Commercial vehicle chassis battery replacing robot, battery replacing station and battery replacing system

Abstract

The invention relates to the technical field of vehicle battery replacement, in particular to a commercial vehicle chassis battery replacement robot, a battery replacement station and a battery replacement system. The battery replacing robot comprises a driving base, a lifting tray and a plurality of supporting pins. The traveling base is movable in a horizontal direction. The lifting tray is horizontally arranged, and the supporting pins are distributed on the lifting tray. The battery replacing robot has a bearing state and a no-load state. In the bearing state, a battery box is borne on the lifting tray, and the weight of the side, close to the driving base, of the battery box is larger than that of the side, away from the driving base, of the battery box. In the bearing state, the multiple supporting pins within the first distance range away from the driving base have first supporting force on the battery box, and the multiple supporting pins within the first distance range away from the driving base have second supporting force on the battery box. The first supporting force is larger than the second supporting force. In this way, the problem that in the chassis battery replacing process, when the battery box is lifted upwards by the battery replacing robot, stress is not uniform is solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle battery replacement technology, and in particular to a commercial vehicle chassis battery replacement robot, a battery replacement station and a battery replacement system. Background Art

[0002] Chassis battery replacement for vehicles refers to the method of removing the original battery pack from the lower part of the vehicle chassis and replacing it with a new one. Due to the height limit of the vehicle chassis structure from the ground, the battery replacement robot often interferes with the vehicle chassis, resulting in limited loading capacity of the vehicle battery box. Traditional new energy vehicle chassis battery replacement technology generally uses a sunken foundation pit structure for battery box disassembly and assembly operations, and deep foundation pits need to be excavated to meet the space requirements of the battery replacement robot under the vehicle chassis. This construction method has the disadvantages of high civil engineering costs, long construction period, and difficult maintenance. It is particularly difficult to implement in areas with soft soil foundations or complex underground pipeline networks.

[0003] In addition, there is also the problem of positioning accuracy in chassis battery replacement. The vehicle's beam assembly is usually manufactured using a multi-stage casting or welding process, which is prone to cumulative dimensional deviations during the manufacturing process, and is prone to longitudinal flexural deformation after long-term service under alternating loads. Due to the large size and low precision of the beam assembly and the battery box, especially the distortion of the longitudinal beam in the beam assembly, it is difficult to accurately align the two. If rigid support is used, it is easy to cause uneven force on the battery box and deformation. Summary of the invention

[0004] In order to reduce the problem of uneven force on the battery box when it is lifted upward by a battery swapping robot during chassis battery swapping, the present invention provides a commercial vehicle chassis battery swapping robot, a battery swapping station and a battery swapping system.

[0005] In a first aspect, the present invention provides a commercial vehicle chassis battery replacement robot, the commercial vehicle chassis battery replacement robot comprising: A travel base, wherein the travel base is movable in a horizontal direction; A lifting tray, wherein the lifting tray is arranged horizontally; one end of the lifting tray is connected to the travel base in a vertical sliding manner; the lifting tray can be lifted and lowered vertically; the end of the lifting tray away from the travel base is in a suspended state when it is off the ground; A plurality of support pins, wherein the plurality of support pins are distributed on the lifting tray; the support pins include a positioning pin and a support elastic member; the support elastic member is located below the positioning pin; the support elastic member is detachably connected or fixedly connected to the positioning pin; the bottom of the support elastic member is detachably connected or fixedly connected to the lifting tray; The commercial vehicle chassis battery replacement robot has a load-bearing state and an unloaded state; in the load-bearing state, the lifting tray carries a battery box, the support pin supports the bottom of the battery box, and the weight of the side of the battery box close to the driving base is greater than the weight of the side of the battery box away from the driving base; In the load-bearing state, several of the support pins within a first distance range from the traveling base have a first supporting force on the battery box, and several of the support pins outside the first distance range from the traveling base have a second supporting force on the battery box; the first supporting force is greater than the second supporting force.

[0006] In some embodiments, the first horizontal direction and the second horizontal direction are perpendicular to each other; the travel base is located on one side of the lifting tray in the first horizontal direction; the two sides of the lifting tray along the second horizontal direction are respectively the first side and the second side; In the load-bearing state, the power supply interface of the battery box is located on the first side, and several of the support pins within the second distance range from the first side have a third supporting force on the battery box, and several of the support pins within the second distance range from the second side have a fourth supporting force on the battery box; the length of the lifting tray along the second horizontal direction is greater than twice the second distance range; the third supporting force is greater than the fourth supporting force.

[0007] In some embodiments, the support pins are arranged in a row in sequence along the first horizontal direction; the support pins are arranged in two rows, one of which is within the second distance range from the first side, and the other is within the second distance range from the second side; In the load-bearing state, among the support pins in a row within the second distance range from the first side edge, a number of the support pins within the first distance range from the driving base are located in the first area of ​​the lifting tray, and a number of the support pins outside the first distance range from the driving base are located in the second area of ​​the lifting tray; the supporting force of the support pins in the first area on the battery box is greater than the supporting force of the support pins in the second area on the battery box; In the load-bearing state, among the support pins in a row within the second distance range from the second side edge, a number of the support pins within the first distance range from the driving base are located in the third area of ​​the lifting tray, and a number of the support pins outside the first distance range from the driving base are located in the fourth area of ​​the lifting tray; the supporting force of the support pins in the third area on the battery box is greater than the supporting force of the support pins in the fourth area on the battery box; The supporting force of the support pins in the second region on the battery box is greater than the supporting force of the support pins in the third region on the battery box.

[0008] In some embodiments, the extended heights of the support pins in the first region, the second region, the third region, and the fourth region in the natural state decrease sequentially.

[0009] In some embodiments, the elastic coefficients of the supporting elastic members of the supporting pins in the first region, the second region, the third region, and the fourth region decrease sequentially.

[0010] In some embodiments, the lifting tray includes a supporting tray and an insertion rod; the insertion rod is horizontally arranged, and one end of the insertion rod is slidably connected to the traveling base; the insertion rod can be lifted and lowered vertically; the supporting tray has a first receiving groove with an opening facing downward; the insertion rod is located in the first receiving groove; the supporting tray has a second receiving groove with an opening facing upward; the support pin is located in the second receiving groove.

[0011] In some embodiments, the spacing between the two rows of support pins is greater than 60% of the width of the lifting tray along the second horizontal direction.

[0012] In a second aspect, the present invention provides a battery swap station, the battery swap station comprising a charging compartment, a plurality of battery boxes, and a commercial vehicle chassis battery swap robot as described in any one of the first aspects; the battery box is located in the charging compartment; the commercial vehicle chassis battery swap robot can take and place the battery box from the charging compartment; the battery box comprises a first battery module, a second battery module, and an expansion component; When the commercial vehicle chassis battery swap robot is in the load-bearing state, the first battery module, the second battery module and the expansion component are stacked sequentially in the vertical direction and their heights increase sequentially. The expansion component is located in the area where the second battery module is close to the driving base of the commercial vehicle chassis battery swap robot.

[0013] In some embodiments, the first horizontal direction and the second horizontal direction are perpendicular to each other; the travel base is located on one side of the lifting tray in the first horizontal direction; the two sides of the lifting tray along the second horizontal direction are respectively the first side and the second side; The first battery module includes three first battery cells; the length direction of the first battery cells is parallel to the first horizontal direction; the three first battery cells are arranged in sequence along the second horizontal direction; The support pins of the commercial vehicle chassis battery replacement robot are arranged in sequence along the first horizontal direction in a row; the support pins are arranged in two rows; When the commercial vehicle chassis battery replacement robot is in the load-bearing state, the first battery unit close to the first side is located above one row of the support pins; and the first battery unit close to the second side is located above another row of the support pins.

[0014] In a third aspect, the present invention provides a battery exchange system, which includes a commercial vehicle and a battery exchange station as described in the second aspect.

[0015] In order to reduce the problem of uneven force on the battery box when it is lifted upward by the battery replacement robot during the chassis battery replacement process, the present invention has the following advantages: In the process of the battery-swapping robot lifting the battery box and hanging the battery box to the chassis, in order to adapt to the mechanical assembly tolerance, the present invention utilizes the structure of the supporting elastic parts so that the battery box can adaptively deflect according to the deviation of the mechanical positioning, thereby achieving a buffering effect during the positioning process and reducing the uneven force on the battery box. In order to achieve battery replacement without a foundation pit chassis, the present invention designs the uppermost components of the battery box to always be higher than the vehicle beam during the battery replacement process, and the uppermost components of the battery box are only distributed on one side of the beam to avoid interference with horizontal movement. Due to the overall center of gravity offset caused by the position offset of the uppermost components of the battery box, the present invention sets support pins within the first distance range to provide high-strength support force, while support pins outside the first distance range maintain a moderate second support force, thereby forming a dynamic load distribution mechanism. The asymmetric support structure of the support pin can not only effectively compensate for the positioning tolerance of the battery replacement robot when replacing the battery box, but also maintain the balance of the battery box through the adaptive deformation of the elastic support pin, significantly improving the stability of the battery replacement process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a commercial vehicle chassis battery replacement robot according to an embodiment is shown; Figure 2 A side view of a commercial vehicle chassis battery replacement robot according to an embodiment is shown; Figure 3 A schematic diagram showing an unloaded state of a commercial vehicle chassis battery swapping robot according to an embodiment; Figure 4 A top view of a commercial vehicle chassis battery swapping robot in an unloaded state is shown in one embodiment; Figure 5 A bottom view of a commercial vehicle chassis battery swapping robot in an unloaded state is shown in one embodiment; Figure 6 A schematic diagram of a charging compartment of a battery swap station according to an embodiment is shown.

[0017] Figure numerals: traveling base 10; lifting tray 20; supporting tray 21; insertion rod 22; supporting pin 30; positioning pin 31; supporting elastic member 32; battery box 40; first battery module 41; second battery module 42; expansion component 43; power supply interface 44; charging compartment 50; first area Q1; second area Q2; third area Q3; fourth area Q4. DETAILED DESCRIPTION

[0018] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0019] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0020] In this embodiment, there are two main problems with the current new energy vehicle chassis battery replacement scheme: the traditional sunken pit battery replacement technology relies on a deep foundation pit structure to realize the disassembly and assembly of the battery box 40, resulting in high civil engineering costs and long construction periods, and there are construction restrictions in soft soil foundations or areas with dense underground pipe networks; and in the new non-pit battery replacement technology, the vehicle frame assembly is prone to cumulative dimensional deviations due to the use of a multi-stage casting / welding process, and the longitudinal beam will experience longitudinal flexural deformation after being subjected to alternating loads for a long time. The frame assembly and the battery box 40 have matching errors due to their large structural dimensions and low precision. In particular, the distortion of the longitudinal beam of the frame makes it difficult for the rigid lifting mechanism to achieve precise alignment, which can easily cause the battery box 40 to be deformed under stress. Therefore, in order to solve the above problems, the present invention provides a commercial vehicle chassis battery replacement robot, such as Figure 1 As shown, the commercial vehicle chassis battery replacement robot includes a driving base 10, a lifting tray 20, and a plurality of support pins 30.

[0021] The travel base 10 can move in the horizontal direction. The lifting tray 20 can be arranged horizontally, one end of the lifting tray 20 can be connected to the travel base 10 in a vertical sliding manner, the lifting tray 20 can be lifted vertically, and the end of the lifting tray 20 away from the travel base 10 can be suspended when it is off the ground, so that the lifting tray 20 forms a cantilever structure when it is off the ground so as to penetrate deep under the chassis of the commercial vehicle.

[0022] like Figure 3 As shown, a plurality of support pins 30 may be distributed on the lifting tray 20. The support pins 30 may include a positioning pin 31 and a support elastic member 32. The positioning pin 31 and the support elastic member 32 form a pressure transmission structure, and the support elastic member 32 may be located below the positioning pin 31 as a pressure-bearing buffer medium, and the support elastic member 32 may be detachably connected or fixedly connected to the positioning pin 31, and the bottom of the support elastic member 32 may be detachably connected or fixedly connected to the lifting tray 20.

[0023] The battery-changing robot for commercial vehicle chassis has a load-bearing state and an unloaded state. In the load-bearing state, the lifting tray 20 carries a battery box 40, and the support pin 30 supports the bottom of the battery box 40. Since the battery box 40 has an expansion component 43 or an arrangement of the battery box 40 on the side close to the driving base 10, the weight of the battery box 40 on the side close to the driving base 10 is greater than the weight of the battery box 40 on the side away from the driving base 10, so that the center of gravity of the battery box 40 presents an offset feature, resulting in a significant increase in the local load of the lifting tray 20 on the side close to the driving base 10. In the process of the battery-changing robot lifting the battery box 40 and hanging the battery box 40 to the chassis, in order to adapt to the mechanical assembly tolerance, the structure of the supporting elastic member 32 is used to enable the battery box 40 to adaptively deflect according to the deviation of the mechanical positioning, thereby achieving a buffering effect during the positioning process and reducing the uneven force on the battery box 40.

[0024] In order to realize the battery replacement without foundation pit chassis, the expansion component 43 is always set higher than the vehicle beam during the battery replacement process, and the expansion component 43 is only distributed on one side of the beam to avoid interference with horizontal movement. Under the load-bearing state, several support pins 30 within the first distance range from the driving base 10 have a first supporting force on the battery box 40, and several support pins 30 outside the first distance range from the driving base 10 have a second supporting force on the battery box 40, wherein the first supporting force is greater than the second supporting force. Since the support pins 30 within the first distance range bear a higher load, the support pins 30 within the first distance range provide a high-strength supporting force, while the support pins 30 outside the first distance range maintain a moderate second supporting force, thereby forming a dynamic load distribution mechanism. In addition, the asymmetric supporting force structure of the support pins 30 can not only effectively compensate for the positioning tolerance of the battery replacement robot replacing the battery box 40, but also maintain the balance of the battery box 40 through the adaptive deformation of the elastic support pins 30, significantly improving the stability of the battery replacement process, thereby avoiding the deformation of the battery box 40 due to uneven force.

[0025] In this embodiment, if Figure 2 , Figure 3 As shown, the first horizontal direction may be perpendicular to the second horizontal direction. The travel base 10 may be located on one side of the first horizontal direction of the lifting tray 20, and the two sides of the lifting tray 20 along the second horizontal direction may be the first side and the second side.

[0026] In the load-bearing state, the battery box 40 is provided with a first battery module 41, a second battery module 42 and an expansion component 43 from bottom to top. Since the length direction of the second battery module 42 in the battery box 40 needs to be parallel to the longitudinal beam in the beam assembly, the longitudinal beam can be embedded in the interval gap of the second battery module 42 to increase the overall ground clearance of the battery box 40, thereby facilitating the realization of power replacement without a foundation pit chassis. Therefore, the power supply interface 44 of the second battery module 42 in the battery box 40 is located at one end of the length direction of the second battery module 42, that is, the first side of the lifting tray 20. The power supply interface 44 can realize the core function of energy transmission between the commercial vehicle and the battery box 40. The expansion component 43 can be other components such as a battery pack or a water cooling unit, so that it can be located on one side of the vehicle beam assembly when realizing power replacement without a foundation pit chassis to improve space utilization. The arrangement position of the expansion component 43 compared to the center of the second battery module 42 and the arrangement position of the power supply interface 44 compared to the second battery module 42 are arranged at 90°.

[0027] When the battery-swapping robot performs the installation of the battery box 40, the plugging action of the power supply interface 44 needs to withstand a large dynamic impact load. Therefore, several support pins 30 within the second distance range from the first side can have a third support force on the battery box 40, and several support pins 30 within the second distance range from the second side can have a fourth support force on the battery box 40, and the third support force is greater than the fourth support force. This differentiated load distribution stems from the working conditions of the battery swap operation: when the battery swap robot performs the plugging operation of the battery box 40, the power supply interface 44 area will be subjected to high-frequency vibration. By enhancing the support strength of the first side, the torque effect generated by the battery box 40 during the dynamic assembly process can be effectively suppressed, and the risk of overturning caused by asymmetric force can be prevented. At the same time, the spatial posture stability of the battery box 40 during the battery swap process is ensured, thereby providing a reliable structural guarantee for the rapid battery swap of commercial vehicles. The length of the lifting tray 20 along the second horizontal direction can be greater than twice the second distance range, so that by increasing the force arm of the third support force and the fourth support force, the stability of the supporting battery box 40 can be improved.

[0028] In this embodiment, if Figure 3 As shown, a plurality of support pins 30 are arranged in a row in a first horizontal direction in sequence. The support pins 30 are arranged in two rows, one of which is within the second distance range from the first side edge, and the other is within the second distance range from the second side edge.

[0029] In the load-bearing state, in a row of support pins 30 within the second distance range from the first side edge, a number of support pins 30 within the first distance range from the driving base 10 are located in the first area Q1 of the lifting tray 20, and a number of support pins 30 outside the first distance range from the driving base 10 are located in the second area Q2 of the lifting tray 20. Since the battery box 40 has an extension component 43 at one end close to the driving base 10, the support pins 30 bear a higher load, so that the support force of the support pins 30 in the first area Q1 on the battery box 40 is greater than the support force of the support pins 30 in the second area Q2 on the battery box 40, thereby increasing the stability of the support pins 30 on the battery box 40.

[0030] In the load-bearing state, among the row of support pins 30 within the second distance range from the second side edge, some support pins 30 within the first distance range from the driving base 10 are located in the third area Q3 of the lifting tray 20, and some support pins 30 outside the first distance range from the driving base 10 are located in the fourth area Q4 of the lifting tray 20. Since the battery box 40 has an extension component 43 at one end close to the driving base 10, the support pins 30 bear a higher load, so that the support force of the support pins 30 in the third area Q3 on the battery box 40 is greater than the support force of the support pins 30 in the fourth area Q4 on the battery box 40, thereby increasing the stability of the support pins 30 on the battery box 40.

[0031] The supporting force of the support pins 30 in the second area Q2 on the battery box 40 is greater than the supporting force of the support pins 30 in the third area Q3 on the battery box 40. Since the driving base 10 and the end of the lifting tray 20 close to the driving base 10 form a rigid connection, the basic stability is relatively high, so the support pins 30 in the third area Q3 do not need to increase the supporting strength of the support pins 30; while the cantilever structure formed by the first side where the power supply interface 44 of the battery box 40 is located has weak stability and needs to cope with the impact load generated by high-frequency plugging and unplugging operations. For this reason, the support pins 30 in the second area Q2 are set to a higher strength of support force. Through the different supporting forces provided by the support pins 30 in different areas, a directional load-bearing optimization solution for large load conditions is constructed to ensure the structural integrity under extreme conditions while maintaining the spatial posture control accuracy of the power supply interface 44.

[0032] In this embodiment, if Figure 3 , Figure 4 As shown, the natural elongation heights of the support pins 30 in the first region Q1, the second region Q2, the third region Q3 and the fourth region Q4 decrease successively. When the battery box 40 applies a vertical load to the support pins 30, the support pins 30 with gradually decreasing heights will trigger differentiated compression deformations step by step. Through the directional distribution mechanism of the progressive compression amount of the elastic support pins 30, a support force system with precise control of the partitions is finally formed. The support pins 30 with a larger original height in the first region Q1 only generate relatively mild elastic potential energy when under pressure due to their more ample deformation space; while the support pin 30 assembly with a gradually decreasing initial height, as the deformation margin is stepped down, a significantly enhanced support reaction force is stimulated through the nonlinear response of the elastic modulus, thereby better balancing the load-bearing stability of the support pins 30.

[0033] In this embodiment, if Figure 3 , Figure 4 As shown, the elastic coefficients of the supporting elastic members 32 of the supporting pins 30 in the first region Q1, the second region Q2, the third region Q3 and the fourth region Q4 decrease successively. When the battery box 40 applies loads to the supporting pins 30 in different regions, the supporting pins 30 with high elastic coefficients in the first region Q1 bear a larger load, and the gradual weakening of the elastic coefficients in the subsequent regions not only provides a progressive deformation compensation space for the supporting pins 30, but also accurately regulates the contact pressure distribution in each region through the coupling effect of nonlinear mechanical response. The orderly decrease of the elastic coefficient of the supporting pin 30 and the coordinated design of the height gradient of the supporting pin 30 in the no-load state enable the high elastic region to release a larger supporting force through limited deformation, and the low elastic region achieves dynamic buffering by relying on a larger deformation amplitude, thereby balancing the stability of the supporting pin 30 carrying the battery box 40.

[0034] In this embodiment, if Figure 5As shown, the lifting tray 20 may include a bearing tray 21 and a plug rod 22. The plug rod 22 is arranged horizontally, one end of the plug rod 22 can be slidably connected with the driving base 10, and the plug rod 22 can be lifted vertically. The bearing tray 21 has a first receiving groove with an opening facing downward, and the plug rod 22 is located in the first receiving groove. The first receiving groove allows the moving end of the plug rod 22 to be accurately embedded therein and realize axial displacement constraint. The bearing tray 21 has a second receiving groove with an opening facing upward, and the support pin 30 is located in the second receiving groove. The second receiving groove can ensure that the spatial position of the support pin 30 is controllable during the load-bearing process. The inverted embedded design of the first receiving groove effectively reduces the axial installation space of the plug rod 22, and the upward opening structure of the second receiving groove realizes the low-position integration of the support pin 30. The two-way opening slot structure adopted by the bearing tray 21 greatly reduces the vertical height of the bearing tray 21, which not only ensures the independence of the plug rod 22 and the support pin 30, but also creates ample avoidance space for the battery-swapping robot to perform battery-swapping operations on the vehicle chassis.

[0035] In this embodiment, if Figure 4 As shown, the spacing between the two rows of support pins 30 is greater than 60% of the width of the lifting tray 20 along the second horizontal direction. This larger spacing setting not only takes into account the compensation requirements for the eccentric load condition when installing the battery box 40, but also fully reserves the operating space margin of the battery swap robot. At the same time, the support pins 30 effectively improve the anti-overturning moment of the battery box 40 during the battery swap process. This satisfies the maximization of the stress distribution effect between the two rows of support pins 30 and improves the stability of the support pins 30 on the battery box 40.

[0036] In this embodiment, if Figure 1 , Figure 6 As shown, the battery swap station may include a charging compartment 50, a plurality of battery boxes 40, and a commercial vehicle chassis battery swap robot of any one of the above embodiments. The battery box 40 is located in the charging compartment 50, and the commercial vehicle chassis battery swap robot can take and place the battery box 40 from the charging compartment 50, and the charging compartment 50 can recharge the battery box 40 with insufficient power. The battery box 40 may include a first battery module 41, a second battery module 42, and an expansion component 43. The expansion component 43 may be a battery box 40, a high-voltage box, a low-voltage box, or a water-cooled unit.

[0037] When the commercial vehicle chassis battery-swapping robot is in the load-bearing state, the first battery module 41, the second battery module 42 and the expansion component 43 are stacked in sequence in the vertical direction and the height increases in sequence. The expansion component 43 is located in the area where the second battery module 42 is close to the driving base 10 of the commercial vehicle chassis battery-swapping robot, so that the interference between the expansion component and the beam can be avoided, but the expansion component 43 becomes one of the reasons for the center of gravity offset of the battery box 40. Therefore, when the battery-swapping robot performs battery-swapping operations on vehicles, the driving base 10 forms a rigid connection with the lifting tray 20, and the support pin 30 accurately controls the center of gravity position of the battery box 40, which enhances the dynamic stability of the battery-swapping robot during the battery-swapping process and the static balance of the battery box 40, thereby completing the battery-swapping operation for the commercial vehicle and ensuring the stability of the battery box 40 during the battery-swapping operation.

[0038] In this embodiment, if Figure 1 As shown, the first horizontal direction is perpendicular to the second horizontal direction, the travel base 10 is located on one side of the first horizontal direction of the lifting tray 20, and the two side edges of the lifting tray 20 along the second horizontal direction are respectively the first side edge and the second side edge.

[0039] The first battery module 41 may include three first battery cells, the length direction of the first battery cells is parallel to the first horizontal direction, and the three first battery cells are arranged in sequence along the second horizontal direction.

[0040] The support pins 30 of the commercial vehicle chassis battery replacement robot are arranged in sequence along the first horizontal direction in a row, and the support pins 30 are arranged in two rows.

[0041] When the commercial vehicle chassis battery-swapping robot is in the load-bearing state, the first battery cell near the first side is located above one row of support pins 30, and the first battery cell near the second side is located above another row of support pins 30. Each first battery cell is axially aligned along the first horizontal direction, and the longitudinal axis of the rectangular structure of the first battery cell is completely parallel to the first horizontal direction, thereby avoiding the support pin 30 from being supported in the gap between two adjacent first battery cells. This ensures the posture stability of the battery box 40 during the battery-swapping process and optimizes the stress distribution of the support pin 30.

[0042] In this embodiment, the battery swap system may include a commercial vehicle and a battery swap station of any one of the above embodiments. The battery swap system relies on the automated equipment of the battery swap station to achieve efficient energy replenishment. The commercial vehicle serves as a carrier of the battery box 40, and the battery swap robot assembles the battery box 40 in the charging compartment 50 with the commercial vehicle through the standardized power supply interface 44; the battery swap station, as a fixed energy hub, not only has basic functions such as battery storage and charging maintenance, but also builds a management network covering the entire life cycle of the battery through space optimization layout and intelligent scheduling algorithms. The battery swap station and the battery swap system form a precise match between energy supply and transportation demand, providing a green and efficient energy security paradigm for the modern logistics system.

[0043] In other embodiments, after the commercial vehicle enters the designated area of ​​the battery swap station, the battery swap robot accurately locates the chassis of the commercial vehicle, releases the locking device on the battery box 40 on the commercial vehicle, disassembles the battery box 40, and then moves the disassembled battery box 40 from the commercial vehicle into the charging compartment 50. The fully charged battery box 40 in the charging compartment 50 is then moved to the chassis of the commercial vehicle to install the battery box 40, thereby completing the battery swap operation of the commercial vehicle.

[0044] It should be understood that the “present embodiment” mentioned in the present invention is based on the technical points currently described, and multiple “present embodiments” may be the same embodiment or different embodiments.

[0045] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present disclosure, and in actual applications, various changes may be made thereto in form and detail without departing from the scope of the present disclosure.

Claims

1. A commercial vehicle chassis battery replacement robot, characterized in that: The commercial vehicle chassis battery replacement robot comprises: A travel base, wherein the travel base is movable in a horizontal direction; A lifting tray, wherein the lifting tray is arranged horizontally; one end of the lifting tray is connected to the travel base in a vertical sliding manner; the lifting tray can be lifted and lowered vertically; the end of the lifting tray away from the travel base is in a suspended state when it is off the ground; A plurality of support pins, wherein the plurality of support pins are distributed on the lifting tray; the support pins include a positioning pin and a support elastic member; the support elastic member is located below the positioning pin; the support elastic member is detachably connected or fixedly connected to the positioning pin; the bottom of the support elastic member is detachably connected or fixedly connected to the lifting tray; The commercial vehicle chassis battery replacement robot has a load-bearing state and an unloaded state; in the load-bearing state, the lifting tray carries a battery box, the support pin supports the bottom of the battery box, and the weight of the side of the battery box close to the driving base is greater than the weight of the side of the battery box away from the driving base; In the load-bearing state, several of the support pins within a first distance range from the traveling base have a first supporting force on the battery box, and several of the support pins outside the first distance range from the traveling base have a second supporting force on the battery box; the first supporting force is greater than the second supporting force.

2. A commercial vehicle chassis battery replacement robot according to claim 1, characterized in that: The first horizontal direction and the second horizontal direction are perpendicular to each other; the travel base is located on one side of the first horizontal direction of the lifting tray; the two sides of the lifting tray along the second horizontal direction are respectively the first side and the second side; In the load-bearing state, the power supply interface of the battery box is located on the first side, and several of the support pins within the second distance range from the first side have a third supporting force on the battery box, and several of the support pins within the second distance range from the second side have a fourth supporting force on the battery box; the length of the lifting tray along the second horizontal direction is greater than twice the second distance range; the third supporting force is greater than the fourth supporting force.

3. A commercial vehicle chassis battery replacement robot according to claim 2, characterized in that: The support pins are arranged in a row in sequence along the first horizontal direction; the support pins are arranged in two rows, one of which is within the second distance range from the first side edge, and the other is within the second distance range from the second side edge; In the load-bearing state, among the support pins in a row within the second distance range from the first side edge, a number of the support pins within the first distance range from the driving base are located in the first area of ​​the lifting tray, and a number of the support pins outside the first distance range from the driving base are located in the second area of ​​the lifting tray; the supporting force of the support pins in the first area on the battery box is greater than the supporting force of the support pins in the second area on the battery box; In the load-bearing state, among the support pins in a row within the second distance range from the second side edge, a number of the support pins within the first distance range from the driving base are located in the third area of ​​the lifting tray, and a number of the support pins outside the first distance range from the driving base are located in the fourth area of ​​the lifting tray; the supporting force of the support pins in the third area on the battery box is greater than the supporting force of the support pins in the fourth area on the battery box; The supporting force of the support pins in the second region on the battery box is greater than the supporting force of the support pins in the third region on the battery box.

4. A commercial vehicle chassis battery replacement robot according to claim 3, characterized in that: The extended heights of the support pins in the first region, the second region, the third region, and the fourth region in the natural state decrease sequentially.

5. The commercial vehicle chassis battery replacement robot according to claim 3, characterized in that: The elastic coefficients of the supporting elastic members of the supporting pins in the first region, the second region, the third region, and the fourth region decrease in sequence.

6. A commercial vehicle chassis battery replacement robot according to claim 3, characterized in that: The lifting tray comprises a support tray and an insertion rod; the insertion rod is arranged horizontally, and one end of the insertion rod is slidably connected to the travel base; the insertion rod can be lifted vertically; the support tray has a first receiving groove with an opening facing downward; The insertion rod is located in the first receiving groove; the support tray is provided with a second receiving groove with an opening facing upward; and the support pin is located in the second receiving groove.

7. The commercial vehicle chassis battery replacement robot according to claim 3, characterized in that: The spacing between the two rows of support pins is greater than 60% of the width of the lifting tray along the second horizontal direction.

8. A battery swap station, characterized in that: The battery swap station comprises a charging warehouse, a plurality of battery boxes and a commercial vehicle chassis battery swap robot as described in any one of claims 1 to 7; the battery box is located in the charging warehouse; the commercial vehicle chassis battery swap robot can take and put the battery box from the charging warehouse; the battery box comprises a first battery module, a second battery module and an expansion component; When the commercial vehicle chassis battery swap robot is in the load-bearing state, the first battery module, the second battery module and the expansion component are stacked sequentially in the vertical direction and their heights increase sequentially. The expansion component is located in the area where the second battery module is close to the driving base of the commercial vehicle chassis battery swap robot.

9. The battery swap station according to claim 8, characterized in that: The first horizontal direction and the second horizontal direction are perpendicular to each other; the travel base is located on one side of the first horizontal direction of the lifting tray; the two sides of the lifting tray along the second horizontal direction are respectively the first side and the second side; The first battery module includes three first battery cells; the length direction of the first battery cells is parallel to the first horizontal direction; the three first battery cells are arranged in sequence along the second horizontal direction; The support pins of the commercial vehicle chassis battery replacement robot are arranged in sequence along the first horizontal direction in a row; the support pins are arranged in two rows; When the commercial vehicle chassis battery replacement robot is in the load-bearing state, the first battery unit close to the first side is located above one row of the support pins; and the first battery unit close to the second side is located above another row of the support pins.

10. A battery replacement system, characterized in that: The battery exchange system includes a commercial vehicle and a battery exchange station as described in claim 8 or 9.

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