Battery replacing device and battery replacing robot and battery replacing station comprising same

Abstract

The application discloses a battery replacing device and a battery replacing robot and a battery replacing station comprising the same. The battery replacing device comprises a tray for carrying a battery pack, a tray mounting mechanism connected to the upper side of a shuttle vehicle, and a dismounting mechanism for unlocking or locking a fixing component of the battery pack and arranged on the battery tray. The tray mounting mechanism comprises a mounting portion connected to the tray and a fixing portion connected to the shuttle vehicle. The fixing portion comprises a housing and a fixing base. The fixing base is arranged below the mounting portion, the housing is arranged outside the mounting portion, and the housing is arranged above the fixing base and connected to the fixing base. The mounting portion comprises a first mounting seat, a first connecting piece, and a second connecting piece. The first mounting seat is used for mounting the battery tray. The first connecting piece is connected to the first mounting seat. The second connecting piece is clamped between the housing and the first connecting piece. The mounting portion comprises a bushing clamped between the first connecting piece and the second connecting piece. The first connecting piece and the second connecting piece slide relative to each other through the bushing.

Description

[0001] This application is a divisional application of the Chinese invention patent filed on December 2, 2021, with application number 202111461279.X and titled "Battery swapping equipment and battery swapping robot and battery swapping station including the same". Technical Field

[0002] This application relates to the field of battery swapping, and in particular to a battery swapping device and a battery swapping robot and a battery swapping station comprising the same. Background Technology

[0003] There are two main charging methods for existing electric vehicles: direct charging and battery swapping. Direct charging requires charging stations, but it takes a long time and is less efficient. Battery swapping, on the other hand, requires battery swapping stations and allows for rapid battery replacement, significantly reducing the time required for direct charging.

[0004] Battery swapping equipment is a crucial component of a battery swapping station, responsible for the main tasks of swapping batteries for vehicles. This includes removing battery packs from the swapping vehicle and installing them on the vehicle. In under-vehicle battery swapping scenarios, the equipment needs to enter under the vehicle to remove the battery pack, then remove the removed battery pack, and finally carry the new battery pack back under the vehicle to install it.

[0005] For replaceable battery packs, they can be installed onto a vehicle bracket using fasteners, with locking devices on the bracket securing the battery pack. The tray typically has a disassembly / removal mechanism to handle these operations. This mechanism can lock or unlock the fasteners, allowing for the installation or removal of the battery pack. During installation or removal, the battery pack's large size and weight can cause the swapping equipment to wobble after loading. Furthermore, misalignment can occur when the swapping equipment is removed from or pushed into the electric vehicle, making battery pack unloading difficult. In such cases, the disassembly / removal mechanism may damage the battery pack or fasteners. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a battery swapping device and a battery swapping robot and a battery swapping station including the same.

[0007] The present invention solves the above-mentioned technical problems through the following technical solution:

[0008] A battery swapping device includes a shuttle, a battery tray, and a battery disassembly and assembly mechanism; the battery tray is used to carry a battery pack, and the battery tray is connected to the top of the shuttle via a tray mounting mechanism along the battery pack disassembly and assembly direction; the battery disassembly and assembly mechanism is used to unlock or lock the fixing components of the battery pack, and the battery disassembly and assembly mechanism is disposed on the battery tray;

[0009] The tray mounting mechanism includes: a mounting part connected to the battery tray; and a fixing part connected to the shuttle vehicle.

[0010] The fixing part includes a housing and a fixing base. The fixing base is located below the mounting part along the battery pack disassembly and assembly direction. The housing is arranged around the outside of the mounting part. The housing is located above the fixing base and connected to the fixing base.

[0011] The mounting portion includes a first mounting base, a first connector, and a second connector. The first mounting base is used to mount the battery tray. The first connector is connected to the first mounting base. The second connector is sandwiched between the housing and the first connector.

[0012] The mounting part further includes a bushing, which is sandwiched between the first connector and the second connector, and the first connector and the second connector slide relative to each other along the battery pack assembly / disassembly direction via the bushing.

[0013] In this solution, the tray mounting mechanism has a simple overall structure and is very convenient to use. It can prevent the mounting part from tilting during movement and maintain the stability of the battery tray. By setting a bushing, the friction between the first connector and the second connector can be reduced, making the movement of the first connector in the battery installation and removal direction smoother and improving its service life.

[0014] Preferably, the battery tray is elastically movable relative to the shuttle car in a direction parallel to and / or perpendicular to the battery pack disassembly / assembly direction; the end of the battery disassembly / assembly mechanism facing the fixed component is elastically movable relative to the battery tray in a direction parallel to the battery pack disassembly / assembly direction and / or swings in a direction inclined to the battery pack disassembly / assembly direction.

[0015] In this solution, the aforementioned structural configuration enables the battery tray to float and connect to the shuttle vehicle. This allows the battery tray to fine-tune the position of the battery disassembly / removal mechanism within a certain floating space in the battery pack disassembly / removal direction. This improves the adaptability of the tray mounting mechanism, battery tray, and battery disassembly / removal mechanism, facilitating alignment of the battery disassembly / removal mechanism with the battery pack's fixed components. This results in high battery swapping stability, high operating speed, and high efficiency. The end of the battery disassembly / removal mechanism can elastically move parallel to the battery disassembly / removal direction and / or swing inclined to it relative to the battery tray. Even if there is a positioning error between the battery disassembly / removal mechanism and the fixed components, fine-tuning within a certain floating space is possible, allowing for alignment and connection with the fixed components. This enables unlocking or locking of the fixed components, reducing the accuracy requirements for positioning and improving alignment efficiency. Simultaneously, the floating in the battery pack disassembly / removal direction prevents the battery tray from rising excessively, which could cause a rigid collision between protruding components on the battery tray and the vehicle, reducing component damage and extending the service life of the battery swapping equipment.

[0016] Preferably, the tray mounting mechanism includes a tray elastic component disposed between the mounting portion and the fixing portion. The tray elastic component undergoes elastic deformation along a direction parallel to and / or perpendicular to the battery pack disassembly / assembly direction, so that the mounting portion moves elastically relative to the fixing portion along a direction parallel to and / or perpendicular to the battery pack disassembly / assembly direction.

[0017] In this solution, the aforementioned structural form is adopted, with the tray elastic component positioned between the mounting section and the fixing section. The elastic deformation of the tray elastic component allows the mounting section to move elastically relative to the fixing section along a direction parallel and / or perpendicular to the battery pack assembly / disassembly direction. This enables the mounting section to finely adjust the position of the battery tray within a certain floating space along the battery pack assembly / disassembly direction. The overall structure of the tray mounting mechanism is simple and very convenient to use.

[0018] Preferably, the tray elastic component includes a first elastic component and / or a second elastic component. The first elastic component is disposed between the mounting portion and the fixed base, and the first elastic component can undergo elastic deformation along a direction parallel to the battery pack disassembly and assembly direction. The second elastic component is disposed between the mounting portion and the housing, and the second elastic component can undergo elastic deformation along a direction perpendicular to the battery pack disassembly and assembly direction.

[0019] In this solution, by adopting the above-mentioned structural form, the mounting part can transfer the floating direction perpendicular to the battery pack disassembly and assembly direction to the housing. Thus, by simply connecting the mounting part to the battery tray, floating can be achieved simultaneously in both directions parallel and perpendicular to the battery pack disassembly and assembly direction, reducing the number of components connected to the mounting part and simplifying the overall structure.

[0020] Preferably, the first connector is connected to the first elastic component; the second elastic component is disposed between the housing and the second connector.

[0021] In this design, the first mounting base is connected to the first elastic component via a first connector. This arrangement increases the area where the mounting portion can connect to the first elastic component or other components. For example, when there is a need for floating in other directions, elastic components in other directions can be directly connected to the first connector, preventing the first elastic component or other components from interfering with the connection between the first mounting base and the tray. If the first connector is directly connected to the second elastic component, vertical floating may cause instability in the connection between the second elastic component and the first connector, and will also hinder the vertical movement of the first connector.

[0022] Preferably, the mounting portion further includes a guide portion, which is disposed above the second connector along the battery pack disassembly / assembly direction, and the guide portion is disposed around the outer side of the first connector;

[0023] The inner wall surface of the guide portion matches the outer wall surface of the first connector, so that the first connector is movable relative to the guide portion in the battery pack assembly / disassembly direction.

[0024] In this solution, a guide portion with a matching shape is provided outside the sleeve body, so that the sleeve body moves along the guide portion, thereby preventing the movement path of the sleeve body from being skewed during the floating process of the first elastic element.

[0025] Preferably, the first connector includes a sleeve body and a sleeve end cap. The sleeve body is sleeved on a portion of the first elastic component. When the first elastic component does not undergo elastic deformation, there is a gap of a first preset distance between the fixed base and the lower end face of the sleeve body.

[0026] In this design, the first connector is configured as a sleeve, and the first elastic component is connected to the first mounting base via a sleeve end cap. The sleeve body facilitates cooperation with other components; for example, a matching outer shell can be provided outside the sleeve body to prevent the first elastic component from tilting during floating. Additionally, the sleeve body protects the first elastic component from environmental corrosion, extending its service life. A first preset distance gap allows the first elastic component to extend and retract, providing space for the mounting part to move parallel to the battery pack disassembly / removal direction and limiting the floating stroke of the mounting part in the same direction.

[0027] Preferably, the pallet mounting mechanism further includes a first pad, which is disposed between the first elastic component and the fixed base. The upper surface of the first pad cooperates with the first elastic component, and the lower surface contacts the fixed base.

[0028] In this design, the first pad reduces friction between the fixed base and the first elastic component, allowing the first elastic component to move more smoothly in the direction perpendicular to the battery pack installation and removal, thus extending its service life.

[0029] Preferably, the fixed base further includes a first sliding plate, which is embedded in the fixed base at a position corresponding to the first pad on the surface of the fixed base facing the mounting part.

[0030] In this design, the first sliding plate cooperates with the first pad to further reduce the friction between the fixed base and the first elastic component.

[0031] Preferably, the second elastic component includes a plurality of elastic elements, which are disposed between the second connector and the housing in different directions, so that the mounting portion can move relative to the housing in a plane perpendicular to the battery pack assembly / disassembly direction;

[0032] When the second elastic component does not undergo elastic deformation, there is a gap of a second preset distance between the housing and the second connecting part.

[0033] In this solution, the gap of the second preset distance is used to allow the second elastic component to extend and retract, so as to provide space for the mounting part to move in a direction perpendicular to the battery pack disassembly and assembly direction, and to limit the floating stroke of the mounting part in a direction perpendicular to the battery pack disassembly and assembly direction.

[0034] Preferably, the plurality of elastic elements are arranged in pairs, and the elastic deformation direction of each pair of elastic elements is on the same straight line.

[0035] In this design, multiple elastic elements are arranged in pairs facing each other, which optimizes the placement of the elastic elements and facilitates their reset after the installation part floats. Furthermore, if one of the elastic elements is damaged, the floating effect of the pallet installation mechanism will not be affected due to the arrangement of multiple opposing elastic elements.

[0036] Preferably, the pallet mounting mechanism further includes a first movable member, and a first receiving groove is provided on the outer wall of the second connector along the circumferential direction. The first movable member cooperates with the first receiving groove and is movable within the first receiving groove.

[0037] A first mounting hole is provided on the inner wall of the mounting part, one end of the second elastic component is embedded in the first mounting hole, and the other end is connected to the first movable part.

[0038] In this design, by setting a first circumferentially extending receiving groove, the mounting part can move or rotate circumferentially during the floating process, thereby improving the adaptability of the pallet mounting mechanism; by setting a first mounting hole for mounting the first elastic component, the space occupied is reduced by using an embedded method, making the structure of the entire pallet mounting mechanism more compact.

[0039] Preferably, the tray mounting mechanism further includes a vertical stabilizer, and the fixed base has a first through hole. The vertical stabilizer passes through the first through hole of the fixed base and the first elastic component along the battery pack disassembly and assembly direction and is connected to the first connector. When the second elastic component does not undergo elastic deformation, there is a gap of a third preset distance between the vertical stabilizer and the edge of the first through hole.

[0040] In this design, the first through hole allows the vertical stabilizer to pass through, which is used to connect the mounting part to the fixing part, preventing the mounting part from detaching from the fixing part along the battery pack assembly / disassembly direction during the floating process.

[0041] Preferably, the pallet mounting mechanism further includes a second pad, which is disposed between the vertical stabilizer and the fixed base. The lower surface of the second pad cooperates with the vertical stabilizer, and the upper surface contacts the fixed base.

[0042] In this design, the second pad is used to reduce friction between the fixed base and the vertical stabilizer, making the vertical stabilizer move more smoothly in the direction perpendicular to the battery pack installation and removal, and extending its service life.

[0043] Preferably, the fixed base further includes a second sliding plate, which is embedded in the surface of the fixed base away from the mounting part at a position corresponding to the second pad.

[0044] In this design, the second sliding plate is used to cooperate with the second pad to further reduce the friction between the fixed base and the vertical stabilizer.

[0045] Preferably, there are multiple tray mounting mechanisms, which are evenly distributed at the bottom of the battery tray.

[0046] In this solution, the above-mentioned structural setup is adopted, and multiple tray mounting mechanisms ensure that the battery tray floats more smoothly, avoiding the battery tray from tilting during the floating process and affecting the installation alignment process, thereby achieving high battery swapping stability, fast working speed and high efficiency.

[0047] Preferably, the battery mounting and dismounting mechanism includes a second mounting base, a connecting part, and a mounting and dismounting part. The lower end of the second mounting base is mounted on the battery tray. The mounting and dismounting part is used to unlock or lock the fixing components of the battery pack. The mounting and dismounting part is connected to the second mounting base through the connecting part.

[0048] Wherein, the lower end of the disassembly / assembly part is movably connected to the upper end of the connecting part, and the upper end of the disassembly / assembly part can swing from the axis of the connecting part toward the outer side of the axis of the connecting part, so that the disassembly / assembly part swings relative to the battery tray in an inclination toward the battery disassembly / assembly direction; and / or

[0049] A third elastic component is provided between the connecting part and the second mounting base. The third elastic component undergoes elastic deformation along a direction parallel to the battery disassembly and assembly direction, so that the disassembly and assembly part can move elastically relative to the battery tray along a direction parallel to the battery disassembly and assembly direction.

[0050] In this design, the aforementioned structural form is adopted, with a movable connection between the disassembly / assembly section and the connecting section. This allows the disassembly / assembly section to swing relative to the axis of the connecting section, thereby increasing its range of motion and reducing the accuracy requirements for positioning. Even if there is an error in the relative positioning of the disassembly / assembly section and the fixed component, the swingable disassembly / assembly section can still hold the fixed component, improving the efficiency of aligning with the fixed component. The third elastic component facilitates the floating of the disassembly / assembly section in the battery pack disassembly / assembly direction, preventing excessive upward movement of the disassembly / assembly mechanism and avoiding rigid collisions between the mechanism and the vehicle, thus extending the service life of the battery swapping equipment. The mounting base increases structural stability, and the overall structure is simple and compact.

[0051] Preferably, the disassembly / assembly part is connected to the connecting part via a pivot shaft.

[0052] In this solution, the above-mentioned structural form is adopted, and the pivot shaft is used to realize the swing between the disassembly part and the connection part. The structure is simple and reliable.

[0053] Preferably, the battery disassembly and assembly mechanism further includes a reset component, which is sleeved on the outer peripheral surface of the disassembly and assembly part and the connecting part, and the reset component is used to make the axis of the disassembly and assembly part coincide with the axis of the connecting part.

[0054] In this solution, the above-mentioned structure is adopted. The reset component is sleeved on the outer peripheral surface of the disassembly and assembly part and drives the disassembly and assembly part to reset, so that the axis of the disassembly and assembly part can coincide with the axis of the fixed component, thereby realizing the unlocking or locking of the fixed component. This can reduce the positioning accuracy requirements and improve the efficiency of aligning the fixed component.

[0055] Preferably, the battery disassembly and assembly mechanism further includes a second driving unit, which is connected to the connecting unit in a transmission manner, and the second driving unit applies torque to the disassembly and assembly unit through the connecting unit.

[0056] In this solution, the above-mentioned structural form is adopted. The second drive unit is used to provide rotational driving force. The torque is applied to the disassembly and assembly unit through the transmission of the connecting part, so that the torsion of the fixed part can realize unlocking or locking. It is very convenient to use, easy to control, and has high precision and high stability.

[0057] Preferably, the battery disassembly and assembly mechanism is a torque gun, the disassembly and assembly part is a sleeve device, and the second driving part is a motor assembly; the motor assembly drives the sleeve device to rotate through the connecting part.

[0058] In this solution, the fixed component is unlocked or locked by controlling the rotation of the sleeve device of the torque gun. The torque gun is driven by a motor, resulting in a simple and stable solution that can achieve precise control over the torque and the number of rotations.

[0059] Preferably, there are multiple battery disassembly and assembly mechanisms, which are arranged in an array on the battery tray, and the positions of the multiple battery disassembly and assembly mechanisms correspond one-to-one with the multiple fixed components on the battery pack.

[0060] In this solution, the above-mentioned structural form is adopted. By setting battery disassembly and assembly mechanisms on the battery tray that correspond to multiple fixed components on the battery pack, all disassembly and assembly mechanisms can simultaneously unlock or lock all fixed components to realize the disassembly or installation of the battery pack and the vehicle, which greatly improves the efficiency and stability of unlocking or locking.

[0061] The present invention also provides a battery swapping robot, which includes the above-mentioned battery swapping equipment.

[0062] Preferably, the battery swapping robot further includes a shuttle chassis and a lifting mechanism. The shuttle is mounted on the shuttle chassis via the lifting mechanism, and the lifting mechanism drives the battery swapping equipment to rise or fall along the direction of battery pack installation and removal.

[0063] In this solution, a lifting mechanism raises the battery tray to its working position, allowing the disassembly and assembly mechanism to engage with the battery pack's fixing components, thus enabling the battery pack to be unlocked or locked. Simultaneously, the lifting mechanism moves the battery tray downwards, causing the disassembly and assembly unit to move away from the vehicle, facilitating the shuttle vehicle's exit from beneath it. Furthermore, the lifting mechanism serves as the reference point for the tray mounting mechanism's floating motion; as the lifting mechanism drives the tray mounting mechanism to rise and fall, the tray mounting mechanism allows the tray to float, achieving self-adaptive behavior.

[0064] The present invention also provides a battery swapping station, which includes the battery swapping robot described above.

[0065] The positive and progressive effects of this invention are as follows:

[0066] In this invention, the tray mounting mechanism has a simple overall structure and is very convenient to use. It can prevent the mounting part from tilting during movement and maintain the stability of the battery tray. By setting a bushing, the friction between the first connector and the second connector can be reduced, making the movement of the first connector in the battery installation and removal direction smoother and improving its service life. Attached Figure Description

[0067] Figure 1 This is a three-dimensional structural diagram of the battery swapping equipment according to Embodiment 1 of the present invention.

[0068] Figure 2 This is another structural schematic diagram of the battery swapping equipment according to Embodiment 1 of the present invention.

[0069] Figure 3 This is a schematic diagram of the pallet mounting mechanism according to Embodiment 1 of the present invention.

[0070] Figure 4 This is an assembly diagram of the pallet mounting mechanism according to Embodiment 1 of the present invention.

[0071] Figure 5 This is another structural schematic diagram of the pallet mounting mechanism of Embodiment 1 of the present invention.

[0072] Figure 6 This is another structural schematic diagram of the pallet mounting mechanism of Embodiment 1 of the present invention.

[0073] Figure 7 This is a schematic diagram of the internal structure of the pallet mounting mechanism in Embodiment 1 of the present invention.

[0074] Figure 8 This is another internal structural schematic diagram of the pallet mounting mechanism of Embodiment 1 of the present invention.

[0075] Figure 9 This is a schematic diagram of the battery disassembly and assembly mechanism according to Embodiment 1 of the present invention.

[0076] Figure 10 This is a schematic diagram of the internal structure of the battery disassembly and assembly mechanism in Embodiment 1 of the present invention.

[0077] Figure 11 This is a three-dimensional structural diagram of the battery swapping equipment according to Embodiment 2 of the present invention.

[0078] Figure 12 This is another structural schematic diagram of the battery swapping equipment according to Embodiment 2 of the present invention.

[0079] Figure 13A partial structural schematic diagram of the battery swapping equipment in Embodiment 2 of the present invention.

[0080] Explanation of reference numerals in the attached figures:

[0081] Shuttle chassis 5

[0082] Lifting mechanism 501

[0083] First Drive Unit 511

[0084] Transmission Unit 512

[0085] Battery tray 2

[0086] Leveling component 3

[0087] 31

[0088] Battery disassembly and assembly mechanism 4

[0089] First mounting base 41

[0090] Connecting part 42

[0091] Disassembly and assembly section 43

[0092] Third elastic component 44

[0093] Reset component 45

[0094] Second drive unit 46

[0095] Pallet mounting mechanism 100

[0096] Installation Department 10

[0097] Second mounting bracket 11

[0098] Tray mounting end face 111

[0099] Extension block 112

[0100] First assembly hole 113

[0101] Third assembly hole 114

[0102] First connector 12

[0103] Sleeve body 121

[0104] Sleeve end cap 122

[0105] Second assembly hole 123

[0106] Guiding section 13

[0107] Groove 131

[0108] Bushing 14

[0109] Second connector 15

[0110] Connector body 151

[0111] Fourth assembly hole 1511

[0112] Top cover 152

[0113] Fifth assembly hole 1521

[0114] Fixing part 20

[0115] First through hole 21

[0116] Casing 22

[0117] Fixed base 23

[0118] First elastic component 30

[0119] Vertical stabilizer 40

[0120] Second elastic component 50

[0121] Second elastic element 51

[0122] Third elastic element 52

[0123] 60 pads

[0124] Second through hole 61

[0125] Sliding plate 70 Detailed Implementation

[0126] The present invention will be described more clearly and completely below with reference to a preferred embodiment and the accompanying drawings.

[0127] Example 1

[0128] This invention discloses a battery swapping station, which includes a battery swapping robot, and the battery swapping robot includes battery swapping equipment. When a vehicle needing a battery pack replacement enters the battery swapping station, the battery swapping equipment removes the depleted battery pack from the vehicle and installs a fully charged battery pack onto the vehicle, thus completing the battery swapping operation.

[0129] like Figures 1-10 As shown, the battery swapping device is mounted on the shuttle chassis 5 of the battery swapping robot. The device includes a battery tray 2 and a battery disassembly / removal mechanism 4. The battery tray 2 is positioned above the shuttle chassis 5. The battery disassembly / removal mechanism 4 is mounted on the battery tray 2 and is used to unlock or lock the battery pack's fixing components. The battery tray 2 can elastically move relative to the shuttle chassis 5 in a direction parallel to and / or perpendicular to the battery pack disassembly / removal direction. The end of the battery disassembly / removal mechanism 4 facing the fixing components can elastically move relative to the battery tray 2 in a direction parallel to the battery pack disassembly / removal direction and / or swing in an angle inclined to the battery pack disassembly / removal direction.

[0130] It should be noted that in this embodiment, the battery pack is installed and removed in a vertical direction. In other alternative embodiments, the battery pack can be installed and removed in other directions, such as a direction extending in the horizontal plane or a direction having an angle with the horizontal plane.

[0131] In this embodiment, the battery tray 2 is floatingly connected to the shuttle chassis 5. This allows the battery tray 2 to finely adjust the position of the battery disassembly / removal mechanism 4 within a certain floating space in the battery pack disassembly / removal direction. This improves the adaptability of the tray mounting mechanism 100, battery tray 2, and battery disassembly / removal mechanism 4, facilitating alignment of the battery disassembly / removal mechanism 4 with the fixed components of the battery pack. This results in high battery swapping stability, fast operation, and high efficiency. The end of the battery disassembly / removal mechanism 4 can elastically move parallel to the battery disassembly / removal direction and / or swing inclined to the battery pack disassembly / removal direction relative to the battery tray. Even if there is a positioning error between the battery disassembly / removal mechanism 4 and the fixed components, fine-tuning within a certain floating space is possible, allowing for alignment and connection with the fixed components. This enables unlocking or locking of the fixed components, reducing the accuracy requirements for positioning and improving alignment efficiency. Simultaneously, the floating in the battery pack disassembly / removal direction prevents the battery tray from rising excessively, which could cause a rigid collision between protruding components on the battery tray and the vehicle, reducing component damage and extending the service life of the battery swapping equipment.

[0132] The specific structure of the pallet mounting mechanism 100 is described below.

[0133] like Figure 3-8 As shown, the tray mounting mechanism 100 includes a fixing part 20, a mounting part 10, and a tray elastic component. The mounting part 10 is connected to the battery tray 2, and the fixing part 20 is connected to the shuttle chassis 5. The tray elastic component is disposed between the mounting part 10 and the fixing part 20. The tray elastic component undergoes elastic deformation along a direction parallel to and / or perpendicular to the battery disassembly and assembly direction, allowing the mounting part 10 to move elastically relative to the fixing part 20 along the same and / or perpendicular direction. By disposing the tray elastic component between the mounting part 10 and the fixing part 20, the elastic deformation of the tray elastic component itself allows the mounting part 10 to move elastically relative to the fixing part 20 along the same and / or perpendicular direction, thereby enabling the mounting part 10 to drive the battery tray 2 to finely adjust its position in the battery pack disassembly and assembly direction within a certain floating space. The tray mounting mechanism 100 has a simple overall structure and is very convenient to use.

[0134] In this embodiment, the fixing part 20 includes a housing 22 and a fixing base 23. The fixing base 23 is disposed below the mounting part 10 along the battery pack disassembly and assembly direction. The housing 22 is arranged around the outside of the mounting part 10 and is disposed above and connected to the fixing base 23. The tray elastic component includes a first elastic component 30 and / or a second elastic component 50. The first elastic component 30 is disposed between the mounting part 10 and the fixing base 23 and can undergo elastic deformation along the direction parallel to the battery disassembly and assembly direction. The second elastic component 50 is disposed between the mounting part 10 and the housing 22 and can undergo elastic deformation along the direction perpendicular to the battery disassembly and assembly direction.

[0135] A first elastic component 30 is disposed between the mounting portion 10 and the fixed base 23. The first elastic component 30 extends and retracts relative to the fixed base 23 to cause the mounting portion 10 to float parallel to the battery pack disassembly and assembly direction. A second elastic component 50 is disposed between the mounting portion 10 and the housing 22. The second elastic component 50 extends and retracts relative to the housing 22 to cause the mounting portion 10 to float perpendicular to the battery pack disassembly and assembly direction.

[0136] In this embodiment, both the first elastic component 30 and the second elastic component 50 can be springs, which have a simple and reliable structure and low cost. In other optional embodiments, the first elastic component 30 and the second elastic component 50 can also be other elastic components such as rubber parts.

[0137] The housing 22 and the mounting part 10 are nested together. On the one hand, the mounting part 10 can transfer the floating direction perpendicular to the battery pack disassembly and assembly direction to the housing 22. Thus, by simply connecting the mounting part 10 to the battery tray 2, floating can be achieved simultaneously in both directions parallel and perpendicular to the battery pack disassembly and assembly direction, reducing the number of components connected to the mounting part 10 and simplifying the overall structure. On the other hand, the housing 22 is located outside the mounting part 10, which can prevent the mounting part 10 from tilting during the floating process and maintain the stability of the battery tray 2 during the floating process.

[0138] In this embodiment, the fixing part 20 is sleeved on the outside of the mounting part 10. There is a lot of space between the housing 22 and the mounting part 10 where the second elastic component 50 can be provided. The second elastic component 50 can be arranged along the entire circumference, which is beneficial to increase the floating direction on the plane perpendicular to the battery pack disassembly and assembly direction, and further improve the adaptability of the tray mounting mechanism 100 and the battery tray 2.

[0139] like Figure 3-8As shown, when this tray mounting mechanism 100 is applied in a battery swapping station, by setting the first elastic component 30, the mounting part 10 can be floatingly connected to the fixing part 20. This allows the mounting part 10 to drive the tray 202 to finely adjust its position in the battery pack installation / removal direction within a certain floating space, improving the adaptability of the tray mounting mechanism 100 and the tray 202. This facilitates the alignment of the torque gun's sleeve with the fasteners, improving the efficiency of battery pack loading and unloading. Furthermore, the floating in the battery pack installation / removal direction prevents the tray 202 from rising excessively, which could cause a rigid collision between protruding parts on the tray 202 and the electric vehicle, extending the service life of the tray 202.

[0140] The mounting portion 10 may include a second mounting base 11 and a first connecting member 12. The second mounting base 11 is used to mount the tray 202. One end of the first connecting member 12 is connected to the second mounting base 11, and the other end of the first connecting member 12 is connected to the first elastic component 30. The second mounting base 11 is connected to the first elastic component 30 through the first connecting member 12. This arrangement increases the area of ​​the mounting portion 10 that can be connected to the first elastic component 30 or other components. For example, when there is a floating requirement in other directions, elastic components in other directions can be directly connected to the first connecting member 12, avoiding interference between the first elastic component 30 or other components and the connection between the second mounting base 11 and the tray 202.

[0141] The second mounting base 11 includes a pallet mounting end face 111 and an extension block 112 connected vertically. A first mounting hole 113 is provided on the pallet mounting end face 111, and the second mounting base 11 is threadedly connected to the pallet 202 through the first mounting hole 113. A first connecting member 12 is connected to the extension block 112. The cross-sectional area of ​​the extension block 112 can be set to be smaller than the cross-sectional area of ​​the pallet mounting end face 111 to reduce the overall size of the pallet mounting mechanism 100 and reduce costs.

[0142] The first connecting member 12 includes a sleeve body 121 and a sleeve end cap 122. The sleeve end cap 122 is disposed on one side of the sleeve body 121, and the sleeve body 121 is sleeved on a portion of the first elastic component 30. When the first elastic component 30 does not undergo elastic deformation, there is a preset distance gap between the fixing part 20 and the lower end face of the sleeve body 121. This preset distance can be a distance pre-set according to the actual floating amount requirement. The first connecting member 12 is configured as a sleeve, and the first elastic component 30 is connected to the second mounting base 11 through the sleeve end cap 122. The sleeve body 121 facilitates cooperation with other components. For example, by providing a matching outer shell outside the sleeve body 121, the first elastic component 30 can be prevented from tilting during floating. Furthermore, the sleeve body 121 can protect the first elastic component 30 from environmental corrosion, extending its service life.

[0143] The sleeve end cap 122 is provided with a second assembly hole 123, and the second mounting base 11 is provided with a corresponding third assembly hole 114. The second mounting base 11 and the first connecting member 12 are threadedly connected through the second assembly hole 123 and the third assembly hole 114.

[0144] The first elastic component 30 is a spring, and its two ends abut against the sleeve end cap 122 and the fixing part 20, respectively.

[0145] The mounting portion 10 also includes a guide portion 13, which surrounds the outer side of the first connector 12. The inner wall surface of the guide portion 13 matches the outer wall surface of the sleeve body 121, allowing the sleeve body 121 to move relative to the guide portion 13 in a first direction. The shape-matching guide portion 13 provided outside the sleeve body 121 allows the sleeve body 121 to move along the guide portion 13, preventing the first elastic component 30 from tilting during floating.

[0146] The mounting portion 10 also includes a bushing 14, which is sandwiched between the guide portion 13 and the first connector 12. By providing the bushing 14, wear between the guide portion 13 and the first connector 12 can be reduced. The bushing 14 can be made of a flexible material such as polytetrafluoroethylene. Specifically, the inner wall of the guide portion 13 is provided with an outwardly recessed groove 131 to accommodate the bushing 14 and prevent the bushing 14 from falling off during floating.

[0147] The tray mounting mechanism 100 also includes a vertical stabilizer 40, which passes through the fixing part 20 and the first elastic component 30 along a first direction to reach the mounting part 10; wherein, the vertical stabilizer 40 is connected to the mounting part 10. The vertical stabilizer 40 is used to connect the mounting part 10 to the fixing part 20 to prevent the mounting part 10 from detaching from the fixing part 20 along the battery pack disassembly / removal direction during floating.

[0148] The vertical stabilizer 40 is a bolt. The fixing part 20 has a first through hole 21. The bolt passes through the first elastic component 30 through the first through hole 21 and is threaded to the mounting part 10. The vertical stabilizer 40 is in the form of a bolt, which is simple in structure and easy to install. A certain gap is provided between the first through hole 21 and the vertical stabilizer 40, so that the vertical stabilizer 40 has a certain amount of movement relative to the fixing part 20. The bolt head is located on the outside of the fixing part 20, and the other end of the bolt is threaded to the mounting part 10, thereby preventing the mounting part 10 from detaching from the fixing part 20 while enabling floating in the first direction.

[0149] In other alternative embodiments, the vertical stabilizer 40 may be connected to the fixing part 20. Specifically, a bolt is inserted from top to bottom into the mounting part 10, the first elastic component 30, and the fixing part 20. The bolt head is located outside the mounting part 10 and maintains a certain gap with the mounting part 10. The other end of the bolt is threaded to the fixing part 20. Similarly, while preventing the mounting part 10 from detaching from the fixing part 20, the mounting part 10 can float along the first direction.

[0150] The fixing part 20 includes a housing 22 and a fixing base 23. The fixing base 23 is disposed below the mounting part 10 along the first direction, and the housing 22 is disposed above the fixing base 23 and surrounds the outside of the mounting part 10. The tray mounting mechanism 100 also includes a second elastic component 50. The second elastic component 50 is disposed between the mounting part 10 and the housing 22. The second elastic component 50 undergoes elastic deformation along the direction perpendicular to the first direction, so that the mounting part 10 moves relative to the fixing part 20 in a direction perpendicular to the battery pack disassembly and assembly direction.

[0151] The fixed base 23 serves two purposes: firstly, it secures the fixing part 20 to the power swapping equipment 200; secondly, it connects the first elastic component 30 to enable floating along the first direction. By providing the second elastic component 50, the mounting part 10 can float relative to the housing 22 along a direction perpendicular to the first direction. This allows the mounting part 10 to drive the tray 202 to finely adjust its position on the plane perpendicular to the first direction within a certain floating space, thereby improving the adaptability of the tray mounting mechanism 100 and the tray 202.

[0152] It should be noted that in this embodiment, the fixing part 20 includes a housing 22 disposed outside the mounting part 10 to fix the second elastic component 50. In other alternative embodiments, the fixing part 20 may also include a fixing inner shell, the mounting part 10 may be arranged around the outside of the fixing inner shell, and the second elastic component 50 may be disposed between the fixing inner shell and the mounting part 10, which can also achieve the fixation of the second elastic component 50.

[0153] The second elastic component 50 may include a second elastic member 51 disposed along a second direction and a third elastic member 52 disposed along a third direction; the second direction is perpendicular to the third direction. The second elastic member 51 and the third elastic member 52 are disposed perpendicular to each other, which optimizes the placement of the second elastic component 50 on the pallet mounting mechanism 100 and facilitates the adaptive adjustment of the mounting part 10 in all directions throughout the horizontal plane. The second elastic member 51 and the third elastic member 52 are springs, and each of the second elastic member 51 and the third elastic member 52 is connected to the housing 22 at one end and to the mounting part 10 at the other end. Specifically, there are two of each of the second elastic member 51 and the third elastic member 52, with the two second elastic members 51 disposed opposite each other and the two third elastic members 52 disposed opposite each other.

[0154] The pallet mounting mechanism 100 may further include a second connector 15, which is sandwiched between the first connector 12 and the housing 22. The inner wall surface of the second connector 15 matches the outer wall surface of the first connector 12, and the second elastic component 50 is pressed between the second connector 15 and the housing 22. If the first connector 12 is directly connected to the second elastic component 50, vertical floating may cause instability in the connection between the second elastic component 50 and the first connector 12, and may also cause the vertical movement of the first connector 12 to be obstructed. In this embodiment, by providing the second connector 15, the second connecting component can be directly mounted on the second connector 15, thereby not interfering with the first connector 12 and allowing it to float vertically as needed.

[0155] The second connector 15 includes a connector body 151 and a top cover 152. The top cover 152 is located above the connector body 151. A fourth mounting hole 1511 is provided on the top surface of the connector body 151, and a fifth mounting hole 1521 is provided on the top cover 152. The top cover 152 and the connector body 151 are connected by bolts.

[0156] It should be noted that in this embodiment, the second connector 15 is the guide portion 13 described above, and the two are the same component. In other alternative embodiments, the second connector 15 and the guide portion 13 may be set as two different components, and the second connector 15 may be disposed on the outside of the guide portion 13.

[0157] The pallet mounting mechanism 100 also includes a pad 60, which is disposed between the first elastic component 30 and the fixed base 23. The upper surface of the pad 60 mates with the first elastic component 30, and the lower surface contacts the fixed base 23. The pad 60 is deformable to reduce the frictional force generated by the spring force in the second or third direction. The fixed base 23 also includes a sliding plate 70, which is embedded in the surface of the fixed base 23 facing the mounting portion 10 at a position corresponding to the pad 60. The sliding plate 70 is slidable to reduce the frictional force generated by the spring force in the second or third direction.

[0158] In this embodiment, the pad 60 and the sliding plate 70 are also disposed below the fixed base 23. Specifically, the pad 60 and the sliding plate 70 above the fixed base 23 are symmetrically arranged with the pad 60 and the sliding plate 70 below the fixed base 23. The pad 60 and the sliding plate 70 are provided with a second through hole 61 for the vertical stabilizer 40 to extend into. One of the pad 60 and the sliding plate 70 is a polymer material, or both may be polymer materials, such as polytetrafluoroethylene (PTFE).

[0159] The number of tray mounting mechanisms 100 is at least four, and these four mechanisms are evenly distributed on the tray 202. This arrangement ensures more stable floating of the tray 202, preventing tilting during floating and thus avoiding interference with the installation alignment process. Alternatively, multiple tray mounting mechanisms 100 are evenly distributed at the bottom of the battery tray 2. These multiple mechanisms ensure more stable floating of the battery tray 2, preventing tilting during floating and thus achieving high battery swapping stability, fast operation, and high efficiency. Specifically, the number of tray mounting mechanisms 100 is at least four, and these four mechanisms are evenly distributed at the bottom of the battery tray 2.

[0160] The structure of the battery disassembly and assembly mechanism 4 is described below.

[0161] In one embodiment, the end of the battery removal and installation mechanism 4 facing the fixed component is elastically movable relative to the battery tray 2 in a direction parallel to the battery removal and installation direction. The end of the battery removal and installation mechanism 4 can be displaced vertically relative to the battery tray 2. Even if there is an error in the vertical positioning of the battery removal and installation mechanism 4 and the fixed component, the battery removal and installation mechanism 4 can be finely adjusted within a certain floating space in the vertical direction and can be connected to the fixed component, thereby unlocking or locking the fixed component, reducing the requirement for positioning accuracy and improving alignment efficiency. Simultaneously, the movement of the battery removal and installation mechanism 4 allows for floating in the battery pack removal and installation direction, preventing the battery removal and installation mechanism 4 from rising excessively and causing a rigid collision between the battery removal and installation mechanism 4 and the vehicle, reducing component damage and extending the service life of the battery swapping equipment.

[0162] The battery disassembly and assembly mechanism 4 includes a first mounting base 41, a connecting part 42, and a disassembly and assembly part 43. The lower end of the first mounting base 41 is mounted on the battery tray 2. The disassembly and assembly part 43 is used to unlock or lock the fixing parts of the battery pack. The disassembly and assembly part 43 is connected to the first mounting base 41 through the connecting part 42. A third elastic component 44 is provided between the connecting part 42 and the first mounting base 41. The third elastic component 44 undergoes elastic deformation along a direction parallel to the battery disassembly and assembly direction, so that the disassembly and assembly part 43 can move elastically relative to the battery tray 2 along a direction parallel to the battery disassembly and assembly direction. The disassembly / assembly part 43 is connected to the first mounting base 41 via the connecting part 42. The axes of the connecting part 42 and the first mounting base 41 coincide, and the connecting part 42 can move on the first mounting base 41 in a direction parallel to the battery disassembly / assembly direction. The third elastic component 44 applies force to the connecting part 42 and the first mounting base 41 respectively and drives the connecting part 42 to move in a direction away from the first mounting base 41, so that the disassembly / assembly part 43 can move elastically relative to the battery tray 2 in a direction parallel to the battery disassembly / assembly direction. After the disassembly / assembly part 43 is used, it can be reset by the third elastic component 44, resulting in high stability. Part of the structure of the connecting part 42 is disposed within the first mounting base 41, which facilitates the installation of the connecting part 42 and the disassembly / assembly part 43. This provides a reliable protective structure for the connecting part 42 and the disassembly / assembly part 43, increasing structural stability, and the overall structure is simple and compact.

[0163] In another embodiment, the end of the battery disassembly and assembly mechanism 4 facing the fixed component can swing relative to the battery tray 2 in an inclined direction to the battery disassembly and assembly. The lower end of the disassembly and assembly part 43 is movably connected to the upper end of the connecting part 42, and the upper end of the disassembly and assembly part 43 can swing from the axis of the connecting part 42 to the outside of the axis of the connecting part 42, so that the disassembly and assembly part 43 swings relative to the battery tray 2 in an inclined direction to the battery disassembly and assembly. Even if there is an error in the relative positioning of the battery disassembly and assembly mechanism 4 and the fixed component in the horizontal direction, it can be finely adjusted within a certain floating space by the swing of the battery disassembly and assembly mechanism 4 and can be connected to the fixed component, thereby realizing the unlocking or locking of the fixed component, reducing the positioning accuracy requirement and improving the efficiency of aligning the fixed component.

[0164] In this embodiment, the disassembly / assembly part 43 is connected to the connecting part 42 via a pivot shaft. The pivot shaft enables the swinging motion between the disassembly / assembly part 43 and the connecting part 42, resulting in a simple and reliable structure. Of course, other movable connection methods can also be used between the disassembly / assembly part 43 and the connecting part 42, and are not limited here.

[0165] The battery disassembly and assembly mechanism 4 also includes a reset component 45, which is sleeved on the outer peripheral surface of the disassembly and assembly part 43 and the connecting part 42. The reset component 45 is used to make the axis of the disassembly and assembly part 43 coincide with the axis of the connecting part 42. The reset component 45 is sleeved on the outer peripheral surface of the disassembly and assembly part 43 and drives the disassembly and assembly part 43 to reset, so that the axis of the disassembly and assembly part 43 can coincide with the axis of the fixing component, thereby realizing the unlocking or locking of the fixing component, and the stability is higher.

[0166] In this embodiment, the reset component 45 is a spring, specifically a wave spring. In other embodiments, the reset component 45 can also be made of other elastic materials such as a rubber sleeve, resulting in a simple structure and reliable use.

[0167] The battery disassembly and assembly mechanism 4 also includes a second drive unit 46, which is connected to the connecting unit 42. The second drive unit 46 applies torque to the disassembly and assembly unit 43 through the connecting unit 42. The second drive unit 46 provides rotational driving force and applies torque to the disassembly and assembly unit 43 through the transmission of the connecting unit 42. Thus, the torsion of the fixed component can achieve unlocking or locking, which is very convenient to use, easy to control, and has high precision and stability.

[0168] In this embodiment, the battery mounting / dismounting mechanism 4 is a torque gun, the mounting / dismounting part 43 is a sleeve device, and the second drive part 46 is a motor assembly; the motor assembly drives the sleeve device to rotate through the connecting part 42. The fixed components are unlocked or locked by controlling the rotation of the sleeve device of the torque gun. The torque gun is driven by the motor assembly, has a simple and stable structure, and can achieve precise control of torque and the number of rotations.

[0169] There are multiple battery disassembly and assembly mechanisms 4, which are arranged in an array on the battery tray 2. The positions of the multiple battery disassembly and assembly mechanisms 4 correspond one-to-one with the multiple fixed components on the battery pack. By setting battery disassembly and assembly mechanisms 4 on the battery tray 2 that correspond to the multiple fixed components on the battery pack, all battery disassembly and assembly mechanisms 4 can simultaneously unlock or lock all fixed components, thereby realizing the disassembly or installation of the battery pack from the vehicle, which greatly improves the efficiency and stability of unlocking or locking.

[0170] Example 2

[0171] like Figures 11-13As shown, this embodiment provides another battery swapping robot. This battery swapping robot is basically the same as the one in Embodiment 1, except that a leveling component 3 is added. In this embodiment, the same reference numerals refer to the same components as in Embodiment 1. The battery swapping robot also includes a leveling component 3. The bottom of the leveling component 3 is connected to the shuttle chassis 5, and the top of the leveling component 3 is used to cooperate with the vehicle chassis. Before unlocking or locking, it enables the battery removal and installation mechanism 4 located on the battery tray 2 to achieve leveling and alignment, thereby achieving a leveled position for the battery swapping equipment. This results in strong adaptability, high battery swapping stability, and fast and efficient operation.

[0172] The number of leveling components 3 can be multiple. Each leveling component 3 has a contact surface 31 at its top, and multiple contact surfaces 31 are located on the same plane. The multiple leveling components 3 have the same height, and the plane formed by the top surfaces of the leveling components 3 is the contact surface 31. By having multiple contact surfaces 31 located on the same horizontal plane, the leveling is more stable and the leveling effect is better. In this embodiment, there are four leveling components 3, which are located at the four corners of the shuttle chassis 5. By placing the four leveling components 3 at the four corners of the shuttle chassis 5, the structure is simple and highly stable. Simultaneously, the space formed between the four leveling components 3 will be used to house structures such as the battery tray 2 and the battery disassembly and assembly mechanism 4, while avoiding the location used to accommodate the battery pack, effectively preventing interference.

[0173] The battery swapping robot may also include a lifting mechanism 501. The battery tray 2 is mounted on the lifting mechanism 501, which drives the battery tray 2 to rise or fall along the battery pack installation / removal direction. After the top of the leveling component 3 mates with the vehicle chassis, the lifting mechanism 501 raises the battery tray 2 to the working position, allowing the battery installation / removal mechanism 4 to align and engage with the battery pack's fixing components, thereby unlocking or locking the battery pack. After unlocking or locking, the lifting mechanism 501 moves the battery tray 2 downwards, causing the battery installation / removal mechanism 4 to move away from the vehicle, facilitating the shuttle chassis 5 to move out of the vehicle's path.

[0174] In this embodiment, the battery swapping device has an initial state and a battery swapping state. In the initial state, the leveling component 3 is higher than the battery removal and installation mechanism 4. At the start of the battery swapping process, the vehicle is first leveled using the higher-positioned leveling component 3, after which the battery removal and installation mechanism 4 performs the battery swapping operation. In other embodiments of the invention, a lifting mechanism 501 or similar method can be used to allow the positional relationship between the leveling component 3 and the battery removal and installation mechanism 4 to be adjusted at any time to facilitate the battery swapping operation.

[0175] The lifting mechanism 501 includes a first drive unit 511 and a transmission unit 512. The first drive unit 511 is mounted on the shuttle chassis 5, and the transmission unit 512 is connected to both the first drive unit 511 and the battery tray 2. The first drive unit 511 provides driving force, which is then transmitted to the battery tray 2 via the transmission unit 512, thereby enabling the battery tray 2 to rise or fall along the battery pack installation / removal direction. The use of the first drive unit 511 and the transmission unit 512 to lift and lower the battery tray 2 ensures stability while simplifying the structure to avoid affecting the battery swapping operation of the swapping equipment.

[0176] In this embodiment, the first drive unit 511 is a motor, and the transmission unit 512 is a cam. The motor drives the cam to rotate, and when the protrusion of the cam lifts the battery tray 2, the battery tray 2 is at the working height. The structure is simple, installation and setup are very convenient, and the cost is low. Of course, in other optional embodiments, the first drive unit 511 can also use other drive mechanisms such as hydraulic devices to provide driving force, and the transmission unit 512 can also use other transmission components such as transmission rods to transmit force.

[0177] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A battery swapping device, characterized in that, It includes a shuttle, a battery tray, and a battery disassembly and assembly mechanism; the battery tray is used to carry the battery pack, and the battery tray is connected to the top of the shuttle via a tray mounting mechanism along the battery pack disassembly and assembly direction; the battery disassembly and assembly mechanism is used to unlock or lock the fixing components of the battery pack, and the battery disassembly and assembly mechanism is disposed on the battery tray; The tray mounting mechanism includes: a mounting part connected to the battery tray; and a fixing part connected to the shuttle vehicle. The fixing part includes a housing and a fixing base. The fixing base is located below the mounting part along the battery pack disassembly and assembly direction. The housing is arranged around the outside of the mounting part. The housing is located above the fixing base and connected to the fixing base. The mounting portion includes a first mounting base, a first connector, and a second connector. The first mounting base is used to mount the battery tray. The first connector is connected to the first mounting base. The second connector is sandwiched between the housing and the first connector. The mounting part further includes a bushing, which is sandwiched between the first connector and the second connector, and the first connector and the second connector slide relative to each other along the battery pack assembly / disassembly direction via the bushing. The battery tray is elastically movable relative to the shuttle car along a direction parallel to and / or perpendicular to the battery pack disassembly / assembly direction; one end of the battery disassembly / assembly mechanism facing the fixed component is elastically movable relative to the battery tray along a direction parallel to the battery pack disassembly / assembly direction and / or swings along a direction inclined to the battery pack disassembly / assembly direction; the tray mounting mechanism includes: A tray elastic component is disposed between the mounting portion and the fixing portion. The tray elastic component undergoes elastic deformation along a direction parallel to and / or perpendicular to the battery pack disassembly and assembly direction, so that the mounting portion can move elastically relative to the fixing portion along a direction parallel to and / or perpendicular to the battery pack disassembly and assembly direction. The tray elastic component includes a first elastic component and / or a second elastic component. The first elastic component is disposed between the mounting portion and the fixed base, and the first elastic component can undergo elastic deformation along a direction parallel to the battery pack disassembly and assembly direction. The second elastic component is disposed between the mounting portion and the housing, and the second elastic component can undergo elastic deformation along a direction perpendicular to the battery pack disassembly and assembly direction. The first connector is connected to the first elastic component; the second elastic component is disposed between the housing and the second connector; The first mounting base includes a tray mounting end face and an extension block connected at the top and bottom. A first mounting hole is provided on the tray mounting end face, and the first mounting base and the battery tray are threadedly connected through the first mounting hole.

2. The battery swapping equipment as described in claim 1, characterized in that, The mounting part further includes a guide part, which is disposed above the second connector along the battery pack disassembly and assembly direction, and the guide part is disposed around the outside of the first connector; The inner wall surface of the guide portion matches the outer wall surface of the first connector, so that the first connector is movable relative to the guide portion along the battery pack assembly / disassembly direction. And / or, the first connector includes a sleeve body and a sleeve end cap, the sleeve body is sleeved on a portion of the first elastic component, and when the first elastic component does not undergo elastic deformation, there is a gap of a first preset distance between the fixed base and the lower end face of the sleeve body. The pallet mounting mechanism further includes a first pad, which is disposed between the first elastic component and the fixed base. The upper surface of the first pad cooperates with the first elastic component, and the lower surface contacts the fixed base. The fixed base also includes a first sliding plate, which is embedded in the fixed base at a position corresponding to the first pad on the surface of the fixed base facing the mounting part.

3. The battery swapping equipment as described in claim 1, characterized in that, The second elastic component includes a plurality of elastic elements, which are disposed between the second connector and the housing in different directions, so that the mounting portion can move relative to the housing in a plane perpendicular to the battery pack assembly / disassembly direction; When the second elastic component does not undergo elastic deformation, there is a gap of a second preset distance between the housing and the second connecting part; Multiple elastic elements are arranged in pairs, and the elastic deformation direction of each pair of elastic elements is on the same straight line; The pallet mounting mechanism further includes a first movable member, and a first receiving groove is provided on the outer wall surface of the second connector along the circumferential direction. The first movable member cooperates with the first receiving groove and is movable within the first receiving groove. A first mounting hole is provided on the inner wall of the mounting part, one end of the second elastic component is embedded in the first mounting hole, and the other end is connected to the first movable part.

4. The battery swapping equipment as described in claim 1, characterized in that, The tray mounting mechanism also includes a vertical stabilizer. The fixed base has a first through hole. The vertical stabilizer passes through the first through hole of the fixed base and the first elastic component along the battery pack disassembly and assembly direction and is connected to the first connector. When the second elastic component does not undergo elastic deformation, there is a gap of a third preset distance between the vertical stabilizer and the edge of the first through hole. The pallet mounting mechanism further includes a second pad, which is disposed between the vertical stabilizer and the fixed base. The lower surface of the second pad cooperates with the vertical stabilizer, and the upper surface contacts the fixed base. The fixed base also includes a second sliding plate, which is embedded in the surface of the fixed base away from the mounting part at a position corresponding to the second pad.

5. The battery swapping equipment as described in any one of claims 1-4, characterized in that, The number of tray mounting mechanisms is multiple, and the multiple tray mounting mechanisms are evenly distributed at the bottom of the battery tray.

6. The battery swapping equipment as described in claim 1, characterized in that, The battery mounting and disassembly mechanism includes a second mounting base, a connecting part, and a disassembly and assembly part. The lower end of the second mounting base is mounted on the battery tray. The disassembly and assembly part is used to unlock or lock the fixing components of the battery pack. The disassembly and assembly part is connected to the second mounting base through the connecting part. Wherein, the lower end of the disassembly / assembly part is movably connected to the upper end of the connecting part, and the upper end of the disassembly / assembly part can swing from the axis of the connecting part toward the outer side of the axis of the connecting part, so that the disassembly / assembly part swings relative to the battery tray in an inclination toward the battery disassembly / assembly direction; and / or A third elastic component is provided between the connecting part and the second mounting base. The third elastic component undergoes elastic deformation along a direction parallel to the battery disassembly and assembly direction, so that the disassembly and assembly part can move elastically relative to the battery tray along a direction parallel to the battery disassembly and assembly direction.

7. The battery swapping equipment as described in claim 6, characterized in that, The disassembly / assembly part is connected to the connecting part via a pivot shaft; And / or, the battery disassembly and assembly mechanism further includes a reset component, which is sleeved on the outer peripheral surface of the disassembly and assembly part and the connecting part, and the reset component is used to make the axis of the disassembly and assembly part coincide with the axis of the connecting part; And / or, the battery disassembly and assembly mechanism further includes a second drive unit, which is pulsatorically connected to the connecting part, and the second drive unit applies torque to the disassembly and assembly part through the connecting part; The battery disassembly and assembly mechanism is a torque gun, the disassembly and assembly part is a sleeve device, and the second drive part is a motor assembly; the motor assembly drives the sleeve device to rotate through the connecting part.

8. The battery swapping equipment as described in claim 6 or 7, characterized in that, The battery disassembly and assembly mechanism is a plurality of such mechanisms, which are arranged in an array on the battery tray. The positions of the plurality of disassembly and assembly mechanisms correspond one-to-one with the plurality of fixed components on the battery pack.

9. A battery-swapping robot, characterized in that, It includes the battery swapping equipment as described in any one of claims 1-8.

10. The battery swapping robot as described in claim 9, characterized in that, The battery swapping robot also includes a shuttle chassis and a lifting mechanism. The shuttle is mounted on the shuttle chassis via the lifting mechanism, and the lifting mechanism drives the battery swapping equipment to rise or fall along the direction of battery pack installation and removal.

11. A battery swapping station, characterized in that, It includes the battery swapping robot as described in claim 9 or 10.

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