Battery swapping robots with leveling functions and battery swapping stations containing them

Abstract

The application discloses a battery replacing robot with a leveling function, comprising a shuttle vehicle and a leveling device, wherein the shuttle vehicle is provided with a battery replacing part, and the leveling device is installed on the shuttle vehicle and arranged adjacent to the battery replacing part; the top end of the leveling device is provided with a plurality of leveling planes, and the plurality of leveling planes can be attached to the vehicle chassis. The battery replacing robot with the leveling function and a battery replacing station comprising the same can make the leveling planes attached to the vehicle chassis before battery replacement, so that the vehicle reaches a leveled position, and the success rate of battery replacement is improved.

Description

[0001] This application is a divisional application of Chinese invention patent filed on December 2, 2021, with application number 202111474228.0 and titled "Battery swapping robot with leveling function and battery swapping station including the same". Technical Field

[0002] This application relates to a battery swapping robot with a leveling function and a battery swapping station containing the same. Background Technology

[0003] Currently, electric vehicle battery packs are generally installed in two ways: fixed and swappable. Fixed batteries are typically mounted directly on the vehicle, serving as the charging source. Swappable battery packs, on the other hand, are usually attached to the vehicle via a removable mounting system. The battery pack can be removed for individual replacement or charging. After charging, the removed battery pack is reinstalled on the vehicle.

[0004] Currently available chassis-based battery swapping equipment includes shuttle vehicles used for battery swapping. However, the shuttle vehicle itself cannot be guaranteed to be flush with the vehicle chassis before battery swapping. This often leads to problems such as reduced battery swapping success rate due to potential errors in various places during the battery swapping process, which is not conducive to the development of battery swapping technology.

[0005] Typically, in cases of battery swapping failure, manual inspection and adjustment of the swapping equipment are required to achieve leveling between the vehicle and the equipment, which is inefficient and necessitates manual operation. Therefore, there is an urgent need for a shuttle vehicle with leveling capabilities to improve the working efficiency of the swapping equipment and the success rate of battery swapping. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the shortcomings of low working efficiency and low success rate of existing battery swapping equipment, and to provide a battery swapping robot with a leveling function and a battery swapping station including the robot.

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

[0008] A battery swapping robot with a leveling function includes a shuttle and a leveling device. The shuttle is equipped with a battery swapping unit, and the leveling device is installed on the shuttle adjacent to the battery swapping unit. The top of the leveling device has multiple leveling planes, which can fit in contact with the vehicle chassis.

[0009] In this solution, by installing a leveling device on the shuttle, the leveling surface can be aligned with the vehicle chassis before battery swapping, thus ensuring the vehicle is in a level position and improving the success rate of battery swapping. Furthermore, this solution integrates the leveling device on the shuttle, eliminating the need for separate leveling and lifting equipment for vehicle leveling, resulting in a simple leveling structure and cost savings. Simultaneously, vehicle leveling can be achieved directly by supporting the vehicle using the leveling device on the shuttle, without the need for other leveling reference points, making the leveling operation simple, effective, and efficient.

[0010] Preferably, the plane containing each of the leveling planes is parallel to the plane containing the power swapping unit.

[0011] In this solution, the above settings ensure that the plane where the chassis / battery locking components are located is parallel to the battery swapping platform, guaranteeing that the battery swapping platform can accurately cooperate with the locking components, avoiding jamming during unlocking or locking, and improving battery swapping accuracy and efficiency.

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

[0013] In this solution, by setting the leveling plane higher than the battery swapping unit when the battery swapping robot is in its initial state, interference between the battery swapping unit and the leveling components and the vehicle chassis can be avoided. This ensures that the battery swapping process occurs after the leveling process, improving leveling efficiency and thus increasing battery swapping efficiency and success rate. Furthermore, when the battery swapping robot is in the swapping state, the battery swapping unit is not lower than the leveling plane, ensuring that the battery swapping unit can fully contact the locking components on the battery pack, thereby guaranteeing stable and reliable unlocking or locking operations.

[0014] Preferably, the leveling device includes a plurality of leveling components fixed to the shuttle, the leveling components having the leveling plane, and the plurality of leveling planes being located on the same horizontal plane.

[0015] In this scheme, multiple leveling planes are located on the same horizontal plane, which makes the leveling effect better.

[0016] Preferably, the leveling component is a leveling column, and multiple leveling columns have the same height, with the top surface of the leveling column forming the leveling plane.

[0017] In this scheme, the top surfaces of multiple leveling columns form a leveling plane, and the height of each leveling column is the same, ensuring that 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 located around the outer edges of the shuttle, and the battery swapping unit is located inside the plurality of leveling devices.

[0019] In this solution, the leveling pillars are installed around the outer edge of the shuttle car. The leveling pillars are located outside the battery swapping section, and the battery swapping section is aligned with the battery. The leveling pillars can avoid the battery, which can effectively prevent the leveling pillars from colliding and interfering with the battery.

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

[0021] In this solution, a nylon pad is placed at the top of the leveling column, and the top surface of the pad forms a leveling plane, which can level the vehicle without causing mechanical damage.

[0022] Preferably, the upper end of the leveling column is provided with a mounting plate, and the pad is installed on the mounting plate by fasteners.

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

[0024] Preferably, the shuttle vehicle includes a vehicle body and a mounting base, the battery swapping unit is disposed on the vehicle body, the mounting base is mounted on the vehicle body at the outer perimeter of the vehicle body, and the leveling column is disposed on the mounting base.

[0025] In this solution, the leveling column is installed on the body of the shuttle car by mounting the base, so that the leveling column can be directly installed on the outer edge of the shuttle car. This ensures good stability at the connection between the two, and no other modifications are required to the existing shuttle car. The modification cost is low, and modular assembly is possible, which is convenient for disassembly and maintenance.

[0026] Preferably, the shuttle further includes an adjustment unit connected to the vehicle body and the mounting base, respectively, and the adjustment unit is configured to drive the mounting base to move relative to the vehicle body in a horizontal and / or vertical direction.

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

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

[0029] The adjustment unit includes a rotating assembly with a rotating shaft, the rotating assembly being disposed on the vehicle body, and the rotating shaft being connected to the mounting base.

[0030] The above structure provides two optional structural forms for the adjustment unit, facilitating the adjustment of the leveling column position. The adjustment unit includes a guide rail and a slider, or it may employ a rotating assembly. Both structures are simple and easy to use. With the guide rail and slider structure, moving the slider causes the mounting base to slide on the guide rail, thus adjusting the leveling column position. With the rotating assembly structure, rotating the rotating shaft moves the mounting base, achieving the same adjustment.

[0031] Preferably, the adjusting part 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 onto the guide rail; when the locking member is in the unlocked state, the slider can slide on the guide rail; or,

[0032] The locking member is connected to the rotating assembly. 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.

[0033] The above structure provides two optional locking elements for fixing the adjustment part, thereby limiting the position of the adjustment part to remain locked during the leveling process.

[0034] Preferably, the adjustment unit further includes a power element disposed on the vehicle body and connected to the slider or the rotating shaft.

[0035] By setting up a power component, manual adjustment is no longer required, reducing manpower needs and improving the efficiency and accuracy of adjusting the battery swapping position.

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

[0037] The power output of the adjustment unit is achieved by using one or more interchangeable power sources such as cylinders, hydraulic cylinders, or motors.

[0038] Preferably, the battery swapping unit includes a battery swapping platform, and the battery swapping platform is equipped with a torque gun. The torque gun is used to apply torque to the locking member on the battery pack, so that the locking member is unlocked or locked to the vehicle, thereby realizing the removal or installation of the battery pack from the vehicle.

[0039] The torque gun applies torque to the locking mechanism on the battery pack to unlock or lock it, enabling the removal or installation of the vehicle battery pack from the vehicle. The unlocking and locking are highly efficient and stable.

[0040] Preferably, the torque gun includes a drive mechanism and a sleeve joint, the drive mechanism being connected to the sleeve joint, and the drive mechanism driving the sleeve joint to generate torque.

[0041] In this invention, a driving mechanism is used to drive the sleeve joint to generate torque. The torque generated by the sleeve joint unlocks or locks the locking component. By using the sleeve joint to engage with the locking component, torque can be smoothly transmitted, and a certain adjustment range is provided to reduce the precision requirements of the engagement and thus improve the success rate of battery swapping. The drive mechanism drives the sleeve joint, thereby providing sufficient torque to unlock or lock, facilitating the control of the sleeve joint.

[0042] Preferably, the battery swapping platform is provided with multiple torque guns, which are arranged in an array on the battery swapping platform, and the positions of the multiple torque guns correspond one-to-one with the multiple locking elements on the battery pack.

[0043] In this invention, a torque gun arrangement is adopted that corresponds one-to-one with the locking positions on the battery pack. Multiple torque guns can be simultaneously aligned with multiple locking positions on the battery pack, and can be unlocked synchronously after docking, thereby improving battery swapping efficiency.

[0044] Preferably, the battery swapping unit further includes a lifting mechanism, which is mounted on the shuttle and connected to the battery swapping platform. The lifting mechanism is used to raise or lower the battery swapping platform to the working height.

[0045] In this solution, the battery swapping robot switches between its initial state and battery swapping state via a lifting mechanism. This avoids battery swapping failure caused by changes in the position of the leveling column during the swapping process. The lifting mechanism raises the battery swapping platform to the working position, ensuring that the upper surface of the torque gun is not lower than the leveling plane. The battery swapping robot then switches from its initial state to the battery swapping state to perform the swapping operation. After the torque gun completes its unlocking or locking operation, the lifting mechanism descends, causing the battery swapping platform to descend as well, and the battery swapping robot returns to its initial state.

[0046] Preferably, the lifting mechanism includes a drive element and a transmission component, the drive element being mounted on the shuttle vehicle, and the transmission component being connected to both the drive element and the battery swapping platform.

[0047] A structural form of lifting mechanism is provided, which simplifies the structure as much as possible while ensuring its lifting stability, so as not to affect the battery swapping operation of the battery swapping platform.

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

[0049] The above structure provides a specific structural form for a lifting mechanism that is simple in structure and has a good lifting effect.

[0050] A battery swapping station, the battery swapping station including a battery swapping robot with a leveling function as described above.

[0051] A battery swapping station equipped with the aforementioned battery swapping robot is provided, which has a higher battery swapping success rate.

[0052] The positive and progressive effects of this invention are as follows: The battery swapping robot with leveling function and the battery swapping station containing it, by installing a leveling device on the shuttle, can ensure that the leveling plane is aligned with the vehicle chassis before battery swapping, thereby bringing the vehicle to a level position and improving the success rate of battery swapping. Furthermore, in this solution, the leveling device is integrated on the shuttle, eliminating the need for separate leveling and lifting equipment for vehicle leveling, resulting in a simple leveling structure and cost savings. Simultaneously, vehicle leveling can be achieved directly by supporting the vehicle through the leveling device on the shuttle, without the need for other leveling reference points, making the leveling operation simple, the leveling effect good, and the leveling efficiency high. Attached Figure Description

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

[0054] Figure 2 This is a side view of the battery swapping robot according to Embodiment 1 of the present invention.

[0055] Figure 3 This is a schematic diagram of the shuttle vehicle of the battery swapping robot in Embodiment 1 of the present invention.

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

[0057] Explanation of reference numerals in the attached figures:

[0058] Battery swapping robot 100

[0059] Shuttle 101

[0060] Battery swapping department 200

[0061] Tray body 210

[0062] Torque Gun 220

[0063] Drive mechanism 221

[0064] Socket joint 222

[0065] Mounting bracket 223

[0066] Leveling device 300

[0067] Leveling column 301

[0068] 302 pad

[0069] Leveling plane 303

[0070] Mounting plate 304 Detailed Implementation

[0071] The present invention will be described more clearly and completely below with reference to a preferred embodiment and the accompanying drawings.

[0072] Example 1

[0073] like Figures 1 to 4 As shown, this embodiment provides a battery swapping robot 100 with a leveling function, including a shuttle 101 and a leveling device 300. The shuttle 101 is equipped with a battery swapping unit 200, and the leveling device 300 is mounted on the shuttle 101 adjacent to the battery swapping unit 200. The top of the leveling device 300 has multiple leveling planes 303, which can conform to the vehicle chassis. When the battery swapping robot 100 is operating, the shuttle 101 is located below the vehicle chassis. At this time, the vehicle is lifted by a lift to a position where the chassis is close to the leveling planes 303. After fine-tuning, the leveling planes 303 are aligned with the vehicle chassis.

[0074] Specifically, in this embodiment of the invention, by providing a leveling device 300 on the shuttle 101, the leveling plane 303 can be brought into contact with the vehicle chassis before battery swapping, thereby bringing the vehicle to a level position and improving the success rate of battery swapping. Furthermore, in this embodiment, the leveling device 300 is integrated on the shuttle 101, eliminating the need for additional leveling and lifting equipment for vehicle leveling, resulting in a simple leveling structure and cost savings. Simultaneously, vehicle leveling can be achieved directly by supporting the vehicle with the leveling device 300 on the shuttle 101, without the need for other leveling references, making the leveling operation simple, effective, and efficient.

[0075] Specifically, the plane containing each school plane 303 is parallel to the plane containing the battery swapping unit 200. In this embodiment, the above arrangement ensures that the plane containing the vehicle chassis / battery locking component is parallel to the battery swapping platform, guaranteeing that the battery swapping platform can accurately engage with the locking component, preventing jamming during unlocking or locking, and improving battery swapping accuracy and efficiency.

[0076] In this embodiment, the battery swapping robot 100 has an initial state and a battery swapping state. In the initial state, the leveling plane 303 is higher than the battery swapping unit 200. At the start of the battery swapping process, the vehicle is first leveled using the higher-positioned leveling device 300, after which the battery swapping unit 200 performs the battery swapping operation, improving the success rate and leveling efficiency, thereby increasing both battery swapping efficiency and success rate. Furthermore, when the battery swapping robot 100 is in the battery swapping state, the battery swapping unit 200 is not lower than the leveling plane, ensuring that the battery swapping unit 200 can fully contact the locking components on the battery pack, guaranteeing stable and reliable unlocking or locking operations. In other embodiments of the invention, a lifting mechanism or similar method can be used to adjust the positional relationship between the leveling device 300 and the battery swapping unit 200 at any time to facilitate battery swapping operations.

[0077] Specifically, the leveling device 300 in this embodiment includes multiple leveling components fixed to the shuttle 101, each being a leveling column 301. Each leveling column 301 has a leveling plane 303, and all leveling columns 301 have the same height. The top surface of each leveling column 301 forms the leveling plane 303, and the leveling planes 303 on the multiple leveling columns 301 are located on the same horizontal plane. In this embodiment, the top surfaces of the multiple leveling columns 301 form the leveling plane 303, and the height of each leveling column 301 is the same, ensuring that the multiple leveling planes 303 are located in the same plane. The leveling component has a simple structure and high calibration accuracy.

[0078] Additionally, the top of the leveling post 301 has a pad 302 made of nylon material, the top surface of which is machined to be horizontal. In this embodiment, the top surfaces of all pads 302 are located on the same horizontal plane and serve as the leveling surface 303 during use. The use of the nylon pads 302 improves the wear resistance of the leveling surface 303 without damaging the vehicle's chassis.

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

[0080] Furthermore, multiple leveling pillars 301 are located around the outer edges of the shuttle 101, and the battery swapping unit 200 is disposed inside the multiple leveling devices 300. During the battery swapping process, the battery swapping unit 200 is aligned with the battery, and the leveling pillars 301 can avoid the battery, effectively preventing collisions and interference between the leveling pillars 301 and the battery. In other embodiments of the present invention, the battery swapping unit 200 should be positioned to avoid the location of the battery pack and its trajectory to prevent interference.

[0081] The shuttle 101 includes a vehicle body and a mounting base. The battery swapping unit 200 is mounted on the vehicle body, and the mounting base is installed on the vehicle body around its outer perimeter. The leveling column 301 is mounted on the mounting base. In this embodiment, the leveling column 301 and the mounting base are fixedly connected by welding or riveting, which improves the stability of the leveling device 300. Furthermore, no modifications to the existing shuttle 101 are required, resulting in low modification costs and enabling modular assembly, facilitating disassembly and maintenance.

[0082] In this embodiment, the leveling device 300 of the battery swapping robot 100 can be adapted to some 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 further includes an adjustment unit, which is connected to the vehicle body and the mounting base respectively. The adjustment unit is configured to be a horizontal adjustment unit capable of moving the mounting base horizontally relative to the vehicle body. Since different vehicle models have different optimal support points, in this embodiment, the position of the mounting base is adjusted by the adjustment unit to adjust the position of the leveling column 301 relative to the shuttle 101, allowing for the selection of an optimal support point based on the vehicle model. This enables the shuttle 101 to be compatible with various vehicle models and battery pack specifications, allowing for leveling of different vehicle models while maximizing vehicle protection, thus improving the universality of the battery swapping equipment for various electric vehicles.

[0084] Specifically, the leveling unit includes a guide rail and a slider. The guide rail is mounted on the vehicle body, and the slider is movably mounted on the guide rail. A mounting base is connected to the slider. The leveling unit also includes a locking component, which is connected to both the guide rail and the slider. The locking component has a locked state and an unlocked state. When the locking component is in the locked state, it locks the slider onto the guide rail; when the locking component is in the unlocked state, the slider can slide on the guide rail. Further, the locking component is a bolt fastener. Correspondingly, the guide rail and the slider have holes for mounting bolt fasteners to lock the leveling unit.

[0085] Those skilled in the art will understand that the locking element can also be in the form of a spring clip. First, align the holes on the guide rail and slider with the spring clip, then tighten the spring clip to lock the horizontal adjustment section. When adjustment is needed, press the clip to adjust the position. In this invention, other structures not described but capable of achieving locking should also fall within the scope of protection of this invention.

[0086] The horizontal adjustment unit in this invention can also take another form: the horizontal adjustment unit includes a rotating assembly with a rotating shaft, the rotating assembly being mounted on the vehicle body, and the rotating shaft being connected to a mounting base. A 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, it 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 mechanism to adapt to the chassis dimensions and layouts of various vehicle models. In this embodiment, the horizontal adjustment unit can be adjusted back and forth within a certain range until it reaches the desired position, and then locked using the locking member.

[0087] Furthermore, the adjustment unit also includes a power element, which is mounted on the vehicle body and connected to a slider or rotating shaft. By incorporating a power element, manual adjustment is eliminated, reducing manpower requirements and improving the efficiency and accuracy of adjusting the battery swapping position.

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

[0089] Using the aforementioned power components, those skilled in the art can also set corresponding start / stop switches to control the power components. In actual use, considering battery swapping efficiency and feasibility, the possibility of operators manually adjusting the adjustment section in the battery swapping robot 100 is very small. Therefore, introducing a switch to control the power components and thereby achieving rapid adjustment of the leveling column 301 is a feasible way to improve battery swapping efficiency.

[0090] Furthermore, in addition to the horizontal adjustment part, the adjustment part in this invention also includes a vertical adjustment part. The vertical adjustment part is used to adjust the vertical height of the leveling column 301. In order to adapt to different vehicle models and different battery pack combinations, it is necessary to adjust the vertical height of the leveling column 301 in some cases. Therefore, in the embodiment of this invention, a vertical adjustment part and a locking member that cooperate with the vertical adjustment part are separately provided on the leveling device 300. Its structural composition, working mode and working principle are roughly the same as those of the horizontal adjustment part, and will not be described in detail here.

[0091] The battery swapping unit 200 in this embodiment includes a battery swapping platform. Specifically, the battery swapping 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 arranged in an array on the tray body 210. The positions of the plurality of torque guns 220 correspond one-to-one with 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 of the vehicle battery pack between the vehicle and the vehicle.

[0092] Since the battery pack is mounted to the vehicle chassis via locking devices, unlocking or locking these devices is necessary before removing or installing the battery pack. Furthermore, the arrangement of these locking devices is related to various factors such as the shape and weight distribution of the battery pack, and therefore is designed with a specific arrangement pattern. In this embodiment, the device used to unlock or lock the locking devices, namely the torque gun 220, follows the same arrangement pattern as the locking devices, with each torque gun 220 corresponding one-to-one with a locking device on the vehicle battery pack. Multiple torque guns 220, each corresponding to a locking device, are positioned on the tray body 210. These multiple torque guns 220 can simultaneously unlock or lock multiple locking devices, enabling the removal or installation of the vehicle battery pack from the vehicle, significantly improving unlocking efficiency and stability.

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

[0094] In this invention, the drive 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. By driving the sleeve joint 222 through the drive mechanism 221, it is made to have sufficient torque to unlock or lock, which facilitates the control of the sleeve joint 222.

[0095] Specifically, multiple drive mechanisms 221 are configured in a one-to-one correspondence with multiple sleeve connectors 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 connector 222, the operation of all sleeve connectors 222 in the battery pack disassembly and assembly mechanism can be realized, thereby improving 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 connected to the drive mechanism 221 and the plurality of torque guns 220 respectively, to realize the transmission between the drive mechanism 221 and the plurality of torque guns 220. By realizing the transmission between the drive mechanism 221 and the sleeve joints 222 through the transmission mechanism, multiple sleeve joints 222 can be driven simultaneously using only one drive mechanism 221, reducing the number of components and saving costs.

[0097] In this embodiment, the torque gun 220, in addition to the drive mechanism and the sleeve joint, also includes a torque gun mounting base, which is disposed on the tray body 210. Specifically, the torque gun mounting base and the drive mechanism 221 are respectively disposed on both sides of the tray body 210. The torque gun mounting base is generally cylindrical, and a reducer is housed within its cavity. The input end of the reducer is connected to the output shaft of the drive mechanism 221, and the output end of the reducer is connected to one end of the sleeve joint 222. The other end of the sleeve joint 222 extends out to the outside of the torque gun mounting base. The reducer is preferably a harmonic reducer, which converts the power of the drive mechanism 221 into low-speed, high-torque power, thus satisfying the requirement to drive the sleeve joint 222 to rotate and to lock or unlock the locking element using high torque. Furthermore, in this embodiment, the torque gun 220 also includes a preload spring, which is sleeved on the outside of the output shaft of the reducer and partially sleeved with the sleeve joint 222. The preload spring facilitates the provision of a uniform upward thrust.

[0098] Specifically, the shape of the end of the sleeve connector 222 matches the shape of the locking member, and the end of the sleeve connector 222 is also provided with a guide surface, which is used for the end of the sleeve connector 222 to mate with the locking member. The outer peripheral surface of the end of the sleeve connector 222 is also provided with a limiting platform, which is used to limit the depth of the mating between the end of the sleeve connector 222 and the locking member to prevent excessive insertion.

[0099] Furthermore, the torque gun 220 also includes an elastic reset member, which is sleeved on the outer circumferential surface of the sleeve joint 222 to reset the sleeve joint 222. Since the sleeve joint 222 can swing relative to its axial direction, its range of motion is increased. Even if there is an error in the relative positioning of the sleeve joint 222 and the locking member, the swinging sleeve joint 222 can still lock 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 swapping unit 200 also includes a lifting mechanism, which is mounted on the shuttle 101 and connected to the battery swapping platform. The lifting mechanism is used to raise or lower the battery swapping platform to the working height. In this embodiment, the battery swapping robot 100 uses the lifting mechanism to raise the battery swapping platform to the working position, avoiding battery swapping failures caused by changes in the state of the leveling column 301 during the battery swapping process, thus improving the battery swapping success rate.

[0101] In this embodiment, the battery swapping robot 100 switches between its initial state and battery swapping state via a lifting mechanism. This avoids battery swapping failure caused by changes in the position of the leveling column 301 during the swapping process. The lifting mechanism raises the battery swapping platform to its working position, ensuring the upper surface of the torque gun 220 is not lower than the leveling plane 303. The battery swapping robot 100 then switches from its initial state to the battery swapping state to perform the swapping operation. After the torque gun 220 completes its unlocking or locking operation, the lifting mechanism descends, causing the battery swapping platform to descend as well, and the battery swapping robot 100 returns to its initial state.

[0102] Specifically, in this embodiment, the lifting mechanism includes a driving element and a transmission component. The driving element is mounted on the shuttle 101, and the transmission component is connected to both the driving element and the battery swapping platform. In this embodiment, the driving element is a motor, and the transmission component is a cam. The cam is driven by the motor, and when the cam's protrusion lifts the battery swapping platform, the battery swapping platform is at its working height.

[0103] The structure described in this embodiment provides a simple and effective lifting structure. In other embodiments, telescopic rods or similar methods can also be used to achieve the lifting of the battery swapping platform.

[0104] This embodiment also provides a battery swapping station, which includes the battery swapping robot 100 with leveling function as described above. By applying the battery swapping robot 100 with leveling function, the battery swapping station of this embodiment achieves a higher battery swapping success rate.

[0105] Specifically, when the battery swapping robot 100 performs the operation of disassembling the vehicle battery pack, the robot first moves to directly under the vehicle battery pack. Then, the vehicle lifting platform in the battery swapping station lowers the vehicle, allowing the leveling device 300 to support the vehicle and achieve precise positioning between the vehicle and the battery swapping unit 200 on the shuttle 101. Then, the lifting mechanism of the battery swapping unit 200 raises the battery swapping platform. At this time, the torque gun 220 on the battery swapping platform engages with the locking component on the vehicle via the sleeve joint 222. Further, the drive mechanism 221 of the torque gun 220 outputs torque, which is transmitted to the locking component on the vehicle via the sleeve joint 222. The locking component on the vehicle is removed, and the vehicle battery pack falls naturally. The vehicle battery pack is then supported by the battery swapping unit 200. Subsequently, the lifting mechanism lowers the entire battery swapping platform, the vehicle lifting platform lifts the vehicle, and the battery swapping robot 100 moves out of its working position, completing the disassembly process of the vehicle battery pack. Further, the battery swapping robot 100 moves to the battery transfer equipment. Specifically, in this embodiment, the battery transfer equipment is a palletizer. Subsequently, the battery transfer equipment transfers the removed depleted battery pack to the charging rack for charging.

[0106] When the battery swapping robot 100 performs the operation of installing the vehicle battery pack, the robot 100 carrying the vehicle battery pack first moves to directly under the vehicle battery pack. Then, the vehicle lifting platform in the battery swapping station lowers the vehicle, allowing the leveling device 300 to support the vehicle and achieve precise positioning between the vehicle and the battery swapping unit 200 on the shuttle 101. Next, the lifting mechanism raises the battery swapping unit 200 carrying the vehicle battery pack. At this time, the torque gun 220 on the battery swapping unit 200 engages with the locking component on the vehicle via the sleeve connector 222. Further, the drive mechanism 221 of the torque gun 220 outputs torque, which is transmitted to the locking component on the vehicle via the sleeve connector 222. The locking component on the vehicle is locked, and the vehicle battery pack is fixed to the vehicle, completing the installation of the vehicle battery pack. Subsequently, the lifting mechanism lowers the entire battery swapping platform, the vehicle lifting platform lifts the vehicle, and the battery swapping robot 100 moves out of its working position. Further, the vehicle lifting platform lowers the vehicle back to the ground, and the vehicle drives off the vehicle lifting platform, completing the battery swap.

[0107] 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 replacing robot with a leveling function, characterized in that, The shuttle vehicle is provided with an electricity swapping part, and the leveling device is installed on the shuttle vehicle adjacent to the electricity swapping part and can be attached to the vehicle chassis. The shuttle vehicle includes a vehicle body and a mounting base, and further includes an adjusting part. The adjusting part includes a guide rail and a sliding block, the guide rail is installed on the vehicle body, the sliding block is movably arranged on the guide rail, and the mounting base is connected with the sliding block. The adjusting part includes a rotating assembly with a rotating shaft, the rotating assembly is arranged on the vehicle body, and the rotating shaft is connected with the mounting base. 2.The battery replacing robot with a leveling function of claim 1, wherein, The leveling device is arranged on the mounting base, the adjusting part is connected with the vehicle body and the mounting base respectively, and the adjusting part is configured to drive the mounting base to move relative to the vehicle body in the horizontal direction and / or the vertical direction. The leveling device has a plurality of leveling planes, and each leveling plane is parallel to the plane where the electricity swapping part is located. 3.The battery replacing robot with a leveling function of claim 1, wherein, The electricity swapping robot has an initial state and an electricity swapping state, and when in the initial state, the leveling planes are higher than the electricity swapping part. 4.The battery replacing robot with a leveling function of claim 3, wherein, The leveling device includes a plurality of leveling components fixed to the shuttle vehicle, and the leveling components have leveling planes, and a plurality of the leveling planes are located on the same horizontal plane. The leveling components are leveling columns, a plurality of the leveling columns have the same height, and the top surface of the leveling column forms the leveling plane. A plurality of the leveling columns are respectively located at the outer edges of the four sides of the shuttle vehicle, and the electricity swapping part is arranged inside a plurality of the leveling devices. The top end of the leveling column has a pad made of nylon material, and the top surface of the pad is the leveling plane. 5.The battery replacing robot with a leveling function of claim 4, wherein, The upper end of the leveling column is provided with a mounting plate, and the pad is mounted on the mounting plate through a fastener. 6.The battery replacing robot with a leveling function of claim 5, wherein, The electricity swapping part is arranged on the vehicle body, the mounting base is arranged on the vehicle body at the outer edges of the four sides of the vehicle body, and the leveling column is arranged on the mounting base. The adjusting part further includes a locking member. The locking member is connected with the guide rail and the sliding block respectively, and has a locking state and an unlocking state. The locking member limits the rotation of the rotating shaft when in the locking state, and the rotating shaft can normally rotate when in the unlocking state. The adjusting part further includes a power element, the power element is arranged on the vehicle body, and the power element is connected with the sliding block or the rotating shaft. The power element is one or more of a pneumatic cylinder, a hydraulic cylinder, or an electric motor. 7.The battery replacing robot with a leveling function of claim 1, wherein, The battery replacing part comprises a battery replacing platform, and a torque gun is arranged on the battery replacing platform. The torque gun is used to apply torque to a locking member on the battery pack, so that the locking member is unlocked or locked to the vehicle, thereby achieving dismounting or mounting between the battery pack and the vehicle. 8.The battery replacing robot with a leveling function of claim 7, wherein, The torque gun comprises a driving mechanism and a sleeve joint, the driving mechanism is connected with the sleeve joint, and the driving mechanism drives the sleeve joint to generate torque. Furthermore, a plurality of torque guns are arranged on the battery replacing platform, the plurality of torque guns are arranged in an array on the battery replacing platform, and the positions of the plurality of torque guns correspond to the positions of the plurality of locking members on the battery pack respectively. Furthermore, the battery replacing part further comprises a lifting mechanism, the lifting mechanism is installed on the shuttle vehicle, and the lifting mechanism is connected with the battery replacing platform. The lifting mechanism is used to lift the battery replacing platform to a working height or lower the battery replacing platform. 9.The battery replacing robot with a leveling function of claim 8, wherein, The lifting mechanism comprises a driving element and a transmission element, the driving element is arranged on the shuttle vehicle, and the transmission element is connected with the driving element and the battery replacing platform respectively. The driving element is a motor, the transmission element is a cam, and the cam is driven by the motor. When the protruding part of the cam lifts the battery replacing platform, the battery replacing platform is at the working height.

10. A battery swap station, characterized by, The battery replacing station comprises the battery replacing robot with the leveling function according to any one of claims 1-9.

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