A commercial vehicle chassis battery swapping robot, a battery swapping station and a battery swapping system

Abstract

The present invention relates to the technical field of vehicle battery swapping, and in particular, to a battery swapping robot for a commercial vehicle chassis, a battery swapping station, and a battery swapping system. The battery swapping robot includes a traveling base, a lifting tray, and a plurality of support pins. The traveling base can move in the horizontal direction. The lifting tray is horizontally arranged, and the plurality of support pins are distributed on the lifting tray. The battery swapping robot has a carrying state and an empty load state. In the carrying state, a battery box is carried on the lifting tray, and the weight of the side of the battery box close to the traveling base is greater than the weight of the side of the battery box far from the traveling base. In the carrying state, a plurality of support pins within a first distance range from the traveling base have a first supporting force on the battery box, and a plurality of 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. In this way, the problem of uneven force on the battery box when it is lifted upward by the battery swapping robot during the chassis battery swapping process is solved.

Description

Technical Field

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

[0002] The battery swapping of a vehicle chassis refers to a battery swapping method of disassembling the original battery pack from the lower part of the vehicle chassis and replacing it with a new one. Limited by the ground clearance of the vehicle chassis structure, it often causes interference between the battery swapping robot and the vehicle chassis, resulting in limited loading capacity of the vehicle battery box. The traditional new energy vehicle chassis battery swapping technology generally adopts 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 swapping robot under the vehicle chassis. This construction method has defects such as high civil engineering costs, long construction periods, and difficult maintenance, and is particularly prominent in areas with soft soil foundations or complex underground pipe networks.

[0003] In addition, there is also a problem of positioning accuracy in chassis battery swapping. The girder assembly of a vehicle is usually manufactured by a multi-section 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 the action of alternating loads. Due to the large size and low accuracy of the girder assembly and the battery box, especially the longitudinal beam in the girder assembly has torsional deformation, it is difficult to accurately align the two. If rigid lifting is used, it is easy to cause uneven stress on the battery box and deformation. Summary of the Invention

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

[0005] In a first aspect, the present invention provides a battery swapping robot for a commercial vehicle chassis, and the battery swapping robot for a commercial vehicle chassis includes:

[0006] A traveling base that can move horizontally;

[0007] A lifting tray that is horizontally arranged; one end of the lifting tray is slidably connected to the traveling base in the vertical direction; the lifting tray can be lifted and lowered in the vertical direction; the end of the lifting tray far from the traveling base is in a suspended state when it is separated from the ground;

[0008] A plurality of support pins, and the plurality of support pins are distributed on the lifting tray; the support pins include positioning pins and support elastic members; the support elastic members are located below the positioning pins; the support elastic members are detachably connected or fixedly connected to the positioning pins; the bottom of the support elastic members is detachably connected or fixedly connected to the lifting tray;

[0009] The commercial vehicle chassis battery swapping robot has a load-bearing state and an unloaded state; in the load-bearing state, a battery box is carried on the lifting tray, the support pins support at the bottom of the battery box, and the weight of one side of the battery box close to the traveling base is greater than the weight of the side of the battery box away from the traveling base;

[0010] In the load-bearing state, several of the support pins within the 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.

[0011] In some embodiments, the first horizontal direction and the second horizontal direction are perpendicular to each other; the traveling base is located on one side of the lifting tray in the first horizontal direction; the two side edges of the lifting tray along the second horizontal direction are respectively a first side edge and a second side edge;

[0012] In the load-bearing state, the power supply interface of the battery box is located on the first side edge, several of the support pins within the second distance range from the first side edge have a third supporting force on the battery box, and several of the support pins within the second distance range from the second side edge 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.

[0013] In some embodiments, the support pins are arranged at intervals in sequence along the first horizontal direction, and multiple of them form a column; there are two columns of support pins, one column is within the second distance range from the first side edge, and the other column is within the second distance range from the second side edge;

[0014] In the load-bearing state, among the support pins in one column within the second distance range from the first side edge, several of the support pins within the first distance range from the traveling base are located in the first area of the lifting tray, and several of the support pins outside the first distance range from the traveling 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;

[0015] In the carrying state, among a row of the support pins within the second distance range from the second side, several support pins within the first distance range from the traveling base are located in the third area of the lifting tray, and several support pins outside the first distance range from the traveling base are located in the fourth area of the lifting tray; the support force of the support pins in the third area on the battery box is greater than the support force of the support pins in the fourth area on the battery box;

[0016] The support force of the support pins in the second area on the battery box is greater than the support force of the support pins in the third area on the battery box.

[0017] In some embodiments, the extended heights of the support pins in the first area, the second area, the third area, and the fourth area in the natural state decrease in sequence.

[0018] In some embodiments, the elastic coefficients of the support elastic members of the support pins in the first area, the second area, the third area, and the fourth area decrease in sequence.

[0019] In some embodiments, the lifting tray includes a bearing tray and insertion rods; the insertion rods are horizontally arranged, one end of the insertion rods is slidably connected to the traveling base; the insertion rods can be lifted and lowered vertically; the bearing tray has a first receiving groove with an opening facing downward; the insertion rods are located in the first receiving groove; the bearing tray has a second receiving groove with an opening facing upward; the support pins are located in the second receiving groove.

[0020] In some embodiments, the distance between two rows of the support pins is greater than 60% of the width of the lifting tray along the second horizontal direction.

[0021] In a second aspect, the present invention provides a battery swapping station, the battery swapping station includes a charging bin, several battery boxes, and a commercial vehicle chassis battery swapping robot as described in any one of the first aspects; the battery boxes are located in the charging bin; the commercial vehicle chassis battery swapping robot can pick up and place the battery boxes from the charging bin; the battery boxes include a first battery module, a second battery module, and an expansion component;

[0022] When the commercial vehicle chassis battery swapping robot is in the carrying state, the first battery module, the second battery module, and the expansion component are stacked in sequence in the vertical direction and their heights increase in sequence, and the expansion component is located in the area of the second battery module close to the traveling base of the commercial vehicle chassis battery swapping robot.

[0023] In some embodiments, the first horizontal direction is perpendicular to the second horizontal direction; the traveling base is located on one side of the lifting tray in the first horizontal direction; the two side edges of the lifting tray along the second horizontal direction are respectively a first side edge and a second side edge;

[0024] The first battery module includes three first battery units; the length direction of the first battery unit is parallel to the first horizontal direction; the three first battery units are arranged in sequence along the second horizontal direction;

[0025] The support pins of the commercial vehicle chassis battery swapping robot are arranged at intervals in sequence along the first horizontal direction, with multiple in a row; there are two rows of support pins;

[0026] In the load-bearing state of the commercial vehicle chassis battery swapping robot, the first battery unit near the first side edge is located above one row of the support pins; the first battery unit near the second side edge is located above the other row of the support pins.

[0027] In a third aspect, the present invention provides a battery swapping system, which includes a commercial vehicle and a battery swapping station as described in the second aspect.

[0028] To solve the problem of uneven force when the battery box is lifted upward by the battery swapping robot during the chassis battery swapping process, the present invention has the following advantages:

[0029] During the process of the battery swapping robot lifting the battery box and suspending it to the chassis, in order to adapt to mechanical assembly tolerances, the present invention utilizes the structure of the support elastic member, enabling the battery box to undergo self-adaptive yaw according to the deviation of mechanical positioning, thereby achieving a buffering effect during the positioning process and reducing the uneven force on the battery box. To achieve chassis battery swapping without a foundation pit, the present invention designs that the components on the uppermost layer of the battery box are always higher than the vehicle girder during the battery swapping process, and the components on the uppermost layer of the battery box are only distributed on one side of the girder to avoid interference during horizontal movement. Due to the overall center of gravity shift caused by the position offset of the components on the uppermost layer of the battery box, the present invention sets support pins within a first distance range to provide high-strength support force, while the support pins outside the first distance range maintain an appropriate second support force, thereby forming a dynamic load distribution mechanism. The asymmetric support structure of the support pins can not only effectively compensate for the positioning tolerance of the battery swapping robot to replace the battery box, but also maintain the balance of the battery box body through the self-adaptive deformation of the elastic support pins, significantly improving the stability of the battery swapping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of a commercial vehicle chassis battery swapping robot showing an embodiment;

[0031] Figure 2Shows a side view of a commercial vehicle chassis battery swapping robot of an embodiment;

[0032] Figure 3 Shows a schematic diagram of the no-load state of a commercial vehicle chassis battery swapping robot of an embodiment;

[0033] Figure 4 Shows a top view of the no-load state of a commercial vehicle chassis battery swapping robot of an embodiment;

[0034] Figure 5 Shows a bottom view of the no-load state of a commercial vehicle chassis battery swapping robot of an embodiment;

[0035] Figure 6 Shows a schematic diagram of a charging bin of a battery swapping station of an embodiment.

[0036] Reference numerals: traveling base 10; lifting tray 20; bearing tray 21; insertion rod 22; support pin 30; positioning pin 31; support elastic member 32; battery box 40; first battery module 41; second battery module 42; extension member 43; power supply interface 44; charging bin 50; first area Q1; second area Q2; third area Q3; fourth area Q4. Detailed implementation manners

[0037] Now, the content of the present disclosure will be described with reference to several exemplary embodiments. It should be understood that these embodiments are described only to enable those of ordinary skill in the art to better understand and thus implement the content of the present disclosure, rather than implying any limitation to the scope of the present disclosure.

[0038] As used herein, the term "comprising" and its variants are to be construed as open-ended terms meaning "including but not limited to". The term "based on" is to be construed as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be construed as "at least one embodiment". The term "another embodiment" is to be construed as "at least one other embodiment". The orientation or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc. are based on the orientation or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit that the indicated devices, elements or components must have a specific orientation, or be constructed and operated in a specific orientation. Also, in addition to being able to represent orientation or positional relationships, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present application can be understood according to specific circumstances. In addition, the terms "mounted", "arranged", "provided with", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral structure; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, or there may be internal communication between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to 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, the meaning of "a plurality of" is two or more.

[0039] In this embodiment, there are two main problems in the current new energy vehicle chassis battery swapping solution: The traditional sunken foundation pit battery swapping technology relies on the deep foundation pit structure to realize the disassembly and assembly of the battery box 40, resulting in high civil engineering costs, long construction periods, and construction restrictions in soft soil foundations or areas with dense underground pipe networks; in the new type of foundation pit-free battery swapping technology, the vehicle frame assembly is prone to cumulative dimensional deviations due to the use of multi-section casting / welding processes. After being subjected to alternating loads for a long time, longitudinal flexural deformation occurs in the longitudinal beam. Due to the large structural size and low precision of the frame assembly and the battery box 40, a matching error is formed. Especially, the distortion of the longitudinal beam of the frame makes it difficult for the rigid lifting mechanism to achieve accurate alignment, easily causing the battery box 40 to be deformed under force. Therefore, to solve the above problems, the present invention provides a commercial vehicle chassis battery swapping robot, as Figure 1 shown, the commercial vehicle chassis battery swapping robot includes a traveling base 10, a lifting tray 20, and a plurality of support pins 30.

[0040] The traveling base 10 can move horizontally. The lifting tray 20 can be horizontally arranged. One end of the lifting tray 20 can be slidably connected to the traveling base 10 in the vertical direction. The lifting tray 20 can be lifted and lowered vertically. When the end of the lifting tray 20 away from the traveling base 10 is separated from the ground, it can be in a suspended state. In this way, the lifting tray 20 forms a cantilever structure when separated from the ground so as to extend under the chassis of the commercial vehicle.

[0041] As Figure 3 shown, a plurality of support pins 30 can be distributed on the lifting tray 20. The support pin 30 can 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. The support elastic member 32 can be located below the positioning pin 31 as a pressure-bearing buffer medium. The support elastic member 32 can be detachably connected or fixedly connected to the positioning pin 31. The bottom of the support elastic member 32 can be detachably connected or fixedly connected to the lifting tray 20.

[0042] The battery swapping robot for the commercial vehicle chassis has a load-bearing state and an unloaded state. In the load-bearing state, the battery box 40 is carried on the lifting tray 20, and the support pin 30 supports the bottom of the battery box 40. Due to the extension part 43 on the side of the battery box 40 close to the traveling base 10 or the arrangement mode of the battery boxes 40, the weight on the side of the battery box 40 close to the traveling base 10 is greater than the weight on the side of the battery box 40 away from the traveling base 10. As a result, the center of gravity of the battery box 40 shows a bias characteristic, resulting in a significant increase in the local load of the lifting tray 20 on the side close to the traveling base 10. During the process of the battery swapping robot lifting the battery box 40 and suspending it to the chassis, in order to adapt to the mechanical assembly tolerance, by using the structure of the support elastic member 32, the battery box 40 can swing adaptively according to the deviation of the mechanical positioning, so as to achieve the buffering effect during the positioning process and reduce the uneven force on the battery box 40.

[0043] To achieve chassis battery swapping without a pit, the extension component 43 is always set higher than the vehicle frame during battery swapping, and the extension component 43 is only distributed on one side of the frame to avoid interference during horizontal movement. In the load-bearing state, a number of support pins 30 within the first distance range from the driving base 10 exert a first supporting force on the battery box 40, and a number of support pins 30 outside the first distance range from the driving base 10 exert a second supporting force on the battery box 40. Among them, 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, thus 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 swapping robot to replace 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 swapping process, thereby avoiding deformation due to uneven force on the battery box 40.

[0044] In this embodiment, as Figure 2 , Figure 3 shown, the first horizontal direction can be perpendicular to the second horizontal direction. The driving base 10 can 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 are the first side and the second side respectively.

[0045] In the load-bearing state, the battery box 40 is provided with a first battery module 41, a second battery module 42, and an extension 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 frame assembly so that the longitudinal beam can be embedded into the interval gap of the second battery module 42, improving the overall ground clearance of the battery box 40, thus facilitating the realization of chassis battery swapping without a pit, 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 extension component 43 can be other components such as a battery pack or a water cooling unit, so as to be located on one side of the vehicle frame assembly when realizing chassis battery swapping without a pit to improve space utilization. The arrangement position of the extension component 43 relative to the center of the second battery module 42 and the arrangement position of the power supply interface 44 relative to the second battery module 42 are arranged at 90°.

[0046] When the battery swapping robot installs the battery box 40, the plugging action of the power supply interface 44 needs to bear a large dynamic impact load. Therefore, a plurality of support pins 30 within the second distance range from the first side can have a third supporting force on the battery box 40, and a plurality of support pins 30 within the second distance range from the second side can have a fourth supporting force on the battery box 40, and the third supporting force is greater than the fourth supporting force. This differential load distribution stems from the working conditions of the battery swapping operation: when the battery swapping robot performs the plugging operation of the battery box 40, the power supply interface 44 area will bear 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, the risk of overturning caused by asymmetric force can be prevented, and at the same time, the spatial attitude stability of the battery box 40 during the battery swapping process can be ensured, thereby providing a reliable structural guarantee for the rapid battery swapping 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 lever arms of the third supporting force and the fourth supporting force, the stability of supporting the battery box 40 can be improved.

[0047] In this embodiment, as Figure 3 shown, a plurality of support pins 30 are arranged at intervals in sequence along the first horizontal direction to form a row. There are two rows of support pins 30, one row is within the second distance range from the first side, and the other row is within the second distance range from the second side.

[0048] In the load-bearing state, among a row of support pins 30 within the second distance range from the first side, a plurality of support pins 30 within the first distance range from the traveling base 10 are located in the first area Q1 of the lifting tray 20, and a plurality of support pins 30 outside the first distance range from the traveling base 10 are located in the second area Q2 of the lifting tray 20. Since the end of the battery box 40 close to the traveling base 10 has an extension part 43, the support pins 30 bear a relatively high load, so that the supporting force of the support pins 30 in the first area Q1 on the battery box 40 is greater than the supporting force of the support pins 30 in the second area Q2 on the battery box 40, increasing the stability of the support pins 30 on the battery box 40.

[0049] In the load-bearing state, among a row of support pins 30 within the second distance range from the second side, a plurality of support pins 30 within the first distance range from the traveling base 10 are located in the third area Q3 of the lifting tray 20, and a plurality of support pins 30 outside the first distance range from the traveling base 10 are located in the fourth area Q4 of the lifting tray 20. Since the end of the battery box 40 close to the traveling base 10 has an extension part 43, the support pins 30 bear a relatively high load, so that the supporting force of the support pins 30 in the third area Q3 on the battery box 40 is greater than the supporting force of the support pins 30 in the fourth area Q4 on the battery box 40, increasing the stability of the support pins 30 on the battery box 40.

[0050] The supporting force of the supporting pin 30 in the second region Q2 on the battery box 40 is greater than that of the supporting pin 30 in the third region Q3 on the battery box 40. Since a rigid connection is formed between the driving base 10 and the end of the lifting tray 20 close to the driving base 10, and its basic stability is relatively high, the supporting pin 30 in the third region Q3 does not need to additionally increase the supporting strength of the supporting pin 30; while the stability of the cantilever structure formed by the first side where the power supply interface 44 of the battery box 40 is located is weak, and it is necessary to cope with the impact load generated by high-frequency plugging and unplugging operations. Therefore, the supporting pin 30 in the second region Q2 is set to have a higher supporting force. Through the different supporting forces provided by the supporting pins 30 in different regions, an optimized directional bearing solution for large load conditions is constructed to ensure the structural integrity under extreme conditions, and at the same time maintain the spatial pose control accuracy of the power supply interface 44.

[0051] In this embodiment, as Figure 3 , Figure 4 shown, the elongation heights of the supporting pins 30 in the first region Q1, the second region Q2, the third region Q3, and the fourth region Q4 in the natural state decrease in sequence. When the battery box 40 applies a vertical load to the supporting pin 30, the supporting pins 30 with gradually decreasing heights will trigger differential compression deformations step by step. Through the progressive compression amount directional distribution mechanism of the elastic supporting pin 30, a supporting force system with precise zoning control is finally formed. The supporting pin 30 with a relatively large original height in the first region Q1 only generates relatively mild elastic potential energy when compressed due to its more abundant deformation space; while the supporting pin 30 components with gradually decreasing initial heights will gradually reduce the deformation margin in a stepped manner, and thus significantly enhanced supporting reaction forces are excited through the non-linear response of the elastic modulus, thereby better balancing the bearing stability of the supporting pin 30.

[0052] In this embodiment, as Figure 3 , Figure 4 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 in sequence. 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 larger loads, 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 precisely controls the contact pressure distribution in each region through the coupling effect of non-linear mechanical responses. The coordinated design of the orderly decrease of the elastic coefficients of the supporting pins 30 and the height gradient of the supporting pins 30 in the no-load state enables the high-elasticity region to release a large supporting force through limited deformation, and the low-elasticity region relies on a larger deformation amplitude to achieve dynamic buffering, thereby balancing the stability of the supporting pin 30 in bearing the battery box 40.

[0053] In this embodiment, as Figure 5As shown in the figure, the lifting tray 20 may include a bearing tray 21 and a plug rod 22. The plug rod 22 is horizontally arranged, and one end of the plug rod 22 may be slidably connected to the traveling base 10. The plug rod 22 can be lifted and lowered vertically. The bearing tray 21 has a first receiving groove with a downward opening. The plug rod 22 is located in the first receiving groove. The first receiving groove enables the moving end of the plug rod 22 to be accurately embedded therein and realizes axial displacement constraint. The bearing tray 21 has a second receiving groove with an upward opening, and the support pin 30 is located in the second receiving groove. The second receiving groove can ensure the controllability of the spatial position of the support pin 30 during the loading process. The inverted embedding design of the first receiving groove effectively reduces the axial installation space of the plug rod 22, while the upward opening structure of the second receiving groove realizes the low-position integration of the support pin 30. The two-way opening groove 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 sufficient avoidance space for the battery swapping operation of the battery swapping robot on the vehicle chassis.

[0054] In this embodiment, as Figure 4 shown, the distance 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 setting of the larger distance not only considers the compensation requirement for the off-load working condition during the installation of the battery box 40, but also fully reserves the operation space margin for the battery swapping robot. At the same time, the effective support of the support pin 30 improves the anti-overturning moment of the battery box 40 during the battery swapping process. Thereby, the maximization of the inter-column stress distribution effect of the two rows of support pins 30 is satisfied, and the stability of the support pin 30 to the battery box 40 is improved.

[0055] In this embodiment, as Figure 1 、 Figure 6 shown, the battery swapping station may include a charging bin 50, several battery boxes 40, and the commercial vehicle chassis battery swapping robot according to any one of the above embodiments. The battery box 40 is located in the charging bin 50. The commercial vehicle chassis battery swapping robot can take and place the battery box 40 from the charging bin 50. The charging bin 50 can replenish the power of 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, or a high-voltage box, a low-voltage box, or a water-cooling unit.

[0056] 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 extension component 43 are stacked in sequence in the vertical direction and their heights increase successively. The extension component 43 is located in the area of the second battery module 42 close to the traveling base 10 of the commercial vehicle chassis battery swapping robot, which can avoid the interference between the extension component and the girder. However, in this way, the extension component 43 becomes one of the reasons for the center of gravity offset of the battery box 40. Therefore, under the working condition that the battery swapping robot performs battery swapping operation on the vehicle, by forming a rigid connection between the traveling base 10 and the lifting tray 20, the precise control of the center of gravity position of the battery box 40 by the support pins 30 enhances the dynamic stability during the battery swapping process of the battery swapping robot and the static balance of the battery box 40, thereby completing the battery swapping action for the commercial vehicle and ensuring the stability of the battery box 40 during the battery swapping action.

[0057] In this embodiment, as Figure 1 shown, the first horizontal direction is perpendicular to the second horizontal direction. The traveling base 10 is located on one side of the lifting tray 20 in the first horizontal direction. 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.

[0058] The first battery module 41 may include three first battery units. The length direction of the first battery unit is parallel to the first horizontal direction, and the three first battery units are arranged in sequence along the second horizontal direction.

[0059] A plurality of support pins 30 of the commercial vehicle chassis battery swapping robot are arranged at intervals in sequence along the first horizontal direction in one row, and there are two rows of support pins 30.

[0060] When the commercial vehicle chassis battery swapping robot is in the load-bearing state, the first battery unit close to the first side edge is located above one row of support pins 30, and the first battery unit close to the second side edge is located above the other row of support pins 30. Each first battery unit is axially aligned along the first horizontal direction, and the longitudinal axis of the cuboid structure of the first battery unit is completely parallel to the first horizontal direction, so as to avoid the support pins 30 supporting at the gap between two adjacent first battery units. This not only ensures the attitude stability of the battery box 40 during the battery swapping process, but also realizes the optimization of the stress distribution of the support pins 30.

[0061] In this embodiment, the battery swapping system may include a commercial vehicle and a battery swapping station according to any one of the above embodiments. The battery swapping system relies on the automated equipment of the battery swapping station to achieve efficient energy replenishment. As the carrier of the battery box 40, the battery swapping robot assembles the battery box 40 in the charging bin 50 with the commercial vehicle through the standardized power supply interface 44; the battery swapping station, as a fixed energy hub, not only has basic functions such as battery storage and charging maintenance, but also constructs a management network covering the entire life cycle of the battery through spatial optimization layout and intelligent scheduling algorithms. The battery swapping station and the battery swapping system form an accurate match between energy supply and transportation demand, providing a green and efficient energy guarantee paradigm for the modern logistics system.

[0062] In some other embodiments, after the commercial vehicle enters the designated area of the battery swapping station, the battery swapping robot accurately positions the chassis of the commercial vehicle, releases the locking device for the battery box 40 on the commercial vehicle, disassembles the battery box 40, then moves the disassembled battery box 40 on the commercial vehicle into the charging bin 50, and then moves the fully charged battery box 40 in the charging bin 50 to the chassis of the commercial vehicle for installation of the battery box 40, thus completing the battery swapping operation for the commercial vehicle.

[0063] It should be understood that the "this embodiment" mentioned in the present invention refers to the current technical points described. Multiple "this embodiments" may be the same embodiment or different embodiments.

[0064] Those of ordinary skill in the art can understand that the above embodiments are specific cases for implementing the present disclosure, and in actual applications, various changes can be made to them in form and details 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 horizontally arranged; one end of the lifting tray is vertically slidably connected to the driving base; the lifting tray can be lifted vertically; the end of the lifting tray away from the driving base is in a suspended state when it is off the ground; the first horizontal direction and the second horizontal direction are perpendicular to each other; the driving base is located on one side of the first horizontal direction of the lifting tray; the two side edges of the lifting tray along the second horizontal direction are respectively a first side edge and a second side edge; 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 the 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; in the load-bearing state, the power supply interface of the battery box is located on the first side, 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.

2. A commercial vehicle chassis battery replacement robot according to claim 1, 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.

3. A commercial vehicle chassis battery replacement robot according to claim 2, 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.

4. A commercial vehicle chassis battery replacement robot according to claim 2, 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.

5. The commercial vehicle chassis battery replacement robot according to claim 2, 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.

6. A commercial vehicle chassis battery replacement robot according to claim 2, 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.

7. 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 6; 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.

8. The battery swap station according to claim 7, 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.

9. A battery replacement system, characterized in that: The battery exchange system includes a commercial vehicle and a battery exchange station as described in claim 7 or 8.

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