A battery swapping device, a battery swapping service vehicle, and a battery swapping method.

Abstract

This invention discloses a battery swapping device, a battery swapping service vehicle, and a battery swapping method, relating to the field of new energy vehicle battery swapping technology. It includes a three-dimensional motion mechanism, a mounting bracket, and a lifting bracket. The mounting bracket is located at the Z-axis output end of the three-dimensional motion mechanism and has at least two sets of horizontally arranged hooks. The lifting bracket is horizontally mounted outside the battery and has at least two sets of horizontally arranged lifting lugs. The hooks and lugs are adapted to each other to maintain the battery's horizontal position during transfer through hook-and-loop connection and the supporting effect of the lifting bracket. This invention, through the adapted design of at least two sets of horizontally arranged hooks and lugs, and the supporting effect of the lifting bracket on the battery, collaboratively forms two stable force couples. These couples effectively resist torsion and tilting when hooking and moving the battery, ensuring that the battery remains horizontal at all times. This avoids potential safety accidents caused by battery shaking or tilting during lifting, improving the reliability and safety of the battery swapping operation.

Description

Technical Field

[0001] This invention relates to the field of battery swapping technology for new energy vehicles, specifically to a battery swapping device, a battery swapping service vehicle, and a battery swapping method. Background Technology

[0002] With the rapid development of new energy vehicles, corresponding battery swapping technology has emerged. Currently, battery swapping technology is generally implemented by building battery swapping stations in places such as highway service stations. The battery swapping stations store batteries that are compatible with the vehicle model. During the swapping process, the car drives into the swapping station, and the battery swapping operating arm in the station removes the depleted battery from the car and installs a fully charged battery from the station onto the car, thus completing the entire battery swapping operation.

[0003] However, due to difficulties in civil engineering, high construction costs, and fixed battery swapping locations, the number of battery swapping stations is limited, and there are also high requirements for site selection. Existing technologies have proposed alternatives to battery swapping stations using mobile battery swapping equipment. For example, patent document CN216184725U discloses a battery swapping vehicle, which includes a tractor and a cargo box. The cargo box is connected to the tractor, and a battery swapping opening is provided at the rear of the cargo box. The cargo box contains at least one area for placing fully charged batteries and at least one area for placing depleted batteries. Multiple fully charged batteries are stacked sequentially from bottom to top within the fully charged battery area. The cargo box also contains a track-rotating gripping device for grabbing fully charged or depleted batteries. This track-rotating gripping device can move along the length, width, and height of the cargo box and can also adjust the gripping angle.

[0004] The battery swapping process for the aforementioned battery swapping vehicles is as follows:

[0005] (1) The tractor pulls the carriage to the vehicle to be swapped. The carriage is equipped with at least one fully charged battery placement area and at least one depleted battery placement area. The track rotating gripping device moves and rotates to a suitable angle, grabs the depleted battery on the vehicle to be swapped through the battery swapping opening at the rear of the carriage, and places the depleted battery in the depleted battery placement area in the carriage.

[0006] (2) The track rotating gripping device moves and rotates to a suitable angle to grip the fully charged battery in the fully charged battery placement area, and installs the fully charged battery into the vehicle to be swapped by adjusting the moving position of the track rotating gripping device.

[0007] The aforementioned track-rotating gripping device uses gripping components to grasp both depleted and fully charged batteries. More specifically, taking the gripping of depleted batteries as an example, batteries are often bolted to the bottom of the frame. Therefore, in this case, the battery must be manually or with tools removed from the bottom of the frame before the gripping components grasp and hold it from top to bottom, keeping the battery horizontal for transfer. During gripping, the gripping force needs to be strictly calculated based on the gripping angle and battery type to ensure moderate gripping force. Too much force can damage the battery, while too little force can cause instability during transfer. Furthermore, since some types of batteries can weigh up to 100 kilograms, this method of driving battery transfer by gripping requires gripping components with high structural strength and precise connection dimensions.

[0008] Furthermore, if no preparatory work is done to remove the battery from the bottom of the frame, the gripping angle of the gripping components should be adjusted beforehand, and the battery should be horizontally pulled out from the bottom of the frame by side clamping. However, this side clamping method results in uneven force distribution because only one side of the battery is subjected to force, and the center of gravity is not within the clamping range. The battery, which weighs up to 100 kilograms, may wobble or even shift its position during the transfer, causing it to be transferred without being in a horizontal position. This may lead to deformation or cracking of the battery casing, or even displacement or compression of the cells or battery modules, thereby causing internal short circuits. Summary of the Invention

[0009] The purpose of this invention is to solve the problems in the prior art by proposing a battery swapping device that can horizontally remove and transfer the battery from the customer's vehicle, avoiding structural stress concentration or safety accidents caused by shaking or tilting of the battery during the swapping process, and greatly improving the reliability and safety of the battery swapping operation.

[0010] To address the above problems, the present invention provides the following technical solution:

[0011] A battery swapping device, comprising:

[0012] A three-dimensional motion mechanism is used to achieve composite motion in the X, Y, and Z directions;

[0013] The mounting bracket is located at the Z-axis output end of the three-dimensional motion mechanism and has at least two sets of horizontally arranged hooks.

[0014] The lifting bracket is horizontally installed on the outside of the battery and has at least two sets of horizontally arranged lifting lugs;

[0015] The hook and lifting lug are matched to achieve the horizontal state of the battery during the transfer process through the hook connection and the supporting effect of the lifting bracket on the battery.

[0016] As a further aspect of the present invention: the hanging bracket extends below the two sets of hooks and is provided with a support part, which provides support for the side of the battery when the hook is connected to the lifting lug.

[0017] As a further embodiment of the present invention: both lifting lugs are located at the same edge position on the top of the lifting bracket.

[0018] As a further embodiment of the present invention: the mounting bracket includes a crossbeam subframe for connecting to the Z-direction output end and a support arm subframe vertically disposed at the bottom of the crossbeam subframe. Both hooks are disposed on the support arm subframe, and the support arm subframe is located at the lower part between the two sets of hooks to form the leaning part.

[0019] As a further aspect of the present invention: the hoisting bracket includes at least two sets of clamping frames, the opening shape of the clamping frames is adapted to the shape of the battery and clamped to the outside of the battery, the two side arms of the clamping frames are respectively attached to the two sides of the battery and fixedly connected to the sides of the battery, and the two lifting lugs are respectively set on the connecting arms of the two clamping frames.

[0020] As a further aspect of the present invention: the clamp is fitted onto the outside of the battery in a top-to-bottom manner, so that the connecting arm of the clamp is located at the top of the battery.

[0021] As a further aspect of the present invention, the device also includes an electric wrench, one end of which is rotatably disposed at the bottom of the support arm subframe and arranged horizontally. The electric wrench has a retracted state that can be parallelly folded under the support arm subframe and an extended state that is perpendicular to the support arm subframe.

[0022] As a further embodiment of the present invention: the Z-direction output end includes a track, a drive source, and four parallel inclined connecting rods located on the Y-direction output end. One end of each connecting rod is rotatably mounted on the track, and the other end is movably connected to the crossbeam subframe. The drive source is located on the track, and its execution end is movably connected to the crossbeam subframe for driving the crossbeam subframe to move along the Z-direction.

[0023] The present invention also proposes a battery swapping service vehicle, including the aforementioned battery swapping equipment, wherein the battery swapping equipment is installed entirely inside the vehicle compartment, and the compartment doors are located on both sides of the vehicle compartment and are designed in a wing-like manner.

[0024] The present invention also proposes a battery swapping method, comprising the following steps:

[0025] Step 1: Vehicle Parking: The battery swapping service vehicle will park at the designated location as agreed.

[0026] Step 2: Vehicle Wing Deployment: After the customer's vehicle arrives, the cargo door wings are deployed, and the battery swapping equipment is started;

[0027] Step 3: Battery Unlocking: After the interaction and confirmation between the two vehicles, the drive control system on the battery swapping service vehicle confirms the target vehicle model and locates the mounting bracket of the battery on the customer vehicle. The three-dimensional motion mechanism moves the X, Y, and Z axes into position, and then the electric wrench is extended. Then, through position calibration and three-dimensional path planning, the drive control system moves the working end of the electric wrench to the bolts used to install the battery at the bottom of the frame, and the electric wrench is used to start removing the bolts. After the bolts at all points of the battery are removed, the electric wrench returns to the retracted state.

[0028] Step 4: Retrieve the battery: The drive control system, through position calibration and three-dimensional path planning, moves the hook on the mounting bracket to the lifting lug of the battery mounting bracket and performs a hooking action until the battery is completely hooked horizontally onto the mounting bracket. Then, the mounting bracket is driven to move horizontally, so that the battery can be removed from the customer's vehicle and transferred to any empty position in the battery swapping service vehicle. After that, the mounting bracket returns to its original position, completing the battery retrieval process.

[0029] Step 5: Reinstalling the battery: Based on the location information of the available fully charged batteries in the battery swapping service vehicle, the drive control system uses a three-dimensional motion mechanism to drive the mounting bracket to the corresponding fully charged battery position. The mounting bracket swings down to hook up the new fully charged battery, and then uses the three-dimensional motion mechanism again to put the fully charged battery back into the customer's vehicle.

[0030] Step Six: Battery Locking: The electric wrench extends again. Tighten the bolt at the fully charged battery to the specified torque to complete the battery replacement.

[0031] Step 7: Battery testing and recharging: The drive control system performs a safety check on the depleted battery and recharges it using the charging system on the battery swapping service vehicle.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. Through the ingenious coordination of the three-dimensional motion mechanism with the hanging and lifting brackets, high stability and precision are achieved during battery transfer. The three-dimensional motion mechanism provides freedom and flexibility in the X, Y, and Z directions, ensuring accurate battery positioning. The matching design of at least two sets of horizontally arranged hooks and lugs, along with the supporting effect of the lifting brackets on the batteries, collaboratively form two stable force couples. These effectively resist torsion and tilting when hooking and moving batteries, ensuring the batteries remain horizontal at all times. This avoids potential connector damage, structural stress concentration, or safety accidents caused by shaking or tilting during lifting, greatly improving the reliability and safety of the battery swapping operation.

[0034] 2. Concentrating the two lifting lugs on the same edge of the top of the lifting bracket greatly simplifies the docking process. This layout allows the three-dimensional motion mechanism to precisely position itself within a single, concentrated area when lowering and aligning the mounting bracket, eliminating the need for complex separate calibrations at two dispersed points. This significantly improves battery swapping efficiency and reduces the complexity of the control system and alignment difficulty. Furthermore, the edge placement of these lifting lugs allows for adaptation to the subsequent support component, ensuring that the support component's support for the battery's side and the hook connection are aligned on the same vertical line, greatly guaranteeing the battery's horizontal stability.

[0035] 3. The support part is a form of support that the lifting bracket applies to the battery. It provides additional lateral support and protection for the battery. When the hook is connected to the lifting lug, the support part will be close to the side of the battery, forming a stable surface to prevent the battery from swaying back and forth. This further enhances the stability of the battery under conditions of rapid movement or slight vehicle shaking, avoids unnecessary collisions and wear between the battery and the support bracket, and also reduces the dynamic shear stress borne by the hook and lifting lug, thereby improving the rigidity and durability of the entire lifting system.

[0036] 4. Through the combined design of the crossbeam subframe and the support arm subframe, a high degree of unity between structural strength and functional integration is achieved. The crossbeam subframe ensures the stability of the connection with the Z-axis output end and distributes the force evenly. The vertically set support arm subframe not only naturally provides the position for installing the hooks, but its part located between the two hooks is directly used as a support. This integrated design eliminates additional independent components, making the structure more compact, robust, and easy to manufacture and install.

[0037] 5. The battery is secured using a clamp bracket. This design offers advantages such as strong adaptability and a secure connection. The opening shape of the clamp bracket can be customized according to the shape of different battery models, providing good versatility. Its two side arms fit tightly against and fix the sides of the battery, evenly distributing the lifting force across the entire side of the battery, avoiding stress concentration and effectively protecting the battery.

[0038] 6. The top-down assembly method makes installation and maintenance extremely simple. When in use, staff can easily put the clamp bracket off the top of the battery without the need for complicated lifting or assembly from the bottom, making the installation, replacement or removal of the mounting bracket on the battery more efficient and labor-saving.

[0039] 7. By integrating an electric wrench, the tool integration and automation of the battery swapping equipment are realized. The electric wrench is rotated and set on the support arm subframe, and is designed with two states: storage and working. This allows a single device to not only grab and transfer batteries, but also perform bolt removal and installation operations. This highly integrated design eliminates the need to carry or operate separate tools. It integrates all the key actions in the battery swapping process into one system, which greatly improves the automation level and work efficiency of the entire battery swapping process.

[0040] 8. Lifting is achieved by using a parallel-arranged tilting linkage mechanism, which provides greater rigidity and stability compared to a simple vertical cylinder or lead screw. When bearing the gravitational load of the battery, the tilting linkage structure can convert it into pressure or tension within the linkage, rather than simply bending torque, thereby effectively suppressing swaying and further ensuring the stability and accuracy of the mounting bracket during lifting and when stationary.

[0041] 9. By integrating the battery swapping equipment into the vehicle and designing the cargo door as a side-wing type, the side-opening doors eliminate the obstacles on the sides of traditional trucks, providing a large-angle, unobstructed working range for the three-dimensional motion mechanism. This allows the battery swapping service vehicle to approach customer vehicles more flexibly (whether on the left, right, or rear) and perform battery swapping operations from the optimal angle, improving the vehicle's adaptability to different parking environments and locations, as well as its operational efficiency.

[0042] 10. From vehicle parking and wing deployment to battery unlocking, retrieval, reinstallation, and locking, culminating in testing and recharging, the system ensures consistency and reliability in battery swapping operations, minimizing errors and delays that may result from manual intervention. Furthermore, integrating battery testing and recharging within the service vehicle creates a mobile energy service center, achieving a closed-loop "battery swapping-charging" process and improving service immediacy and vehicle operational efficiency. Attached Figure Description

[0043] The invention will now be further described with reference to the accompanying drawings.

[0044] Figure 1 This is a front view structural diagram of the battery swapping service vehicle of the present invention;

[0045] Figure 2 This is a schematic diagram of the three-dimensional structure of the battery swapping service vehicle of the present invention. Figure 1 ;

[0046] Figure 3 This is a schematic diagram of the three-dimensional structure of the battery swapping service vehicle of the present invention. Figure 2 ;

[0047] Figure 4 This is a three-dimensional structural diagram of the battery swapping equipment of the present invention;

[0048] Figure 5 yes Figure 4 Enlarged structural diagram at point A;

[0049] Figure 6 This is a three-dimensional structural diagram of the mounting bracket of the present invention;

[0050] Figure 7 This is a three-dimensional structural diagram of the hoisting bracket of the present invention.

[0051] In the picture:

[0052] 1. Three-dimensional motion mechanism;

[0053] 2. Hanging bracket; 201. Hook; 202. Support; 203. Crossbeam sub-frame; 204. Outrigger sub-frame;

[0054] 3. Lifting bracket; 301. Lifting lug; 302. Clamping frame;

[0055] 4. Z-axis output end; 401. Rail; 402. Drive source; 403. Tilt linkage;

[0056] 5. Electric wrench;

[0057] 6. Carriage; 601. Carriage door;

[0058] a. Battery. Detailed Implementation

[0059] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0060] Example 1:

[0061] like Figures 4-6 As shown, a battery swapping device includes a three-dimensional motion mechanism 1. The three-dimensional motion mechanism 1 is mounted on a corresponding carrier and can perform composite movements in the X, Y, and Z directions. For example, the X-direction output end is movably mounted on the carrier, then the Y-direction output end is movably mounted on the X-direction output end, and finally the Z-direction output end is movably mounted on the Y-direction output end. Each direction of movement is driven by a corresponding power component. A corresponding drive and control system can be installed on the carrier. The drive and control system can combine sensors and visual detection technology to control each power component, enabling each power component to perform corresponding working time and power, thereby realizing the displacement of each output end and ensuring the precise movement of the three-dimensional motion mechanism 1.

[0062] It should be noted that the location of the drive and control system can be either supported by the three-dimensional motion mechanism 1 itself or placed on a carrier; this paper does not limit this. The drive and control system can be any applicable computing device, such as a personal computer, server, programmable controller, microcontroller, etc., or it can be an integration of computer devices. The drive and control system has functions such as receiving information and sending control commands. The drive and control system can control the output terminals to perform corresponding actions through wired or wireless communication to complete the power swapping operation.

[0063] Specifically, both the X-axis and Y-axis output terminals can be composed of conventional slide rail structures, while for the Z-axis output terminal 4, this paper proposes the following design:

[0064] The Z-direction output end 4 includes a track 401 mounted on the Y-direction output end and four parallel inclined connecting rods 403. The track 401 can slide with the Y-direction output end. One end of each connecting rod is rotatably mounted on the track 401, and the other end is horizontally and movably mounted on a mounting bracket 2. Figure 4 As shown, four inclined connecting rods 403 together form a four-bar linkage. A drive source (e.g., a cylinder) 402 is mounted on the track 401, its actuator being movably connected to the mounting bracket 2 to drive the mounting bracket 2 to move along the Z-axis. Figure 4 In the indicated state, when the drive source 402 extends, all four inclined connecting rods 403 swing clockwise with their bottom ends as the center, at which time the mounting bracket 2 will be raised; when the drive source 402 retracts, all four inclined connecting rods 403 swing counterclockwise with their bottom ends as the center, at which time the mounting bracket 2 will be lowered. In summary, the position adjustment of the mounting bracket 2 in the Z direction can be achieved.

[0065] With the design of this Z-axis output terminal 4, the swinging motion of the four tilting links 403 not only enables the Z-axis displacement of the mounting bracket 2, but also allows for a certain Y-axis displacement. Therefore, when the mounting bracket 2 moves closer to the customer vehicle's battery, the Y-axis displacement of the mounting bracket 2 can be coarsely adjusted beforehand using the Y-axis output terminal, and then finely adjusted using the Y-axis displacement generated during the Z-axis displacement. This step-by-step adjustment method allows for more accurate movement of the mounting bracket 2.

[0066] To ensure that the mounting bracket 2 meets the functional requirements of the power swapping equipment, this design includes a crossbeam sub-frame 203 and a vertical support arm sub-frame 204 located at the bottom of the crossbeam sub-frame 203. The crossbeam sub-frame 203 is used for movable connection (e.g., hinged) to the top ends of four inclined connecting rods 403. The crossbeam sub-frame 203 is installed horizontally, and during subsequent adjustments, it will maintain a horizontal movement due to the four-bar linkage design. Consequently, the vertical support arm sub-frame 204 located at the bottom of the crossbeam sub-frame 203 will also maintain a vertical movement during adjustment.

[0067] The support arm subframe 204 is equipped with at least two sets of parallel hooks 201. Correspondingly, this application also includes a lifting bracket 3, which is pre-assembled on the outside of the battery a. The top of the lifting bracket 3 has at least two sets of horizontally arranged lifting lugs 301. When the battery a, equipped with the lifting bracket 3, is placed on the corresponding customer vehicle and needs to be swapped, the three-dimensional motion mechanism 1 on the carrier drives the attachment bracket 2 to move until the hooks 201 move to the lifting lugs 301 of the lifting bracket 3. The hooks 201 hook and connect the lifting lugs 301, and then drive the attachment bracket 2 to move horizontally, thereby removing the battery a from the customer vehicle. During this process, since the support arm subframe 204 of the attachment bracket 2 is always vertical, the two hooks 201 are always horizontal. When the two lifting lugs 301 are hooked and connected, the battery a always remains in a horizontal and stable state. This state can effectively and safely transfer the battery, improving the safety of the battery swapping process.

[0068] Regarding the aforementioned hoisting bracket 3, the hoisting bracket 3 includes at least two sets of clamping brackets 302. The opening shape of the clamping bracket 302 is adapted to the shape of the battery a and is clamped to the outside of the battery a. The clamping bracket 302 consists of two parallel side arms and a connecting arm for connecting the two side arms. The two side arms of the clamping bracket 302 respectively fit against the two sides of the battery a and are fixedly connected to the sides of the battery a. In this design, the two lifting lugs 301 are respectively set on the connecting arms of the two clamping brackets 302. It should be noted that when the two side arms are fixedly connected to the two sides of the battery a respectively, the outer shell of the battery a will not be damaged or deformed, and the cells inside the outer shell of the battery a will not be damaged.

[0069] Clamp 302 can be set as Figure 7The U-shaped clamp 302 shown can be installed on battery a in various ways. To maximize transfer stability, this application sets the clamp 302 to fit over battery a from top to bottom, so that the connecting arm of the clamp 302 is positioned at the top of battery a, with the lifting lug 301 above battery a. Simultaneously, to accommodate the hooking action of the hook 201, both lifting lugs 301 are positioned at the same edge of the top of the connecting arm. With this comprehensive design, the hook connection state of battery a can be adjusted... Figure 4 To represent, the hook connection point can be made by Figure 5 To represent it.

[0070] To further improve the stability of battery a during the transfer process, this application sets the hook 201 in the middle of the support arm subframe 204. Therefore, the support arm subframe 204 is formed at the lower position between the two hooks 201 to form a support part 202. The support part 202 is used to provide surface contact support for one side of battery a, so that the force on the battery a is distributed at multiple points, avoiding the shaking or damage to the battery a casing caused by single-point force. Figure 4 In the state shown, the top right side of battery a is hooked and the right side is supported by a surface contact method. This multi-point support ensures that battery a is well-positioned and kept horizontal during the transfer process, preventing any shaking and further improving the safety of battery swapping.

[0071] Taking the battery installed on the underside of the vehicle body as an example, the working principle of this embodiment is as follows: First, the bolts at the battery discharge point on the customer vehicle are removed, so that the battery discharge point is in a free state. Then, the three-dimensional motion mechanism 1 is used to drive the hook 201 to perform corresponding actions until the battery discharge point is horizontally pulled away from the customer vehicle through the hook connection. Then, the fully charged battery is hooked up and transferred to the original battery discharge point on the customer vehicle through the hook connection. The bolts at the fully charged battery point are tightened, thus completing the battery swap.

[0072] Example 2:

[0073] The difference between this embodiment and Embodiment 1 is that this embodiment adds an electric wrench 5 to Embodiment 1. Specifically, as shown... Figure 6As shown, one end of the electric wrench 5 is rotatably positioned at the bottom of the support arm sub-frame 204, preferably horizontally aligned with it. A control mechanism is located at the bottom of the support arm sub-frame 204, driving the electric wrench 5 to rotate around its rotatable end until the entire electric wrench 5 is perpendicular to the support arm sub-frame 204. The state of the electric wrench 5 at the bottom of the support arm sub-frame 204 is defined as the retracted state, and the state of the electric wrench 5 perpendicular to the support arm sub-frame 204 is defined as the extended state. Therefore, the control mechanism keeps the electric wrench 5 in the extended state, meaning its working end is extended. When the three-dimensional motion mechanism 1 moves the electric wrench 5 to the location of the locking bolt and nut for the battery, the bolt and nut can be loosened, releasing the battery from its lock. Similarly, after placing a fully charged battery in its original position, the electric wrench 5 can be used to tighten the bolt and nut, locking the fully charged battery in place.

[0074] In this embodiment, by adding an electric wrench 5 and combining it with the action of the three-dimensional motion mechanism 1, the electric wrench 5 can be moved to the bolt and nut of battery a. Utilizing the working characteristics of the electric wrench 5 itself, it can loosen and tighten the discharged battery and the fully charged battery respectively, which makes the overall automation of the battery swapping equipment higher, avoids the manual process of loosening and tightening bolts and nuts, saves battery swapping time, and improves battery swapping efficiency.

[0075] Regarding the setting of the aforementioned control mechanism, the control mechanism can be a conventional technical means of existing technologies such as servo motors and their derivatives. To avoid cumbersome writing, this article will not elaborate further.

[0076] Example 3:

[0077] like Figures 1-3 As shown, a battery swapping service vehicle includes the battery swapping equipment described in any of the above embodiments. The vehicle has a cargo compartment 6 with doors 601 on both sides. To facilitate the battery swapping process and avoid interference, both doors 601 are designed as wing-shaped. During battery swapping, the doors 601 open, and the support arm 204 of the battery swapping equipment enters and exits through the opening. The hooked-on batteries can be collected and temporarily stored inside the cargo compartment 6. Simultaneously, a fully charged battery is also temporarily stored inside the cargo compartment 6. Subsequently, the fully charged battery can be transported to the corresponding location on the customer's vehicle via hook connection.

[0078] Example 4:

[0079] This embodiment proposes a battery swapping method based on Embodiment 3, including the following steps:

[0080] Step 1: Vehicle Parking: The battery swapping service vehicle will park at the designated location as agreed.

[0081] Step 2: Vehicle Wing Deployment: After the customer's vehicle arrives, the 601 door wing deploys, and the battery swapping equipment is activated;

[0082] Step 3: Battery Unlocking: After the interaction and confirmation between the two vehicles, the drive control system on the battery swapping service vehicle confirms the target vehicle model and locates the mounting bracket 3 of the battery on the customer vehicle. The three-dimensional motion mechanism 1 moves the X, Y, and Z axes into position, and then the electric wrench 5 is extended. Then, through position calibration and three-dimensional path planning, the drive control system moves the working end of the electric wrench 5 to the bolts used to install the battery at the bottom of the frame, and the electric wrench 5 is used to start disassembling the bolts. After the bolts at all points of the battery are disassembled, the electric wrench 5 returns to the retracted state.

[0083] Step 4: Retrieve the battery: The drive control system, through position calibration and three-dimensional path planning, moves the hook 201 on the mounting bracket 2 to the lifting lug 301 of the battery mounting bracket 3 and performs a hooking action until the battery is completely hooked horizontally onto the mounting bracket 2. Then, the mounting bracket 2 is driven to move horizontally, so that the battery can be horizontally removed from the customer vehicle and transferred to any empty position in the compartment 6 of the battery swapping service vehicle. Then the mounting bracket 2 returns to its original position, completing the battery retrieval process.

[0084] Step 5: Reinstalling the battery: Based on the location information of the available fully charged batteries in the compartment 6 of the battery swapping service vehicle, the drive control system uses the three-dimensional motion mechanism 1 to drive the mounting bracket 2 to the corresponding fully charged battery position. The mounting bracket 2 swings down to hook up the new fully charged battery, and then uses the three-dimensional motion mechanism 1 to horizontally place the fully charged battery back into the customer's vehicle.

[0085] Step 6: Battery Locking: With the electric wrench 5 extended again, tighten the bolt at the fully charged battery to the specified torque to complete the battery replacement;

[0086] Step 7: Battery testing and recharging: The drive control system performs a safety check on the depleted battery and recharges it using the charging system on the battery swapping service vehicle.

[0087] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. A battery swapping device, characterized in that, include: A three-dimensional motion mechanism (1) is used to realize composite motion in the X, Y and Z directions; The hanging bracket (2) is located at the Z-direction output end (4) of the three-dimensional motion mechanism (1), and has at least two sets of horizontally arranged hooks (201). The lifting bracket (3) is horizontally installed outside the battery (a) and has at least two sets of horizontally arranged lifting lugs (301). The hook (201) is adapted to the lifting lug (301) so as to achieve the horizontal state of the battery (a) during the transfer process through the hook connection and the supporting effect of the lifting bracket (3) on the battery (a); The mounting bracket (2) extends below the two sets of hooks (201) and is provided with a support part (202). When the hook (201) is hooked and connected to the lifting lug (301), the support part (202) is used to provide support for the side of the battery (a). The mounting bracket (2) includes a crossbeam subframe (203) for connecting to the Z-direction output end (4) and a support arm subframe (204) vertically located at the bottom of the crossbeam subframe (203). Both hooks (201) are mounted on the support arm subframe (204), and the lower part of the support arm subframe (204) located between the two sets of hooks (201) constitutes the resting part (202). The Z-direction output end (4) includes a track (401) on the Y-direction output end, a drive source (402) and four parallel inclined connecting rods (403). One end of each connecting rod is rotatably mounted on the track (401), and the other end is movably connected to the crossbeam subframe (203). The drive source (402) is mounted on the track (401), and its execution end is movably connected to the crossbeam subframe (203) to drive the crossbeam subframe (203) to move along the Z-direction.

2. The battery swapping device according to claim 1, characterized in that, Both lifting lugs (301) are located at the same edge of the top of the lifting bracket (3).

3. A battery swapping device according to claim 1 or 2, characterized in that, The hoisting bracket (3) includes at least two sets of clamping brackets (302). The opening shape of the clamping bracket (302) is adapted to the shape of the battery (a) and clamped to the outside of the battery (a). The two side arms of the clamping bracket (302) are respectively attached to the two sides of the battery (a) and fixedly connected to the side of the battery (a). Two lifting lugs (301) are respectively set on the connecting arms of the two clamping brackets (302).

4. A battery swapping device according to claim 3, characterized in that, The clamp (302) is fitted onto the outside of the battery (a) from top to bottom, such that the connecting arm of the clamp (302) is located at the top of the battery (a).

5. A battery swapping device according to claim 1, characterized in that, The device also includes an electric wrench (5), one end of which is rotated and located at the bottom of the support arm subframe (204) and arranged horizontally. The electric wrench (5) has a retracted state that can be retracted parallel to the support arm subframe (204) and an extended state that is perpendicular to the support arm subframe (204).

6. A battery swapping service vehicle using a battery swapping device according to any one of claims 1-5, characterized in that, The battery swapping equipment is installed inside the compartment (6) of the battery swapping service vehicle, and the compartment door (601) is located on both sides of the compartment (6) and has a wing-shaped design.

7. A battery swapping method for a battery swapping service vehicle according to claim 6, characterized in that, Includes the following steps: Step 1: Vehicle Parking: The battery swapping service vehicle will park at the designated location as agreed. Step 2: Vehicle Wings Open: After the customer's vehicle arrives, the cargo door (601) opens and the battery swapping equipment is started; Step 3: Battery unlocking: After the interaction between the two vehicles is confirmed, the drive control system on the battery swapping service vehicle confirms the target vehicle model and locates the mounting bracket (3) of the battery on the customer vehicle. The three-dimensional motion mechanism (1) makes the X, Y and Z directions into position, and then makes the electric wrench (5) extend. Then, the drive control system calibrates the position and plans the three-dimensional path, and the working end of the electric wrench (5) reaches the bolt used to install the battery at the bottom of the frame. The electric wrench (5) is used to start disassembling the bolt. After the bolts at each part of the battery are disassembled, the electric wrench (5) is reset to the retracted state. Step 4: Retrieve the battery: The drive control system, through position calibration and three-dimensional path planning, moves the hook (201) on the mounting bracket (2) to the lifting lug (301) of the battery mounting bracket (3) and performs a hooking action until the battery is completely hooked horizontally onto the mounting bracket (2). Then, the mounting bracket (2) is driven to move horizontally, so that the battery can be removed from the customer's vehicle and transferred to any empty position in the compartment (6) of the battery swapping service vehicle. Then, the mounting bracket (2) returns to its original position, completing the battery retrieval process. Step 5: Reinstall the battery: Based on the location information of the available fully charged batteries in the compartment (6) of the battery swapping service vehicle, the drive control system uses the three-dimensional motion mechanism (1) to drive the mounting bracket (2) to the corresponding fully charged battery position. The mounting bracket (2) swings down to hook the new fully charged battery, and the three-dimensional motion mechanism (1) is used again to put the fully charged battery back into the customer's vehicle. Step 6: Battery Locking: With the electric wrench (5) extended again, tighten the bolt at the fully charged battery to the specified torque to complete the battery replacement; Step 7: Battery testing and recharging: The drive control system performs a safety check on the depleted battery and recharges it using the charging system on the battery swapping service vehicle.

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