A rotary cultivator heavy-load large-capacity battery replacement system

Abstract

The present application relates to a kind of rotary cultivator heavy load large capacity battery battery replacement system, for solving the technical problems of inconvenient operation of the large capacity battery battery replacement of the existing similar heavy load electric agricultural machinery product, high production cost, it is more difficult to replace battery safely, quickly, accurately.Its main point is that the gantry truss mechanism of the system is in frame structure, the top of the frame of gantry truss mechanism is provided with three-axis heavy load moving platform, the bottom of three-axis heavy load moving platform is provided with floating connection device and heavy load executor, rotary cultivator rear portion after entering the frame below of gantry truss mechanism is provided with large capacity battery pack from top loading and unloading replacement;The floating connection device and heavy load executor are integrally arranged in the execution frame of the bottom end of slide column, heavy load executor is completed by the cooperation of the lifting ring on the top of large capacity battery pack to grab and place, heavy load executor and floating connection device are at least three groups equidistantly arranged along the length direction of large capacity battery pack, and the end of heavy load executor is respectively provided with hydraulic drive clamping jaw.

Description

Technical Field

[0001] This invention relates to the field of agricultural electric machinery, specifically a heavy-duty, high-capacity battery swapping system for rotary tillers. Background Technology

[0002] Rotary tillers are a type of modern agricultural machinery, generally tracked, capable of completing both tilling and harrowing in one pass. Due to their strong soil-breaking ability and the smooth surface they leave behind, they are one of the most widely used tillage machines. Simply put, their working principle is like a giant "clod crusher," driven by the tractor's power take-off shaft, which rotates the blades on the lower cutter shaft at high speed. As the machine moves forward, the blades continuously cut and break up the soil clods, throwing the fine soil particles backward. These particles are then smoothed by a leveling pad, forming a loose and level seedbed. Therefore, current rotary tillers have high horsepower and power. With the development of electrification in agricultural machinery, electrification retrofitting requires large-capacity batteries. Large rotary tillers are gradually replacing diesel engines with power batteries. These large-capacity batteries are usually located on the upper part of the frame to avoid mud, water, and straw. The battery packs are generally 1m × 1m × 5m in size and weigh over 500kg. However, existing battery swapping technologies are mainly geared towards passenger vehicles or small agricultural machinery, employing AGV-mounted robotic arms. These systems typically have a load capacity of no more than 200 kg, making them unsuitable for handling the loading and unloading of batteries weighing tons. Examples include Chinese patent application number 201710155967.0, published on June 6, 2017, entitled "Gantry-type Battery Swapping Rack and its Control Method and Automatic Battery Swapping System"; and Chinese patent application number 202411672310.8, published on January 14, 2025, entitled "A Battery Swapping Device." For ultra-long and ultra-heavy batteries mounted on top, current technology still relies on manual operation using cranes, with each swap taking over 30 minutes and posing significant safety hazards due to the high-altitude lifting. For example, Chinese patent application number 202210376290.4, published on October 24, 2023, entitled "Battery Pack and Quadruped Robot," uses a guide pin and guide groove to guide the battery into its battery compartment. Another example is Chinese patent application number 202420017883.6, authorized on March 14, 2025, entitled "A Floating Device for Forming a Grooved Slide Board," whose floating device includes a spring, hydraulic components, and rubber blocks. The assembly structures and floating devices of these battery packs are rarely used in battery swapping devices or systems. Therefore, there is an urgent need for an automatic battery swapping device specifically designed for heavy-duty batteries on the top of large agricultural machinery, enabling safe, fast, and accurate battery replacement. Furthermore, existing rotary tillers are heavy-duty electric agricultural machinery products, larger and heavier than some smaller electric agricultural machinery products, making the swapping of their large-capacity batteries inconvenient. Current technology also lacks large-capacity battery swapping equipment for such heavy-duty electric agricultural machinery products. Summary of the Invention

[0003] To overcome the above-mentioned shortcomings, the purpose of this invention is to provide a heavy-duty, high-capacity battery swapping system for rotary tillers, thereby solving the technical problems of inconvenient operation, high production cost, difficulty in safe, fast, and accurate battery replacement, and difficulty in widespread application of existing heavy-duty electric agricultural machinery products. This objective is achieved through the following technical solution.

[0004] A heavy-duty, high-capacity battery swapping system for a rotary tiller is disclosed. The system comprises a gantry-type truss structure with a frame. A three-axis heavy-duty moving platform is mounted on the top of the frame, and a floating connection device and a heavy-duty actuator are located at the bottom of the platform. A large-capacity battery pack, accessible from the top, is located at the rear of the rotary tiller below the gantry-type truss frame for loading and unloading. The key structural design feature is that the three-axis heavy-duty moving platform includes symmetrically arranged slide rails on both sides of the top crossbeam of the frame, running longitudinally along the length of the rotary tiller. These slide rails serve as the X-axis. A transversely arranged frame connecting the two slide rails and moving along them serves as the Y-axis, and a vertically moving sliding column on the frame serves as the Z-axis. A first motor is mounted at each end of the frame of the three-axis heavy-duty moving platform, and the first servo motor has a first tooth at its motor shaft. The first gear in the slide rail meshes with the wheel, causing the frame to move synchronously. The second gear on one side of the frame meshes with the second gear on the motor shaft of the second servo motor fixed to the side of the slide column, causing the slide column to move left and right. The third gear on one side of the slide column meshes with the third gear on the motor shaft of the third servo motor fixed to the other side of the slide column, causing the slide column to move up and down. The floating connection device and the heavy-duty actuator are integrated and fixedly installed on the execution frame at the bottom end of the slide column. The heavy-duty actuator completes the gripping and placement through the lifting ring on the top of the large-capacity battery pack. The heavy-duty actuator and the floating connection device are arranged in at least three sets at equal intervals along the length of the large-capacity battery pack. The end of the heavy-duty actuator is equipped with a hydraulically driven gripper. Each set of hydraulically driven grippers includes left and right arms. The opening and closing of the left and right arms is operated by the hydraulic cylinder pushing the connecting rod.

[0005] The three-axis heavy-duty mobile platform has L-shaped clamping frames at both ends of the execution frame. One end of the clamping frame is inserted into the execution frame and the distance is adjusted by a ratchet wrench. The ratchet gear on the rotating shaft of the ratchet wrench in the execution frame meshes synchronously with the teeth at the ends of the upper and lower clamping frames in the execution frame. The torsion spring of the rotating shaft is connected to the brake pad to limit the reverse rotation of the ratchet. The other end of the clamping frame is provided with a protruding clamping head.

[0006] The floating connection device includes a spring assembly, a hydraulic damper, and rubber bushings. The springs in the spring assembly, which are equidistantly arranged, are connected to the rubber bushings at both ends through the hydraulic damper.

[0007] The adjusting bolts at the top of the floating connection device are respectively fixed to the execution frame of the three-axis heavy-duty mobile platform. The hydraulic drive grippers of the heavy-duty actuator are respectively set on the floating connection device through the fixed base. The connection between the hydraulic drive gripper and the fixed base is provided with an adjusting frame arranged in a cross shape. The hydraulic drive grippers are respectively symmetrically arranged on the short side of both sides of the adjusting frame. The other two sides of the long side of the adjusting frame are respectively symmetrically provided with hydraulic mechanical grippers. The hydraulic mechanical grippers are respectively adjusted to symmetrical positions on the two long sides of the adjusting frame by sliders. The clamping end of the hydraulic mechanical gripper is higher than the clamping end of the hydraulic drive gripper and clamps on both sides of the width side of the top of the large-capacity battery pack. The top of the adjusting bolt of the floating connection device is provided with an adjusting wrench for rotation.

[0008] The large-capacity battery pack has tapered guide pins at both ends, and a V-shaped roller guide groove is provided at the corresponding position of the battery compartment inlet of the rotary tiller. During the final stage of descent, the tapered guide pins slide into the V-shaped grooves to complete automatic correction of the large-capacity battery pack through the heavy-duty actuator, and positioning is achieved in conjunction with the floating connection device.

[0009] The rotary tiller has three sets (six sets in total) of hydraulically driven over-dead-point latches on both sides of the battery compartment. Each set of over-dead-point latches includes a hinge seat, a shift fork link, and a locking hook. When locked, the shift fork link crosses the geometric dead point to form a self-lock. It remains locked when the pressure or power is cut off. Each set of over-dead-point latches is equipped with a proximity switch and a pressure sensor to achieve redundant confirmation of the locking state.

[0010] The tapered guide pin has a cone angle of 15° and a diameter of φ40mm; the V-angle of the V-shaped roller guide groove is 60°, and it contains eight GCr15 bearing steel rollers.

[0011] The ground positioning mechanism is located below the frame of the gantry truss mechanism. The rotary tiller drives into the guide rail of the ground positioning mechanism via its tracks. The ground positioning mechanism is equipped with a hydraulic lifting positioning pin.

[0012] The gantry truss mechanism has a 3D vision guidance system consisting of a binocular 3D camera with strong light resistance installed at each of the four top corners. The 3D vision guidance system identifies the position of the lifting ring on the top of the large-capacity battery pack and the coordinates of the battery compartment of the rotary tiller, guiding the three-axis heavy-duty mobile platform to complete the coarse positioning.

[0013] The gantry truss mechanism has a battery buffer rack on at least one side.

[0014] This invention features a reasonable structural design, small size, low cost, and convenient production and use. It is particularly suitable for the battery swapping of large-capacity batteries in heavy-duty electric agricultural machinery products. It is also suitable for use as a battery swapping system for heavy-duty, large-capacity batteries in rotary tillers, as well as for structural improvements to similar products. Attached Figure Description

[0015] Figure 1This is a schematic diagram of the usage state structure of an embodiment of the present invention.

[0016] Figure 2 yes Figure 1 A side view structural diagram.

[0017] Figure 3 yes Figure 1 A magnified structural diagram of a three-axis heavy-duty mobile platform.

[0018] Figure 4 yes Figure 1 A schematic diagram of the rear structure.

[0019] Figure 5 yes Figure 1 A schematic diagram of the rear structure of a rotary tiller after removing the large-capacity battery pack.

[0020] Figure 6 yes Figure 1 A schematic diagram of an improved gantry truss mechanism.

[0021] Figure 7 yes Figure 1 An exploded view of the improved floating connection device and heavy-duty actuator, with the hydraulic mechanical gripper on the other side omitted.

[0022] Figure 8 yes Figure 7 A schematic diagram of the improved floating connection device.

[0023] Figure 9 This is a schematic diagram of the tapered guide pin structure in the large-capacity battery pack of the present invention.

[0024] Attached Figures and Their Names: 1. Gantry Truss Mechanism; 101. Slide Rail; 2. Three-Axis Heavy-Duty Mobile Platform; 201. Frame; 202. Sliding Column; 203. Column Sleeve; 204. Actuator Frame; 205. Clamping Frame; 206. Ratchet Wrench; 3. Floating Connection Device; 301. Adjusting Bolt; 302. Spring Assembly; 303. Hydraulic Damper; 304. Rubber Bushing; 4. Heavy-Duty Actuator; 401. Hydraulic Driven Gripper; 402. Fixed Seat; 403. Adjusting Frame; 404. Hydraulic Mechanical Gripper; 405. Slider; 5. Battery Placement Rack; 6. Large-Capacity Battery Pack; 601. Conical Guide Pin; 7. Rotary Tiller; 8. Ground Positioning Mechanism; 9. Battery Buffer Rack. Implementation

[0025] The structure and use of the present invention will now be further described with reference to the accompanying drawings. Figures 1-9As shown, the gantry truss mechanism 1 of the system has a frame structure. The top of the frame of the gantry truss mechanism is equipped with a three-axis heavy-duty mobile platform 2. The bottom of the three-axis heavy-duty mobile platform is equipped with a floating connection device 3 and a heavy-duty actuator 4. The rear of the rotary tiller 7, which enters the frame of the gantry truss mechanism, is equipped with a large-capacity battery pack 6 that can be loaded and replaced from the top. The aforementioned three-axis heavy-duty mobile platform includes a gantry-type truss mechanism with symmetrically arranged slide rails 101 on both sides of the top crossbeam of the frame along the length of the rotary tiller. The slide rails serve as the X-axis, the transversely arranged frame 201 connecting the two slide rails and moving on the slide rails serves as the Y-axis, and the vertically lifting and lowering sliding column 202 on the frame serves as the Z-axis. A first motor is installed at each end of the frame of the three-axis heavy-duty mobile platform. The first gear at the motor shaft of the first servo motor meshes with the first gear rail inside the slide rail, driving the frame to move synchronously. A second gear rail on one side of the frame meshes with the second gear at the motor shaft of the second servo motor on one side of the column sleeve 203 fixed to the sliding column, driving the sliding column to move left and right. A third gear rail on one side of the sliding column meshes with the second gear at the motor shaft of the second servo motor fixed to the sliding column. The third gear on the motor shaft of the third servo motor on the other side of the column meshes with the third gear to drive the sliding column to move up and down; the floating connection device and the heavy-duty actuator are integrated and fixedly installed on the actuator frame 204 at the bottom end of the sliding column. The heavy-duty actuator completes the gripping and placement through the lifting ring on the top of the large-capacity battery pack. The heavy-duty actuator and the floating connection device are arranged in at least three sets of equidistant intervals along the length of the large-capacity battery pack. The end of the heavy-duty actuator is provided with hydraulically driven grippers 401. Each set of hydraulically driven grippers includes left and right arms. The opening and closing action of the left and right arms is operated by the hydraulic cylinder pushing the connecting rod; the above frame is a bridge beam; the large-capacity battery pack is 1000mm×1000mm×5000mm and weighs ≥500kg. The three-axis heavy-duty mobile platform has L-shaped clamping frames 205 at both ends of the execution frame. One end of the clamping frame is inserted into the execution frame and the distance is adjusted by a ratchet wrench 206. The ratchet gear on the rotating shaft of the ratchet wrench in the execution frame meshes synchronously with the teeth at the ends of the upper and lower clamping frames in the execution frame. The torsion spring of the rotating shaft is connected to the brake pad to limit the reverse rotation of the ratchet. The other end of the clamping frame is provided with a protruding clamping head.

[0026] The aforementioned floating connection device includes a spring assembly, a hydraulic damper, and a rubber bushing. Within the floating connection device, the springs in the spring assembly are equidistantly arranged and connected to the rubber bushing via the hydraulic damper. For example... Figure 7As shown, the above-mentioned floating connection device can also adopt the following structure: the adjusting bolts 301 at the top of the floating connection device are respectively fixed to the execution frame of the three-axis heavy-duty mobile platform. The hydraulic drive grippers of the heavy-duty actuator are respectively set on the floating connection device through the fixed base 402. The connection between the hydraulic drive gripper and the fixed base is provided with an adjusting frame 403 arranged in a cross shape. The hydraulic drive grippers are respectively symmetrically arranged on the short side of both sides of the adjusting frame. The other two sides of the long side of the adjusting frame are respectively symmetrically provided with hydraulic mechanical grippers 404. The hydraulic mechanical grippers are respectively set to adjust the symmetrical position on the two long sides of the adjusting frame through the slider 405. The clamping end of the hydraulic mechanical gripper is higher than the clamping end of the hydraulic drive gripper and clamps on both sides of the width side of the top of the large-capacity battery pack. The top of the adjusting bolt of the floating connection device is provided with an adjusting wrench for rotation.

[0027] The aforementioned high-capacity battery pack has tapered guide pins 601 at both ends, and a V-shaped roller guide groove is provided at the corresponding position of the battery compartment inlet of the rotary tiller. During the final stage of descent, the tapered guide pins slide into the V-shaped grooves to automatically correct the alignment of the high-capacity battery pack via the heavy-duty actuator, achieving positioning in conjunction with the floating connection device. Three sets of hydraulically driven over-dead-point latches are installed on both sides of the rotary tiller's battery compartment. Each set of over-dead-point latches includes a hinge seat, a shift fork link, and a locking hook. When locked, the shift fork link crosses the geometric dead point to form a self-locking mechanism, maintaining the locked state even when pressure or power is cut off. Each set of over-dead-point latches is equipped with a proximity switch and a pressure sensor for redundant confirmation of the locking state. The tapered guide pins have a cone angle of 15° and a diameter of φ40mm; the V-angle of the V-shaped roller guide groove is 60°, and it houses eight GCr15 bearing steel rollers.

[0028] A ground positioning mechanism 8 is installed below the frame of the aforementioned gantry truss mechanism. The rotary tiller drives into the guide rail of the ground positioning mechanism via its tracks. The ground positioning mechanism is equipped with hydraulic lifting and positioning pins. A 3D vision guidance system is formed by installing an anti-glare binocular 3D camera at each of the four corners of the top of the gantry truss mechanism. This system identifies the position of the lifting ring on top of the large-capacity battery pack and the coordinates of the rotary tiller's battery compartment, guiding the three-axis heavy-duty mobile platform to complete coarse positioning. The gantry truss mechanism has a battery buffer rack 9 on at least one side.

[0029] The system includes the following core components: Gantry truss structure: span ≥6m, height ≥3m, spanning the battery swapping station of a large-capacity battery pack, consisting of a rigid frame composed of four columns and a top beam; the columns are made of Q345B square tubing, and the top beam is made of H-beams, with a load-bearing capacity that meets the total weight of the three-axis platform and the battery.

[0030] Three-axis heavy-duty mobile platform: X-axis (longitudinal, along the length of the vehicle) is the sliding of the bridge on the top rail of the gantry; Y-axis (lateral) is the sliding of the frame on the rail; Z-axis (vertical) is the lifting movement of the sliding column; each axis is driven by a servo motor and gear transmission, with a single axis load capacity ≥2t and positioning accuracy ±1mm; the X-axis is driven by two servo motors synchronously to prevent the long-span bridge from being overloaded.

[0031] Floating connection device: The actuator frame located at the end of the sliding column on the Z-axis between the actuator and the heavy-duty actuator. The floating connection device includes a spring assembly 302, a hydraulic damper 303 and a rubber bushing 304, which allows passive compliance of ±20mm in the horizontal direction and ±2° around the vertical axis. When a large-capacity battery pack is introduced, the floating connection device absorbs residual alignment deviations and is automatically introduced mechanically after coarse positioning guided by vision.

[0032] Heavy-duty actuator: Installed on the base below the floating connection device, three sets of hydraulically driven grippers are arranged at equal intervals along the length of the large-capacity battery pack. Each set of hydraulically driven grippers includes left and right arms. The opening and closing action is achieved by the hydraulic cylinder pushing the connecting rod. The clamping force is ≥500kg / set. It works in conjunction with the lifting ring on the top of the large-capacity battery pack to achieve reliable gripping.

[0033] Conical guide pins and V-shaped roller guide grooves: Conical guide pins (15° cone angle, φ40 mm diameter) are provided at both ends of the large-capacity battery pack, and V-shaped roller guide grooves (60° V angle, with eight GCr15 bearing steel rollers built-in) are provided at the corresponding positions of the battery compartment inlet of the rotary tiller; During the final stage of descent, the conical guide pins slide into the V-shaped grooves to complete automatic correction of the large-capacity battery pack through the heavy-duty actuator, and the final positioning accuracy of ±2mm is achieved in conjunction with the floating connection device.

[0034] Over-dead-point mechanical locking mechanism: Three sets (six sets in total) of hydraulically driven over-dead-point latches are arranged on each side of the battery compartment of the rotary tiller. Each set of over-dead-point latches includes a hinge seat, a shift fork link and a locking hook. When locked, the shift fork link crosses the geometric dead point to form a self-lock. When the pressure or power is cut off, the locked state is maintained (normal lock and power release principle). Each set of over-dead-point latches is equipped with a proximity switch and a pressure sensor to achieve redundant confirmation of the locking state.

[0035] Ground positioning mechanism: The battery swapping station is equipped with four sets of hydraulic lifting positioning pins (pin diameter φ60, stroke 200mm). After the rotary tiller drives into position along the ground guide rail, the hydraulic lifting positioning pins automatically rise and insert into the reserved holes of the frame to precisely lock the vehicle body in the battery swapping station.

[0036] 3D Vision Guidance System: A binocular 3D camera (IP67 protection) with strong light resistance is installed at each of the four corners of the top of the gantry truss mechanism. It is used to identify the position of the lifting ring on the top of the large-capacity battery pack and the coordinates of the battery compartment of the rotary tiller, guiding the three-axis heavy-duty moving platform to complete the coarse positioning (accuracy ±5mm), and the mechanical guidance system completes the fine positioning.

[0037] Battery buffer racks: Located on both sides of the gantry truss, each side has one buffer position (expandable), with a load capacity of ≥1500kg. The sides of the buffer racks are equipped with DC 750V / 200A fast charging spring floating contacts, which automatically connect and charge the battery after it is in place, and monitor the SOC, temperature and insulation resistance in real time.

[0038] Based on the structural characteristics of the system described above, the specific steps of the battery swapping method are as follows: Step 1: The rotary tiller drives into the battery swapping station along the ground guide rail. After the arrival sensor is triggered, the four sets of lifting and positioning pins rise and insert into the reserved holes on the body of the rotary tiller to lock the position of the rotary tiller. Step 2: The controller sends a command to the hydraulic station to supply pressure, the six sets of over-dead-point latches unlock sequentially, and the proximity switch confirms that all latches are open; Step 3: The 3D vision guidance system scans and identifies the coordinates of the top lifting ring of the large-capacity battery pack. The X and Y axes of the three-axis heavy-duty moving platform work together to move the heavy-duty actuator directly above the large-capacity battery pack. Step 4: The Z-axis slide column descends, and after the heavy-duty actuator reaches the height of the lifting ring, the hydraulically driven grippers of the three sets of heavy-duty actuators simultaneously close and lock the large-capacity battery pack, and the sensor confirms that the clamping is tight; Step 5: Raise the large-capacity battery pack to a safe height (≥500mm above the roof) using the Z-axis, while keeping the X-axis dual drive synchronized, monitoring the torque at both ends in real time and preventing uneven load. Step 6: Move the old high-capacity battery pack horizontally along the Y-axis to the top of the buffer rack. Lower the Z-axis and place the high-capacity battery pack in the battery buffer rack using the hydraulically driven gripper of the heavy-duty actuator. Then, the hydraulically driven gripper of the heavy-duty actuator opens and releases, and the charging contacts of the battery buffer rack automatically connect. Step 7: The three-axis heavy-duty mobile platform moves to the buffer position of the fully charged large-capacity battery pack. The Z-axis descends, and the hydraulically driven grippers of the heavy-duty actuator close to grab the fully charged large-capacity battery pack and then lift it up. The Y-axis moves back to above the location where the rotary tiller places the large-capacity battery pack. The 3D vision guidance system guides precise alignment. Step 8: The Z-axis descends slowly, the floating connection device absorbs residual deviation, horizontal ±20mm, rotation ±2°, the guide pins at both ends of the large-capacity battery pack slide into the V-shaped roller guide groove to complete the fine positioning; after the large-capacity battery pack is in place, the six sets of over-dead-point mechanical locking mechanisms are hydraulically driven to lock, and the sensor confirms that all are locked; the hydraulically driven grippers of the heavy-duty actuator open to release the large-capacity battery pack, and the heavy-duty actuator rises to reset; Step 9: The hydraulic lifting positioning pin of the ground positioning mechanism retracts, and the rotary tiller drives away from the battery swapping station. The entire battery swapping process takes less than 8 minutes.

[0039] In summary, this system solves the following technical problems: 1) How to automatically and safely remove and install batteries weighing ≥500kg and with a length ≥5m; 2) How to ensure precise alignment between the battery and the vehicle-end locking mechanism during battery swapping, with an alignment error ≤5mm; 3) How to solve the cantilever deformation and guidance problems during the removal and placement of ultra-long batteries; 4) How to achieve a battery swapping time of less than 8 minutes in outdoor farmland environments.

[0040] The above description is intended to illustrate the technical means of the present invention and is not intended to limit the scope of the invention. Any obvious improvements or substitutions made to the present invention by those skilled in the art based on existing common knowledge also fall within the protection scope of the claims of the present invention. For example, a three-axis heavy-duty mobile platform uses an existing three-axis mobile mechanism, where the moving connection device and heavy-duty actuator achieve three-axis movement through a lead screw motor or similar means.

Claims

1. A heavy-duty, high-capacity battery swapping system for a rotary tiller, wherein the gantry truss mechanism (1) of the system is a frame structure, a three-axis heavy-duty moving platform (2) is provided at the top of the frame of the gantry truss mechanism, a floating connection device (3) and a heavy-duty actuator (4) are provided at the bottom of the three-axis heavy-duty moving platform, and a high-capacity battery pack (6) that can be loaded and unloaded from the top is provided at the rear of the rotary tiller (7) below the frame of the gantry truss mechanism; characterized in that The three-axis heavy-duty mobile platform (2) includes a gantry truss mechanism with symmetrically arranged slide rails (101) on both sides of the top beam of the frame along the length of the rotary tiller (7). The slide rails serve as the X-axis, the transversely arranged frame (201) connecting the two slide rails and moving on the slide rails serves as the Y-axis, and the vertically lifting and lowering sliding column (202) on the frame serves as the Z-axis. The frame of the three-axis heavy-duty mobile platform is provided with a first motor at both ends. The first gear at the motor shaft of the first servo motor meshes with the first gear rail inside the slide rail to drive the frame to move synchronously. The second gear rail on one side of the frame meshes with the second gear at the motor shaft of the second servo motor on the side of the column sleeve (203) fixed to the sliding column to drive the frame to move synchronously. The slide column moves left and right. The third gear on one side of the slide column meshes with the third gear on the motor shaft of the third servo motor fixed on the other side of the slide column, causing the slide column to move up and down. The floating connection device (3) and the heavy-duty actuator (4) are connected as one unit and fixedly installed on the execution frame (204) at the bottom end of the slide column. The heavy-duty actuator completes the gripping and placement through the lifting ring on the top of the large-capacity battery pack (6). The heavy-duty actuator and the floating connection device are arranged in at least three equidistant groups along the length of the large-capacity battery pack. The end of the heavy-duty actuator is provided with hydraulically driven grippers (401). Each set of hydraulically driven grippers includes left and right arms. The opening and closing actions of the left and right arms are operated by pushing the connecting rod through the hydraulic cylinder.

2. The heavy-duty, high-capacity battery swapping system for rotary tillers according to claim 1, characterized in that... The three-axis heavy-duty mobile platform (2) has L-shaped clamping frames (205) at both ends of the execution frame (204). One end of the clamping frame is inserted into the execution frame and the distance is adjusted by a ratchet wrench (206). The ratchet gear on the rotating shaft of the ratchet wrench in the execution frame meshes synchronously with the teeth at the ends of the upper and lower clamping frames in the execution frame. The torsion spring of the rotating shaft is connected to the brake pad to limit the reverse rotation of the ratchet. The other end of the clamping frame is provided with a protruding clamping head.

3. The heavy-duty, high-capacity battery swapping system for rotary tillers according to claim 1, characterized in that... The floating connection device (3) includes a spring assembly (302), a hydraulic damper (303), and a rubber bushing (304). The springs in the spring assembly are equidistantly arranged and connected to the rubber bushings at both ends through the hydraulic damper.

4. The heavy-duty, high-capacity battery swapping system for rotary tillers according to claim 3, characterized in that... The adjusting bolts (301) at the top of the floating connection device (3) pass through the execution frame (204) of the three-axis heavy-duty mobile platform (2). The hydraulic drive grippers (401) of the heavy-duty actuator (4) are respectively set on the floating connection device through the fixed seat (402). The connection between the hydraulic drive gripper and the fixed seat is provided with an adjusting frame (403) arranged in a cross shape. The hydraulic drive grippers are respectively symmetrically arranged on the short side of both sides of the adjusting frame. The other two sides of the long side of the adjusting frame are respectively symmetrically provided with hydraulic mechanical grippers (404). The hydraulic mechanical grippers are respectively set and adjusted to symmetrical positions on the long side of both sides of the adjusting frame through the slider (405). The clamping end of the hydraulic mechanical gripper is higher than the clamping end of the hydraulic drive gripper and clamps on both sides of the width side of the top of the large-capacity battery pack (6). The top of the adjusting bolt of the floating connection device is provided with an adjusting wrench for rotation.

5. The heavy-duty, high-capacity battery swapping system for rotary tillers according to claim 1, characterized in that... The large-capacity battery pack (6) is provided with tapered guide pins (601) at both ends, and the rotary tiller (7) is provided with V-shaped roller guide grooves at the corresponding positions of the battery compartment inlet. During the final stage of descent, the tapered guide pins of the large-capacity battery pack slide into the V-shaped grooves through the heavy-duty actuator (4) to complete automatic correction, and the floating connection device (3) is used to achieve positioning.

6. The heavy-duty, high-capacity battery swapping system for rotary tillers according to claim 5, characterized in that... The rotary tiller (7) is equipped with three sets of hydraulically driven over-dead-point latches on both sides of the battery compartment. Each set of over-dead-point latches includes a hinge seat, a shift fork link and a locking hook. When locked, the shift fork link crosses the geometric dead point to form a self-lock. When the pressure or power is cut off, it remains locked. Each set of over-dead-point latches is equipped with a proximity switch and a pressure sensor to achieve redundant confirmation of the locking state.

7. The heavy-duty, high-capacity battery swapping system for rotary tillers according to claim 5, characterized in that... The tapered guide pin (601) has a cone angle of 15° and a diameter of φ40mm; the V-angle of the V-shaped roller guide groove is 60°, and it contains eight GCr15 bearing steel rollers.

8. The heavy-duty, high-capacity battery swapping system for rotary tillers according to claim 1, characterized in that... The ground below the frame of the gantry truss mechanism (1) is provided with a ground positioning mechanism (8). The rotary tiller (7) drives into the guide rail of the ground positioning mechanism through the track. The ground positioning mechanism is provided with a hydraulic lifting positioning pin.

9. The heavy-duty, high-capacity battery swapping system for rotary tillers according to claim 1, characterized in that... The gantry truss mechanism (1) is equipped with a binocular 3D camera with strong light resistance at each of the four corners to form a 3D vision guidance system. The 3D vision guidance system identifies the position of the lifting ring on the top of the large-capacity battery pack (6) and the coordinates of the battery compartment of the rotary tiller (7), guiding the three-axis heavy-duty mobile platform (2) to complete the coarse positioning.

10. The heavy-duty, high-capacity battery swapping system for rotary tillers according to claim 1, characterized in that... The gantry truss mechanism (1) has a battery buffer rack (9) on at least one side.

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