High-precision self-adaptive battery replacing robot and battery replacing method thereof

Abstract

The invention relates to a high-precision self-adaptive battery replacing robot and a battery replacing method thereof. The high-precision self-adaptive battery replacing robot sequentially comprises a leveling plate assembly (5), a floating plate assembly (4), a movable lifting plate assembly (3), a rotating plate assembly (2) and a bottom frame assembly (1) from top to bottom. The problems of overload, unbalance loading, container overturning, chassis unevenness, inclined parking and the like of the light truck are fed back to the high-precision self-adaptive battery replacement robot through visual detection, so that the high-precision self-adaptive battery replacement robot can dynamically adjust and adapt to the inclination angle of the chassis, the battery replacement work is smoothly completed, and the battery replacement efficiency is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of bottom-mounted replacement batteries for light commercial trucks, and in particular to a high-precision adaptive battery-swapping robot and a battery-swapping method thereof. Background Art

[0002] With the development of science and technology, the market share of new energy vehicles is increasing. In this context, the convenience of energy replenishment has become one of the important indicators of new energy vehicles. Compared with traditional charging solutions, battery replacement solutions can achieve energy replenishment within a few minutes, and the convenience is comparable to refueling, so it is regarded as an important development direction of energy replenishment.

[0003] At present, the battery swap station for new energy vehicles mainly adopts the bottom battery swap mode, which requires a complete battery swap platform and a vehicle lifting mechanism. The specific operation process is as follows: First, the vehicle needs to be parked on the battery swap platform. The front and rear centering mechanisms equipped on the battery swap platform will apply thrust to the tires of the vehicle to center the vehicle to the battery swap position. Then, the vehicle lifting mechanism will lift the vehicle to a certain height to adjust the vehicle chassis posture and provide sufficient walking space for the automatic guided vehicle (RGV) to complete the battery swap action.

[0004] However, this structure is relatively complex and requires high positioning accuracy, which leads to increased production costs, poor battery replacement experience, and high subsequent maintenance costs. Especially for light trucks, when overloaded or overloaded, the posture adjustment becomes more difficult, which in turn affects the success rate of battery replacement.

[0005] Therefore, it is urgent to develop a more simplified and convenient battery replacement system to improve battery replacement efficiency, reduce costs, and ensure the success rate of battery replacement under various load conditions. This will not only help improve the user experience, but will also further promote the development of the new energy vehicle market. Summary of the invention

[0006] The present invention designs a high-precision adaptive battery-swapping robot and a battery-swapping method thereof, which solves the technical problem that the existing battery-swapping mechanism has insufficient positioning accuracy, resulting in increased manufacturing costs, poor battery-swapping experience, and high subsequent maintenance costs.

[0007] In order to solve the above-mentioned technical problems, the present invention adopts the following solutions: A high-precision adaptive battery-changing robot, which can automatically remove or install a battery pack on a vehicle chassis; wherein the battery pack is locked on a quick-change bracket, and the quick-change bracket is connected to the vehicle chassis bracket. The high-precision adaptive battery-changing robot comprises, from top to bottom, an adjustment plate assembly, a floating plate assembly, a movable lifting plate assembly, a rotating plate assembly, and a bottom frame assembly, wherein the movable lifting plate assembly comprises a lower horizontal movable plate and an upper vertical lifting plate; the adjustment plate assembly can be tilted and adjusted and pressed tightly against the bottom surface of the battery pack, the positioning mechanism of the adjustment plate assembly is docked with the positioning mechanism of the battery pack, and the unlocking mechanism on the adjustment plate assembly unlocks or locks the locking mechanism between the battery pack and the quick-change bracket; the floating plate assembly is hinged to the adjustment plate assembly, and the floating plate assembly can swing horizontally, thereby ensuring that the positioning mechanism of the adjustment plate assembly is smoothly docked with the positioning mechanism of the battery pack; the floating chain The bar assembly includes an L-shaped bracket and a chain, the vertical side of the L-shaped bracket is connected to the floating plate assembly, one end of the chain is connected to the horizontal side of the L-shaped bracket, and the other end of the chain is fixedly connected to the upper vertical lifting plate; an electromagnet is provided on the upper vertical lifting plate, and an electromagnet adsorption plate is correspondingly provided on the floating plate assembly; the control unit does not start the electromagnet to allow the floating plate assembly to float left and right before the positioning mechanism of the adjusting plate assembly and the positioning mechanism of the battery pack are docked; the control unit starts the electromagnet to allow the floating plate assembly to be adsorbed and fixedly connected to the upper vertical lifting plate after the positioning mechanism of the adjusting plate assembly and the positioning mechanism of the battery pack are docked, so as to avoid the floating plate assembly floating left and right and causing the battery pack to be bumped during the movement process; the mobile lifting plate assembly is connected to the floating plate assembly through the floating chain assembly, and the mobile lifting plate assembly allows the adjusting plate assembly and the floating plate assembly to move vertically in the Z direction through the Z-direction driving mechanism; The rotating plate assembly can cause the adjusting plate assembly, floating plate assembly and movable lifting plate assembly above it to rotate to adapt to the position of the battery pack; the movable lifting plate assembly can move horizontally in the X direction relative to the rotating plate assembly through the X-direction drive mechanism; the bottom frame assembly can drive all the components thereon to move horizontally in the Y direction through the Y-direction drive mechanism.

[0008] Preferably, the positioning mechanism of the adjustment plate assembly is a conical positioning pin, and the positioning mechanism of the battery pack is a positioning pin sleeve, and the horizontal swing of the floating plate assembly can make the conical positioning pin easily enter the positioning pin sleeve; the adjustment plate assembly is provided with a plurality of battery pack lifting blocks, and each battery pack lifting block is provided with a pressure sensor, and when the battery pack contacts the battery pack lifting block, the pressure sensor can output the corresponding pressure value to the control module; the adjustment plate assembly is also provided with a plurality of locking and unlocking sleeves, and the lower end of each locking and unlocking sleeve is connected to the rotor of the locking and unlocking drive motor, and the gear ring at the upper end of the locking and unlocking sleeve cooperates with the gear ring at the lower end of the screw shaft of the locking mechanism, and the upper end of the screw shaft has a horizontal locking part; the locking and unlocking drive motor rotates the locking and unlocking sleeve, and the locking and unlocking sleeve drives the screw shaft to rotate so that the horizontal locking part rotates from the locked state to the unlocked state or the unlocked state to the locked state.

[0009] Preferably, the floating plate assembly and the leveling plate assembly are hinged by a Hooke's hinge, and a plurality of leveling electric cylinders are provided on the floating plate assembly, and the driving rods of the plurality of leveling electric cylinders cooperate with each other to tilt the leveling plate assembly and press it tightly against the bottom surface of the battery pack; it also includes an inclination sensor and an encoder, and the inclination sensor can detect the inclination angle of the leveling plate assembly; the encoder can recheck the leveling effect and error value of the leveling plate assembly.

[0010] Preferably, two sets of scissor fork assemblies are connected between the lower horizontal moving plate and the upper vertical lifting plate, and a scissor fork crossbeam is connected between the two sets of scissor fork assemblies; the lifting of the upper vertical lifting plate is achieved by a rigid chain transmission assembly, one rigid chain end of the rigid chain transmission assembly is connected to the upper vertical lifting plate, the motor acts as a reducer, and the reducer drives the rigid chain vertically through a sprocket drive; the scissor fork assembly includes two mutually hinged moving rods, one end of which is provided with a moving slider, and a slide rail is provided on the lower horizontal moving plate, and the moving slider can move on the slide rail.

[0011] Preferably, the X-axis driving mechanism includes an X-axis rack, an X-axis moving motor and a third gear; a long slot is opened on the lower horizontal moving plate, and the X-axis rack is in the shape of an "I" and passes through the long slot; the top of the "I" shape is the rack body, the lower horizontal moving plate and the bottom of the "I" shape are fixed on the rotating plate assembly, the X-axis moving motor is fixed on the lower horizontal moving plate, the rotor of the X-axis moving motor is connected to the third gear, and the third gear is engaged with the X-axis rack; when the third gear rotates, the X-axis moving motor, the lower horizontal moving plate and all components thereon move horizontally in the X-axis direction.

[0012] Preferably, the rotating plate assembly includes an inner ring, an outer ring, a second gear, a rotating motor and a rotating plate. The inner ring is coaxially connected to the outer ring and can rotate. The outer side of the outer ring is provided with teeth and is fixed to the bottom frame assembly. The rotating plate is fixedly connected to the inner ring and can rotate around the axis of the inner ring. The rotor of the rotating motor is connected to the second gear, and the second gear is meshed with the teeth. The rotating motor is installed on the rotating plate. When the rotating motor is working, it makes itself and the rotating plate rotate around the axis of the inner ring.

[0013] Preferably, the bottom frame assembly cooperates with the ground rail assembly, the bottom frame assembly is provided with a first gear and a driving motor, the corresponding ground rail assembly includes a Y-axis rack, and the driving motor drives the first gear to move on the Y-axis rack.

[0014] Preferably, a pressure sensor ring is provided at the root of each conical locating pin, and when the conical locating pin completely enters the locating pin sleeve, the quick-change bracket squeezes and activates the pressure sensor ring; when the output values ​​of all the pressure sensors and the pressure sensor rings reach the preset values, it indicates that the battery pack is tightly fixed by the adjustment plate assembly, and the control unit automatically starts the electromagnet according to the pressure sensor signal and the pressure sensor ring signal, so that the floating plate assembly is adsorbed and fixedly connected with the upper vertical lifting plate; when the output values ​​of one or more pressure sensors and the pressure sensor ring do not reach the preset value, it indicates that the battery pack is not tightly fixed by the adjustment plate assembly, and the control unit starts the rigid chain transmission assembly according to the pressure sensor signal and the pressure sensor ring signal, so that the upper vertical lifting plate moves back and forth for fine adjustment so that the conical locating pin completely enters the locating pin sleeve.

[0015] A control method for a high-precision adaptive battery-swapping robot comprises the following steps: The unlocking process is as follows: Step 1: After the vehicle stops at the battery swap area, the visual camera takes a picture of the vehicle chassis and feeds back the information of the low-power battery pack and quick-swap bracket to the control unit; Step 2: After receiving the feedback information from the visual camera, the control unit adjusts the adjustment plate assembly to the position indicated by the visual feedback along the X-axis and the Y-axis through the X-axis drive mechanism and the Y-axis drive mechanism respectively, and at the same time, the control unit controls the Hooke hinge to make the tilt angle of the adjustment plate assembly the same as the tilt angle of the battery pack with low power; Step 3: The rotating plate assembly is rotated along the R axis to a corresponding angle so that the horizontal projection shape of the low-power battery pack and the quick-change bracket coincides with the placement shape of the rotating plate assembly; Step 4: Control the rigid chain transmission assembly so that the upper vertical lifting plate of the movable lifting plate assembly rises along the Z axis; Step 5: The control unit turns off the electromagnet and the floating plate assembly is released; Step 6. When the locating pin approaches the locating pin sleeve of the battery pack, the X-axis and Y-axis will perform corresponding position information compensation; at this time, the encoder begins to contact the low-power battery pack to recheck the angle; then, the low-power battery pack contacts the battery pack lifting block and the pressure sensor, and is also detected by the proximity switch; the inclination sensor monitors the angle information of the leveling component in real time and provides feedback, and the control unit performs position correction based on the feedback information to achieve precise positioning. When the locating pin completely enters the locating pin sleeve of the battery pack, the locking and unlocking drive motor is started to turn on the torque mode of the locking and unlocking sleeve and execute the unlocking action, finally completing the unlocking.

[0016] A control method for a high-precision adaptive battery-swapping robot comprises the following steps: The locking process is as follows: Step 1: The high-precision adaptive battery-swapping robot carries a fully-charged battery pack and moves to the bottom of the vehicle chassis along the Y-axis direction; Step 2: After receiving the feedback information from the visual camera, the control unit adjusts the adjustment plate assembly to the position indicated by the visual feedback along the X-axis and the Y-axis through the X-axis drive mechanism and the Y-axis drive mechanism respectively, and at the same time, the control unit controls the Hooke's hinge to make the inclination angle of the adjustment plate assembly the same as the inclination angle of the vehicle chassis bracket; Step 3: The rotating plate assembly is rotated to a corresponding angle along the R axis so that the projection shape of the quick-change bracket on the horizontal plane coincides with the placement shape of the rotating plate assembly; Step 4: Control the rigid chain transmission assembly so that the upper vertical lifting plate of the movable lifting plate assembly rises along the Z axis; Step 5: The control unit turns off the electromagnet and the floating plate assembly is released; Step 6. When the locking and unlocking sleeve approaches the gear ring at the lower end of the screw shaft, the X-axis and Y-axis will perform corresponding position information compensation; the inclination sensor monitors the angle information of the leveling component in real time and provides feedback, and the control unit performs position correction based on the feedback information to achieve precise positioning; when the upper end of the locking and unlocking sleeve is sleeved on the gear ring at the lower end of the screw shaft, the locking and unlocking drive motor is started to turn on the torque mode of the locking and unlocking sleeve and execute the locking action, finally completing the locking.

[0017] Preferably, in step 6 of the unlocking process, when the output values ​​of all the pressure sensors and the pressure sensor ring reach the preset values, it indicates that the battery pack is tightly fixed by the adjustment plate assembly, and the control unit automatically starts the electromagnet according to the pressure sensor signal and the pressure sensor ring signal, so that the floating plate assembly is adsorbed and fixedly connected with the upper vertical lifting plate; in step 6 of the unlocking process, when the output values ​​of one or more pressure sensors and the pressure sensor ring do not reach the preset values, it indicates that the fully charged battery pack cannot be tightly fixed by the adjustment plate assembly, and the control unit starts the rigid chain transmission assembly according to the pressure sensor signal and the pressure sensor ring signal, so that the upper vertical lifting plate moves back and forth so that the conical locating pin completely enters the locating pin sleeve.

[0018] Compared with the prior art, the high-precision adaptive battery-swapping robot and the battery-swapping method thereof have the following beneficial effects: (1) The present invention addresses the problems of light trucks such as overloading, unbalanced loading, cargo box overturning, uneven chassis, and tilted parking. Through visual detection, the robot is fed back to the high-precision adaptive battery-swapping robot, which can dynamically adjust itself to adapt to the chassis inclination angle, thereby successfully completing the battery-swapping work and significantly improving the battery-swapping efficiency.

[0019] (2) The automated battery replacement process of the present invention reduces manpower requirements and labor costs, while improving the stability and reliability of operations. In addition, the fast battery replacement process can significantly shorten waiting time, improve customer satisfaction, and enhance corporate competitiveness.

[0020] (3) The vertical movement of the vertical lifting plate of the present invention can not only play the function of lifting the leveling plate assembly, but also play the function of connecting and correcting the positioning mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 : Schematic diagram of the three-dimensional structure of the high-precision adaptive battery-swapping robot of the present invention; Figure 2 : A schematic diagram of the structure of the ground rail assembly in the present invention; Figure 3 : Schematic diagram of the high-precision adaptive battery-swapping robot of the present invention walking on the ground rail assembly; Figure 4 : A schematic diagram of the first angle of the high-precision adaptive battery-swapping robot of the present invention in an unfolded state; Figure 5 : A second angle schematic diagram of the high-precision adaptive battery-swapping robot of the present invention in an unfolded state; Figure 6 : Schematic diagram of the combination of the leveling plate assembly and the floating plate assembly of the present invention; Figure 7 : Figure 6 middle first side schematic diagram; Figure 8 : Figure 6 Middle second side schematic diagram; Fig. 9 : A schematic diagram of the first angle structure of the movable lifting plate assembly in the present invention; Fig.10 : A schematic diagram of the second angle structure of the movable lifting plate assembly in the present invention; Fig.11 : A schematic diagram of the structure of the rigid chain transmission assembly in the present invention; Fig.12 : Schematic diagram of the structure of the floating chain assembly in the present invention; Fig.13 : Schematic diagram of the installation of the electromagnet on the upper vertical lifting plate in the present invention; Fig.14 : Schematic diagram of the internal structure of the rotating plate assembly in the present invention; Fig.15 : Schematic diagram of the external structure of the rotating plate assembly in the present invention; Fig.16 : Exploded view of the high-precision adaptive battery-swapping robot of the present invention.

[0022] Description of reference numerals: 1—bottom frame assembly; 11—control cabinet; 12—drive motor; 13—first gear; 2—rotating plate assembly; 21—X-axis rack; 22—inner ring; 23—outer ring; 24—second gear; 25—rotating motor; 26—rotating plate; 3—moving lifting plate assembly; 31—lower horizontal moving plate; 32—upper vertical lifting plate; 33—scissor fork assembly; 34—scissor fork crossbeam; 35—slide rail; 36—electromagnet; 37—rigid chain transmission assembly; 371—rigid chain End; 38—moving slider; 39—X-axis moving motor; 391—third gear; 4—floating plate assembly; 41—leveling cylinder; 42—Hook hinge; 43—electromagnet adsorption plate; 5—leveling plate assembly; 51—locating pin; 52—battery pack lifting block; 53—encoder; 54—locking and unlocking sleeve; 55—pressure sensor; 56—locking and unlocking drive motor; 6—ground rail assembly; 61—Y-axis rack; 7—floating chain assembly; 71—L-shaped bracket; 72—chain. DETAILED DESCRIPTION

[0023] Combine the following Figures 1 to 16 , the present invention is further described: The purpose of the present invention is to provide a high-precision adaptive battery-swapping robot that can perform battery-swapping at the bottom of a light truck without centering the vehicle or lifting the vehicle to adjust its posture in a designated battery-swapping area. The core of the present invention is to optimize the battery-swapping process through advanced mechanical and electronic systems, making it more efficient and convenient, thereby significantly improving the efficiency of electric light trucks.

[0024] like Figure 1 and Fig.16 As shown, the high-precision adaptive battery-changing robot of the present invention can automatically remove or install the battery pack on the vehicle chassis; wherein, the battery pack is locked on the quick-change bracket, and the quick-change bracket is connected to the vehicle chassis bracket.

[0025] The high-precision adaptive battery-swapping robot is composed of the adjustment plate assembly 5, the floating plate assembly 4, the mobile lifting plate assembly 3, the rotating plate assembly 2 and the bottom frame assembly 1 from top to bottom. The robot has independent movements of the X, Y, Z and R axes, and can work in coordination with each other.

[0026] The adjusting plate assembly 5 can be tilted and pressed against the bottom surface of the battery pack, the positioning mechanism of the adjusting plate assembly 5 is docked with the positioning mechanism of the battery pack, and the unlocking mechanism on the adjusting plate assembly 5 unlocks or locks the locking mechanism between the battery pack and the quick-change bracket; the floating plate assembly 4 is hinged to the adjusting plate assembly 5, and the floating plate assembly 4 can swing horizontally, thereby ensuring that the positioning mechanism of the adjusting plate assembly 5 and the positioning mechanism of the battery pack are smoothly docked; the moving lifting plate assembly 3 is connected to the floating plate assembly 4 through the floating chain assembly 7, and the moving lifting plate assembly 3 makes the adjusting plate assembly 5 and the floating plate assembly 4 move vertically in the Z direction through the Z-direction driving mechanism; the rotating plate assembly 2 can make the adjusting plate assembly 5, the floating plate assembly 4 and the moving lifting plate assembly 3 above it rotate to adapt to the position of the battery pack; the moving lifting plate assembly 3 can make horizontal X-direction movement relative to the rotating plate assembly 2 through the X-direction driving mechanism; the bottom frame assembly 1 can drive all the components thereon to make horizontal Y-direction movement through the Y-direction driving mechanism.

[0027] like Figure 2 and Figure 3 As shown, the bottom frame assembly 1 cooperates with the ground rail assembly 6, the bottom frame assembly 1 is provided with a first gear 13 and a driving motor 12, the corresponding ground rail assembly 6 includes a Y-axis rack 61, and the driving motor 12 drives the first gear 13 to move on the Y-axis rack 61. A control cabinet 11 is provided on the bottom frame assembly 1, and the control unit is located in the control cabinet 11.

[0028] The ground rail assembly 6 provides a clear walking path for the high-precision adaptive battery-swapping robot, ensuring that it can move safely along the predetermined track when shuttling back and forth between the battery-swapping compartment and the battery compartment, reducing the possibility of deviation from the track. By being fixed or buried in the ground, the ground rail assembly 6 enhances the stability of the high-precision adaptive battery-swapping robot and ensures its balance during load-bearing and accelerated operation. A Y-axis rack 61 is installed on the ground rail assembly, and the Y-direction walking relies on the first gear 13 and the rack drive, which can help the high-precision adaptive battery-swapping robot to accurately position itself, especially during battery-swapping operations, to ensure that it is more accurately docked with the vehicle or battery pack.

[0029] The bottom frame assembly 1 provides a solid foundation and is the main load-bearing structure. It can bear the center of gravity and various components of the entire high-precision adaptive battery-swapping robot to ensure overall stability. It connects various parts of the battery-swapping robot, including wheels, drive units, sensors and other important components, to form a complete transportation system.

[0030] like Figure 4 and Figure 5As shown, the plate adjustment assembly 5 is mainly composed of the plate adjustment body, the locking and unlocking drive motor 56, the locking and unlocking sleeve 54, the positioning pin 51, the battery pack lifting block 52, the pressure sensor, the tilt sensor, the pressure sensor ring and the encoder 53. As the core component of the adaptive battery swapping robot, the plate adjustment assembly can adjust the angle of the battery pack to adapt to the tilt angle of the chassis, thereby successfully completing the battery swapping operation. This design not only improves the accuracy and safety of the battery swapping process, but also enhances the adaptability of the entire system.

[0031] The positioning mechanism of the adjustment plate assembly 5 is a conical positioning pin 51, and the positioning mechanism of the battery pack is a positioning pin sleeve. The horizontal swing of the floating plate assembly 4 can make the conical positioning pin 51 easily enter the positioning pin sleeve; the adjustment plate assembly 5 is provided with a plurality of battery pack lifting blocks 52, and each battery pack lifting block 52 is provided with a pressure sensor 55. When the battery pack contacts the battery pack lifting block 52, the pressure sensor 55 can output the corresponding pressure value to the control module.

[0032] like Figure 6 As shown, the leveling plate assembly 5 is further provided with a plurality of locking and unlocking sleeves 54, the lower end of each locking and unlocking sleeve 54 is connected to the rotor of the locking and unlocking drive motor 56, the gear ring at the upper end of the locking and unlocking sleeve 54 cooperates with the gear ring at the lower end of the screw shaft of the locking mechanism, and the upper end of the screw shaft has a horizontal locking portion; the locking and unlocking drive motor 56 causes the locking and unlocking sleeve 54 to rotate, and the locking and unlocking sleeve 54 drives the screw shaft to rotate so that the horizontal locking portion rotates from a locked state to an unlocked state or vice versa.

[0033] like Figure 7 and Figure 8 As shown, the floating plate assembly 4 is composed of a floating plate body, floating support legs, a floating chain assembly 7, a leveling cylinder 41, a Hook hinge 42, and an electromagnet adsorption plate 43; the floating plate body can float ±15mm in the XY plane, which is compatible with the vehicle body size error and reduces the positioning accuracy requirements of the battery swap robot.

[0034] The floating plate assembly 4 and the leveling plate assembly 5 are hinged by a Hooke's hinge 42. A plurality of leveling electric cylinders 41 are provided on the floating plate assembly 4. The driving rods of the plurality of leveling electric cylinders 41 cooperate with each other to tilt the leveling plate assembly 5 and press it tightly against the bottom surface of the battery pack. The leveling plate assembly 5 is supported by the Hooke's hinge 42. The four leveling electric cylinders 41 are connected to the leveling plate assembly 5 by the leveling hinge to achieve the tilting of the leveling plate assembly 5 at different angles. This design enables the battery-swapping robot to adapt to the different tilting postures of the chassis when the vehicle is overloaded or overloaded, thereby ensuring the smooth progress of the battery-swapping process. That is: by feedback of position information by the 3D visual camera, the four leveling electric cylinders are lifted and lowered by different displacements, so that the leveling plate forms a certain angle around the Hooke's hinge, and this angle is the same as the angle of the battery pack of the vehicle chassis, and the leveling plate is parallel to the vehicle chassis.

[0035] It also includes an inclination sensor and an encoder 53. The inclination sensor can detect the inclination angle of the leveling plate assembly 5; the encoder 53 can recheck the leveling effect and error value of the leveling plate assembly 5.

[0036] like Fig. 9 and Fig.10 As shown, the movable lifting plate assembly 3 includes a lower horizontal movable plate 31 and an upper vertical lifting plate 32, two sets of scissor fork assemblies 33 are connected between the lower horizontal movable plate 31 and the upper vertical lifting plate 32, and a scissor fork crossbeam 34 is connected between the two sets of scissor fork assemblies 33; the lifting of the upper vertical lifting plate 32 is realized by a rigid chain transmission assembly 37, a rigid chain end 371 of the rigid chain transmission assembly 37 is connected to the upper vertical lifting plate 32, the motor acts as a reducer, and the reducer drives the rigid chain to move vertically through a sprocket, as shown in FIG. Fig.11 The scissor fork assembly 33 comprises two mutually hinged movable rods, one end of which is provided with a movable slider 38 , and a slide rail 35 is provided on the lower horizontal movable plate 31 , on which the movable slider 38 can move.

[0037] like Fig.10 As shown, the X-axis drive mechanism includes an X-axis rack 21, an X-axis moving motor 39 and a third gear 391; a long slot is provided on the lower horizontal moving plate 31, and the X-axis rack 21 is in an "I" shape and passes through the long slot; the top of the "I" shape is the rack body, the lower horizontal moving plate 31 and the bottom of the "I" shape are fixed on the rotating plate assembly 2, the X-axis moving motor 39 is fixed on the lower horizontal moving plate 31, and the rotor of the X-axis moving motor 39 is connected to the third gear 391, and the third gear 391 is meshed with the X-axis rack 21; when the third gear 391 rotates, the X-axis moving motor 39, the lower horizontal moving plate 31 and all the components thereon move horizontally in the X direction. The X-axis pitch change can better adapt to the position deviation of the vehicle in the X-axis direction.

[0038] like Fig.12 As shown, the floating chain assembly 7 includes an L-shaped bracket 71 and a chain 72, the vertical side of the L-shaped bracket 71 is connected to the floating plate assembly 4, one end of the chain 72 is connected to the horizontal side of the L-shaped bracket 71, and the other end of the chain 72 is fixedly connected to the upper vertical lifting plate 32.

[0039] like Fig.13 As shown, an electromagnet 36 is provided on the upper vertical lifting plate 32, and an electromagnet adsorption plate 43 is correspondingly provided on the floating plate assembly 4; one of the main functions of the electromagnet adsorption plate 43 is to enable the high-precision battery exchange robot to engage with the electromagnet 36 during the Y-direction operation, so that the floating plate assembly is stationary and loses its floating function, thereby avoiding accidental collision of the battery pack.

[0040] Before the positioning mechanism of the adjusting plate assembly 5 is docked with the positioning mechanism of the battery pack, the control unit does not start the electromagnet 36 to allow the floating plate assembly 4 to float left and right; after the positioning mechanism of the adjusting plate assembly 5 is docked with the positioning mechanism of the battery pack, the control unit starts the electromagnet 36 to allow the floating plate assembly 4 to be adsorbed and fixedly connected to the upper vertical lifting plate 32, so as to prevent the floating plate assembly 4 from floating left and right and causing the battery pack to be bumped during the movement process.

[0041] A pressure sensor ring is provided at the root of each conical positioning pin 51. When the conical positioning pin 51 completely enters the positioning pin sleeve, the quick-change bracket squeezes and activates the pressure sensor ring; when the output values ​​of all the pressure sensors and the pressure sensor rings reach the preset values, it indicates that the battery pack is tightly fixed by the adjustment plate assembly 5. The control unit automatically starts the electromagnet according to the pressure sensor signal and the pressure sensor ring signal, so that the floating plate assembly 4 is adsorbed and fixedly connected with the upper vertical lifting plate 32; when the output values ​​of one or more pressure sensors and the pressure sensor ring do not reach the preset values, it indicates that the battery pack is not tightly fixed by the adjustment plate assembly 5. The control unit starts the rigid chain transmission assembly 37 according to the pressure sensor signal and the pressure sensor ring signal, so that the upper vertical lifting plate 32 moves up and down in a small range so that the conical positioning pin 51 completely enters the positioning pin sleeve. The upper vertical lifting plate 32 can not only play the role of lifting the adjustment plate assembly 5, but also play the role of positioning mechanism correction.

[0042] In order to make it easier for the locating pin 51 to enter the locating pin sleeve, not only is the end of the locating pin 51 designed to be conical, but the diameter of the locating pin sleeve is also larger than the diameter of the locating pin 51. At the same time, the pressure sensor 55 located on the battery pack lifting block 52 contacts the battery pack first, and the base of the locating pin 51 contacts the battery pack later. Such a structure may lead to extreme situations: the locating pin 51 tilts into the locating pin sleeve and gets stuck in it, and the pressure sensor is also triggered, but the battery pack is not fixed firmly, causing damage to the battery pack during movement. Therefore, a pressure sensor ring is added, and the control unit can clearly determine whether the locating pin 51 has completely entered the locating pin sleeve, and when the locating pin 51 has not completely entered the locating pin sleeve, the rigid chain transmission assembly 37 is started to make the locating pin 51 move vertically back and forth for adjustment, and finally completely enter the locating pin sleeve.

[0043] like Fig.14 and Fig.15As shown, the rotating plate assembly 2 includes an inner ring 22, an outer ring 23, a second gear 24, a rotating motor 25 and a rotating plate 26. The inner ring 22 is coaxially connected to the outer ring 23, and the inner ring 22 can rotate. The outer side of the outer ring 23 is provided with teeth and is fixed on the bottom frame assembly 1. The rotating plate 26 is fixedly connected to the inner ring 22 and can rotate around the axis of the inner ring 22. The rotor of the rotating motor 25 is connected to the second gear 24, and the second gear 24 is meshed with the teeth. The rotating motor 25 is installed on the rotating plate 26. When the rotating motor 25 is working, it makes itself and the rotating plate 26 rotate around the axis of the inner ring 22.

[0044] The rotating plate assembly 2 is an important part of the high-precision adaptive battery-swapping robot. It adopts gear drive and has high positioning accuracy, allowing the high-precision adaptive battery-swapping robot to rotate ±7 degrees in situ. This function enables the high-precision adaptive battery-swapping robot to better adapt to the tilt of the vehicle caused by uneven parking positions or terrain factors. Through rotation, the high-precision adaptive battery-swapping robot can accurately align the contact point with the vehicle, thereby ensuring the smooth progress of the battery-swapping process. In addition, the design of the rotating plate assembly 2 also enhances the flexibility of the battery-swapping robot, enabling it to operate effectively in a limited space, thereby improving overall work efficiency.

[0045] Although the above-mentioned driving structure connected to the rotating motor 25 and the X-axis moving motor 39 will cause the rotating motor 25 and the X-axis moving motor 39 to move themselves, it can make full use of the limited space of the robot, so that the high-precision adaptive battery exchange robot is small in size and can be suitable for different types of battery exchange environments.

[0046] The control method of the high-precision adaptive battery-swapping robot of the present invention comprises the following steps: The unlocking process is as follows: Step 1: After the vehicle stops at the battery swap area, the visual camera captures the position of the vehicle chassis and feeds back information about the low-power battery pack and quick-change bracket to the control unit.

[0047] Step 2: After receiving the feedback information from the visual camera, the control unit adjusts the adjustment plate assembly 5 along the X-axis and Y-axis to the position indicated by the visual feedback through the X-axis drive mechanism and the Y-axis drive mechanism respectively. At the same time, the control unit controls the Hooke's hinge 42 so that the tilt angle of the adjustment plate assembly 5 is the same as the tilt angle of the low-power battery pack.

[0048] Step 3: Rotate the rotating plate assembly 2 along the R axis to a corresponding angle so that the horizontal projection shape of the low-power battery pack and the quick-change bracket coincides with the placement shape of the rotating plate assembly 2.

[0049] Step 4: Control the rigid chain transmission assembly 37 so that the upper vertical lifting plate 32 of the movable lifting plate assembly 3 rises along the Z axis.

[0050] Step 5: The control unit turns off the electromagnet 36 and the floating plate assembly 4 is released.

[0051] Step 6. When the locating pin approaches the locating pin sleeve of the battery pack, the X-axis and Y-axis will perform corresponding position information compensation; at this time, the encoder begins to contact the low-power battery pack to recheck the angle; then, the low-power battery pack contacts the battery pack lifting block 52 and the pressure sensor 55, and is also detected by the proximity switch; the inclination sensor monitors the angle information of the leveling assembly in real time and provides feedback, and the control unit performs position correction based on the feedback information to achieve precise positioning. When the locating pin completely enters the locating pin sleeve of the battery pack, the locking and unlocking drive motor 56 is started to turn on the torque mode of the locking and unlocking sleeve 54 and execute the unlocking action, finally completing the unlocking.

[0052] The locking process is as follows: Step 1: The high-precision adaptive battery-swapping robot carries a fully charged battery pack and moves along the Y-axis to the bottom of the vehicle chassis.

[0053] Step 2: After receiving the feedback information from the visual camera, the control unit adjusts the adjustment plate assembly 5 along the X-axis and Y-axis to the position indicated by the visual feedback through the X-axis drive mechanism and the Y-axis drive mechanism respectively. At the same time, the control unit controls the Hooke's hinge 42 so that the inclination angle of the adjustment plate assembly 5 is the same as the inclination angle of the vehicle chassis bracket.

[0054] Step 3: The rotating plate assembly 2 is rotated along the R axis to a corresponding angle so that the projection shape of the quick-change bracket on the horizontal plane coincides with the placement shape of the rotating plate assembly 2.

[0055] Step 4: Control the rigid chain transmission assembly 37 so that the upper vertical lifting plate 32 of the movable lifting plate assembly 3 rises along the Z axis.

[0056] Step 5: The control unit turns off the electromagnet 36 and the floating plate assembly 4 is released.

[0057] Step 6, when the locking and unlocking sleeve 54 approaches the gear ring at the lower end of the screw shaft, the X-axis and Y-axis will perform corresponding position information compensation; the inclination sensor monitors the angle information of the leveling component in real time and provides feedback, and the control unit performs position correction according to the feedback information to achieve precise positioning; when the upper end of the locking and unlocking sleeve 54 is sleeved on the gear ring at the lower end of the screw shaft, the locking and unlocking drive motor 56 is started so that the torque mode of the locking and unlocking sleeve 54 is turned on and the locking action is performed, and finally the locking is completed.

[0058] In step 6 of the unlocking process, when the output values ​​of all the pressure sensors and the pressure sensor ring reach the preset values, it indicates that the battery pack is tightly fixed by the adjustment plate assembly 5, and the control unit automatically starts the electromagnet according to the pressure sensor signal and the pressure sensor ring signal, so that the floating plate assembly 4 is adsorbed and fixedly connected with the upper vertical lifting plate 32; In step 6 of the unlocking process, when the output values ​​of one or more pressure sensors and the pressure sensor ring do not reach the preset values, it indicates that the battery pack cannot be tightly fixed by the adjustment plate assembly 5. The control unit starts the rigid chain transmission assembly 37 based on the pressure sensor signal and the pressure sensor ring signal to make the upper vertical lifting plate 32 move up and down so that the conical positioning pin 51 completely enters the positioning pin sleeve.

[0059] Battery swap process: After the vehicle stops at the battery swap area, the protective door on the upper part of the battery swap robot is opened, and the visual camera captures the position of the vehicle chassis and feeds back the information to the high-precision adaptive battery swap robot. The high-precision adaptive battery swap robot adaptively adjusts the position and angle according to the feedback, then rises to interact with the low-power battery pack and performs the unlocking operation. After successful unlocking, the battery swap robot lowers the battery to the origin position and begins to move to the cache position in the Y direction. After arriving, the robot rises and places the low-power battery on the lifting block of the cache position, and then descends to the waiting position. Then, the telescopic fork places the full battery on the battery swap robot. At this time, the camera takes a picture again and feeds back the position and angle information of the vehicle chassis. After the high-precision adaptive battery swap robot adjusts the position and angle again, it lifts the fully charged battery pack to interact with the vehicle chassis and starts locking. At this point, the battery swap process is completed.

[0060] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the implementation of the present invention is not limited to the above-mentioned method. As long as various improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A high-precision adaptive battery-swapping robot that can automatically remove or install a battery pack on a vehicle chassis; The battery pack is locked on the quick-change bracket, and the quick-change bracket is connected to the vehicle chassis bracket, which is characterized by: The high-precision adaptive battery-swapping robot comprises, from top to bottom, an adjustment plate assembly (5), a floating plate assembly (4), a movable lifting plate assembly (3), a rotating plate assembly (2), and a bottom frame assembly (1); the movable lifting plate assembly (3) comprises a lower horizontal movable plate (31) and an upper vertical lifting plate (32); The plate adjustment assembly (5) can be tilted and adjusted and pressed against the bottom surface of the battery pack; the positioning mechanism of the plate adjustment assembly (5) is docked with the positioning mechanism of the battery pack; and the unlocking mechanism on the plate adjustment assembly (5) unlocks or locks the locking mechanism between the battery pack and the quick-change bracket; The floating plate assembly (4) is hinged to the adjusting plate assembly (5), and the floating plate assembly (4) can swing in the horizontal direction, thereby ensuring that the positioning mechanism of the adjusting plate assembly (5) and the positioning mechanism of the battery pack are smoothly docked; the floating chain assembly (7) comprises an L-shaped bracket (71) and a chain (72), the vertical side of the L-shaped bracket (71) is connected to the floating plate assembly (4), one end of the chain (72) is connected to the horizontal side of the L-shaped bracket (71), and the other end of the chain (72) is fixedly connected to the upper vertical lifting plate (32); the upper vertical lifting plate (32) is provided with an electromagnet (3 6), an electromagnet adsorption plate (43) is correspondingly provided on the floating plate assembly (4); before the positioning mechanism of the adjusting plate assembly (5) and the positioning mechanism of the battery pack are docked, the control unit does not start the electromagnet (36) to allow the floating plate assembly (4) to float left and right; after the positioning mechanism of the adjusting plate assembly (5) and the positioning mechanism of the battery pack are docked, the control unit starts the electromagnet (36) to allow the floating plate assembly (4) to be adsorbed and fixedly connected to the upper vertical lifting plate (32), so as to prevent the floating plate assembly (4) from floating left and right and causing the battery pack to be bumped during the movement process; The movable lifting plate assembly (3) is connected to the floating plate assembly (4) via a floating chain assembly (7), and the movable lifting plate assembly (3) enables the leveling plate assembly (5) and the floating plate assembly (4) to move vertically in the Z direction via a Z-direction driving mechanism; The rotating plate assembly (2) can cause the adjusting plate assembly (5), the floating plate assembly (4) and the movable lifting plate assembly (3) above it to rotate to adapt to the position of the battery pack; the movable lifting plate assembly (3) can move horizontally in the X direction relative to the rotating plate assembly (2) through the X-direction driving mechanism; The bottom frame assembly (1) can drive all the components thereon to move horizontally in the Y direction through a Y-direction driving mechanism.

2. The high-precision adaptive battery-swapping robot according to claim 1, characterized in that: The positioning mechanism of the adjustment plate assembly (5) is a conical positioning pin (51), the positioning mechanism of the battery pack is a positioning pin sleeve, and the floating plate assembly (4) swings in the horizontal direction so that the conical positioning pin (51) can easily enter the positioning pin sleeve; The leveling plate assembly (5) is provided with a plurality of battery pack lifting blocks (52), each battery pack lifting block (52) is provided with a pressure sensor (55), and when the battery pack contacts the battery pack lifting block (52), the pressure sensor (55) can output a corresponding pressure value to the control module; The leveling plate assembly (5) is further provided with a plurality of locking and unlocking sleeves (54); the lower end of each locking and unlocking sleeve (54) is connected to the rotor of a locking and unlocking drive motor (56); the gear ring at the upper end of the locking and unlocking sleeve (54) cooperates with the gear ring at the lower end of the screw shaft of the locking mechanism; the upper end of the screw shaft has a horizontal locking portion; the locking and unlocking drive motor (56) causes the locking and unlocking sleeve (54) to rotate, and the locking and unlocking sleeve (54) drives the screw shaft to rotate, thereby causing the horizontal locking portion to rotate from a locked state to an unlocked state or vice versa.

3. The high-precision adaptive battery-swapping robot according to claim 2, characterized in that: The floating plate assembly (4) and the leveling plate assembly (5) are hingedly connected via a Hooke hinge (42); a plurality of leveling electric cylinders (41) are provided on the floating plate assembly (4); and driving rods of the plurality of leveling electric cylinders (41) cooperate with each other to tilt the leveling plate assembly (5) and press it tightly against the bottom surface of the battery pack; It also includes an inclination sensor and an encoder (53). The inclination sensor can detect the inclination angle of the leveling plate assembly (5); the encoder (53) can recheck the leveling effect and error value of the leveling plate assembly (5).

4. The high-precision adaptive battery-swapping robot according to claim 3, characterized in that: Two sets of scissor fork assemblies (33) are connected between the lower horizontal moving plate (31) and the upper vertical lifting plate (32), and a scissor fork crossbeam (34) is connected between the two sets of scissor fork assemblies (33); the lifting of the upper vertical lifting plate (32) is achieved by a rigid chain transmission assembly (37); a rigid chain end (371) of the rigid chain transmission assembly (37) is connected to the upper vertical lifting plate (32); a motor acts as a reducer, and the reducer drives the rigid chain to move vertically through a sprocket; the scissor fork assembly (33) includes two mutually hinged moving rods, one of which is provided with a moving slider (38); a slide rail (35) is provided on the lower horizontal moving plate (31), and the moving slider (38) can move on the slide rail (35).

5. The high-precision adaptive battery-swapping robot according to claim 4, characterized in that: The X-axis driving mechanism comprises an X-axis rack (21), an X-axis moving motor (39) and a third gear (391); a long slot is provided on the lower horizontal moving plate (31); the X-axis rack (21) is in the shape of an "I" character and passes through the long slot; the top of the "I" character is a rack body; the lower horizontal moving plate (31) and the bottom of the "I" character are fixed on the rotating plate assembly (2); the X-axis moving motor (39) is fixed on the lower horizontal moving plate (31); the rotor of the X-axis moving motor (39) is connected to the third gear (391); the third gear (391) is meshed with the X-axis rack (21); when the third gear (391) rotates, the X-axis moving motor (39), the lower horizontal moving plate (31) and all components thereon move horizontally in the X direction.

6. The high-precision adaptive battery-swapping robot according to claim 5, characterized in that: The rotating plate assembly (2) comprises an inner ring (22), an outer ring (23), a second gear (24), a rotating motor (25) and a rotating plate (26); the inner ring (22) is coaxially connected to the outer ring (23); the inner ring (22) is rotatable; the outer side of the outer ring (23) is provided with a tooth pattern and is fixed to the bottom frame assembly (1); the rotating plate (26) is fixedly connected to the inner ring (22) and is rotatable around the axis of the inner ring (22); the rotor of the rotating motor (25) is connected to the second gear (24); the second gear (24) is meshed with the tooth pattern; the rotating motor (25) is mounted on the rotating plate (26); when the rotating motor (25) is in operation, the rotating motor (25) rotates with the rotating plate (26) around the axis of the inner ring (22).

7. The high-precision adaptive battery-swapping robot according to claim 6, characterized in that: The bottom frame assembly (1) and the ground rail assembly (6) cooperate with each other. The bottom frame assembly (1) is provided with a first gear (13) and a driving motor (12). The corresponding ground rail assembly (6) includes a Y-axis rack (61). The driving motor (12) drives the first gear (13) to move on the Y-axis rack (61).

8. The high-precision adaptive battery-swapping robot according to claim 7, characterized in that: A pressure sensor ring is provided at the root of each tapered positioning pin (51); when the tapered positioning pin (51) completely enters the positioning pin sleeve, the quick-change bracket squeezes and activates the pressure sensor ring; When the output values ​​of all the pressure sensors and the pressure sensor ring reach the preset values, it indicates that the battery pack is tightly fixed by the adjustment plate assembly (5), and the control unit automatically activates the electromagnet according to the pressure sensor signal and the pressure sensor ring signal, so that the floating plate assembly (4) is adsorbed and fixedly connected to the upper vertical lifting plate (32); When the output values ​​of one or more pressure sensors and the pressure sensor ring do not reach the preset values, it indicates that the battery pack cannot be tightly fixed by the adjustment plate assembly (5). The control unit starts the rigid chain transmission assembly (37) based on the pressure sensor signal and the pressure sensor ring signal to make the upper vertical lifting plate (32) move up and down and fine-tune so that the conical positioning pin (51) completely enters the positioning pin sleeve.

9. A control method for a high-precision adaptive battery-swapping robot according to any one of claims 5 to 8, comprising the following steps: The unlocking process is as follows: Step 1: After the vehicle stops at the battery swap area, the visual camera takes a picture of the vehicle chassis and feeds back the information of the low-power battery pack and quick-swap bracket to the control unit; Step 2: After receiving the feedback information from the visual camera, the control unit adjusts the adjustment plate assembly (5) along the X-axis and the Y-axis to the position indicated by the visual feedback through the X-axis drive mechanism and the Y-axis drive mechanism respectively, and at the same time, the control unit controls the Hooke hinge (42) so that the tilt angle of the adjustment plate assembly (5) is the same as the tilt angle of the battery pack with low power; Step 3, the rotating plate assembly (2) is rotated along the R axis to a corresponding angle, so that the projection shape of the low-power battery pack and the quick-change bracket on the horizontal plane coincides with the placement shape of the rotating plate assembly (2); Step 4, controlling the rigid chain transmission assembly (37) so that the upper vertical lifting plate (32) of the movable lifting plate assembly (3) rises along the Z axis; Step 5: The control unit turns off the electromagnet (36), and the floating plate assembly (4) is released; Step 6: When the positioning pin approaches the positioning pin sleeve of the battery pack, the X-axis and the Y-axis will perform corresponding position information compensation; at this time, the encoder begins to contact the battery pack with low power to recheck the angle; then, the battery pack with low power contacts the battery pack lifting block (52) and the pressure sensor (55), and is also detected by the proximity switch; the inclination sensor monitors the angle information of the leveling component in real time and provides feedback, and the control unit performs position correction based on the feedback information to achieve precise positioning. When the positioning pin completely enters the positioning pin sleeve of the battery pack, the locking and unlocking drive motor (56) is started so that the torque mode of the locking and unlocking sleeve (54) is turned on and the unlocking action is performed, and finally the unlocking is completed; or, The locking process is as follows: Step 1: The high-precision adaptive battery-swapping robot carries a fully-charged battery pack and moves to the bottom of the vehicle chassis along the Y-axis direction; Step 2: After receiving the feedback information from the visual camera, the control unit adjusts the adjustment plate assembly (5) along the X-axis and the Y-axis to the position indicated by the visual feedback through the X-axis drive mechanism and the Y-axis drive mechanism respectively, and at the same time, the control unit controls the Hooke hinge (42) so that the inclination angle of the adjustment plate assembly (5) is the same as the inclination angle of the vehicle chassis bracket; Step 3, the rotating plate assembly (2) is rotated along the R axis to a corresponding angle so that the projection shape of the quick-change bracket on the horizontal plane coincides with the placement shape of the rotating plate assembly (2); Step 4, controlling the rigid chain transmission assembly (37) so that the upper vertical lifting plate (32) of the movable lifting plate assembly (3) rises along the Z axis; Step 5: The control unit turns off the electromagnet (36), and the floating plate assembly (4) is released; Step 6: When the locking and unlocking sleeve (54) approaches the gear ring at the lower end of the screw shaft, the X-axis and the Y-axis will perform corresponding position information compensation; the inclination sensor monitors the angle information of the leveling component in real time and provides feedback, and the control unit performs position correction based on the feedback information to achieve precise positioning; when the upper end of the locking and unlocking sleeve (54) is sleeved on the gear ring at the lower end of the screw shaft, the locking and unlocking drive motor (56) is started so that the torque mode of the locking and unlocking sleeve (54) is turned on and the locking action is performed, and finally the locking is completed.

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