A battery replacement device and method

Abstract

The present invention relates to the field of vehicle battery replacement technology, and specifically, to a battery replacement device and method. The battery replacement device includes a displacement assembly, a lifting assembly and a grabbing assembly. The lifting assembly includes a first drive unit, a second drive unit, a third drive unit, a fourth drive unit, a rotating unit, a first cable, a second cable, a third cable, and a fourth cable. The rotating unit includes a rotating module and a rotating plate. The first drive unit, the second drive unit, the third drive unit, and the fourth drive unit are respectively detachably connected to the rotating plate, and can rotate with the rotation of the rotating plate, and the grabbing assembly also rotates therewith. The first drive unit drives the grabbing assembly to move toward or away from the lifting assembly through the first cable and / or the second drive unit drives the grabbing assembly through the second cable and / or the third drive unit drives the grabbing assembly through the third cable and / or the fourth drive unit drives the grabbing assembly through the fourth cable. This solves the problem of inaccurate battery box grabbing by the battery replacement device.

Description

Technical Field

[0001] The present invention relates to the field of vehicle battery replacement technology, and in particular to a battery replacement device and method. Background Art

[0002] With the rapid development of the new energy vehicle market, especially the popularity of electric vehicles, the driving range and charging convenience have become two major bottlenecks that restrict their widespread application. In order to solve these problems and improve the user experience and satisfaction, motor vehicle battery replacement devices have emerged. The emergence of this technology aims to provide electric vehicles with a convenient energy supply solution by quickly replacing battery boxes.

[0003] Existing battery replacement devices come in various forms depending on the location of the battery. Cars with batteries located under the chassis usually use chassis battery replacement devices, which require the car to be lifted by a lifting device, and then the battery is removed and replaced by a robot. In addition, most motor vehicles with batteries located above replace the battery pack by using a moving component in conjunction with a grabbing component. The moving component controls the horizontal position, and the grabbing component generally uses a winding wheel to control the lifting and lowering of four cables to adjust the vertical position. However, the winding wheel is not very accurate, and the battery is sometimes tilted, making it difficult to accurately grab it by simple lifting and lowering. Summary of the invention

[0004] In order to solve the problem of inaccurate grasping of the battery box by a battery swapping device, the present invention provides a battery swapping device and method.

[0005] In a first aspect, the present invention provides a battery replacement device, the battery replacement device comprising:

[0006] Displacement components;

[0007] A hoisting assembly, the hoisting assembly comprises a first drive unit, a second drive unit, a third drive unit, a fourth drive unit, a rotating unit, a first cable, a second cable, a third cable, and a fourth cable; the rotating unit comprises a rotating module and a rotating plate; one side of the rotating module is detachably connected to the displacement assembly, and the other side is detachably connected to the rotating plate; the displacement assembly drives the rotating module to move in a horizontal direction; the first drive unit, the second drive unit, the third drive unit, and the fourth drive unit are all in the shape of long strips and are sequentially arranged at intervals along the width direction of the rotating unit; the first drive unit, the second drive unit, the third drive unit, and the fourth drive unit are respectively detachably connected to the rotating plate; the rotating plate comprises a first side and a second side along the length direction of the rotation;

[0008] The first cable passes through the rotating plate from a side of the first driving unit close to the second side; the second cable passes through the rotating plate from a side of the second driving unit close to the first side; the third cable passes through the rotating plate from a side of the third driving unit close to the second side; the fourth cable passes through the rotating plate from a side of the fourth driving unit close to the first side;

[0009] The grabbing assembly is driven by the first driving unit through the first cable and / or the second driving unit through the second cable and / or the third driving unit through the third cable and / or the fourth driving unit through the fourth cable to move the grabbing assembly toward or away from the lifting assembly.

[0010] In some embodiments, the first driving unit comprises a first driving part, a first fixed pulley group, and a first movable pulley group; one end of the first driving part is detachably connected to the first side, and the other side extends toward the second side; the first fixed pulley group is detachably connected to the rotating plate; the first fixed pulley group is arranged on the second side; the first driving part is drivingly connected to the first movable pulley group; one end of the first cable is detachably connected to the first fixed pulley group, and the other end is detachably connected to the rotating plate; a part of the first cable is wrapped around the first movable pulley group; a part of the first cable is wrapped around the first fixed pulley group;

[0011] The second driving unit comprises a second driving part, a second fixed pulley group, and a second movable pulley group; one end of the second driving part is detachably connected to the second side, and the other side extends toward the first side; the second fixed pulley group is detachably connected to the rotating plate; the second fixed pulley group is arranged on the first side; the second driving part is drivingly connected to the second movable pulley group; one end of the second cable is detachably connected to the second fixed pulley group, and the other end is detachably connected to the rotating plate; part of the second cable is wrapped around the second movable pulley group; part of the second cable is wrapped around the second fixed pulley group;

[0012] The third driving unit comprises a third driving part, a third fixed pulley group, and a third movable pulley group; one end of the third driving part is detachably connected to the first side, and the other side extends toward the second side; the third fixed pulley group is detachably connected to the rotating plate; the third fixed pulley group is arranged on the second side; the third driving part is drivingly connected to the third movable pulley group; one end of the third cable is detachably connected to the third fixed pulley group, and the other end is detachably connected to the rotating plate; part of the third cable is wrapped around the third movable pulley group; part of the third cable is wrapped around the third fixed pulley group;

[0013] The fourth driving unit includes a fourth driving part, a fourth fixed pulley group, and a fourth movable pulley group; one end of the fourth driving part is detachably connected to the second side, and the other side extends toward the first side; the fourth fixed pulley group is detachably connected to the rotating plate; the fourth fixed pulley group is arranged on the first side; the fourth driving part is drivingly connected to the fourth movable pulley group; one end of the fourth cable is detachably connected to the fourth fixed pulley group, and the other end is detachably connected to the rotating plate; part of the fourth cable is wrapped around the fourth movable pulley group; part of the fourth cable is wrapped around the fourth fixed pulley group.

[0014] In some embodiments, the rotation module includes a first gear, a second gear, a fifth driving unit, and a fixed ring; the first gear is detachably connected to the displacement assembly; the inner peripheral wall of the first gear is slidingly connected to the outer peripheral wall of the fixed ring; the fixed ring is detachably connected to the rotating plate; the second gear is movably connected to the rotating plate; the second gear is drivingly connected to the first gear; and the fifth driving unit is drivingly connected to the second gear.

[0015] In some embodiments, a distance between a diagonal line between the center of mass of the second fixed pulley set, the center of mass of the third fixed pulley set, and the central axis of the second gear is smaller than a first set value.

[0016] In some embodiments, the battery replacement device further comprises at least one chain; one end of the chain is detachably connected to the displacement assembly, and the other end of the chain is detachably connected to the grabbing assembly;

[0017] A>B; wherein A includes the length of the chain; and B includes the maximum distance between a side of the grabbing assembly close to the displacement assembly and a side of the displacement assembly close to the grabbing assembly.

[0018] In some embodiments, the displacement assembly includes a cart unit and a trolley unit; the cart unit includes a cart guide rail, a cart body, and a first walking part; the cart guide rail is slidably connected to the cart body; the first walking part is drivingly connected to the cart body to drive the cart body to move along the cart guide rail; the trolley unit includes a trolley guide rail, a trolley body, and a second walking part; the trolley guide rail is detachably connected to the cart body; the trolley body is slidably connected to the trolley guide rail; the second walking part is drivingly connected to the trolley body to drive the trolley body to move along the trolley guide rail; the trolley guide rail and the cart guide rail are perpendicular to each other; one side of the rotating module is detachably connected to the trolley body, and the other side is detachably connected to the rotating plate.

[0019] In some embodiments, the grasping assembly includes a grasping body unit, a guide portion, and a grasping portion; one end of the guide portion is detachably connected to the grasping body unit, and the other end extends in a direction away from the displacement assembly; an area of ​​the guide portion close to one end of the grasping body unit is larger than an area of ​​the guide portion away from one end of the displacement assembly; and the grasping portion is movably connected to the grasping body unit.

[0020] In some embodiments, the grab body unit includes a grab shell, a first rope pulley, a second rope pulley, a third rope pulley, and a fourth rope pulley; the first rope pulley, the second rope pulley, the third rope pulley, and the fourth rope pulley are respectively movably connected to the grab shell; the second rope pulley and the fourth rope pulley are arranged at intervals along the width direction of the grab shell; the third rope pulley and the fourth rope pulley are arranged at intervals along the length direction of the grab shell; the first rope pulley and the second rope pulley are arranged at intervals along the length direction of the grab shell;

[0021] Part of the first cable is wrapped around part of the first rope pulley; part of the second cable is wrapped around part of the second rope pulley; part of the third cable is wrapped around part of the third rope pulley; part of the fourth cable is wrapped around part of the fourth rope pulley;

[0022] The guide portion is detachably connected to the grabbing shell; and the grabbing portion is movably connected to the grabbing shell.

[0023] In some embodiments, the hoisting assembly further comprises a guide port; the guide port is detachably connected to the rotating plate; the area of ​​the guide port gradually increases from one end close to the rotating plate to one end close to the grabbing assembly;

[0024] The grab assembly further includes a guide column; the guide column is detachably connected to the grab housing; the area of ​​the guide column gradually decreases from one end close to the grab assembly to one end close to the rotating plate;

[0025] The battery exchange device includes a first state and a second state; the first state includes the driving unit driving the grabbing assembly to move toward the direction close to the lifting assembly until the guide opening is sleeved on the outer peripheral side of the guide column through the first cable and / or the second cable and / or the third cable and / or the fourth cable; the second state includes the driving unit driving the grabbing assembly to move toward the direction away from the lifting assembly until the guide column and the guide opening are spaced apart in the height direction through the first cable and / or the second cable and / or the third cable and / or the fourth cable.

[0026] In a second aspect, the present invention provides a battery replacement method, which is applied to any of the battery replacement devices in the first aspect, and the battery replacement method includes:

[0027] Step S11, based on the acquired battery box angle, the rotating plate rotates;

[0028] Step S12, based on the rotation of the rotating plate to a set position, the grabbing assembly moves toward the battery box; wherein the set position includes the overlap of the projections of the battery box and the grabbing assembly in the height direction;

[0029] Step S13: the grabbing assembly grabs the battery box based on the bottom surface of the grabbing assembly abutting against the top surface of the battery box.

[0030] In order to solve the problem that the battery replacement device cannot accurately grasp the battery box, the present invention has the following advantages:

[0031] This solution uses the first drive unit, the second drive unit, the third drive unit, and the fourth drive unit as independent drive parts of the first cable, the second cable, the third cable, and the fourth cable, respectively. During the battery replacement process, such a design can realize the precise synchronous movement of each component in the lifting assembly, and the cables can be adjusted separately according to the actual tilt state of the battery box, thereby ensuring the smooth lifting and lowering of the lifting assembly. This high degree of flexibility and accuracy enables the grabbing assembly of the battery replacement device to more effectively adapt to various complex working conditions and grab the battery box. In addition, the first drive unit, the second drive unit, the third drive unit, and the fourth drive unit are all long strips and can be arranged in sequence along the width direction of the rotating unit. Compared with the traditional winding wheel system, the space occupied in the vertical direction is extremely low, which saves space for the battery replacement station. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A bottom-up axonometric schematic diagram of a power exchange device according to an embodiment is shown;

[0033] Figure 2 Shows Figure 1 A partial enlarged view of the battery replacement device of the illustrated embodiment;

[0034] Figure 3 A schematic top view of a power exchange device according to an embodiment is shown;

[0035] Figure 4 Shows Figure 3 A partial enlarged view of the battery replacement device of the illustrated embodiment;

[0036] Figure 5 A partial schematic diagram of a power exchange device according to an embodiment is shown;

[0037] Figure 6 Shows Figure 5 A schematic cross-sectional view of a battery replacement device of the illustrated embodiment;

[0038] Figure 7 A schematic top view of an axonometric diagram of a power exchange device according to an embodiment is shown;

[0039] Figure 8 A front view schematic diagram of a battery replacement device according to an embodiment is shown;

[0040] Fig. 9 A schematic diagram of a battery replacement device and a vehicle according to an embodiment is shown;

[0041] Fig.10 A schematic flow chart of a battery replacement method according to an embodiment is shown.

[0042] Figure numerals: 10 displacement assembly; 11 trolley unit; 111 trolley guide rail; 112 trolley body; 12 trolley unit; 121 trolley guide rail; 122 trolley body; 123 second walking part; 20 lifting assembly; 21 first driving unit; 211 first driving part; 212 first fixed pulley block; 213 first movable pulley block; 22 first cable; 23 second driving unit; 231 second driving part; 232 second fixed pulley block; 233 second movable pulley block; 24 second cable; 25 third driving unit; 251 third driving part; 252 third fixed pulley block; 253 third movable pulley block; 26 third cable; 27 The fourth driving unit; 271 the fourth driving part; 272 the fourth fixed pulley group; 273 the fourth movable pulley group; 28 the fourth cable; 29 the rotating unit; 291 the rotating module; 2911 the first gear; 2912 the second gear; 2913 the fifth driving part; 2914 the fixing ring; 292 the rotating plate; 293 the guiding port; 30 the grabbing assembly; 31 the grabbing body unit; 311 the grabbing shell; 312 the first rope pulley; 313 the second rope pulley; 314 the third rope pulley; 315 the fourth rope pulley; 32 the guiding part; 33 the grabbing part; 34 the guiding column; 40 the chain; 50 the battery exchange vehicle; 51 the vehicle body; 52 the battery box. DETAILED DESCRIPTION

[0043] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0044] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0045] With the rapid development of the new energy vehicle market, the demand for battery swapping devices has greatly increased. Common battery swapping devices come in many forms. The chassis battery swapping device requires the car to be lifted by a lifting device, and then the battery is removed and replaced by a robot. In addition, in many cases, the battery pack is replaced by a horizontal moving component in conjunction with a grabbing component. The moving component controls the horizontal position, and the grabbing component can use a winding wheel to control the lifting and lowering of four cables to adjust the vertical position. However, the winding wheel is not very accurate, and the battery is sometimes tilted, so it is difficult to grab accurately by simple lifting.

[0046] This embodiment discloses a battery replacement device, such as Figure 1 , Figure 3 As shown, the battery replacement device may include a displacement assembly 10, a hoisting assembly 20 and a grabbing assembly 30. Figure 4As shown, the hoisting assembly 20 may include a first drive unit 21, a second drive unit 23, a third drive unit 25, a fourth drive unit 27, a rotation unit 29, a first cable 22, a second cable 24, a third cable 26, and a fourth cable 28. Figure 1 , Figure 2 As shown, the rotating unit 29 may include a rotating module 291 and a rotating plate 292, and one side of the rotating module 291 may be detachably connected to the displacement assembly 10, and the other side may be detachably connected to the rotating plate 292. The displacement assembly 10 may drive the rotating module 291 to move in the horizontal direction. The first drive unit 21, the second drive unit 23, the third drive unit 25 and the fourth drive unit 27 are all long strips and may be arranged in sequence along the width direction of the rotating unit 29. Compared with the traditional winding wheel system, the space occupied in the vertical direction is extremely low, which saves vertical space for the installation environment, especially in the space-constrained battery swap station. The first drive unit 21, the second drive unit 23, the third drive unit 25 and the fourth drive unit 27 may be detachably connected to the rotating plate 292 respectively, and when the rotating plate 292 rotates, the first drive unit 21, the second drive unit 23, the third drive unit 25 and the fourth drive unit 27 connected thereto all rotate accordingly. The rotating plate 292 may include a first side and a second side along the length direction of rotation.

[0047] The battery can be in a tilted position when replacing the battery. Fig. 9 As shown in the figure, when a car enters a battery swap station, it is impossible for the car body to stop completely straight at the battery swap station, that is, the battery has rotated to a certain extent. In addition, the car body is loaded with a lot of goods and the tire pressure is different, which will cause the center of gravity of the car body to shift, causing the battery to tilt. The tilted posture can include rotation and tilt at the same time. Figure 1 As shown, the first cable 22 can pass through the rotating plate 292 from the side of the first driving unit 21 close to the second side; the second cable 24 can pass through the rotating plate 292 from the side of the second driving unit 23 close to the first side; the third cable 26 can pass through the rotating plate 292 from the side of the third driving unit 25 close to the second side; and the fourth cable 28 can pass through the rotating plate 292 from the side of the fourth driving unit 27 close to the first side. When the rotating plate 292 rotates, the first cable 22 and / or the second cable 24 and / or the third cable 26 and / or the fourth cable 28 all rotate with the rotating plate 292. At the same time, the grab assembly 30 can rotate to a set value with the first cable 22 and / or the second cable 24 and / or the third cable 26 and / or the fourth cable 28, so as to grab the battery box 52 in a rotating posture.

[0048] The first driving unit 21 can drive the grabbing assembly 30 to move toward or away from the lifting assembly 20 via the first cable 22 and / or the second driving unit 23 can drive the grabbing assembly 30 via the second cable 24 and / or the third driving unit 25 can drive the grabbing assembly 30 via the third cable 26 and / or the fourth driving unit 27 can drive the grabbing assembly 30 via the fourth cable 28. The first cable 22, the second cable 24, the third cable 26 and the fourth cable 28 are all driven independently, so that the battery box 52 in a skewed posture can be grabbed.

[0049] In another embodiment, the rotating module 291 may be disposed in the middle portion of the rotating plate 292 surrounded by the first cable 22 , the second cable 24 , the third cable 26 , and the fourth cable 28 , so that each portion of the rotating plate 292 is subjected to uniform force.

[0050] In some embodiments, Figure 4 and Figure 5 As shown, the first drive unit 21 may include a first drive portion 211, a first fixed pulley block 212 and a first movable pulley block 213. One end of the first drive portion 211 may be detachably connected to the first side, and the other side may extend toward the second side. The first fixed pulley block 212 may be detachably connected to the rotating plate 292, and when the rotating plate 292 rotates, the first fixed pulley block 212 also rotates therewith. The first fixed pulley block 212 may be arranged on the second side. One end of the first cable 22 may be detachably connected to the first fixed pulley block 212, and the other end may be detachably connected to the rotating plate 292. Part of the first cable 22 may be wrapped around the first movable pulley block 213, and part of the first cable 22 may be wrapped around the first fixed pulley block 212. The first driving part 211 can be connected to the first movable pulley group 213 in a driving manner. The first driving part 211 can drive the first movable pulley group 213 to move toward the first side, and drive the grab assembly 30 to move toward the rotating plate 292 through the first cable 22; the first driving part 211 can drive the first movable pulley group 213 to move toward the second side, and drive the grab assembly 30 to move away from the rotating plate 292 through the first cable 22, so as to grab the battery box 52 and realize the vertical displacement of the battery box 52. The first driving part 211 can be a screw rod. When the screw rod is installed horizontally, the space occupied in the vertical direction is extremely low, which saves space for the battery swap station. During the battery swap process, the screw rod and the cable can achieve precise synchronous movement, thereby ensuring the smooth lifting and lowering of the hoisting assembly 20, and the cables are individually controlled according to the tilt state of the battery box 52.

[0051] The second driving unit 23 may include a second driving portion 231, a second fixed pulley block 232, and a second movable pulley block 233. One end of the second driving portion 231 may be detachably connected to the second side, and the other side may extend toward the first side. The second fixed pulley block 232 may be detachably connected to the rotating plate 292, and when the rotating plate 292 rotates, the second fixed pulley block 232 also rotates. The second fixed pulley block 232 may be arranged on the first side. One end of the second cable 24 may be detachably connected to the second fixed pulley block 232, and the other end may be detachably connected to the rotating plate 292. Part of the second cable 24 may be wrapped around the second movable pulley block 233, and part of the second cable 24 may be wrapped around the second fixed pulley block 232. The second driving part 231 can be connected to the second movable pulley group 233, and the second driving part 231 can drive the second movable pulley group 233 to move toward the second side, and drive the grab assembly 30 to move toward the rotating plate 292 through the second cable 24; the second driving part 231 can drive the second movable pulley group 233 to move toward the first side, and drive the grab assembly 30 to move away from the rotating plate 292 through the second cable 24, so as to grab the battery box 52 and realize the vertical displacement of the battery box 52. The second driving part 231 can be a screw rod. When the screw rod is installed horizontally, the space occupied in the vertical direction is extremely low, which saves space for the battery swap station. During the battery swap process, the screw rod and the cable can achieve precise synchronous movement, thereby ensuring the smooth lifting and lowering of the hoisting assembly 20, and the cables are individually controlled according to the tilt state of the battery box 52.

[0052] The third driving unit 25 may include a third driving part 251, a third fixed pulley set 252, and a third movable pulley set 253; one end of the third driving part 251 may be detachably connected to the first side, and the other side may extend toward the second side. The third fixed pulley set 252 may be detachably connected to the rotating plate 292, and when the rotating plate 292 rotates, the third fixed pulley set 252 also rotates. The third fixed pulley set 252 may be arranged on the second side. One end of the third cable 26 may be detachably connected to the third fixed pulley set 252, and the other end may be detachably connected to the rotating plate 292. Part of the third cable 26 may be wrapped around the third movable pulley set 253, and part of the third cable 26 may be wrapped around the third fixed pulley set 252. The third driving part 251 can be connected to the third movable pulley group 253 by driving, and the third driving part 251 can drive the third movable pulley group 253 to move closer to the first side, and drive the grab assembly 30 to move closer to the rotating plate 292 through the third cable 26; the third driving part 251 can drive the third movable pulley group 253 to move closer to the second side, and drive the grab assembly 30 to move away from the rotating plate 292 through the third cable 26, so as to grab the battery box 52 and realize the vertical displacement of the battery box 52. The third driving part 251 can be a screw rod. When the screw rod is installed horizontally, the space occupied in the vertical direction is extremely low, which saves space for the battery swap station. During the battery swap process, the screw rod and the cable can achieve precise synchronous movement, thereby ensuring the smooth lifting and lowering of the hoisting assembly 20, and the cables are individually controlled according to the tilt state of the battery box 52.

[0053] The fourth driving unit 27 may include a fourth driving part 271, a fourth fixed pulley block 272, and a fourth movable pulley block 273. One end of the fourth driving part 271 may be detachably connected to the second side, and the other side may extend toward the first side. The fourth fixed pulley block 272 may be detachably connected to the rotating plate 292, and when the rotating plate 292 rotates, the fourth fixed pulley block 272 also rotates. The fourth fixed pulley block 272 may be arranged on the first side. One end of the fourth cable 28 may be detachably connected to the fourth fixed pulley block 272, and the other end may be detachably connected to the rotating plate 292. Part of the fourth cable 28 may be wrapped around the fourth movable pulley block 273, and part of the fourth cable 28 may be wrapped around the fourth fixed pulley block 272. The fourth driving part 271 can be connected to the fourth movable pulley group 273 by driving, and the fourth driving part 271 can drive the fourth movable pulley group 273 to move toward the second side, and drive the grab assembly 30 to move toward the rotating plate 292 through the fourth cable 28; the fourth driving part 271 can drive the fourth movable pulley group 273 to move toward the first side, and drive the grab assembly 30 to move away from the rotating plate 292 through the fourth cable 28, so as to grab the battery box 52 and realize the vertical displacement of the battery box 52. The fourth driving part 271 can be a screw rod. When the screw rod is installed horizontally, the space occupied in the vertical direction is extremely low, which saves space for the battery swap station. During the battery swap process, the screw rod and the cable can achieve precise synchronous movement, thereby ensuring the smooth lifting and lowering of the hoisting assembly 20, and the cables are individually controlled according to the tilt state of the battery box 52.

[0054] In some embodiments, Figure 1 and Figure 2As shown, the rotating module 291 may include a first gear 2911, a second gear 2912, a fifth driving part 2913, and a fixing ring 2914. The gear transmission is not only stable, but also occupies a small space. The first gear 2911 and the displacement assembly 10 may be detachably connected to facilitate loading and unloading. The inner peripheral wall of the first gear 2911 may be slidably connected to the outer peripheral wall of the fixing ring 2914, and the fixing ring 2914 may be detachably connected to the rotating plate 292. When the first gear 2911 rotates, the rotating plate 292 and the fixing ring 2914 rotate together with the first gear 2911. The second gear 2912 is movably connected to the rotating plate 292, the second gear 2912 is drivingly connected to the first gear 2911, and the fifth driving part 2913 is drivingly connected to the second gear 2912. When the fifth driving unit 2913 is in operation, the second gear 2912 starts to rotate and drives the first gear 2911, so that the first gear 2911 and the fixing ring 2914 rotate relative to each other, so that the fixing ring 2914 drives the rotating plate 292 to rotate, and the first cable 22, the second cable 24, the third cable 26, and the fourth cable 28 all rotate with the rotating plate 292, so that the battery box 52 in different postures can be grasped. At the same time, the grasping assembly 30 can rotate to a set value with the first cable 22 and / or the second cable 24 and / or the third cable 26 and / or the fourth cable 28, so as to grasp the battery box 52 in a rotating posture. In another embodiment, there can be two second gears 2912 symmetrically distributed along the center of the first gear 2911 to share the load.

[0055] In some embodiments, Figure 4 As shown, the length of the diagonal between the mass center of the first fixed pulley group 212 and the mass center of the fourth fixed pulley group 272 is greater than the diagonal between the mass center of the second fixed pulley group 232 and the mass center of the third fixed pulley group 252. During the power exchange process, the partial rotation plate 292 near the first fixed pulley group 212 and the partial rotation plate 292 near the fourth fixed pulley group 272 have a large deformation, which will cause the first gear 2911 and the second gear 2912 to be loosely engaged. Therefore, the distance between the diagonal between the mass center of the second fixed pulley group 232 and the mass center of the third fixed pulley group 252 and the central axis of the second gear 2912 can be less than the first set value, and the first set value can be 5cm. In this way, the position of the second gear 2912 is specified, so that the second gear 2912 responsible for driving is located at a position with a smaller deformation on the rotating module 291, making the engagement of the first gear 2911 and the second gear 2912 more stable.

[0056] In some embodiments, Figure 1 and Figure 8As shown, the battery replacement device may further include at least one chain 40. One end of the chain 40 may be detachably connected to the displacement assembly 10, and the other end may be detachably connected to the grab assembly 30. If the first cable 22 and / or the second cable 24 and / or the third cable 26 and / or the fourth cable 28 break, the chain 40 may prevent the grab assembly 30 from falling.

[0057] A can be greater than B. A can include the length of the chain 40, and B can include the maximum distance between the side of the grab assembly 30 close to the displacement assembly 10 and the side of the displacement assembly 10 close to the grab assembly 30. If A is less than B, the grab assembly 30 will be pulled by the chain 40 and cannot be lowered to the height where the grab assembly 30 is farthest from the displacement assembly 10, which may result in failure to grab the battery box 52. When A is greater than B, the chain 40 will not affect the rise and fall of the grab assembly 30 under the action of the first cable 22 and / or the second cable 24 and / or the third cable 26 and / or the fourth cable 28, and can normally prevent the grab assembly 30 from breaking and the battery box 52 from falling.

[0058] In some embodiments, Figure 1 As shown, the displacement assembly 10 may include a trolley unit 11 and a trolley unit 12. The trolley unit 11 may include a trolley guide rail 111, a trolley body 112, and a first traveling unit. The trolley guide rail 111 may be slidably connected to the trolley body 112, and the first traveling unit may be drivingly connected to the trolley body 112, and may drive the trolley body 112 to move along the trolley guide rail 111. The trolley unit 12 may include a trolley guide rail 121, a trolley body 122, and a second traveling unit 123. The trolley guide rail 121 may be detachably connected to the trolley body 112. The trolley body 122 is slidably connected to the trolley guide rail 121, so that when the first traveling unit is in operation, the trolley body 122 moves with the trolley body 112. The second traveling unit 123 is drivingly connected to the trolley body 122, and drives the trolley body 122 to move along the trolley guide rail 121. The trolley guide rail 121 and the trolley guide rail 111 are perpendicular to each other in the horizontal direction, and the trolley body 122 can achieve displacement in any horizontal direction under the action of the first walking part and the second walking part 123. One side of the rotating module 291 is detachably connected to the trolley body 122, and the other side is detachably connected to the rotating plate 292. When the rotating module 291 rotates, the trolley body 122 and the rotating plate 292 rotate accordingly. When the trolley body 122 is displaced and / or rotated, the lifting assembly 20 connected to the trolley body 122 is also displaced and / or rotated accordingly, so that the grasping assembly 30 connected to the lifting assembly 20 can also achieve horizontal translation or rotation, thereby grasping the battery box 52 in an offset or rotated posture and realizing the horizontal movement of the battery box 52.

[0059] In some embodiments, Figure 7 and Figure 8As shown, the gripping assembly 30 may include a gripping body unit 31, a guide portion 32 and a gripping portion 33. One end of the guide portion 32 may be detachably connected to the gripping body unit 31, and the other end may extend in a direction away from the displacement assembly 10. The area of ​​the guide portion 32 close to the gripping body unit 31 is larger than the area of ​​the guide portion 32 away from the displacement assembly 10, thereby forming a cone. When the gripping assembly 30 descends to grip the battery box 52, the inclined surface on the conical structure of the guide portion 32 may play a guiding role, guiding the gripping portion 33 to the correct position to grip the battery box 52. The gripping portion 33 may be movably connected to the gripping body unit 31, and the gripping portion 33 may rotate within a certain range, and after approaching the battery box 52, it may rotate to an appropriate angle to firmly grip the battery box 52.

[0060] In some embodiments, Figure 7 As shown, the grab body unit 31 may include a grab housing 311, a first rope pulley 312, a second rope pulley 313, a third rope pulley 314, and a fourth rope pulley 315. The first rope pulley 312, the second rope pulley 313, the third rope pulley 314, and the fourth rope pulley 315 may be movably connected to the grab housing 311. The second rope pulley 313 and the fourth rope pulley 315 may be arranged at intervals along the width direction of the grab housing 311; the third rope pulley 314 and the fourth rope pulley 315 may be arranged at intervals along the length direction of the grab housing 311; the first rope pulley 312 and the second rope pulley 313 may be arranged at intervals along the length direction of the grab housing 311. That is, the first rope pulley 312, the second rope pulley 313, the third rope pulley 314, and the fourth rope pulley 315 are evenly distributed at the four corners of the grab housing 311.

[0061] Part of the first cable 22 can be wrapped around part of the first rope pulley 312; part of the second cable 24 can be wrapped around part of the second rope pulley 313; part of the third cable 26 can be wrapped around part of the third rope pulley 314; part of the fourth cable 28 can be wrapped around part of the fourth rope pulley 315. The first cable 22, the second cable 24, the third cable 26, and the fourth cable 28 are all independently driven and located at the four corners of the grab housing 311, and can flexibly adjust the length according to the tilt state of the battery box 52, so that the posture of the grab assembly 30 is adapted to the battery box 52. When the projections of the grab assembly 30 and the battery box 52 in the height direction overlap, the grab assembly 30 is controlled to move toward the battery box 52 until it abuts against the battery box 52, and the battery box 52 can be started to be grabbed.

[0062] The guide portion 32 can be detachably connected to the gripping shell 311 for easy loading and unloading, and the gripping portion 33 can be movably connected to the gripping shell 311. The gripping portion 33 can rotate within a certain range, and after approaching the battery box 52, it can be rotated to an appropriate angle to firmly grasp the battery box 52.

[0063] In some embodiments, Figure 1 As shown, the hoisting assembly 20 may further include a guide opening 293. The guide opening 293 may be detachably connected to the rotating plate 292 for easy loading and unloading, and the area of ​​the guide opening 293 may gradually increase from one end close to the rotating plate 292 to one end close to the grab assembly 30, forming a tapered tube.

[0064] The gripping assembly 30 may further include a guide post 34. The guide post 34 may be detachably connected to the gripping housing 311 for easy loading and unloading, and the area of ​​the guide post 34 may gradually decrease from one end close to the gripping assembly 30 to one end close to the rotating plate 292, forming a solid cone that may be matched with the guide port 293.

[0065] The power exchange device may include a first state and a second state. The first state may include the driving unit driving the grab assembly 30 to move toward the direction close to the hoisting assembly 20 through the first cable 22 and / or the second cable 24 and / or the third cable 26 and / or the fourth cable 28 to the guide opening 293 sleeved on the outer peripheral side of the guide column 34; the second state includes the driving unit driving the grab assembly 30 to move away from the hoisting assembly 20 through the first cable 22 and / or the second cable 24 and / or the third cable 26 and / or the fourth cable 28 to the guide column 34 and the guide opening 293 are spaced in the height direction. In the first state, the guide opening 293 needs to be sleeved on the outer peripheral side of the guide column 34, but during the matching process, deviations may occur due to shaking and other reasons. The conical guide column 34 can play a guiding role. As long as the smaller end of the guide column 34 enters the larger end of the guide opening 293, it can be successfully matched under the guiding effect, so that the grab assembly 30 remains stable.

[0066] like Fig.10 As shown, in this embodiment, a battery replacement method is provided, and the battery replacement method is applied to any battery replacement device in the above embodiments. The battery replacement vehicle 50 may include a vehicle body 51 and a battery box 52, and the battery replacement method may include steps S11 to S13, and each step is described in detail as follows:

[0067] Step S11, after the battery swap vehicle 50 enters the battery swap station and stops, the angle of the battery box 52 on the battery swap vehicle 50 can be obtained, and the rotating module 291 can operate to drive the rotating plate 292 to rotate to the set position, so that the gripping assembly 30 is adapted to the posture of the battery box 52.

[0068] Step S12, after the gripping assembly 30 rotates to the set position, it can be determined that the gripping assembly 30 and the battery box 52 posture adaptation work is completed, and then the gripping assembly 30 can be controlled to move in the direction close to the battery box 52, so as to achieve the condition that the gripping assembly 30 grips the battery box 52. The set position may include a position where the projections of the battery box 52 and the gripping assembly 30 in the height direction overlap.

[0069] Step S13 , after the bottom surface of the grabbing assembly 30 abuts against the top surface of the battery box 52 , the grabbing assembly 30 can grab the battery box 52 .

[0070] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present disclosure, and in actual applications, various changes may be made thereto in form and detail without departing from the scope of the present disclosure.

Claims

1. A battery replacement device, characterized in that: The power exchange device comprises: Displacement components; A hoisting assembly, the hoisting assembly comprises a first drive unit, a second drive unit, a third drive unit, a fourth drive unit, a rotating unit, a first cable, a second cable, a third cable, and a fourth cable; the rotating unit comprises a rotating module and a rotating plate; one side of the rotating module is detachably connected to the displacement assembly, and the other side is detachably connected to the rotating plate; the displacement assembly drives the rotating module to move in a horizontal direction; the first drive unit, the second drive unit, the third drive unit, and the fourth drive unit are all in the shape of long strips and are sequentially arranged at intervals along the width direction of the rotating unit; the first drive unit, the second drive unit, the third drive unit, and the fourth drive unit are respectively detachably connected to the rotating plate; the rotating plate comprises a first side and a second side along the length direction of the rotation; The first cable passes through the rotating plate from a side of the first driving unit close to the second side; the second cable passes through the rotating plate from a side of the second driving unit close to the first side; the third cable passes through the rotating plate from a side of the third driving unit close to the second side; the fourth cable passes through the rotating plate from a side of the fourth driving unit close to the first side; A grabbing assembly, wherein the first driving unit drives the grabbing assembly through the first cable and / or the second driving unit drives the second cable and / or the third driving unit drives the third cable and / or the fourth driving unit drives the fourth cable to move toward or away from the hoisting assembly; The first driving unit comprises a first driving part, a first fixed pulley group, and a first movable pulley group; one end of the first driving part is detachably connected to the first side, and the other end extends toward the second side; the first fixed pulley group is detachably connected to the rotating plate; the first fixed pulley group is arranged on the second side; the first driving part is drivingly connected to the first movable pulley group; one end of the first cable is detachably connected to the first fixed pulley group, and the other end is detachably connected to the rotating plate; a part of the first cable is wrapped around the first movable pulley group; a part of the first cable is wrapped around the first fixed pulley group; The second driving unit comprises a second driving part, a second fixed pulley group, and a second movable pulley group; one end of the second driving part is detachably connected to the second side, and the other side extends toward the first side; the second fixed pulley group is detachably connected to the rotating plate; the second fixed pulley group is arranged on the first side; the second driving part is drivingly connected to the second movable pulley group; one end of the second cable is detachably connected to the second fixed pulley group, and the other end is detachably connected to the rotating plate; part of the second cable is wrapped around the second movable pulley group; part of the second cable is wrapped around the second fixed pulley group; The third driving unit comprises a third driving part, a third fixed pulley group, and a third movable pulley group; one end of the third driving part is detachably connected to the first side, and the other side extends toward the second side; the third fixed pulley group is detachably connected to the rotating plate; the third fixed pulley group is arranged on the second side; the third driving part is drivingly connected to the third movable pulley group; one end of the third cable is detachably connected to the third fixed pulley group, and the other end is detachably connected to the rotating plate; part of the third cable is wrapped around the third movable pulley group; part of the third cable is wrapped around the third fixed pulley group; The fourth driving unit comprises a fourth driving part, a fourth fixed pulley group, and a fourth movable pulley group; one end of the fourth driving part is detachably connected to the second side, and the other side extends toward the first side; the fourth fixed pulley group is detachably connected to the rotating plate; the fourth fixed pulley group is arranged on the first side; the fourth driving part is drivingly connected to the fourth movable pulley group; one end of the fourth cable is detachably connected to the fourth fixed pulley group, and the other end is detachably connected to the rotating plate; part of the fourth cable is wrapped around the fourth movable pulley group; part of the fourth cable is wrapped around the fourth fixed pulley group; The rotating module comprises a first gear, a second gear, a fifth driving part and a fixing ring; the first gear is detachably connected to the displacement assembly; the inner peripheral wall of the first gear is slidably connected to the outer peripheral wall of the fixing ring; the fixing ring is detachably connected to the rotating plate; the second gear is movably connected to the rotating plate; the second gear is drivingly connected to the first gear; the fifth driving part is drivingly connected to the second gear; The battery replacement device further comprises at least one chain; one end of the chain is detachably connected to the displacement assembly, and the other end of the chain is detachably connected to the grabbing assembly; A>B; wherein A includes the length of the chain; and B includes the maximum distance between a side of the grabbing assembly close to the displacement assembly and a side of the displacement assembly close to the grabbing assembly.

2. A battery replacement device according to claim 1, characterized in that: The distance between the diagonal line between the mass center of the second fixed pulley group and the mass center of the third fixed pulley group and the central axis of the second gear is less than a first set value.

3. A battery replacement device according to claim 1, characterized in that: The displacement assembly includes a trolley unit and a trolley unit; the trolley unit includes a trolley guide rail, a trolley body, and a first walking part; the trolley guide rail is slidably connected to the trolley body; the first walking part is drivingly connected to the trolley body to drive the trolley body to move along the trolley guide rail; the trolley unit includes a trolley guide rail, a trolley body, and a second walking part; the trolley guide rail is detachably connected to the trolley body; the trolley body is slidably connected to the trolley guide rail; the second walking part is drivingly connected to the trolley body to drive the trolley body to move along the trolley guide rail; the trolley guide rail and the trolley guide rail are perpendicular to each other; one side of the rotating module is detachably connected to the trolley body, and the other side is detachably connected to the rotating plate.

4. A battery replacement device according to claim 1, characterized in that: The grabbing assembly includes a grabbing body unit, a guide part, and a grabbing part; one end of the guide part is detachably connected to the grabbing body unit, and the other end extends in a direction away from the displacement assembly; the area of ​​the guide part close to one end of the grabbing body unit is larger than the area of ​​the guide part away from one end of the displacement assembly; the grabbing part is movably connected to the grabbing body unit.

5. A battery replacement device according to claim 4, characterized in that: The grab body unit includes a grab shell, a first rope pulley, a second rope pulley, a third rope pulley, and a fourth rope pulley; the first rope pulley, the second rope pulley, the third rope pulley, and the fourth rope pulley are respectively movably connected to the grab shell; the second rope pulley and the fourth rope pulley are arranged at intervals along the width direction of the grab shell; the third rope pulley and the fourth rope pulley are arranged at intervals along the length direction of the grab shell; the first rope pulley and the second rope pulley are arranged at intervals along the length direction of the grab shell; Part of the first cable is wrapped around part of the first rope pulley; part of the second cable is wrapped around part of the second rope pulley; part of the third cable is wrapped around part of the third rope pulley; part of the fourth cable is wrapped around part of the fourth rope pulley; The guide portion is detachably connected to the grabbing shell; and the grabbing portion is movably connected to the grabbing shell.

6. A battery replacement device according to claim 5, characterized in that: The hoisting assembly further comprises a guide opening; the guide opening is detachably connected to the rotating plate; the area of ​​the guide opening gradually increases from one end close to the rotating plate to one end close to the grabbing assembly; The grab assembly further includes a guide column; the guide column is detachably connected to the grab housing; the area of ​​the guide column gradually decreases from one end close to the grab assembly to one end close to the rotating plate; The battery exchange device includes a first state and a second state; the first state includes the driving unit driving the grabbing assembly to move toward the direction close to the lifting assembly until the guide opening is sleeved on the outer peripheral side of the guide column through the first cable and / or the second cable and / or the third cable and / or the fourth cable; the second state includes the driving unit driving the grabbing assembly to move toward the direction away from the lifting assembly until the guide column and the guide opening are spaced apart in the height direction through the first cable and / or the second cable and / or the third cable and / or the fourth cable.

7. A battery replacement method, characterized in that: The battery replacement method is applied to a battery replacement device according to any one of claims 1 to 6, and the battery replacement method includes: Step S11, based on the acquired battery box angle, the rotating plate rotates; Step S12, based on the rotation of the rotating plate to a set position, the grabbing assembly moves toward the battery box; wherein the set position includes the overlap of the projections of the battery box and the grabbing assembly in the height direction; Step S13: the grabbing assembly grabs the battery box based on the bottom surface of the grabbing assembly abutting against the top surface of the battery box.

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