform 30 moves in the vertical direction relative to the vehicle body 20, and the mechanical arm 40 drives the working device 53 to move in the vertical direction to achieve the movement of the working device 53 to the position of docking with the locking mechanism 11.

[0064] In addition, moving the working device 53 to be plugged into the locking mechanism 11 for unlocking or locking operation includes the following two methods:

[0065] (1) The working device 53 moves in the vertical direction to push the locking mechanism 11 to unlock or lock the locking mechanism 11. Corresponding to the locking or unlocking mode of the locking mechanism 11, the working device 53 moves upward to push the locking component of the locking mechanism 11 to achieve the locking or unlocking action.

[0066] (2) The working device 53 rotates to unlock or lock the locking mechanism 11. Some locking mechanisms 11 require that the working device 53 rotates to drive some parts in the locking mechanism 11 to rotate to achieve the locking or unlocking function. For example, if the locking mechanism 11 is connected by a thread, the working device 53 needs to rotate to achieve the locking or unlocking operation.

[0067] The above-mentioned execution terminal 50, battery exchange vehicle and battery exchange method connect multiple workers 53 to the rotating seat 52, and the rotating seat 52 is used to select the worker 53 corresponding to the vehicle according to the type of vehicle, so that different types of vehicles can be unlocked or locked, thereby improving the applicability of the battery exchange equipment to vehicles.

[0068] Example 2

[0069] Based on the same inventive concept, the present invention provides an execution terminal, which may include: a connection seat 51, a driver, a rotating structure and an execution mechanism, such as Figures 1 to 7 As shown;

[0070] The specific rotating structure includes: a rotating seat 52 and a rotating mechanism; the rotating seat 52 is a hollow columnar structure, the rotating mechanism is fixed to the top surface or the bottom surface of the rotating seat 52, the cross section of the columnar structure is a polygonal structure and each side wall has a hole;

[0071] The actuator includes: a first gear 56, a plurality of workers 53 and a plurality of second gears 57 having the same number as the workers 53; the first gear 56 and the plurality of second gears 57 are arranged inside the rotating seat 52; each worker 53 is connected to a second gear 57 through holes of different columnar structures; the first gear 56 and the plurality of second gears 57 are vertically gear-connected;

[0072] The driver is connected to the rotating mechanism and the first gear 56;

[0073] The driver is used to drive the rotating seat 52 to rotate through the rotating mechanism, thereby determining each working device 53; and is also used to drive the first gear 56 to drive the working device 53 to move.

[0074] Preferably, the driver includes a first driver 55 ; the rotating mechanism includes: a driving gear 551 and a connecting gear 521 meshing with each other; the connecting gear 521 is fixed to the top surface or the bottom surface of the rotating base 52 ; and the driving gear 551 is connected to the first driver 55 .

[0075] Preferably, the driver further includes a second driver 54 ; the connecting portion between the rotating seat 52 and the connecting gear 521 has a hole, and the second driver 54 passes through the hole between the rotating seat 52 and the connecting gear 521 and is connected to the first gear 56 .

[0076] Preferably, the first driver 55 and the second driver 54 are motors.

[0077] Preferably, the first gear 56 and the second gear 57 are bevel gears.

[0078] Preferably, an unlocking portion is provided at the end of the working device 53 away from the second gear.

[0079] Preferably, the unlocking parts of the multiple workers 53 have various structures to adapt to the locking mechanisms 11 of all new energy vehicle battery boxes 10.

[0080] Preferably, the unlocking portion includes one or more of the following structures: a straight-line structure, a fork-shaped structure, a conical structure and a hexagonal structure.

[0081] Based on the same inventive concept, the battery-swap vehicle provided by the present invention and applicable to various vehicle models may also include: a controller, a vehicle body 20, a carrying platform 30, a mechanical arm 40, a connection seat 51 and an execution terminal 50; the connection seat 51 is sleeved on the outside of the driver of the execution terminal 50; the execution terminal 50 is such as the execution terminal provided by the present invention; the mechanical arm 40 is provided with a driver that can communicate with the controller;

[0082] The vehicle body 20 is a flat horizontally arranged frame structure; the carrying platform 30 is arranged on the vehicle body 20 in a vertical direction and is movably connected to the vehicle body 20; the carrying platform 30 is used to place the battery box 10 of the new energy vehicle;

[0083] One end of the robot arm 40 is connected to the execution terminal through the connection seat 51, and the other end is fixed to one side of the carrying platform 30;

[0084] The controller is used to: based on the position of the locking mechanism 11 of the battery box 10 of the new energy vehicle, adjust the position of the working device 53 of the execution terminal by controlling the extension and retraction amount of the robot arm 40 in the horizontal direction; the controller is also used to: select the working device 53 that is compatible with the locking mechanism 11 of the battery box 10 by driving the driver of the execution terminal.

[0085] The robot arm 40 includes one or more movable joints 41 and a connecting arm 42;

[0086] After the movable joint 41 and the connecting arm 42 are connected, they are respectively connected to the connecting seat 51 through the movable joint 41 and connected to the vehicle body 20 through the connecting arm.

[0087] Preferably, there are multiple execution terminals and robotic arms 40 ; the multiple execution terminals and robotic arms 40 are divided into two groups and are fixed on both sides of the vehicle body 20 respectively.

[0088] Preferably, it also includes several connecting members; the carrying platform 30 is movably connected to the vehicle body 20 through the connecting members; the connecting member is one or more folding structures, and the folding mechanism can also be connected to the driver; the folding structure of the connecting member includes: X-shaped or zigzag.

[0089] Preferably, the connecting member may also be located below the vehicle body 20 and fixedly connected to the vehicle body 20;

[0090] The folding mechanism is connected to the driver and is used to drive the folding structure to extend and retract according to the command of the controller, so that the vehicle body 20 or the carrying platform 30 moves vertically to adapt to the height of the chassis of different vehicle models.

[0091] In addition, the connecting member of the present invention may also be a hydraulic device, which receives instructions from a controller to move the vehicle body 20 or the carrying platform 30 in the vertical direction.

[0092] Preferably, the battery-exchange vehicle also includes a plurality of running wheels 21; the running wheels 21 are arranged under the vehicle body 20, and the height of the running wheels 21 is greater than the height of the folding structure after being folded; a driving mechanism is also provided on the running wheels 21, which is connected to the controller and is used to move to a suitable position under the vehicle body according to the instructions of the controller, or move to other positions according to the instructions of the controller.

[0093] Based on the same inventive concept, the present invention provides a battery replacement method, comprising:

[0094] The controller of the battery-swapping vehicle receives the vehicle model information of the new energy vehicle, and determines the position, quantity and type of the locking mechanism 11 of the battery box 10 of the new energy vehicle according to the vehicle model information;

[0095] The controller controls the driver of the execution terminal of the battery-swapping vehicle according to the type of the locking mechanism 11, so as to rotate the rotating seat 52 of the execution terminal of the battery-swapping vehicle and then select a working device adapted to the locking mechanism 11;

[0096] The controller controls the telescopic mechanism of the battery-swapping trolley according to the position and number of the locking mechanism 11 so that the selected working device 53 is located at a suitable position;

[0097] When it is in a suitable position, the controller controls the action of the working device 53 to unlock or lock the locking mechanism 11;

[0098] The battery-swapping vehicle is a battery-swapping vehicle provided by the present invention and is suitable for a variety of vehicle models.

[0099] Preferably, the controller controls the telescopic mechanism of the battery-swapping trolley according to the position of the locking mechanism 11 so that the selected working device 53 is located at a suitable position, and then further includes:

[0100] The controller adjusts the carrying platform 30 according to the height of the battery box 10 of the new energy vehicle so that the carrying platform 30 moves vertically to the bottom of the battery box 10 and matches the height of the locking mechanism 11 of the battery box 10; or

[0101] The controller adjusts the vehicle body 20 according to the height of the battery box 10 of the new energy vehicle so that the vehicle body 20 moves vertically to the bottom of the battery box 10 and reaches a height that matches the locking mechanism 11 of the battery box 10 .

[0102] Preferably, the controller realizes unlocking or locking of the locking mechanism 11 by controlling the action of the working device 53, including:

[0103] The controller controls the second driver 54 of the execution terminal to operate, so that the first gear 56 of the execution terminal rotates, thereby driving the second gear 57 vertically toothed with the first gear 56 to rotate, and then driving the adapted working device 53 to rotate to unlock or lock the locking mechanism 11.

[0104] Preferably, the controller realizes unlocking or locking of the locking mechanism 11 by controlling the action of the working device 53, and further includes:

[0105] The controller controls the vehicle body 20 to move in the vertical direction so as to move the working device in the vertical direction, and pushes the locking mechanism to unlock or lock.

[0106] Preferably, the controller controls the driver of the execution terminal of the battery-swapping vehicle according to the type of the locking mechanism 11, and the above also includes:

[0107] The controller controls the vehicle body 20 to move under the new energy vehicle.

[0108] In the several specific embodiments provided in the present disclosure, it is obvious to those skilled in the art that the present disclosure is not limited to the details of the above exemplary embodiments, and that the present disclosure can be implemented in other specific forms without departing from the spirit or basic features of the present disclosure. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present disclosure is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present disclosure. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0109] The above embodiments are only used to illustrate the technical solution of the present disclosure rather than to limit it. Although the present disclosure is described in detail with reference to the above preferred embodiments, those skilled in the art should understand that the technical solution of the present disclosure can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present disclosure.

Claims

1. A battery-swapping vehicle suitable for various vehicle types, characterized in that: include: Vehicle body; A mechanical arm connected to the vehicle body; An execution terminal connected to the mechanical arm, the execution terminal comprising a connection seat connected to the mechanical arm, a rotating seat and an execution mechanism, the rotating seat rotatably connected to the connection seat, the execution mechanism comprising a plurality of workers corresponding to the locking mechanism of the battery box, the workers connected to the rotating seat; The mechanical arm is used to move the execution terminal to dock with the locking mechanism of the battery box, and the execution terminal is used to rotate the rotating seat according to the locking mechanism of the battery box to select the working device corresponding to the locking mechanism to unlock or lock the locking mechanism; The execution terminal comprises: a connection socket; A rotating seat, rotatably connected to the connecting seat; The actuator comprises a first gear, a plurality of second gears and a working device, wherein the first gear is meshed with the second gears; the working device is rotatably connected to the rotating seat and connected to the second gears; The rotating seat rotates relative to the connecting seat to select the working device, and the first gear drives the working device to rotate through the second gear; It also includes a first driver and a connecting gear, wherein the first driver is connected to the connecting gear, the connecting gear is connected to the rotating seat, and the first driver drives the rotating seat to rotate relative to the connecting seat through the connecting gear; It also includes a second driver connected to the first gear, the second driver is used to drive the first gear to rotate, and the second gear drives the working device to rotate, a plurality of the working devices are located in the same plane, the first gear and the second gear are bevel gears, and the first gear is parallel to the plane where the working device is located; The execution terminal is used for, after the working device corresponding to the locking mechanism is selected to dock with the locking mechanism, the first gear of the execution terminal is rotated through the second gear of the execution terminal to drive the working device to rotate and lock or unlock the locking mechanism; The mechanical arm includes one or more movable joints and a connecting arm, and the connecting arm is connected through the movable joint, and is used to unfold or fold in a horizontal plane to move the execution terminal to dock with the locking mechanism; It also includes a carrying platform, the carrying platform is movably connected to the vehicle body in a vertical direction, and the mechanical arm is connected to the carrying platform so as to drive the execution terminal to move in the vertical direction through the mechanical arm; The bottom of the vehicle body is provided with a plurality of running wheels.

2. The battery-swap vehicle applicable to various vehicle types as claimed in claim 1, characterized in that: An unlocking portion corresponding to the locking mechanism of the battery box is provided at the end of the working device away from the second gear.

3. The battery-swap vehicle applicable to various vehicle types as claimed in claim 1, characterized in that: The number of the execution terminals is greater than or equal to the locking mechanism.

4. A battery replacement method for a battery replacement vehicle applicable to various vehicle types as claimed in claim 1, characterized in that: The following steps are involved: Receiving vehicle model information, wherein the vehicle model information includes a type of a locking mechanism of the battery box; Rotate the rotating seat according to the type of the locking mechanism to select a working device corresponding to the locking mechanism; Moving the working device to be plugged into the locking mechanism to unlock or lock the locking mechanism; The working device is driven to move to a position where it docks with the locking mechanism by a mechanical arm, and the mechanical arm is extended or retracted in a horizontal plane to move the working device in the horizontal plane; and the carrying platform moves in a vertical direction relative to the vehicle body, and the working device is driven to move in the vertical direction by the mechanical arm; Moving the working device to be plugged into the locking mechanism includes: the working device is rotated to unlock or lock the locking mechanism.

Images