Battery replacing robot and battery charging and replacing station

Abstract

The utility model relates to the technical field of battery charging and replacing, in particular to a battery replacing robot and a battery charging and replacing station. The utility model aims to solve the problem of poor battery replacement compatibility of an existing battery replacement robot. In order to achieve the purpose, the battery replacement robot comprises a body; a plurality of locking and unlocking mechanisms are arranged on the battery bearing part, the battery bearing part is arranged to be capable of bearing a power battery, and the locking and unlocking mechanisms are arranged to be capable of locking and unlocking the power battery of the vehicle to be subjected to battery replacement; the butt joint mechanism is arranged between the body and the battery bearing part, and the battery bearing part is detachably connected with the body through the butt joint mechanism. By arranging the butt joint mechanism, detachable connection between the body and the battery bearing part and rapid replacement of the battery bearing part can be achieved, the compatibility of the battery replacing robot is improved, and the battery replacing robot can cover more types of vehicles and batteries.

Description

Technical Field

[0001] The utility model relates to the technical field of battery charging and battery swapping, and in particular to a battery swapping robot and a battery charging and battery swapping station. Background Art

[0002] With the advancement of technology, the new energy vehicle industry is booming, and the visibility of new energy vehicles on the road is increasing. The ensuing energy replenishment problem has also deeply troubled manufacturers and car owners. As a feasible energy replenishment method, battery swapping is recognized by people for its advantages such as short energy replenishment time and good experience. However, due to the different development platforms of vehicles, the size and battery specifications of pure electric vehicles are very different, which makes it difficult for charging and swapping stations to be compatible with battery replacements of various specifications.

[0003] In order to solve the above technical problems, one solution in the prior art is to modify the battery swapping robot in the charging and swapping station and add a movable locking and unlocking mechanism to the battery swapping robot. For example, on the basis of the fixed locking and unlocking mechanism, a locking and unlocking mechanism that can be translated, a locking and unlocking mechanism that can be raised and lowered, and a locking and unlocking mechanism that can be translated and raised at the same time are added, so that the battery swapping robot can adapt to a variety of vehicles and batteries. Although the above technical solution increases the battery swapping compatibility of the battery swapping robot to a certain extent, it is limited by the small layout space of the battery swapping robot and the small movable range of the locking and unlocking mechanism. When the above technical solution is adopted, the battery swapping compatibility of the battery swapping robot is still insufficient.

[0004] Accordingly, the art needs a new technical solution to solve the above problems. Utility Model Content

[0005] In order to solve at least one of the above problems in the prior art, that is, to solve the problem of poor battery swapping compatibility of the existing battery swapping robots, the present application provides a battery swapping robot, the battery swapping robot comprising:

[0006] ontology;

[0007] A battery carrying part, on which a plurality of locking and unlocking mechanisms are arranged, the battery carrying part is arranged to carry a power battery, and the locking and unlocking mechanisms are arranged to lock and unlock the power battery of the vehicle to be replaced;

[0008] A docking mechanism is provided between the main body and the battery carrying part, and the battery carrying part is detachably connected to the main body through the docking mechanism.

[0009] The battery-swapping robot of the present application can achieve a detachable connection between the main body and the battery-carrying part, as well as rapid replacement of the battery-carrying part, by setting a docking mechanism, so that power batteries for vehicles of different models can be replaced by replacing different battery-carrying parts, thereby improving the compatibility of the battery-swapping robot and allowing the battery-swapping robot to cover more models of vehicles and batteries.

[0010] In the preferred technical solution of the above-mentioned battery-exchange robot, the docking mechanism includes a docking male end and a docking female end, one of the docking male end and the docking female end is arranged on the main body, and the other is arranged on the battery carrying part, and the docking male end and the docking female end can be docked and locked in the vertical direction.

[0011] By docking and locking the docking male end and the docking female end in the vertical direction, the guidance and locking between the battery carrying part and the body can be achieved at the same time.

[0012] In the preferred technical solution of the above-mentioned battery-exchange robot, the docking male end is arranged on the main body, and the docking female end is arranged on the battery carrying part.

[0013] In the preferred technical solution of the above-mentioned battery-exchange robot, the docking male end is arranged in the middle of the main body, and the docking female end is arranged in the middle of the battery carrying part.

[0014] The above arrangement can improve the connection stability between the body and the battery carrying part.

[0015] In the preferred technical solution of the above-mentioned battery-swapping robot, the docking mechanism is a robot tool quick-changing device.

[0016] The robot tool quick-change device is used as the docking mechanism, which can realize the electric locking between the main body and the battery carrying part, and the locking effect is good.

[0017] In the preferred technical solution of the above-mentioned battery-exchange robot, the main body includes a bottom frame, a lifting mechanism and a connecting frame, the lifting mechanism is arranged on the bottom frame, the connecting frame is connected to the lifting mechanism, the battery carrying part includes a fixed frame, and one of the docking male end and the docking female end is arranged on the upper side of the connecting frame, and the other is arranged on the lower side of the fixed frame.

[0018] In the preferred technical solution of the above-mentioned battery-swapping robot, the battery carrying part also includes a carrying plate, the carrying plate is floatingly connected to the fixed frame, and the locking and unlocking mechanism is arranged on the carrying plate.

[0019] The above-mentioned setting method can realize the floating alignment of the locking and unlocking mechanism and improve the success rate of battery replacement.

[0020] In the preferred technical solution of the above-mentioned battery-swapping robot, the docking mechanism also includes a male end of a power supply module and a female end of a power supply module, the male end of the power supply module is arranged at the docking male end, the female end of the power supply module is arranged at the docking female end, the female end of the power supply module is connected to the locking and unlocking mechanism through a cable, and the male end of the power supply module can be electrically connected to the female end of the power supply module; and / or

[0021] The docking mechanism further comprises a male end of an air supply module and a female end of an air supply module, wherein the male end of the air supply module is arranged at the docking male end, and the female end of the air supply module is arranged at the docking female end, and the male end of the air supply module can be sealed and connected to the female end of the air supply module; and / or

[0022] The docking mechanism further comprises a signal module male end and a signal module female end, wherein the signal module male end is arranged at the docking male end, the signal module female end is arranged at the docking female end, and the signal module male end can be connected to the signal module female end.

[0023] The above-mentioned setting method, by setting the power supply module, the air supply module and / or the signal module on the docking mechanism, can utilize the docking process of the docking mechanism to realize the transmission between electricity, gas and signals, which is beneficial to improving the docking accuracy of the power supply module, the air supply module and / or the signal module.

[0024] In the preferred technical solution of the above-mentioned battery-swapping robot, among the multiple locking and unlocking mechanisms, at least some of the locking and unlocking mechanisms are movably arranged.

[0025] The above arrangement method is conducive to improving the compatibility of the battery carrying part.

[0026] The present application also provides a charging and swapping station, which includes a battery swapping robot described in any one of the above-mentioned preferred technical solutions.

[0027] The charging and swapping station of the present application, by setting up the above-mentioned battery swapping robot, allows the battery swapping robot to achieve a detachable connection between the main body and the battery carrying part through a docking mechanism, thereby adapting to vehicles and batteries of different specifications by replacing the battery carrying part, which can significantly improve the battery swapping compatibility of the charging and swapping station, allowing the charging and swapping station to swap batteries for more types of vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present application is described below with reference to the accompanying drawings. In the accompanying drawings:

[0029] Figure 1 This is an assembly diagram of the battery-swapping robot of this application;

[0030] Figure 2 This is a main body structure diagram of the battery-swapping robot of this application;

[0031] Figure 3This is an exploded view of the battery carrying part of the battery swap robot of the present application;

[0032] Figure 4 This is an exploded view of the docking mechanism of the battery-swapping robot of the present application (I);

[0033] Figure 5 This is an exploded view of the docking mechanism of the battery-swapping robot of the present application (II).

[0034] Reference numerals list

[0035] 1. Main body; 11. Bottom frame; 12. Lifting mechanism; 13. Connection frame; 2. Battery carrying part; 21. Fixed frame; 22. Carrying plate; 3. Control part; 4. Locking and unlocking mechanism; 51. Power supply module male end; 52. Power supply module female end; 53. Signal module male end; 54. Signal module female end; 6. Docking mechanism; 61. Docking male end; 62. Docking female end; 7. Auxiliary power supply. DETAILED DESCRIPTION

[0036] The preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the protection scope of the present application.

[0037] It should be noted that, in the description of the present application, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, which are merely for the convenience of description and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of the present application, "multiple" refers to at least two.

[0038] In addition, it should be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0039] First refer to Figure 1 , a brief description of the battery-swapping robot of the present application is given.

[0040] like Figure 1As shown, in order to solve the problem of poor battery swapping compatibility of existing battery swapping robots, the present application provides a battery swapping robot, which includes: a main body 1, a battery carrying part 2 and a docking mechanism 6. A plurality of locking and unlocking mechanisms 4 are provided on the battery carrying part 2, the battery carrying part 2 is configured to carry a power battery, and the locking and unlocking mechanism 4 is configured to be able to lock and unlock the power battery of the vehicle to be battery swapped. The docking mechanism 6 is provided between the main body 1 and the battery carrying part 2, and the battery carrying part 2 is detachably connected to the main body 1 through the docking mechanism 6.

[0041] In a possible battery replacement process, the battery replacement robot is located under the vehicle to be replaced, and the battery carrier 2 is locked to the body 1 through the docking mechanism 6. The battery carrier 2 is first docked with the vehicle chassis, and then the locking and unlocking mechanism 4 locks or unlocks the battery, thereby replacing the power battery. If the locking and unlocking mechanism 4 on the battery carrier 2 does not match the vehicle to be replaced or the battery at the bottom of the vehicle, the current battery carrier 2 is removed through the docking mechanism 6 and replaced with another battery carrier 2 that matches the vehicle to be replaced, and then the above-mentioned battery replacement operation is repeated.

[0042] The battery-swapping robot of the present application can achieve a detachable connection between the main body 1 and the battery-carrying part 2, as well as a quick replacement of the battery-carrying part 2 by setting a docking mechanism 6, so that power batteries of vehicles of different models can be replaced by replacing different battery-carrying parts 2, thereby improving the compatibility of the battery-swapping robot and allowing the battery-swapping robot to cover more models of vehicles and batteries.

[0043] Combine the following Figures 1 to 5 , a preferred implementation mode of the battery-swapping robot of the present application is introduced in detail.

[0044] like Figures 1 to 5 As shown, in a preferred embodiment of the present application, the battery-exchanging robot includes a main body 1, a battery carrying part 2, a control part 3, a docking mechanism 6 and an auxiliary power supply 7.

[0045] like Figure 2As shown, the body 1 includes a bottom frame 11, a lifting mechanism 12 and a connecting frame 13. A walking part is provided on the bottom frame 11, and the bottom frame 11 can realize reciprocating movement between predetermined positions through the walking part. For example, the walking part includes a walking wheel and a walking mechanism, and the walking wheel is installed on the lower side of the bottom frame 11. A track is set between the battery rack and the battery exchange platform of the charging and swapping station, and the walking wheel is located on the track. The walking mechanism includes a driving motor and a gear rack assembly, the rack is installed between the tracks, the driving motor is installed on the lower side of the bottom frame 11, the output shaft of the driving motor is connected to the gear, and the gear is meshed with the rack. In this way, when the driving motor is running, the reciprocating movement of the body 1 along the track can be realized by the coordinated movement of the gear and the rack. The lifting mechanism 12 is a scissor-type lifting mechanism 12 in this application, and one side of the scissor-type lifting mechanism 12 is connected to the bottom frame 11, and the other side is connected to the connecting frame 13. When the scissor-type lifting mechanism 12 is in motion, the vertical lifting of the connecting frame 13 relative to the bottom frame 11 can be realized.

[0046] See also Figure 1 and Figure 3 The battery carrying part 2 includes a fixed frame 21 and a carrying plate 22. The fixed frame 21 is a frame formed by welding rectangular steel pipes, and the carrying plate 22 is formed by processing steel plates. The carrying plate 22 is connected to the upper side of the fixed frame 21, and the locking and unlocking mechanism 4 is arranged on the carrying plate 22. Furthermore, the carrying plate 22 is floatingly connected to the fixed frame 21. The floating connection between the carrying plate 22 and the fixed frame 21 is a conventional means in the field, and this application will not repeat it. Preferably, among the multiple locking and unlocking mechanisms 4, at least part of the locking and unlocking mechanisms 4 are movably arranged. For example, the locking and unlocking mechanisms 4 shown in the present embodiment are arranged in a total of twelve, of which the two locking and unlocking mechanisms 4 located in the middle part of the carrying plate 22 are translatably movable locking and unlocking mechanisms, and among the ten locking and unlocking mechanisms 4 located on the peripheral side of the carrying plate 22, the four locking and unlocking mechanisms 4 ( Figure 1 The upper left side of the middle part is a lock and unlock mechanism that can be lifted, and the other six lock and unlock mechanisms 4 are fixedly arranged on the carrier plate 22. The specific structures and connection methods of the lock and unlock mechanism that can be translated and the lock and unlock mechanism that can be lifted are conventional means in the art, and this application will not repeat them.

[0047] In the above embodiment, the carrier plate 22 is connected to the fixed frame 21 in a floating manner, so that the locking and unlocking mechanism 4 can be aligned in a floating manner, thereby improving the success rate of battery replacement. At least part of the locking and unlocking mechanism 4 can be movably arranged, which is conducive to improving the compatibility of the battery carrier 2, so that the same battery carrier 2 can correspond to and match batteries of various specifications.

[0048] See also Figure 3, the control unit 3 is arranged on the fixed frame 21, more specifically, the control unit 3 is fixedly connected to one side of the fixed frame 21 to improve the connection stability of the control unit 3 and avoid the floating process of the carrier plate 22 affecting the control unit 3. Preferably, the control unit 3 includes a servo controller and an encoder, and the number of the servo controller and the encoder is less than the number of the locking and unlocking mechanisms 4. For example, two servo controllers and two encoders are provided, and among the twelve locking and unlocking mechanisms 4, every six locking and unlocking mechanisms 4 are connected to a servo controller and an encoder. Among them, the servo controller realizes the locking and unlocking action by controlling the rotation speed and position of the motor of the locking and unlocking mechanism 4, and the encoder realizes high-precision position control by measuring the rotation angle of the motor of the locking and unlocking mechanism 4. The specific structure and model of the servo controller and the encoder in this application are not limited, and any servo controller and encoder that can realize the above functions can be applied to this application.

[0049] See also Figures 2 to 5 The docking mechanism 6 includes a docking male end 61 and a docking female end 62, one of which is disposed on the body 1 and the other is disposed on the battery carrying portion 2, so that the battery carrying portion 2 is detachably connected to the body 1 through the docking mechanism 6. Figure 4 and Figure 5 As shown, the docking mechanism 6 is preferably a robot tool quick-change device, which includes a docking male end 61 and a docking female end 62, wherein the docking male end 61 is arranged on the body 1, and the docking female end 62 is arranged on the battery carrying part 2. More specifically, the docking male end 61 is arranged in the middle of the upper side of the connecting frame 13, and the docking female end 62 is arranged in the middle of the lower side of the fixed frame 21. A locking mechanism and a guide column are arranged on the docking male end 61, and a locking hole and a guide hole are arranged on the docking female end 62. In the present application, three locking mechanisms and three guide columns are arranged on the docking male end 61, and three locking holes and three guide holes are arranged on the docking female end 62 accordingly. During the docking process, the docking male end 61 and the docking female end 62 are plugged into each other in the vertical direction through the guide column and the guide hole. After plugging, the locking mechanism and the locking hole are used to achieve electrical locking. After electrical locking, the battery carrying part 2 is fixed on the body 1 and can be moved and lifted with the body 1.

[0050] By providing a docking mechanism 6, the docking between the main body 1 and the battery carrying part 2 can be achieved, and the docking accuracy and connection stability of the two can be improved. By plugging and locking the docking male end 61 and the docking female end 62 in the vertical direction, the guidance and locking between the battery carrying part 2 and the main body 1 can be achieved at the same time. The docking male end 61 is arranged in the middle of the main body 1, and the docking female end 62 is arranged in the middle of the battery carrying part 2, which can improve the connection stability between the main body 1 and the battery carrying part 2. By using a robot tool quick-change device as the docking mechanism 6, the electric locking between the main body 1 and the battery carrying part 2 can be achieved, and the locking effect is good. Usually, the robot tool quick-change device is applied to the end of the manipulator, and the present application innovatively applies the robot tool quick-change device to the battery carrying part 2 and the main body 1 of the battery-changing robot, realizing the detachable connection and stable locking between the battery carrying part 2 and the main body 1.

[0051] It should be noted that the vertical direction mentioned above in the present application is not limited to an absolute vertical direction. In fact, due to the limitations of manufacturing technology and precision, an absolute vertical direction is difficult to achieve. Therefore, as long as the docking male end 61 and the docking female end 62 are in a roughly vertical direction during the docking process, for example, the docking direction of the docking male end 61 and the docking female end 62 has a certain angle with the vertical direction, and the angle is controlled within 3°.

[0052] Continue to see Figure 4 and Figure 5 The battery-swapping robot also includes a power supply module male end 51, a power supply module female end 52, a signal module male end 53 and a signal module female end 54. One of the power supply module male end 51 and the power supply module female end 52 is arranged at the docking male end 61, and the other is arranged at the docking female end 62 and connected to the control unit 3. The power supply module male end 51 can be electrically connected to the power supply module female end 52. Preferably, the power supply module male end 51 is arranged on the peripheral side of the docking male end 61, and the power supply module male end 51 is provided with a cable interface and a jack, and the cable interface is connected to the power supply source through a cable; the power supply module female end 52 is arranged on the peripheral side of the docking female end 62, and the power supply module female end 52 is provided with a cable interface and a pin, and the cable interface is connected to the control unit 3 through a cable. When the docking male end 61 and the docking female end 62 are plugged into each other, the pin on the power supply module female end 52 is inserted into the jack on the power supply module male end 51 to achieve power conduction.

[0053] The signal module male end 53 is arranged at the docking male end 61, and the signal module female end 54 is arranged at the docking female end 62, and the signal module male end 53 can be connected to the signal module female end 54. Preferably, the signal module male end 53 is arranged at the peripheral side of the docking male end 61, and the signal module male end 53 is provided with a signal line interface and a jack, and the signal line interface is connected to the signal source through a signal line; the signal module female end 54 is arranged at the peripheral side of the docking female end 62, and the signal module female end 54 is provided with a signal line interface and a pin, and the signal line interface is connected to the control unit 3 through a signal line. When the docking male end 61 and the docking female end 62 are plugged into each other, the pin on the signal module female end 54 is inserted into the jack on the signal module male end 53 to realize signal transmission.

[0054] By setting the male end 51 of the power supply module and the female end 52 of the power supply module, the control unit 3 and the locking and unlocking mechanism 4 can be powered by docking the two, reducing the structural complexity of the battery-swapping robot. By setting the male end 53 of the signal module and the female end 54 of the signal module, signal transmission can be achieved by docking the two. By setting the power supply module and the signal module on the docking mechanism 6, the docking process of the docking mechanism 6 can be used to achieve power and signal transmission, which is conducive to improving the docking accuracy of the power supply module and the signal module.

[0055] Return to see Figure 1 and Figure 3 , the auxiliary power supply 7 is arranged on the battery carrying part 2, and the auxiliary power supply 7 is connected to the control part 3. In the present application, the auxiliary power supply 7 is preferably a rechargeable power supply, which is fixedly mounted on the fixing frame 21 and is located on the opposite side of the control part 3. The rechargeable power supply has a charging interface and a discharging interface, the discharging interface is connected to the control part 3 through a power supply line, and the charging interface is connected to the female end 52 of the power supply module.

[0056] The applicant has found that since the control unit 3 is arranged on the battery carrying unit 2, when the docking mechanisms 6 are disconnected from each other (such as when replacing the battery carrying unit 2) or when the control unit 3 is powered off due to other reasons, an error will be generated when the control unit 3 is powered on again. Eliminating the error code is not only time-consuming, but also seriously affects the battery replacement rhythm. However, by providing an auxiliary power supply 7, the present application can use the auxiliary power supply 7 to power the control unit 3 when it is not in the battery replacement state or the power is off, thereby preventing the control unit 3 from generating an error when it is powered on again after the power is off, thereby improving the working stability of the battery replacement robot. The arrangement of the power supply module female end 52 connected to the charging interface of the rechargeable power supply can use the power supply module female end 52 provided on the battery carrying unit 2 to charge the rechargeable power supply, ensuring that the power of the rechargeable power supply is always in a suitable range.

[0057] It should be noted that the above implementation is only used to illustrate the principle of the present application and is not intended to limit the scope of protection of the present application. Without departing from the principle of the present application, those skilled in the art may adjust the above configuration so that the present application can be applied to more specific application scenarios.

[0058] For example, although the above embodiment is introduced in conjunction with the control unit 3 of the battery-swapping robot being arranged on the battery carrying unit 2, the arrangement of the control unit 3 is not necessary, and the technical personnel in the field of this invention may also adjust the arrangement position thereof, and such adjustment does not deviate from the principle of this application. For example, the control unit 3 may also be arranged on the main body 1, and connected to the locking and unlocking mechanism 4 through a power plug and socket assembly and a signal plug and socket assembly. For another example, the control unit 3 may not be arranged, but the control function may be integrated into the locking and unlocking mechanism 4, for example, each motor of the locking and unlocking mechanism 4 is configured with a servo controller and an encoder, etc.

[0059] For another example, in a replaceable embodiment, although the above embodiment is introduced in combination with the main body 1 including the bottom frame 11, the lifting mechanism 12 and the connecting frame 13 as an example, this is only a possible embodiment, and those skilled in the art can select the specific structure of the main body 1 based on the specific application scenario. For example, the walking part may not be provided on the bottom frame 11, and the main body 1 is arranged in a fixed manner under the battery exchange platform; for another example, the lifting mechanism 12 may not be provided, but the bottom frame 11 and the connecting frame 13 are lifted and lowered as a whole by a lifting device. For another example, the specific structure and composition form of the walking part are not unique. On the premise that the walking of the main body 1 can be realized, those skilled in the art can also adjust the walking part, such as replacing the walking wheel with a driving wheel, thereby eliminating the drive motor and the rack and pinion assembly. For another example, the scissor-type lifting mechanism 12 is only a preferred embodiment, and the lifting mechanism 12 can also be used in other ways, such as using a chain mechanism or a rigid chain lifting mechanism 12 to achieve lifting.

[0060] For another example, in another replaceable embodiment, the specific setting mode of the battery carrying part 2 is not fixed, and those skilled in the art can make adjustments based on specific application scenarios. For example, the battery carrying part 2 can only include a fixed frame 21 or a carrying plate 22, or other plates or frames can be added between the two, as long as the battery carrying part 2 can effectively carry the battery and dock with the body 1. For another example, in addition to being floatingly arranged on the fixed frame 21, the carrying plate 22 can also be fixedly connected to the fixed frame 21. For another example, among the multiple locking and unlocking mechanisms 4 arranged on the carrying plate 22, all can be set as fixed locking and unlocking mechanisms, or all can be set as movable locking and unlocking mechanisms. When there is a movable locking and unlocking mechanism, at least one of the locking and unlocking mechanisms that can be lifted and lowered, the locking and unlocking mechanisms that can be translated, and the locking and unlocking mechanisms that can be translated and lifted at the same time 4 can be included. The number of locking and unlocking mechanisms 4 is also not fixed, and those skilled in the art can adjust the number based on the specific battery specifications and the number of battery specifications that the battery carrying part 2 can be compatible with.

[0061] For another example, in another replaceable embodiment, although the control unit 3 is described in this application in combination with a servo controller and an encoder as an example, the specific composition form of the control unit 3 is not unique. For example, the control unit 3 may also include only one of the servo controller and the encoder. It is only exemplary that the number of servo controllers and encoders are both set to two. Those skilled in the art can adjust it based on the specific application scenario. At the same time, the number of locking and unlocking mechanisms 4 connected to each servo controller and encoder can also be adjusted. This adjustment does not deviate from the principle of the present application. For another example, in addition to being fixedly connected to one side of the fixed frame 21, the control unit 3 can also be set at the bottom or inside of the fixed frame 21, as long as there is enough space at the location to install the controller and the controller does not interfere with other mechanisms during the battery replacement process.

[0062] For another example, in another replaceable embodiment, the specific structural form of the docking mechanism 6 is not unique, and those skilled in the art can make adjustments as long as the effective docking between the main body 1 and the battery carrying part 2 can be achieved. For example, the docking mechanism 6 can also be implemented by using an electromagnetic suction device, that is, an electromagnet is provided on the main body 1, and a magnetic metal is provided on the battery carrying part 2. When the electromagnet is energized, the magnetic attraction between the electromagnet and the magnetic metal generates suction to achieve the docking between the battery carrying part 2 and the main body 1. For another example, the docking mechanism 6 can also adopt a mechanical telescopic mechanism, that is, a driving motor is provided on the main body 1 to drive the rod body or slider to telescope (such as horizontal telescope, etc.), and a socket is provided on the battery carrying part 2. When the battery carrying part 2 is placed on the main body 1, the rod body or slider is extended and inserted into the socket to achieve the docking between the battery carrying part 2 and the main body 1. In addition, although the present application is introduced in combination with the example that the docking male end 61 is provided on the main body 1 and the docking female end 62 is provided on the battery carrying part 2, it is obvious that the positions of the two can be swapped. When the docking mechanism 6 uses a robot tool quick change device, the specific structure of the device is not fixed, and technicians in this field can choose other models to replace it, as long as the replaced quick change device effectively meets the load requirements and locking force requirements. Furthermore, the location and number of the docking male end 61 and the docking female end 62 can also be adjusted by technicians in this field, as long as the docking and locking between the body 1 and the battery carrier 2 can be achieved.

[0063] For another example, the setting of the power supply module male end 51, the power supply module female end 52, the signal module male end 53 and the signal module female end 54 is not necessary, and those skilled in the art may selectively set only one pair of modules, or add other possible modules. For example, only the power supply module male end 51 and the power supply module female end 52 may be set for transmitting power, and the signal may be transmitted wirelessly. For another example, the power supply module male end 51 and the power supply module female end 52 may not be set, but two independent power supplies and power supply lines may be set to supply power to the main body 1 and the battery carrying part 2 respectively. For another example, the power supply and the signal may be combined in one module, that is, a combined module male end and a combined module female end are set, and the combined module male end is provided with power pins and signal pins independent of each other, and the combined module female end is provided with power jacks and signal jacks independent of each other. When the combined module male end and the combined module female end are plugged into each other, the transmission of power and signal is realized at the same time. For another example, when the battery-swap robot needs to use a starting device, an air supply module can be added. The air supply module includes a male end of the air supply module and a female end of the air supply module. One of the male end of the air supply module and the female end of the air supply module is set at the docking male end 61, and the other is set at the docking female end 62. The male end of the air supply module can be sealed and connected with the female end of the air supply module. For another example, the setting positions of the power supply module male end 51 and the power supply module female end 52 can be swapped, and the setting positions of the signal module male end 53 and the signal module female end 54 can also be swapped. For another example, a pair or all of the power supply module male end 51, the power supply module female end 52, the signal module male end 53 and the signal module female end 54 may not be set on the docking mechanism 6, but may be respectively set on the main body 1 and the battery carrying part 2 (such as respectively set on the upper side of the connecting frame 13 and the lower side of the fixed frame 21). As long as the main body 1 and the battery carrying part 2 are docked through the docking mechanism 6, the power supply module male end 51 can be plugged into the power supply module female end 52, and the signal module male end 53 can be plugged into the signal module female end 54.

[0064] For another example, the provision of the auxiliary power supply 7 is only preferred. In other embodiments, those skilled in the art may not provide the auxiliary power supply 7. Of course, this will not be conducive to improving the battery replacement rhythm. For another example, in addition to a rechargeable power supply, the auxiliary power supply 7 can also be a non-rechargeable power supply. In this case, the auxiliary power supply 7 needs to be replaced regularly. The setting position of the auxiliary power supply 7 is not restrictive. It can also be set at any position of the battery carrying part 2, as long as the position does not interfere with the battery replacement process. For example, the auxiliary power supply 7 can also be set on the same side of the fixed frame 21 as the control unit 3, which facilitates the connection between the two.

[0065] Of course, the above-mentioned replaceable implementations, as well as the replaceable implementations and the preferred implementations, can be used in a cross-coordinated manner to combine new implementations to suit more specific application scenarios.

[0066] The present application also provides a charging and swapping station, which includes a battery swapping robot introduced in any of the above-mentioned embodiments.

[0067] The charging and swapping station of the present application, by setting up the above-mentioned battery swapping robot, allows the battery swapping robot to achieve a detachable connection between the main body 1 and the battery carrying part 2 through the docking mechanism 6, so as to adapt to vehicles and batteries of different specifications by replacing the battery carrying part 2, which can significantly improve the battery swapping compatibility of the charging and swapping station, allowing the charging and swapping station to swap batteries for more types of vehicles.

[0068] The following is an introduction to a possible battery swapping process of the battery swapping robot.

[0069] In one possible implementation, a tool warehouse is provided in the charging and swapping station, and a plurality of battery carriers 2 of different specifications are stored in the tool warehouse. When the battery carrier 2 currently installed on the body 1 of the battery swapping robot does not match the model of the vehicle to be swapped, the battery carrier 2 replacement program is started, at which time the locking mechanism of the docking male end 61 disconnects the connection between the locking holes of the docking female end 62, and the battery carrier 2 is separated from the body 1 in the vertical direction. During the separation process, the auxiliary power supply 7 is started to supply power to the control unit 3, and the power supply module male end 51 and the power supply module female end 52 are separated from each other, and the signal module male end 53 and the signal module female end 54 are separated from each other. The replaced battery carrier 2 is recycled into the tool warehouse, and at this time the auxiliary power supply 7 is charged in the tool warehouse to ensure the power. The new battery carrier 2 that matches the vehicle to be replaced is docked with the body 1 in the vertical direction. After docking, the locking mechanism of the docking male end 61 of the new battery carrier 2 is electrically locked with the locking hole of the docking female end 62 on the body 1, the male end 51 of the power supply module of the new battery carrier 2 is plugged into the female end 52 of the power supply module of the body 1, the male end 53 of the signal module on the new battery carrier is plugged into the female end 54 of the signal module on the body 1, and the auxiliary power supply 7 on the new battery carrier 2 is powered off. Driven by the walking mechanism and the walking wheels, the battery replacement robot moves along the track to the bottom of the vehicle to be replaced. The lifting mechanism 12 is operated to lift the battery carrier 2 to the chassis of the vehicle, and the control unit 3 controls the unlocking mechanism 4 to unlock the low-power battery of the vehicle to be replaced. After the unlocking is completed, the lifting mechanism 12 descends, and the battery carrier 2 drives the low-power battery to descend. Subsequently, the battery replacement robot transports the low-power battery to the battery rack, receives the fully charged battery from the battery rack, and moves again to the bottom of the vehicle to be replaced. The lifting mechanism 12 is operated to lift the battery carrying part 2 together with the fully charged battery to the vehicle chassis, and the control unit 3 controls the locking and unlocking mechanism 4 to lock the fully charged battery. After the locking is completed, the lifting mechanism 12 is lowered again. At this time, the battery replacement is completed.

[0070] Those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims of the present application, any one of the claimed embodiments may be used in any combination.

[0071] So far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present application.

Claims

1. A battery-swapping robot, characterized in that: The battery-swapping robot comprises: ontology; A battery carrying part, on which a plurality of locking and unlocking mechanisms are arranged, the battery carrying part is arranged to carry a power battery, and the locking and unlocking mechanisms are arranged to lock and unlock the power battery of the vehicle to be replaced; A docking mechanism is provided between the main body and the battery carrying part, and the battery carrying part is detachably connected to the main body through the docking mechanism.

2. The battery-swapping robot according to claim 1, characterized in that: The docking mechanism includes a docking male end and a docking female end, one of which is arranged on the body, and the other is arranged on the battery carrying part, and the docking male end and the docking female end can be docked and locked in the vertical direction.

3. The battery-swapping robot according to claim 2, characterized in that: The docking male end is arranged on the body, and the docking female end is arranged on the battery carrying part.

4. The battery-swapping robot according to claim 3, characterized in that: The docking male end is arranged in the middle of the body, and the docking female end is arranged in the middle of the battery carrying part.

5. The battery-swapping robot according to claim 2, characterized in that: The docking mechanism is a robot tool quick change device.

6. The battery-swapping robot according to claim 2, characterized in that: The main body includes a bottom frame, a lifting mechanism and a connecting frame, the lifting mechanism is arranged on the bottom frame, the connecting frame is connected to the lifting mechanism, the battery carrying part includes a fixed frame, one of the docking male end and the docking female end is arranged on the upper side of the connecting frame, and the other is arranged on the lower side of the fixed frame.

7. The battery-swapping robot according to claim 6, characterized in that: The battery carrying part further comprises a carrying plate, the carrying plate is floatingly connected to the fixing frame, and the locking and unlocking mechanism is arranged on the carrying plate.

8. The battery-swapping robot according to claim 2, characterized in that: The docking mechanism further includes a power supply module male end and a power supply module female end, the power supply module male end is arranged at the docking male end, the power supply module female end is arranged at the docking female end, the power supply module female end is connected to the locking and unlocking mechanism through a cable, and the power supply module male end can be electrically connected to the power supply module female end; and / or The docking mechanism further comprises a male end of an air supply module and a female end of an air supply module, wherein the male end of the air supply module is arranged at the docking male end, and the female end of the air supply module is arranged at the docking female end, and the male end of the air supply module can be sealed and connected to the female end of the air supply module; and / or The docking mechanism further comprises a signal module male end and a signal module female end, wherein the signal module male end is arranged at the docking male end, the signal module female end is arranged at the docking female end, and the signal module male end can be connected to the signal module female end.

9. The battery-swapping robot according to claim 1, characterized in that: Among the multiple locking and unlocking mechanisms, at least some of the locking and unlocking mechanisms are movably arranged.

10. A charging and swapping station, characterized in that: The charging and swapping station includes the battery swapping robot described in any one of claims 1 to 9.

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