Parallel type child-mother double-robot battery swap station

Abstract

The invention discloses a parallel child-mother double-robot battery swapping station which comprises a battery charging bin, a vehicle battery swapping port and child-mother battery swapping robots for swapping a new energy vehicle. The battery charging bin comprises a buffering station and a plurality of charging stations, the buffering station and the charging stations are arranged in parallel, the battery charging bin communicates with a vehicle battery replacing opening, and the child-mother battery replacing robot carries a battery pack between the battery charging bin and a new energy vehicle; the buffer station and the charging station are both provided with carrying seats, the carrying seats are provided with charging interfaces for charging battery packs, and the battery packs are placed above the carrying seats of the charging station; the primary-secondary battery replacement robot comprises a lifting appliance, a primary robot for driving the lifting appliance to move in the X direction, a secondary robot for driving the lifting appliance to move in the Y direction, a lifting driving mechanism for driving the lifting appliance to lift up and down and a transverse fine adjustment mechanism. According to the invention, the automation degree of battery replacement is improved, and the subsequent use cost is greatly reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of battery swap stations, and in particular relates to a parallel parent-child dual-robot battery swap station. Background Art

[0002] New energy vehicles refer to vehicles that use unconventional automotive fuels as their power source (or use conventional automotive fuels but adopt new on-board power devices), and integrate advanced technologies in vehicle power control and drive to form vehicles with advanced technical principles, new technologies, and new structures.

[0003] With the advantages of zero pollution and low noise, and with the vigorous promotion of the country, the number of new energy vehicles has been increasing year by year. As supporting facilities for new energy vehicles, more and more new energy vehicle battery swap stations have sprung up. However, the existing battery swap stations have unreasonable planning and layout. During the battery swap process, forks need to be used to transport the batteries to the battery swap station, which increases the safety risks and operating costs of the battery swap stations. Summary of the invention

[0004] The main technical problem solved by the present invention is to provide a parallel mother-child dual-robot battery swap station, which improves the degree of automation of battery swapping and greatly reduces the cost of subsequent use.

[0005] In order to solve the above technical problems, a technical solution adopted by the present invention is: a parallel parent-child dual-robot battery swap station, comprising a battery charging compartment, a vehicle battery swap port and a parent-child battery swap robot for battery swapping of new energy vehicles;

[0006] The battery charging compartment includes a buffer station and a plurality of charging stations, the buffer station and the plurality of charging stations are arranged in parallel, the battery charging compartment is connected to the vehicle battery exchange port, and the parent-child battery exchange robot carries the battery pack between the battery charging compartment and the new energy vehicle, thereby improving the automation of battery exchange and greatly reducing the cost of subsequent use and the problems that arise during the later use process;

[0007] The buffer station and the charging station are both provided with a carrier, the carrier is equipped with a charging interface for charging the battery pack, and the battery pack is placed above the carrier of the charging station;

[0008] The mother-child battery exchange robot includes a hoist, a mother robot driving the hoist to move along the X direction, a child robot driving the hoist to move along the Y direction, a lifting drive mechanism driving the hoist to move up and down, and a lateral fine-tuning mechanism. The mother-child dual robot design is adopted to realize the transportation of the battery pack in the X direction, the Y direction and the height direction, with a high degree of automation, which greatly reduces the cost of battery exchange;

[0009] The mother robot includes an X-axis moving frame, a gear and an X-axis driving motor, wherein the X-axis driving motor is fixed to the X-axis moving frame, and an output shaft of the X-axis driving motor is connected to a gear, the gear is meshed with a rack, and the rack is fixed to the battery swap station;

[0010] The sub-robot comprises a Y-direction moving frame, a Y-direction walking wheel and a Y-direction driving motor, wherein the Y-direction driving motor is fixed to the Y-direction moving frame, and an output shaft of the Y-direction driving motor is connected to the Y-direction walking wheel, the Y-direction walking wheel is located above the Y-direction track and can roll along the direction of the Y-direction track, and the Y-direction track is installed on the X-direction moving frame;

[0011] An extension track docking with the Y-direction track is provided above the battery swap port of the vehicle, and the extension track includes a Y-direction extension track, a connecting track and a connecting push rod driving the connecting track to move back and forth along the Y-direction. The Y-direction extension track is fixed to the battery swap station, and the ends of the Y-direction extension track and the connecting track are both provided with inclined surfaces, and the inclination of the inclined surface of the Y-direction extension track is the same as the inclination of the inclined surface of the connecting track. Under the drive of the connecting push rod, the connecting track approaches or moves away from the Y-direction extension track so that the two inclined surfaces fit each other or form a gap. When the two inclined surfaces fit together, the connecting track moves away from the X-direction moving frame, thereby not hindering the movement of the X-direction moving frame. When the connecting track docks with the Y-direction track, a gap is generated between the two inclined surfaces of the Y-direction extension track and the connecting track. Since the inclined surface is inclined, it does not affect the rolling of the Y-direction walking wheel along the Y-direction track, the connecting track and the Y-direction extension track, so that the sub-robot can move to the top of the battery swap port of the vehicle.

[0012] Furthermore, the connecting push rod is installed at the battery swap station, and the connecting push rod is connected to a slider, the slider is connected to the connecting rail, the slider has a positioning pin, and the X-axis movable frame is provided with a pin hole corresponding to the positioning pin.

[0013] Furthermore, the lateral fine-tuning mechanism includes a mounting seat, a fine-tuning screw and a fine-tuning drive motor, the fine-tuning drive motor is fixed to a fixed plate, the fixed plate is fixed to a Y-axis movable frame, the output shaft of the fine-tuning drive motor is connected to the fine-tuning screw, the fine-tuning screw is threadedly connected to a connecting block, and the connecting block is connected to the mounting seat.

[0014] Further, the lifting drive mechanism includes several groups of pulley assemblies, wire ropes wound around the pulley assemblies, a drum and a lifting drive motor, the pulley assembly includes a fixed pulley and two movable pulleys, the fixed pulley is installed on a mounting seat, and the two movable pulleys are installed on a sling, the wire rope passes around the fixed pulley and the two ends of the wire rope pass through the two movable pulleys respectively, one end of the wire rope is fixed to the mounting seat, and the other end of the wire rope is connected to the drum, the drum is connected to the transmission wheel assembly, the transmission wheel assembly is connected to the lifting drive motor, and the lifting drive motor is fixed to the mounting seat.

[0015] Furthermore, the surface of the drum is provided with a threaded groove matching the wire rope, the drum is sleeved with a rope guide ring, the inner surface of the rope guide ring is provided with threaded ribs matching the threaded groove, the rope guide ring has a rope threading groove, and the wire rope passes through the rope threading groove and is then wound around the threaded groove.

[0016] Furthermore, the mounting seat is provided with a limiting rod, and the guide rope ring is provided with a guide groove matching the limiting rod.

[0017] Furthermore, the sling is installed with a tensioning structure, which includes a guide column, a tensioning spring and a sliding block. A limiting ring is fixed to the upper end of the guide column, and the lower end of the guide column passes through the sliding block and is fixed to the sling. The tensioning spring is sleeved on the guide column, and the tensioning spring is located between the limiting ring and the sliding block, and the movable pulley is installed on the sliding block.

[0018] Furthermore, it also includes a pulley sleeve, the movable pulley is installed inside the pulley sleeve, the pulley sleeve is fixed to the sliding block, the pulley sleeve is provided with a through hole, and the steel wire rope passes through the through hole and then winds around the movable pulley.

[0019] Furthermore, the hanger is equipped with at least one locking mechanism and a plurality of guide blocks corresponding to the frame of the battery pack, and the guide blocks are provided with guide surfaces.

[0020] Further, the locking mechanism includes two tongue plates and an electric push rod that drives the tongue plates to rotate and engage in the slots of the battery pack, the two tongue plates are respectively fixed to two rotating shafts, the rotating shafts are rotatably connected to the hanger, and the two rotating shafts are respectively fixed to the two rotating plates, one end of the electric push rod is rotatably connected to the first adjusting block, the first adjusting block is installed on the hanger, the other end of the electric push rod is rotatably connected to the second adjusting block, the second adjusting block is rotatably connected to one of the two rotating plates, and the two rotating plates are rotatably connected to the two ends of the connecting rod.

[0021] The beneficial effects of the present invention include at least the following points:

[0022] The present invention includes a battery charging compartment, a vehicle battery exchange port, and a mother-and-child battery exchange robot for battery exchange for new energy vehicles. The battery charging compartment is connected to the vehicle battery exchange port. The mother-and-child battery exchange robot carries the battery pack between the battery charging compartment and the new energy vehicle, thereby improving the automation of battery exchange and greatly reducing the cost of subsequent use and the problems that arise during the later use process.

[0023] The mother-and-child battery-exchange robot of the present invention comprises a sling, a mother robot driving the sling to move along the X direction, a child robot driving the sling to move along the Y direction, a lifting drive mechanism driving the sling to lift up and down, and a lateral fine-tuning mechanism. The design of a mother-and-child dual robot is adopted to realize the transportation of the battery pack in the X direction, the Y direction and the height direction. The degree of automation is high, which greatly reduces the cost of battery replacement. It is worth noting that the lateral fine-tuning mechanism comprises a mounting seat, a fine-tuning screw and a fine-tuning drive motor. The fine-tuning drive motor is fixed to a fixed plate, and the fixed plate is fixed to a Y-direction movable frame. The output shaft of the fine-tuning drive motor is connected to the fine-tuning screw, and the fine-tuning screw is threadedly connected to a connecting block, and the connecting block is connected to the mounting seat, so as to fine-tune the sling in the X direction to ensure the accuracy of the position of the battery pack into the new energy vehicle.

[0024] An extension track docking with the Y-direction track is provided above the vehicle power-swap port of the present invention. The extension track includes a Y-direction extension track, a connection track, and a connection push rod driving the connection track to move back and forth along the Y-direction. The ends of the Y-direction extension track and the connection track are both provided with inclined surfaces, and the inclined surface of the Y-direction extension track has the same inclination as the inclined surface of the connection track. The connection track approaches or moves away from the Y-direction extension track under the drive of the connection push rod so that the two inclined surfaces fit each other or form a gap. When the two inclined surfaces fit together, the connection track moves away from the X-direction moving frame, thereby not hindering the movement of the X-direction moving frame. When the connection track docks with the Y-direction track, a gap is generated between the two inclined surfaces of the Y-direction extension track and the connection track. Since the inclined surface is inclined, it does not affect the rolling of the Y-direction walking wheel along the Y-direction track, the connection track and the Y-direction extension track, so that the sub-robot can move to the top of the vehicle power-swap port;

[0025] The surface of the drum of the present invention is provided with a thread groove matching the wire rope, the drum is provided with a rope guide ring, the inner surface of the rope guide ring is provided with a thread rib matching the thread groove, the rope guide ring has a rope threading groove, the wire rope passes through the rope threading groove and is connected to the drum, the lifting drive motor drives the drum to rotate, and during the process of the drum driving the wire rope to be wound up, the rope guide ring is limited by the limit rod, and the rope guide ring is threadedly connected to the drum, so that the rope guide ring and the drum rotate, and the setting of the rope guide ring allows the wire rope to be stably wound up in the thread groove of the drum;

[0026] The tensioning structure of the present invention includes a guide column, a tensioning spring and a sliding block. A limiting ring is fixed to the upper end of the guide column, and the lower end of the guide column passes through the sliding block and is fixed to the sling. The tensioning spring is sleeved on the guide column, and the tensioning spring is located between the limiting ring and the sliding block. The movable pulley is installed on the sliding block. Through the setting of the tensioning structure, the wire rope is continuously tensioned to ensure stability during the lifting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the structure of the present invention;

[0028] Figure 2 The present invention Figure 1 A magnified view of point A;

[0029] Figure 3 It is a structural schematic diagram of the battery charging compartment of the present invention;

[0030] Figure 4 is a schematic structural diagram of the carrier of the present invention;

[0031] Figure 5 It is a structural schematic diagram of the mother-child battery exchange robot of the present invention;

[0032] Figure 6 The present invention Figure 5 The enlarged view of point B;

[0033] Figure 7 The present invention Figure 5 The enlarged view of point C;

[0034] Figure 8 It is a schematic diagram of the structure of the sub-robot and the lateral fine-tuning mechanism of the present invention;

[0035] Fig. 9 The present invention Figure 8 The enlarged view of D;

[0036] Fig.10 is a cross-sectional view of the sub-robot and the lateral fine-tuning mechanism of the present invention;

[0037] Fig.11 The present invention Fig.10 The enlarged view of point E;

[0038] Fig.12 It is a structural schematic diagram of the hanger and the lifting drive mechanism of the present invention;

[0039] Fig.13 The present invention Fig.12 The enlarged view of F;

[0040] Fig.14 The present invention Fig.12 The enlarged view of G;

[0041] Fig.15 It is a structural schematic diagram of the lifting drive mechanism of the present invention;

[0042] Fig.16 The present invention Fig.15 The enlarged view of H;

[0043] Fig.17 It is a schematic structural diagram of the reel of the present invention;

[0044] Fig.18 It is a structural schematic diagram of the guide rope ring of the present invention;

[0045] Fig.19 is a schematic structural diagram of a battery pack of the present invention;

[0046] Fig. 20 It is a structural schematic diagram of the sling of the present invention;

[0047] Fig.21 The present invention Fig. 20 An enlarged view of point I;

[0048] The parts in the accompanying drawings are marked as follows:

[0049] 1. Lifting device; 11. Guide column; 111. Limiting ring; 12. Tension spring; 13. Sliding block; 14. Spacer; 15. Spring washer; 16. Pulley sleeve; 161. Perforation; 21. X-axis moving frame; 211. Pin hole; 22. Gear; 23. X-axis driving motor; 24. Rack; 25. X-axis running wheel; 31. Y-axis moving frame; 311. Guide rail; 32. Y-axis running wheel; 33. Y-axis driving motor; 34 , Y-track; 41, mounting seat; 411, connecting hole; 412, guide structure; 42, fine-tuning screw rod; 43, fine-tuning drive motor; 44, fixing plate; 45, connecting block; 451, connecting part; 51, wire rope; 52, reel; 521, thread groove; 53, lifting drive motor; 54, fixed pulley; 541, pulley mounting plate; 55, movable pulley; 56, transmission wheel assembly; 57, guide rope ring; 571, screw Rib; 572, rope threading groove; 573, guide groove; 58, limit rod; 61, guide block; 62, tongue plate; 63, electric push rod; 64, rotating shaft; 65, rotating plate; 66, first adjustment block; 67, second adjustment block; 68, connecting rod; 71, proximity sensor; 72, induction washer; 73, guide rod; 731, pressing convex head; 74, reset spring; 100, battery charging compartment; 101, cache station; 1 02. Charging station; 103. Carrier; 104. Charging interface; 105. Guide column; 200. Vehicle battery swap port; 201. Y-axis extension track; 202. Connecting track; 203. Connecting push rod; 204. Inclined surface; 205. Slider; 206. Positioning pin; 300. New energy vehicle; 400. Mother-child battery swap robot; 500. Battery pack; 501. Frame; 502. Card slot; 600. Guide track. DETAILED DESCRIPTION

[0050] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0051] Embodiment: A parallel mother-child dual-robot power exchange station, such as Figure 1 As shown, it includes a battery charging compartment 100, a vehicle battery exchange port 200, and a parent-child battery exchange robot 400 for exchanging power for a new energy vehicle 300;

[0052] like Figure 3 As shown, the battery charging compartment 100 includes a buffer station 101 and a plurality of charging stations 102, the buffer station and the plurality of charging stations 102 are arranged in parallel, the battery charging compartment 100 is connected to the vehicle battery swap port 200, and the parent-child battery swap robot 400 carries the battery pack 500 between the battery charging compartment 100 and the new energy vehicle 300;

[0053] In a specific implementation, the charging stations are provided with 7, the buffer station is provided with 1, and the battery-swapping robot is located above the charging station and the buffer station;

[0054] In this embodiment, a guide track 600 is further provided to guide the new energy vehicle into the vehicle battery replacement port. The guide track is provided with two, and the two guide tracks are respectively located on both sides of the new energy vehicle, and the guide tracks are fixed to the ground;

[0055] like Figure 4 As shown, the buffer station and the charging station 102 are both provided with a carrier 103, the carrier 103 is equipped with a charging interface 104 for charging the battery pack 500, and the battery pack 500 is placed above the carrier 103 of the charging station 102;

[0056] In this embodiment, a guide column 105 is installed above the carrier, and the guide column is inserted into the battery pack to position the battery pack;

[0057] The mother-child battery exchange robot 400 includes a sling 1, a mother robot driving the sling 1 to move along the X direction, a child robot driving the sling 1 to move along the Y direction, a lifting drive mechanism driving the sling 1 to move up and down, and a lateral fine-tuning mechanism;

[0058] like Figure 5 He Ru Figure 6 As shown, the mother robot includes an X-axis moving frame 21, a gear 22 and an X-axis driving motor 23, wherein the X-axis driving motor 23 is fixed to the X-axis moving frame 21, and the output shaft of the X-axis driving motor 23 is connected to the gear 22, the gear 22 is meshed with a rack 24, and the rack 24 is fixed to the battery swap station;

[0059] The specific rack is fixed to the wall of the battery swap station;

[0060] The X-direction moving frame is equipped with an X-direction running wheel 25, and the wall of the power swap station is equipped with an X-direction guide rail, and the X-direction running wheel rolls along the X-direction rail;

[0061] like Figure 7 As shown, the sub-robot includes a Y-direction moving frame 31, a Y-direction walking wheel 32 and a Y-direction driving motor 33, wherein the Y-direction driving motor 33 is fixed to the Y-direction moving frame 31, and the output shaft of the Y-direction driving motor 33 is connected to the Y-direction walking wheel 32, the Y-direction walking wheel 32 is located above the Y-direction track 34 and can roll along the direction of the Y-direction track 34, and the Y-direction track 34 is installed on the X-direction moving frame 21; in this embodiment, the Y-direction driving motor and the Y-direction walking wheel are connected through a steering gear;

[0062] like Figure 2As shown, an extension track docking with the Y-direction track 34 is provided above the vehicle battery swap port 200, and the extension track includes a Y-direction extension track 201, a connecting track 202 and a connecting push rod 203 driving the connecting track 202 to move back and forth along the Y-direction. The Y-direction extension track 201 is fixed to the battery swap station, and the ends of the Y-direction extension track 201 and the connecting track 202 are both provided with an inclined surface 204, and the inclined surface 204 of the Y-direction extension track 201 has the same inclination as the inclined surface 204 of the connecting track 202. Driven by the connecting push rod 203, the connecting track 202 approaches or moves away from the Y-direction extension track 201 so that the two inclined surfaces 204 fit each other or form a gap. In this embodiment, the distance of the gap formed is less than the length of the inclined surface in the Y-direction.

[0063] The connecting push rod 203 is installed at the battery swap station, and the connecting push rod 203 is connected to the slider 205, the slider 205 is connected to the connecting rail 202, the slider 205 has a positioning pin 206, and the X-axis moving frame 21 is provided with a pin hole 211 corresponding to the positioning pin 206.

[0064] In this embodiment, the Y-axis extension track and the connecting push rod are both installed on the wall of the battery swap station. The wall of the battery swap station is provided with a guide bar, and the connecting track can move along the direction of the guide bar.

[0065] like Figure 8 He Ru Fig.10 As shown, the lateral fine-tuning mechanism includes a mounting seat 41, a fine-tuning screw 42 and a fine-tuning drive motor 43, the fine-tuning drive motor 43 is fixed to a fixed plate 44, the fixed plate 44 is fixed to a Y-axis movable frame 31, the output shaft of the fine-tuning drive motor 43 is connected to the fine-tuning screw 42, the fine-tuning screw 42 is threadedly connected to a connecting block 45, and the connecting block 45 is connected to the mounting seat 41.

[0066] In a specific implementation, the connecting block is extended to form a connecting portion 451, the mounting seat is provided with a connecting hole 411, and the connecting portion is inserted into the plug hole;

[0067] like Fig.11 As shown, the Y-direction movable frame is provided with a guide rail 311 arranged along the X direction, and the mounting seat is provided with a guide structure 412 matching the guide rail.

[0068] like Fig.12 ,like Fig.13As shown, the lifting drive mechanism includes several groups of pulley assemblies, a wire rope 51 wound around the pulley assembly, a drum 52 and a lifting drive motor 53, the pulley assembly includes a fixed pulley 54 and two movable pulleys 55, the fixed pulley 54 is installed on the mounting seat 41, the two movable pulleys 55 are installed on the sling 1, the wire rope 51 passes around the fixed pulley 54 and the two ends of the wire rope 51 pass through the two movable pulleys 55 respectively, one end of the wire rope 51 is fixed to the mounting seat 41, the other end of the wire rope 51 is connected to the drum 52, the drum 52 is connected to the transmission wheel assembly 56, the transmission wheel assembly 56 is connected to the lifting drive motor 53, and the lifting drive motor 53 is fixed to the mounting seat 41.

[0069] In this embodiment, the transmission wheel assembly includes a driving wheel and a driven wheel, wherein the driving wheel is fixed to the output shaft of the lifting drive motor, the driving wheel is meshed with the driven wheel, and the driven wheel is fixed to the reel;

[0070] The fixed pulley is mounted on a pulley mounting plate 541, and the pulley mounting plate is rotatably connected to a mounting seat.

[0071] like Fig.17 The surface of the drum 52 is provided with a thread groove 521 matching the wire rope 51, and the drum 52 is sleeved with a guide rope ring 57, and the inner surface of the guide rope ring 57 is provided with a thread rib 571 matching the thread groove 521. Fig.18 As shown, the guide rope ring 57 has a rope threading groove 572 , and the steel wire rope 51 passes through the rope threading groove 572 and then is wound around the thread groove 521 .

[0072] like Fig. 9 As shown, the mounting seat 41 is installed with a limiting rod 58 , and the guide rope ring 57 is provided with a guide groove 573 matching the limiting rod 58 .

[0073] like Fig.15 , Fig.16 As shown, the sling 1 is installed with a tensioning structure, and the tensioning structure includes a guide column 11, a tensioning spring 12 and a sliding block 13. A limiting ring 111 is fixed to the upper end of the guide column 11, and the lower end of the guide column 11 passes through the sliding block 13 and is fixed to the sling 1. The tensioning spring 12 is sleeved on the guide column 11, and the tensioning spring 12 is located between the limiting ring 111 and the sliding block 13, and the movable pulley 55 is installed on the sliding block 13.

[0074] In this embodiment, the tension spring is sleeved on the spacer sleeve 14, the spacer sleeve is sleeved on the guide column, and spring washers 15 are provided on the top and bottom of the tension spring, and the spring washers are sleeved on the guide column.

[0075] It also includes a pulley sleeve 16, the movable pulley 55 is installed inside the pulley sleeve 16, the pulley sleeve 16 is fixed to the sliding block 13, the pulley sleeve 16 is provided with a through hole 161, the wire rope 51 passes through the through hole 161 and then winds around the movable pulley 55, thereby preventing the wire rope from detaching from the movable pulley.

[0076] like Fig.13 , 19 As shown, the sling 1 is equipped with at least one locking mechanism and a plurality of guide blocks 61 corresponding to the frame 501 of the battery pack 500, and the guide blocks are provided with guide surfaces.

[0077] like Fig. 20 , 21 As shown, the locking mechanism includes two tongue plates 62 and an electric push rod 63 that drives the tongue plates 62 to rotate and snap into the slot 502 of the battery pack 500. The two tongue plates 62 are respectively fixed to two rotating shafts 64, which are rotatably connected to the hanger 1, and the two rotating shafts 64 are respectively fixed to two rotating plates 65. One end of the electric push rod 63 is rotatably connected to a first adjustment block 66, which is installed on the hanger 1. The other end of the electric push rod 63 is rotatably connected to a second adjustment block 67, which is rotatably connected to one of the two rotating plates 65, and the two rotating plates 65 are rotatably connected to the two ends of the connecting rod 68. One electric push rod can drive the two tongue plates to rotate simultaneously, which is convenient for grabbing the battery pack.

[0078] It also includes a sensing structure, which includes a proximity sensor 71, a sensing washer 72 and a guide rod 73. The lower end of the guide rod is provided with a pressing protrusion 731, and the upper end of the guide rod passes through the sling to be connected with the sensing washer. The sensing washer corresponds to the proximity sensor, and the proximity sensor is installed on the sling. The guide rod is sleeved with a reset spring 74, and the reset spring is located between the pressing protrusion and the sling. During the descent of the sling, the pressing protrusion presses the battery pack, and the sensing washer rises. The proximity sensor senses the sensing washer, thereby controlling the sling to descend to a suitable position.

[0079] The working principle of the present invention is as follows: the vehicle enters the vehicle battery swap port through the guidance of the guide track, the X-axis drive motor drives the gear to rotate, thereby driving the X-axis mobile frame to move along the rack, the connecting push rod pushes the connecting track to dock with the Y-axis track, and the Y-axis drive motor drives the Y-axis walking wheel to rotate, so that the Y-axis mobile frame rolls along the Y-axis track, the connecting track and the Y-axis extension track, so that the sub-robot can move to the top of the vehicle battery swap port, the lifting drive mechanism drives the hanger to descend, the electric push rod drives the tongue plate to rotate, and the tongue plate is inserted into the slot of the battery pack at the loss point and then lifted, the Y-axis mobile frame (sub-robot) moves to the top of the cache station, and the battery pack is placed on the carrier of the cache station, the mother-child battery swap robot takes the fully charged battery pack at the charging station and returns to the top of the cache station, the sub-robot moves to the top of the vehicle battery swap port, the lifting drive mechanism drives the hanger to descend to install the battery pack on the new energy vehicle, and the new energy vehicle drives away after the battery pack replacement is completed.

[0080] The above are only embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A parallel-type mother-child dual-robot power exchange station, characterized in that: It comprises a battery charging compartment (100), a vehicle battery replacement port (200), and a parent-child battery replacement robot (400) for replacing the battery of a new energy vehicle (300); The battery charging warehouse comprises a buffer station (101) and a plurality of charging stations (102), the buffer station and the plurality of charging stations are arranged in parallel, the battery charging warehouse is connected to a vehicle battery swap port, and the parent-child battery swap robot carries the battery pack (500) between the battery charging warehouse and the new energy vehicle; The buffer station and the charging station are both provided with a carrier (103), the carrier being provided with a charging interface (104) for charging a battery pack, and the battery pack being placed above the carrier of the charging station; The parent-child battery exchange robot comprises a sling (1), a parent robot driving the sling to move along the X direction, a child robot driving the sling to move along the Y direction, a lifting drive mechanism driving the sling to move up and down, and a lateral fine-tuning mechanism; The mother robot comprises an X-direction moving frame (21), a gear (22) and an X-direction driving motor (23), wherein the X-direction driving motor is fixed to the X-direction moving frame, and an output shaft of the X-direction driving motor is connected to the gear, the gear is meshed with a rack (24), and the rack is fixed to the battery swap station; The sub-robot comprises a Y-direction moving frame (31), a Y-direction walking wheel (32) and a Y-direction driving motor (33), wherein the Y-direction driving motor is fixed to the Y-direction moving frame, and an output shaft of the Y-direction driving motor is connected to the Y-direction walking wheel, wherein the Y-direction walking wheel is located above a Y-direction track (34) and can roll along the direction of the Y-direction track, and the Y-direction track is installed on the X-direction moving frame; An extension track docking with the Y-direction track is provided above the vehicle battery swap port, the extension track comprises a Y-direction extension track (201), a connecting track (202) and a connecting push rod (203) driving the connecting track to move back and forth along the Y-direction, the Y-direction extension track is fixed to the battery swap station, the ends of the Y-direction extension track and the connecting track are both provided with an inclined surface (204), and the inclined surface of the Y-direction extension track has the same inclination as the inclined surface of the connecting track, and the connecting track is driven by the connecting push rod to approach or move away from the Y-direction extension track so that the two inclined surfaces fit each other or form a gap.

2. The parallel parent-child dual-robot power exchange station according to claim 1 is characterized by: The connecting push rod is installed at the battery swap station, and the connecting push rod is connected to a slider (205), the slider is connected to the connecting track, the slider has a positioning pin (206), and the X-direction movable frame is provided with a pin hole (211) corresponding to the positioning pin.

3. The parallel parent-child dual-robot power exchange station according to claim 1 is characterized by: The lateral fine-tuning mechanism comprises a mounting seat (41), a fine-tuning screw rod (42) and a fine-tuning drive motor (43); the fine-tuning drive motor is fixed to a fixing plate (44); the fixing plate is fixed to a Y-axis movable frame; the output shaft of the fine-tuning drive motor is connected to the fine-tuning screw rod; the fine-tuning screw rod is threadedly connected to a connecting block (45); and the connecting block is connected to the mounting seat.

4. The parallel parent-child dual-robot power exchange station according to claim 3 is characterized by: The lifting drive mechanism comprises a plurality of pulley assemblies, a steel wire rope (51) wound around the pulley assemblies, a drum (52) and a lifting drive motor (53), wherein the pulley assemblies comprise a fixed pulley (54) and two movable pulleys (55), wherein the fixed pulley is mounted on a mounting seat, and the two movable pulleys are mounted on a sling, wherein the steel wire rope passes around the fixed pulley and the two ends of the steel wire rope pass through the two movable pulleys respectively, wherein one end of the steel wire rope is fixed to the mounting seat, and the other end of the steel wire rope is connected to the drum, wherein the drum is connected to a transmission wheel assembly (56), wherein the transmission wheel assembly is connected to the lifting drive motor, and wherein the lifting drive motor is fixed to the mounting seat.

5. The parallel parent-child dual-robot power exchange station according to claim 4 is characterized by: The surface of the drum is provided with a thread groove (521) matching the steel wire rope, the drum is sleeved with a rope guide ring (57), the inner surface of the rope guide ring is provided with a thread rib (571) matching the thread groove, the rope guide ring has a rope threading groove (572), and the steel wire rope passes through the rope threading groove and is wound around the thread groove.

6. The parallel parent-child dual-robot power exchange station according to claim 5 is characterized by: The mounting seat is provided with a limiting rod (58), and the guide rope ring is provided with a guide groove (573) matching the limiting rod.

7. The parallel parent-child dual-robot power exchange station according to claim 4 is characterized by: The sling is installed with a tensioning structure, which includes a guide column (11), a tensioning spring (12) and a sliding block (13). A limiting ring (111) is fixed to the upper end of the guide column, and the lower end of the guide column passes through the sliding block and is fixed to the sling. The tensioning spring is sleeved on the guide column, and the tensioning spring is located between the limiting ring and the sliding block. The movable pulley is installed on the sliding block.

8. The parallel-type parent-child dual-robot power exchange station according to claim 7 is characterized by: It also comprises a pulley sleeve (16), wherein the movable pulley is installed inside the pulley sleeve, the pulley sleeve is fixed to the sliding block, and the pulley sleeve is provided with a through hole (161), and the steel wire rope passes through the through hole and then winds around the movable pulley.

9. The parallel parent-child dual-robot power exchange station according to claim 1, characterized in that: The sling is equipped with at least one locking mechanism and a plurality of guide blocks (61) corresponding to the frame (501) of the battery pack, and the guide blocks are provided with guide surfaces.

10. The parallel parent-child dual-robot power exchange station according to claim 9, characterized in that: The locking mechanism comprises two tongue plates (62) and an electric push rod (63) for driving the tongue plates to rotate and engage in the slots (502) of the battery pack, the two tongue plates are respectively fixed to two rotating shafts (64), the rotating shafts are rotatably connected to the sling, and the two rotating shafts are respectively fixed to the two rotating plates (65), one end of the electric push rod is rotatably connected to the first adjustment block (66), the first adjustment block is installed on the sling, the other end of the electric push rod is rotatably connected to the second adjustment block (67), the second adjustment block is rotatably connected to one of the two rotating plates, and the two rotating plates are rotatably connected to the two ends of the connecting rod (68).

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