Battery replacing robot with leveling function and battery replacing station comprising same

Abstract

The battery replacing robot with the leveling function comprises a shuttle vehicle and a leveling device, a battery replacing part is arranged on the shuttle vehicle, the leveling device is installed on the shuttle vehicle and is adjacent to the battery replacing part, a plurality of leveling planes are arranged at the top end of the leveling device, and the leveling planes can be attached to a vehicle chassis. According to the battery replacing robot with the leveling function and the battery replacing station comprising the battery replacing robot, the leveling device is arranged on the shuttle vehicle, the leveling plane can be attached to the vehicle chassis in advance before battery replacing, and therefore the vehicle reaches the leveling position, and the success rate of battery replacing is increased.

Description

[0001] This application is a division of a Chinese invention patent with an application date of December 2, 2021, application number 202111474228.0, and name “Battery swap robot with leveling function and battery swap station containing the same”. Technical Field

[0002] The present application relates to a battery swap robot with a leveling function and a battery swap station including the same. Background Art

[0003] The battery box of existing electric vehicles is generally divided into fixed and replaceable types. Among them, the fixed battery is generally fixed on the vehicle, and the vehicle is directly used as the charging object during charging. The replaceable battery pack is generally fixed on the vehicle through a movable installation. The battery pack can be removed to replace or charge the battery pack separately. After the replaced battery pack is charged, it is reinstalled on the vehicle.

[0004] The existing chassis battery replacement equipment includes a shuttle vehicle for battery replacement. However, the shuttle vehicle itself cannot be guaranteed to be flush with the vehicle's chassis before battery replacement. Therefore, multiple errors that may exist during the battery replacement process often lead to problems such as a decrease in the success rate of battery replacement, which is not conducive to the development of battery replacement technology.

[0005] Generally speaking, in the case of battery replacement failure, manual inspection and adjustment of the battery replacement equipment are required to complete the leveling between the vehicle and the battery replacement equipment, which is inefficient and requires manual operation. Therefore, there is an urgent need for a shuttle vehicle with a leveling function to improve the working efficiency of the battery replacement equipment and the success rate of battery replacement. Summary of the invention

[0006] The technical problem to be solved by the present invention is to overcome the defects of low working efficiency and low battery replacement success rate of the battery replacement equipment in the prior art, and to provide a battery replacement robot with a leveling function and a battery replacement station including the same.

[0007] The present invention solves the above technical problems through the following technical solutions:

[0008] A battery-exchanging robot with a leveling function comprises a shuttle car and a leveling device, wherein the shuttle car is provided with a battery-exchanging part, the leveling device is installed on the shuttle car and adjacent to the battery-exchanging part, and the top of the leveling device has a plurality of leveling planes, and the plurality of leveling planes can fit with a vehicle chassis.

[0009] In this solution, by setting a leveling device on the shuttle, the leveling plane can be aligned with the vehicle chassis before battery replacement, so that the vehicle reaches a leveling position, which improves the success rate of battery replacement. In addition, in this solution, the leveling device is integrated on the shuttle, and there is no need to set up additional leveling lifting equipment to level the vehicle. The leveling structure is simple and helps save costs. At the same time, the vehicle can be leveled by directly supporting the vehicle through the leveling device on the shuttle, without the need for other leveling reference objects. The leveling operation is simple, the leveling effect is good, and the leveling efficiency is high.

[0010] Preferably, the plane where each of the leveling planes is located is parallel to the plane where the battery exchange unit is located.

[0011] In this solution, through the above-mentioned settings, it is ensured that the plane where the vehicle chassis / battery locking part is located is parallel to the battery swap platform, ensuring that the battery swap platform can accurately cooperate with the locking part to avoid jamming during unlocking or locking, thereby improving the accuracy and efficiency of battery swapping.

[0012] Preferably, the battery-swapping robot has an initial state and a battery-swapping state. When in the initial state, the leveling plane is higher than the battery-swapping part.

[0013] In this solution, by setting the leveling plane higher than the battery swapping part when the battery swapping robot is in the initial state, it is possible to avoid the battery swapping part interfering with the leveling part and fitting the vehicle chassis, ensuring that the battery swapping process is after the leveling process, improving the leveling efficiency, and thus improving the battery swapping efficiency and battery swapping success rate. Furthermore, when the battery swapping robot is in the battery swapping state, the battery swapping part is not lower than the leveling plane, ensuring that the battery swapping part can fully contact the locking part on the battery pack to ensure that the unlocking or locking operation is stable and reliable.

[0014] Preferably, the leveling device comprises a plurality of leveling components fixed on the shuttle vehicle, the leveling components have the leveling plane, and the plurality of leveling planes are located on the same horizontal plane.

[0015] In this solution, multiple leveling planes are located on the same horizontal plane, so that the leveling effect is better.

[0016] Preferably, the leveling components are leveling columns, a plurality of the leveling columns have the same height, and the top surfaces of the leveling columns form the leveling plane.

[0017] In this solution, the top surfaces of multiple leveling columns form a leveling plane, and the heights of the leveling columns are the same, ensuring that the multiple leveling planes are located in the same plane. The leveling component has a simple structure and high calibration accuracy.

[0018] Preferably, the plurality of leveling columns are respectively located on the outer edges of the shuttle vehicle, and the power exchange unit is arranged on the inner sides of the plurality of leveling devices.

[0019] In this solution, the leveling columns are installed on the outer edges of the shuttle vehicle. The leveling columns are located outside the battery swap unit. The battery swap unit is aligned with the battery. The leveling columns can avoid the battery, which can effectively prevent the leveling columns from colliding and interfering with the battery.

[0020] Preferably, a pad is provided on the top of the leveling column, the pad is made of nylon, and the top surface of the pad is the leveling plane.

[0021] In this solution, a pad made of nylon material is arranged on the top of the leveling column, and a leveling plane is formed by the top surface of the pad, which can level the vehicle without causing mechanical damage to the vehicle.

[0022] Preferably, a mounting plate is provided at the upper end of the leveling column, and the cushion block is mounted on the mounting plate by fasteners.

[0023] In this solution, the pad is installed on the top of the leveling column through the mounting plate, and the pressure on the pad is evenly transmitted to the leveling column through the mounting plate, reducing the deformation caused by stress concentration on the pad, thereby extending the service life of the leveling pad.

[0024] Preferably, the shuttle vehicle includes a vehicle body and a mounting base, the battery exchange unit is arranged on the vehicle body, the mounting base is installed on the vehicle body at the outer edges of the vehicle body, and the leveling column is arranged on the mounting base.

[0025] In this solution, the leveling column is installed on the body of the shuttle by installing the base, so that the leveling column can be directly installed on the outer edges of the shuttle. This can ensure that the connection between the two has good stability, and there is no need to make other improvements to the existing shuttle. The modification cost is low, and modular assembly can be achieved, which is easy to disassemble and maintain.

[0026] Preferably, the shuttle vehicle further comprises an adjusting portion, wherein the adjusting portion is respectively connected to the vehicle body and the mounting base, and the adjusting portion is configured to be able to drive the mounting base to move horizontally and / or vertically relative to the vehicle body.

[0027] Different types of vehicles have different optimal support points. In this solution, the position of the leveling column relative to the shuttle is adjusted by adjusting the position of the mounting base through the adjustment part. The optimal support point can be selected according to the vehicle model, so that the shuttle can be compatible with a variety of vehicle models and battery pack specifications. It can not only level vehicles of different models, but also maximize the protection of the vehicles, thereby improving the universality of battery swapping equipment for various electric vehicles.

[0028] Preferably, the adjusting part comprises a guide rail and a slider, the guide rail is mounted on the vehicle body, the slider is movably arranged on the guide rail, and the mounting base is connected to the slider; or,

[0029] The adjusting portion includes a rotating assembly having a rotating shaft, wherein the rotating assembly is arranged on the vehicle body, and the rotating shaft is connected to the mounting base.

[0030] Through the above structure, two optional structural forms of the adjustment part are provided to facilitate the adjustment of the position of the leveling column. The adjustment part includes a guide rail and a slider, or the adjustment part adopts a rotating assembly. The adjustment part has a simple structure and is easy to use. With a guide rail and slider structure, moving the slider can drive the mounting base to slide on the guide rail to achieve the position adjustment of the leveling column. With a rotating assembly structure, rotating the rotating shaft can drive the mounting base to move to achieve the position adjustment of the leveling column.

[0031] Preferably, the adjusting portion further comprises a locking member, wherein the locking member is connected to the guide rail and the slider respectively, and the locking member has a locking state and an unlocking state, and when the locking member is in the locking state, the locking member locks the slider on the guide rail; when the locking member is in the unlocking state, the slider can slide on the guide rail; or,

[0032] The locking member is connected to the rotating assembly, and has a locking state and an unlocking state. When the locking member is in the locking state, the locking member restricts the rotation of the rotating shaft; when the locking member is in the unlocking state, the rotating shaft can rotate normally.

[0033] Through the above structure, two optional locking members for fixing the adjusting part are provided to limit the adjusting part to remain locked in position during the leveling process.

[0034] Preferably, the adjusting portion further comprises a power element, the power element is arranged on the vehicle body, and the power element is connected to the slider or the rotating shaft.

[0035] By setting up power elements, there is no need for manual adjustment, which reduces manpower requirements and improves the adjustment efficiency and accuracy of the battery replacement position.

[0036] Preferably, the power element is one or more of a cylinder, a hydraulic cylinder or a motor.

[0037] One or more of mutually replaceable power sources such as air cylinders, hydraulic cylinders or motors are used to realize the power output of the adjustment part.

[0038] Preferably, the battery exchange unit includes a battery exchange platform, on which a torque gun is provided, and the torque gun is used to apply torque to a locking piece on the battery pack so that the locking piece is unlocked or locked to the vehicle, thereby achieving disassembly or installation between the battery pack and the vehicle.

[0039] A torque gun is used to apply torque to the locking piece on the battery pack to achieve unlocking or locking, so as to realize the removal or installation between the vehicle battery pack and the vehicle, and the unlocking and locking efficiency is high and the stability is high.

[0040] Preferably, the torque gun comprises a driving mechanism and a sleeve joint, wherein the driving mechanism is connected to the sleeve joint, and the driving mechanism drives the sleeve joint to generate torque.

[0041] In the present invention, the driving mechanism is used to drive the sleeve joint to generate torque, and the sleeve joint generates torque to unlock or lock the locking member. The sleeve joint is docked with the locking member so that it can smoothly transmit torque and have a certain adjustment space to reduce the docking accuracy requirements and thus improve the success rate of battery replacement. The sleeve joint is driven by the driving mechanism so that it has enough torque to unlock or lock, which is convenient for controlling the sleeve joint.

[0042] Preferably, a plurality of torque guns are provided on the battery exchange platform, and the plurality of torque guns are distributed in an array on the battery exchange platform, and the positions of the plurality of torque guns correspond one-to-one to the plurality of locking members on the battery pack.

[0043] In the present invention, a torque gun arrangement corresponding to the position of the locking pieces on the battery pack is adopted. A plurality of torque guns can be respectively aimed at a plurality of locking pieces on the battery pack at the same time, and can be unlocked synchronously after docking, thereby improving the battery replacement efficiency.

[0044] Preferably, the battery exchange unit also includes a lifting mechanism, which is installed on the shuttle vehicle and connected to the battery exchange platform, and is used to lift the battery exchange platform to a working height or lower it.

[0045] In this solution, the battery swap robot switches between the initial state and the battery swap state through a lifting mechanism, which can avoid the battery swap failure caused by the change in position due to the change in the state of the leveling column during the battery swap process. The battery swap platform is lifted to the working position by the lifting mechanism, so that the upper surface of the torque gun is not lower than the leveling plane, and the battery swap robot switches from the initial state to the battery swap state to perform the battery swap operation; after the torque gun completes the unlocking or locking operation, the lifting mechanism descends to drive the battery swap platform down, and the battery swap robot returns to the initial state.

[0046] Preferably, the lifting mechanism includes a driving element and a transmission member, the driving element is arranged on the shuttle vehicle, and the transmission member is respectively connected to the driving element and the battery exchange platform.

[0047] A lifting mechanism structure is provided, which simplifies the structure as much as possible to ensure that the battery swapping operation of the battery swapping platform is not affected while ensuring the lifting stability.

[0048] Preferably, the driving element is a motor, the transmission member is a cam, the cam is driven by the motor, and when the protrusion of the cam lifts the battery exchange platform, the battery exchange platform is located at a working height.

[0049] The above structure provides a specific structural form of a lifting mechanism with a simple structure and good lifting effect.

[0050] A battery swap station, comprising the battery swap robot with leveling function as described above.

[0051] Provided is a battery swap station equipped with the above-mentioned battery swap robot, which has a higher battery swap success rate.

[0052] The positive and progressive effect of the present invention is that the battery-swapping robot with a leveling function and the battery-swapping station including the same can make the leveling plane fit with the vehicle chassis before battery replacement by setting a leveling device on the shuttle car, so that the vehicle reaches a leveling position, thereby improving the success rate of battery replacement. Moreover, in this solution, a leveling device is integrated on the shuttle car, and there is no need to set up a leveling lifting device to level the vehicle. The leveling structure is simple and conducive to cost saving. At the same time, the vehicle can be leveled by directly supporting the vehicle through the leveling device on the shuttle car, without the need for other leveling reference objects, and the leveling operation is simple, the leveling effect is good, and the leveling efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is a schematic diagram of the overall structure of the battery-swapping robot of Example 1 of the present invention.

[0054] Figure 2 This is a side view of the battery-swapping robot of embodiment 1 of the present invention.

[0055] Figure 3 This is a schematic diagram of the structure of the shuttle car of the battery-swapping robot in Example 1 of the present invention.

[0056] Figure 4 This is a schematic diagram of the leveling component of the battery-swapping robot of Example 1 of the present invention.

[0057] Description of reference numerals:

[0058] Battery swap robot 100

[0059] Shuttle 101

[0060] Battery replacement unit 200

[0061] Tray body 210

[0062] Torque gun 220

[0063] Driving mechanism 221

[0064] Sleeve joint 222

[0065] Mounting Block 223

[0066] Leveling device 300

[0067] Leveling column 301

[0068] Block 302

[0069] Leveling plane 303

[0070] Mounting plate 304 DETAILED DESCRIPTION

[0071] A preferred embodiment is given below and combined with the accompanying drawings to more clearly and completely illustrate the present invention.

[0072] Example 1

[0073] like Figures 1 to 4 As shown, the present embodiment provides a battery-swapping robot 100 with a leveling function, including a shuttle 101 and a leveling device 300. A battery-swapping part 200 is provided on the shuttle 101, and the leveling device 300 is installed on the shuttle 101 and is adjacent to the battery-swapping part 200. The top of the leveling device 300 has a plurality of leveling planes 303, and the plurality of leveling planes 303 can fit with the chassis of the vehicle. When the battery-swapping robot 100 is working, the shuttle 101 is located below the chassis of the vehicle. At this time, the vehicle is lifted by the lift to a position where the chassis is close to the leveling plane 303. After fine-tuning, the leveling plane 303 fits with the chassis of the vehicle.

[0074] Specifically, in an embodiment of the present invention, by providing a leveling device 300 on the shuttle 101, the leveling plane 303 can be made to fit with the vehicle chassis before battery replacement, so that the vehicle reaches a leveling position, thereby improving the success rate of battery replacement. Moreover, in this embodiment, the leveling device 300 is integrated on the shuttle 101, and there is no need to provide additional leveling lifting equipment to level the vehicle. The leveling structure is simple and helps save costs. At the same time, the vehicle can be leveled by directly supporting the vehicle through the leveling device 300 on the shuttle 101, without the need for other leveling reference objects, and the leveling operation is simple, the leveling effect is good, and the leveling efficiency is high.

[0075] Specifically, the plane where each leveling plane 303 is located is parallel to the plane where the battery exchange unit 200 is located. In this embodiment, through the above-mentioned setting, it is ensured that the plane where the chassis / battery locking part is located is parallel to the battery exchange platform, ensuring that the battery exchange platform can accurately cooperate with the locking part to avoid jamming during unlocking or locking, thereby improving the accuracy and efficiency of battery exchange.

[0076] In the present embodiment, the battery swap robot 100 has an initial state and a battery swap state. When in the initial state, the leveling plane 303 is higher than the battery swap unit 200. At the beginning of the battery swap process, the vehicle is first leveled using the higher leveling device 300, after which the battery swap unit 200 performs the battery swap operation, which improves the success rate and leveling efficiency of the battery swap, thereby improving the battery swap efficiency and the battery swap success rate. Furthermore, when the battery swap robot 100 is in the battery swap state, the battery swap unit 200 is not lower than the leveling plane, ensuring that the battery swap unit 200 can fully contact the locking piece on the battery pack to ensure that the unlocking or locking operation is stable and reliable. In other embodiments of the present invention, a lifting mechanism or the like can be used so that the positional relationship between the leveling device 300 and the battery swap unit 200 can be adjusted at any time to facilitate the battery swap operation.

[0077] Specifically, the leveling device 300 in this embodiment includes a plurality of leveling components fixed on the shuttle 101, and the leveling components are leveling columns 301. The leveling columns 301 have a leveling plane 303, and the heights of the plurality of leveling columns 301 are the same. The top surfaces of the leveling columns 301 form the leveling plane 303, and the leveling planes 303 on the plurality of leveling columns 301 are located on the same horizontal plane. In this embodiment, the top surfaces of the plurality of leveling columns 301 form the leveling plane 303, and the heights of the leveling columns 301 are the same, ensuring that the plurality of leveling planes 303 are located in the same plane, and the leveling component has a simple structure and high calibration accuracy.

[0078] Additionally, the top of the leveling column 301 has a pad 302 made of nylon material, and the top surface of the pad 302 is processed into a horizontal plane. The top surfaces of all the pads 302 in this embodiment are located on the same horizontal plane and serve as the leveling plane 303 when in use. With the aid of the pad 302 made of nylon material, the wear resistance of the leveling plane 303 can be improved, and at the same time, no damage is caused to the chassis of the vehicle.

[0079] Furthermore, a mounting plate 304 is provided at the upper end of the leveling column 301, and the pad 302 is mounted on the mounting plate 304 by fasteners. In this embodiment, the pad 302 is mounted on the top of the leveling column 301 by the mounting plate 304, and the pressure on the pad 302 is evenly transmitted to the leveling column 301, thereby reducing the deformation caused by the stress concentration on the pad 302, thereby extending the service life of the pad 302.

[0080] Furthermore, a plurality of leveling columns 301 are respectively located on the outer edges of the shuttle 101, and the battery exchange unit 200 is arranged inside the plurality of leveling devices 300. During the battery exchange process, the battery exchange unit 200 is aligned with the position of the battery, and the leveling columns 301 can avoid the battery, which can effectively avoid collision and interference between the leveling columns 301 and the battery. In other embodiments of the present invention, the battery exchange unit 200 should avoid the position of the battery pack and its movement trajectory to avoid interference.

[0081] The shuttle 101 includes a vehicle body and a mounting base, the battery exchange unit 200 is arranged on the vehicle body, the mounting base is mounted on the vehicle body at the outer edges of the vehicle body, and the leveling column 301 is arranged on the mounting base. In this embodiment, the leveling column 301 and the mounting base are fixedly connected by welding or riveting, so that the leveling device 300 has better stability. Moreover, there is no need to make other improvements to the existing shuttle 101, the modification cost is low, and modular assembly can be achieved, which is convenient for disassembly and maintenance.

[0082] In this embodiment, the leveling device 300 of the battery-swapping robot 100 can be adapted to a portion of vehicle models. However, for vehicle models with different chassis sizes, other embodiments of the present invention also provide corresponding solutions.

[0083] Specifically, in other embodiments of the present invention, the shuttle 101 also includes an adjustment part, which is respectively connected to the vehicle body and the mounting base, and the adjustment part is configured as a horizontal adjustment part that can drive the mounting base to move relative to the vehicle body in the horizontal direction. Since the optimal support points of vehicles of different models are different, in this embodiment, the position of the mounting base is adjusted by the adjustment part to adjust the position of the leveling column 301 relative to the shuttle 101, and the optimal support point can be selected according to the vehicle model. Thereby, the shuttle 101 can be compatible with a variety of vehicle models and battery pack specifications, which can not only level vehicles of different models, but also maximize the protection of the vehicles, thereby improving the universality of the battery replacement equipment for various types of electric vehicles.

[0084] Specifically, the horizontal adjustment part includes a guide rail and a slider, the guide rail is installed on the vehicle body, the slider is movably arranged on the guide rail, and the mounting base is connected to the slider. The horizontal adjustment part also includes a locking member, wherein the locking member is connected to the guide rail and the slider respectively, and the locking member has a locking state and an unlocking state. When the locking member is in the locking state, the locking member locks the slider on the guide rail; when the locking member is in the unlocking state, the slider can slide on the guide rail. Further, the locking member is a bolt fastener. Correspondingly, holes are provided on the guide rail and the slider for installing bolt fasteners to achieve locking of the horizontal adjustment part.

[0085] Those skilled in the art should understand that the locking member can also be in the form of a spring buckle. First, align the holes on the guide rail and the slider with the spring buckle, and then tighten the spring buckle to achieve locking of the horizontal adjustment part. When adjustment is required, press the buckle to adjust the position. In the present invention, other structures that are not recorded but can also achieve locking should also fall within the scope of protection of the present invention.

[0086] The horizontal adjustment part in the present invention can also be in another form: the horizontal adjustment part includes a rotating assembly with a rotating shaft, the rotating assembly is arranged on the vehicle body, and the rotating shaft is connected to the mounting base. The locking member is connected to the rotating assembly, and the locking member has a locked state and an unlocked state. When the locking member is in the locked state, the locking member restricts the rotation of the rotating shaft; when the locking member is in the unlocked state, the rotating shaft can rotate normally. This embodiment provides a stepless adjustment to adapt to the chassis size and layout of various vehicle models. In this embodiment, the horizontal adjustment part can be adjusted back and forth within a certain range until it is in place and then locked using the locking member.

[0087] Furthermore, the adjustment unit also includes a power element, which is arranged on the vehicle body, and the driving force element is connected to the slider or the rotating shaft. By setting the power element, manual adjustment is not required, which reduces the manpower demand and improves the adjustment efficiency and adjustment accuracy of the battery replacement position.

[0088] Specifically, in this embodiment, the power element is a cylinder. In other embodiments, those skilled in the art may also select one or more of common cylinders, hydraulic cylinders or motors to be used as the power element in the present invention.

[0089] With the help of the above-mentioned power element, technicians in this field can also set a corresponding start / stop switch to achieve control of the power element. In actual use, considering the efficiency and feasibility of battery replacement, it is unlikely that the operator will manually adjust the adjustment part in the battery replacement robot 100. Therefore, introducing a switch to control the power element and thereby achieving rapid adjustment of the leveling column 301 is a feasible way to improve the efficiency of battery replacement.

[0090] Furthermore, the adjustment part in the present invention includes a vertical adjustment part in addition to the horizontal adjustment part. The vertical adjustment part is used to adjust the vertical height of the leveling column 301. In order to adapt to the combination of different vehicle models and different battery packs, it is necessary to adjust the height of the leveling column 301 in the vertical direction in some cases. Therefore, in an embodiment of the present invention, a vertical adjustment part and a locking member used in conjunction with the vertical adjustment part are separately provided on the leveling device 300. Its structural composition, working form and working principle are roughly the same as those of the horizontal adjustment part, and will not be repeated here.

[0091] The battery exchange unit 200 in this embodiment includes a battery exchange platform. Specifically, the battery exchange platform includes a tray body 210 and a plurality of torque guns 220 located on the tray body 210. The plurality of torque guns 220 are distributed in an array on the tray body 210. The positions of the plurality of torque guns 220 correspond one by one to the plurality of locking members on the vehicle battery pack. The torque guns 220 are used to apply torque to the locking members so that the plurality of locking members are unlocked or locked to the vehicle, thereby realizing the disassembly or installation between the vehicle battery pack and the vehicle.

[0092] Since the battery pack on the vehicle is installed on the vehicle chassis through a locking piece, the locking piece must be unlocked or locked before the battery pack needs to be removed or installed. At the same time, the arrangement of the locking piece is actually related to many factors such as the shape and weight distribution of the battery pack, so it has been designed to have a specific arrangement pattern during design. The device for unlocking or locking the locking piece in this embodiment, that is, the torque gun 220, has the same arrangement pattern as the locking piece, and the positions of the multiple torque guns 220 correspond to the multiple locking pieces on the vehicle battery pack. A plurality of torque guns 220 corresponding to the positions of the locking pieces are arranged on the tray body 210, and the multiple torque guns 220 can unlock or lock the multiple locking pieces at the same time to achieve the removal or installation between the vehicle battery pack and the vehicle, which greatly improves the efficiency and stability of unlocking.

[0093] Furthermore, the torque gun 220 includes a driving mechanism 221 and a sleeve joint 222 , the driving mechanism 221 is connected to the sleeve joint 222 , and the driving mechanism 221 drives the sleeve joint 222 to generate torque.

[0094] In the present invention, the driving mechanism 221 is used to drive the sleeve joint 222 to generate torque, and the sleeve joint 222 generates torque to unlock or lock the locking member. The sleeve joint 222 is driven by the driving mechanism 221, so that it has enough torque to unlock or lock, which is convenient for controlling the sleeve joint 222.

[0095] Specifically, a plurality of drive mechanisms 221 are arranged in one-to-one correspondence with a plurality of sleeve joints 222. In this embodiment, the drive mechanism 221 includes a motor and a reducer connected to the motor. By using one drive mechanism 221 to control one sleeve joint 222 correspondingly, the operation of all sleeve joints 222 in the battery pack disassembly and assembly mechanism can be realized, which can improve the unlocking accuracy.

[0096] In other embodiments of the present invention, the battery pack disassembly and assembly mechanism further includes a transmission mechanism. The transmission mechanism is respectively connected to the drive mechanism 221 and the plurality of torque guns 220 to achieve transmission between the drive mechanism 221 and the plurality of torque guns 220. By implementing the transmission mechanism to transmit between the drive mechanism 221 and the sleeve joint 222, only one drive mechanism 221 can be used to drive the plurality of sleeve joints 222 at the same time, thereby reducing the number of components and facilitating cost savings.

[0097] In this embodiment, the torque gun 220 includes a torque gun mounting seat in addition to the driving mechanism and the sleeve joint, and the torque gun mounting seat is arranged on the tray body 210. Specifically, the torque gun mounting seat and the driving mechanism 221 are respectively arranged on both sides of the tray body 210, and the torque gun mounting seat is cylindrical as a whole. A reducer is accommodated in the chamber of the torque gun mounting seat, and the input end of the reducer is connected to the output shaft of the driving mechanism 221, and the output end of the reducer is connected to one end of the sleeve joint 222, and the other end of the sleeve joint 222 extends to the outside of the torque gun mounting seat. The reducer is preferably a harmonic reducer, which converts the power of the driving mechanism 221 into low speed and high torque, so that the drive sleeve joint 222 can be driven to rotate, and the locking member can be locked or unlocked by means of high torque. Further, in this embodiment, the torque gun 220 also includes a pre-compression spring, which is sleeved on the outside of the output shaft of the reducer and partially sleeved with the sleeve joint 222. The pre-compression spring is provided to facilitate providing uniform upward thrust.

[0098] Specifically, the shape of the end of the sleeve joint 222 matches the shape of the locking piece, and the end of the sleeve joint 222 is also provided with a guide surface, which is used for the end of the sleeve joint 222 to match the locking piece. The outer peripheral surface of the end of the sleeve joint 222 is also provided with a limit platform, which is used to limit the depth of the end of the sleeve joint 222 matching with the locking piece to avoid excessive insertion.

[0099] Furthermore, the torque gun 220 also includes an elastic reset member, which is sleeved on the outer peripheral surface of the sleeve joint 222 and is used to reset the sleeve joint 222. Since the sleeve joint 222 can swing relative to its axial direction, the range of motion of the sleeve joint 222 can be increased. Even if there is an error in the relative positioning between the sleeve joint 222 and the locking member, the swingable sleeve joint 222 can still clamp the locking member. At this time, the elastic reset member can drive the sleeve joint 222 to reset, thereby achieving the torsion of the locking member. Preferably, the elastic reset member can be, but is not limited to, a square spring, a wave spring or a rubber sleeve.

[0100] Furthermore, the battery swap unit 200 also includes a lifting mechanism, which is installed on the shuttle 101 and connected to the battery swap platform, and is used to lift the battery swap platform to a working height or lower it. The battery swap robot 100 in this embodiment lifts the battery swap platform to the working position through the lifting mechanism, avoiding the battery swap failure caused by the change of position due to the change of the state of the leveling column 301 during the battery swap process, thereby improving the success rate of battery swap.

[0101] In this embodiment, the battery swap robot 100 switches between the initial state and the battery swap state through a lifting mechanism, which can avoid the battery swap failure caused by the change in position due to the change in the state of the leveling column 301 during the battery swap process. The battery swap platform is lifted to the working position by the lifting mechanism, so that the upper surface of the torque gun 220 is not lower than the leveling plane 303, and the battery swap robot 100 switches from the initial state to the battery swap state to perform the battery swap operation; after the torque gun 220 completes the unlocking or locking operation, the lifting mechanism descends to drive the battery swap platform to descend, and the battery swap robot 100 returns to the initial state.

[0102] Specifically, in this embodiment, the lifting mechanism includes a driving element and a transmission member, the driving element is arranged on the shuttle 101, and the transmission member is connected to the driving element and the battery exchange platform respectively. The driving element in this embodiment is a motor, and the transmission member is a cam, which is driven by the motor. When the protruding part of the cam lifts the battery exchange platform, the battery exchange platform is at the working height.

[0103] The above structure of this embodiment provides a specific form of a simple lifting structure with good lifting effect. In other embodiments, a telescopic top rod or the like can also be used to realize the lifting of the battery exchange platform.

[0104] The present embodiment further provides a battery swap station, which includes the battery swap robot 100 with a leveling function as described above. The battery swap station of the present embodiment has a higher battery swap success rate by applying the battery swap robot 100 with a leveling function as described above.

[0105] Specifically, when the battery swap robot 100 performs the operation of disassembling the vehicle battery pack, the battery swap robot 100 first moves to the bottom of the vehicle battery pack, and then the vehicle lifting platform in the battery swap station drives the vehicle to descend, so that the leveling device 300 supports the vehicle, and the precise positioning between the vehicle and the battery swap unit 200 on the shuttle 101 is achieved. Then, the lifting mechanism of the battery swap unit 200 raises the battery swap platform. At this time, the torque gun 220 on the battery swap platform is connected to the locking piece on the vehicle through the sleeve joint 222. Further, the drive mechanism 221 of the torque gun 220 outputs torque and transmits it to the locking piece on the vehicle through the sleeve joint 222. The locking piece on the vehicle is removed, and the vehicle battery pack falls naturally. At this time, the vehicle battery pack is carried by the battery swap unit 200. Subsequently, the lifting mechanism lowers the battery swap platform as a whole, the vehicle lifting platform lifts the vehicle, and the battery swap robot 100 moves out of the working position to complete the disassembly process of the vehicle battery pack. Further, the battery swap robot 100 moves to the battery transfer equipment. Specifically, the battery transport device in this embodiment is a palletizer. Subsequently, the battery transport device transports the removed low-power battery pack to a charging rack for charging.

[0106] When the battery-swapping robot 100 performs the operation of installing the vehicle battery pack, the battery-swapping robot 100 carrying the vehicle battery pack first moves to the bottom of the vehicle battery pack. After that, the vehicle lifting platform in the battery-swapping station drives the vehicle to descend, so that the leveling device 300 supports the vehicle, and the precise positioning between the vehicle and the battery-swapping part 200 on the shuttle 101 is achieved. Then, the lifting mechanism lifts the battery-swapping part 200 carrying the vehicle battery pack. At this time, the torque gun 220 on the battery-swapping part 200 is connected to the locking part on the vehicle through the sleeve joint 222. Further, the driving mechanism 221 of the torque gun 220 outputs torque and transmits it to the locking part on the vehicle through the sleeve joint 222. The locking part on the vehicle is locked, and the vehicle battery pack is fixed on the vehicle, completing the installation of the vehicle battery pack. Subsequently, the lifting mechanism lowers the battery-swapping platform as a whole, the vehicle lifting platform lifts the vehicle, and the battery-swapping robot 100 moves out of the working position. Further, the vehicle lifting platform drives the vehicle to descend back to the ground, and the vehicle drives out of the vehicle lifting platform to complete the battery swap.

[0107] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A battery-swapping robot with a leveling function, characterized in that: It includes a shuttle car and a leveling device, the shuttle car is provided with a battery exchange part, the leveling device is installed on the shuttle car and arranged adjacent to the battery exchange part, and the leveling device can fit with the vehicle chassis; the shuttle car includes a vehicle body and a mounting base, and the shuttle car also includes an adjustment part; The adjusting part comprises a guide rail and a slider, wherein the guide rail is mounted on the vehicle body, the slider is movably arranged on the guide rail, and the mounting base is connected to the slider; or, The adjusting portion includes a rotating assembly having a rotating shaft, wherein the rotating assembly is arranged on the vehicle body, and the rotating shaft is connected to the mounting base.

2. The battery-swapping robot with leveling function according to claim 1, characterized in that: The top of the leveling device has a plurality of leveling planes, and the plane where each of the leveling planes is located is parallel to the plane where the power exchange unit is located; And / or, the battery-swapping robot has an initial state and a battery-swapping state, and when in the initial state, the leveling plane is higher than the battery-swapping part.

3. The battery-swapping robot with leveling function according to claim 1, characterized in that: The leveling device comprises a plurality of leveling components fixed on the shuttle vehicle, wherein the leveling components have the leveling plane, and the plurality of leveling planes are located on the same horizontal plane.

4. The battery-swapping robot with leveling function as claimed in claim 3, characterized in that: The leveling components are leveling columns, a plurality of the leveling columns have the same height, and the top surfaces of the leveling columns form the leveling plane; Preferably, the plurality of leveling columns are respectively located on the outer edges of the shuttle vehicle, and the power exchange unit is arranged inside the plurality of leveling devices; Preferably, a pad is provided at the top of the leveling column, the pad is made of nylon, and the top surface of the pad is the leveling plane; Preferably, it is characterized in that a mounting plate is provided at the upper end of the leveling column, and the cushion block is mounted on the mounting plate by fasteners.

5. The battery-swapping robot with leveling function as claimed in claim 4, characterized in that: The shuttle vehicle comprises a vehicle body and a mounting base, the battery exchange unit is arranged on the vehicle body, the mounting base is mounted on the vehicle body at the outer edges of the vehicle body, and the leveling column is arranged on the mounting base; Preferably, the shuttle vehicle further comprises an adjusting part, the adjusting part being connected to the vehicle body and the mounting base respectively, and the adjusting part being configured to be able to drive the mounting base to move relative to the vehicle body in a horizontal direction and / or a vertical direction; Preferably, the adjusting part comprises a guide rail and a slider, the guide rail is mounted on the vehicle body, the slider is movably arranged on the guide rail, and the mounting base is connected to the slider; or, The adjusting portion includes a rotating assembly having a rotating shaft, wherein the rotating assembly is arranged on the vehicle body, and the rotating shaft is connected to the mounting base.

6. The battery-swapping robot with leveling function as claimed in claim 5, characterized in that: The adjusting portion further includes a locking member, wherein: The locking member is connected to the guide rail and the slider respectively, and the locking member has a locked state and an unlocked state. When the locking member is in the locked state, the locking member locks the slider on the guide rail; when the locking member is in the unlocked state, the slider can slide on the guide rail; or, The locking member is connected to the rotating assembly, and the locking member has a locking state and an unlocking state. When the locking member is in the locking state, the locking member restricts the rotation of the rotating shaft; when the locking member is in the unlocking state, the rotating shaft can rotate normally; And / or, the adjusting part further comprises a power element, the power element is arranged on the vehicle body, and the power element is connected to the slider or the rotating shaft; Preferably, the power element is one or more of a cylinder, a hydraulic cylinder or a motor.

7. The battery-swapping robot with leveling function according to claim 1, characterized in that: The battery exchange unit includes a battery exchange platform, on which a torque gun is provided. The torque gun is used to apply torque to a locking piece on the battery pack so that the locking piece is unlocked or locked to the vehicle, thereby achieving disassembly or installation between the battery pack and the vehicle.

8. The battery-swapping robot with leveling function as claimed in claim 7, characterized in that: The torque gun comprises a driving mechanism and a sleeve joint, wherein the driving mechanism is connected to the sleeve joint, and the driving mechanism drives the sleeve joint to generate torque; And / or, a plurality of torque guns are provided on the battery swap platform, and the plurality of torque guns are distributed in an array on the battery swap platform, and positions of the plurality of torque guns correspond one-to-one to the plurality of locking members on the battery pack; And / or, the battery exchange unit also includes a lifting mechanism, which is installed on the shuttle vehicle and connected to the battery exchange platform, and the lifting mechanism is used to lift the battery exchange platform to a working height or lower it.

9. The battery-swapping robot with leveling function as claimed in claim 8, characterized in that: The lifting mechanism includes a driving element and a transmission member, the driving element is arranged on the shuttle vehicle, and the transmission member is respectively connected to the driving element and the battery exchange platform; Preferably, the driving element is a motor, the transmission member is a cam, the cam is driven by the motor, and when the protrusion of the cam lifts the battery exchange platform, the battery exchange platform is located at a working height.

10. A battery swap station, characterized in that: The battery swap station includes a battery swap robot with a leveling function as described in any one of claims 1-9.

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