Parallel type child-mother double-robot battery swap station

Abstract

The utility model discloses a parallel type child-mother double-robot battery swap station which comprises a battery charging bin, a vehicle battery swap port and child-mother battery swap robots used for swap of new energy vehicles. The battery charging bin comprises a temporary storage station and a plurality of charging stations, the temporary storage station and the charging stations are arranged in parallel, the battery charging bin communicates with a vehicle battery replacing opening, and the child-mother battery replacing robot carries a battery pack between the battery charging bin and a new energy vehicle; the caching station and the charging station are both provided with carrying seats, the carrying seats are provided with charging interfaces for charging battery packs, and the battery packs are placed above the carrying seats of the charging station; the primary-secondary battery replacement robot comprises a lifting appliance, a primary robot for driving the lifting appliance to move in the X direction, a secondary robot for driving the lifting appliance to move in the Y direction, a lifting driving mechanism for driving the lifting appliance to lift up and down and a transverse fine adjustment mechanism. According to the utility model, the automation degree of battery replacement is improved, and the subsequent use cost is greatly reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of battery swap stations, and in particular relates to a parallel parent-child dual-robot battery swap station. Background Art

[0002] New energy vehicles refer to vehicles that use unconventional automotive fuels as their power source (or use conventional automotive fuels but adopt new on-board power devices), and integrate advanced technologies in vehicle power control and drive to form vehicles with advanced technical principles, new technologies, and new structures.

[0003] New energy vehicles, with their zero-pollution and low-noise advantages and the country's vigorous promotion, are seeing a year-on-year increase in their number. As supporting facilities for these vehicles, an increasing number of new energy vehicle battery swap stations are springing up. However, existing stations suffer from illogical planning and layout, requiring forks to transport batteries to the swapping station during the battery swapping process, increasing safety risks and operating costs. Utility Model Content

[0004] The main technical problem solved by the utility model is to provide a parallel parent-child dual-robot battery swap station, which improves the automation level of battery swapping and greatly reduces the cost of subsequent use.

[0005] In order to solve the above technical problems, the present invention adopts a technical solution: a parallel parent-child dual-robot battery swap station, comprising a battery charging compartment, a vehicle battery swap port, and a parent-child battery swap robot for battery swapping of new energy vehicles;

[0006] The battery charging compartment includes a cache station and several charging stations, which are arranged in parallel. The battery charging compartment is connected to the vehicle's battery swap port. The parent-child battery swap robot transports the battery pack between the battery charging compartment and the new energy vehicle, thereby improving the degree of automation of battery swapping and greatly reducing the cost of subsequent use and the problems that may arise during later use.

[0007] The cache station and the charging station are both provided with a carrier, the carrier is equipped with a charging interface for charging the battery pack, and the battery pack is placed above the carrier of the charging station;

[0008] The parent-child battery swapping robot includes a sling, a mother robot that drives the sling to move in the X direction, a child robot that drives the sling to move in the Y direction, a lifting drive mechanism that drives the sling to move up and down, and a lateral fine-tuning mechanism. The mother-child dual-robot design enables the transport of battery packs in the X, Y, and height directions, with a high degree of automation, greatly reducing the cost of battery swapping.

[0009] The mother robot includes an X-axis moving frame, a gear and an X-axis drive motor, wherein the X-axis drive motor is fixed to the X-axis moving frame, and the output shaft of the X-axis drive motor is connected to the gear, the gear is meshed with the rack, and the rack is fixed to the battery swap station;

[0010] The sub-robot includes a Y-direction moving frame, a Y-direction walking wheel and a Y-direction driving motor, wherein the Y-direction driving motor is fixed to the Y-direction moving frame, and the output shaft of the Y-direction driving motor is connected to the Y-direction walking wheel, the Y-direction walking wheel is located above the Y-direction track and can roll along the direction of the Y-direction track, and the Y-direction track is installed on the X-direction moving frame;

[0011] An extension track docking with the Y-direction track is provided above the vehicle battery swap port, and the extension track includes a Y-direction extension track, a connecting track and a connecting push rod that drives the connecting track to move back and forth along the Y-direction. The Y-direction extension track is fixed to the battery swap station, and the ends of the Y-direction extension track and the connecting track are both provided with inclined surfaces, and the inclined surface of the Y-direction extension track has the same inclination as the inclined surface of the connecting track. Under the drive of the connecting push rod, the connecting track approaches or moves away from the Y-direction extension track so that the two inclined surfaces fit together or form a gap. When the two inclined surfaces fit together, the connecting track moves away from the X-direction moving frame, thereby not hindering the movement of the X-direction moving frame. When the connecting track docks with the Y-direction track, a gap is generated between the two inclined surfaces of the Y-direction extension track and the connecting track. Since the inclined surface is inclined, it does not affect the rolling of the Y-direction walking wheel along the Y-direction track, the connecting track and the Y-direction extension track, so that the sub-robot can move to the top of the vehicle battery swap port.

[0012] Furthermore, the connecting push rod is installed at the battery swap station, and the connecting push rod is connected to the slider, the slider is connected to the connecting rail, the slider has a positioning pin, and the X-axis movable frame is provided with a pin hole corresponding to the positioning pin.

[0013] Furthermore, the lateral fine-tuning mechanism includes a mounting seat, a fine-tuning screw and a fine-tuning drive motor, the fine-tuning drive motor is fixed to a fixed plate, the fixed plate is fixed to a Y-axis movable frame, the output shaft of the fine-tuning drive motor is connected to the fine-tuning screw, the fine-tuning screw is threadedly connected to the connecting block, and the connecting block is connected to the mounting seat.

[0014] Furthermore, the lifting drive mechanism includes several groups of pulley assemblies, steel wire ropes wound around the pulley assemblies, a drum and a lifting drive motor. The pulley assembly includes a fixed pulley and two movable pulleys. The fixed pulley is installed on a mounting seat, and the two movable pulleys are installed on a sling. The steel wire rope passes around the fixed pulley and the two ends of the steel wire rope pass through the two movable pulleys respectively. One end of the steel wire rope is fixed to the mounting seat, and the other end of the steel wire rope is connected to the drum. The drum is connected to the transmission wheel assembly, and the transmission wheel assembly is connected to the lifting drive motor. The lifting drive motor is fixed to the mounting seat.

[0015] Furthermore, the surface of the drum is provided with a threaded groove matching the wire rope, the drum is sleeved with a rope guide ring, the inner surface of the rope guide ring is provided with a threaded rib matching the threaded groove, the rope guide ring has a rope threading groove, and the wire rope passes through the rope threading groove and is wound around the threaded groove.

[0016] Furthermore, the mounting seat is provided with a limiting rod, and the guide rope ring is provided with a guide groove matching the limiting rod.

[0017] Furthermore, the sling is equipped with a tensioning structure, which includes a guide column, a tensioning spring and a sliding block. The upper end of the guide column is fixed with a limit ring, and the lower end of the guide column passes through the sliding block and is fixed to the sling. The tensioning spring is sleeved on the guide column, and the tensioning spring is located between the limit ring and the sliding block, and the movable pulley is installed on the sliding block.

[0018] Furthermore, it also includes a pulley sleeve, the movable pulley is installed inside the pulley sleeve, the pulley sleeve is fixed to the sliding block, the pulley sleeve is provided with a through hole, and the wire rope passes through the through hole and then winds around the movable pulley.

[0019] Furthermore, the sling is equipped with at least one locking mechanism and a plurality of guide blocks corresponding to the frame of the battery pack, and the guide blocks are provided with guide surfaces.

[0020] Furthermore, the locking mechanism includes two tongue plates and an electric push rod that drives the tongue plates to rotate and engage in the slots of the battery pack. The two tongue plates are respectively fixed to two rotating shafts, the rotating shafts are rotatably connected to the slings, and the two rotating shafts are respectively fixed to the two rotating plates. One end of the electric push rod is rotatably connected to the first adjusting block, the first adjusting block is installed on the sling, and the other end of the electric push rod is rotatably connected to the second adjusting block, the second adjusting block is rotatably connected to one of the two rotating plates, and the two rotating plates are rotatably connected to the two ends of the connecting rod.

[0021] The beneficial effects of the present invention include at least the following:

[0022] The utility model includes a battery charging compartment, a vehicle battery swap port, and a parent-child battery swap robot for swapping batteries for new energy vehicles. The battery charging compartment is connected to the vehicle battery swap port. The parent-child battery swap robot transports the battery pack between the battery charging compartment and the new energy vehicle, thereby improving the automation level of battery swapping and greatly reducing the cost of subsequent use and the problems that may arise during the later use process.

[0023] The mother-and-child battery-exchanging robot of the present invention includes a sling, a mother robot that drives the sling to move along the X direction, a child robot that drives the sling to move along the Y direction, a lifting drive mechanism that drives the sling to move up and down, and a lateral fine-tuning mechanism. The design of a mother-and-child dual robot is adopted to realize the transportation of the battery pack in the X direction, Y direction and height direction, with a high degree of automation, which greatly reduces the cost of battery replacement. It is worth noting that the lateral fine-tuning mechanism includes a mounting seat, a fine-tuning screw and a fine-tuning drive motor. The fine-tuning drive motor is fixed to a fixed plate, and the fixed plate is fixed to the Y-direction movable frame. The output shaft of the fine-tuning drive motor is connected to the fine-tuning screw, the fine-tuning screw is threadedly connected to the connecting block, and the connecting block is connected to the mounting seat, so as to perform fine-tuning of the sling in the X direction to ensure the accuracy of the position of the battery pack in the new energy vehicle.

[0024] The upper part of the vehicle battery swap port of the present invention is provided with an extension track docking with the Y-direction track, the extension track includes a Y-direction extension track, a connecting track and a connecting push rod driving the connecting track to move back and forth along the Y-direction, the ends of the Y-direction extension track and the connecting track are both provided with inclined surfaces, and the inclined surface of the Y-direction extension track has the same inclination as the inclined surface of the connecting track. Under the drive of the connecting push rod, the connecting track approaches or moves away from the Y-direction extension track so that the two inclined surfaces fit together or form a gap. When the two inclined surfaces fit together, the connecting track moves away from the X-direction moving frame, thereby not hindering the movement of the X-direction moving frame. When the connecting track docks with the Y-direction track, a gap is generated between the two inclined surfaces of the Y-direction extension track and the connecting track. Since the inclined surfaces are inclined, the rolling of the Y-direction walking wheels along the Y-direction track, the connecting track and the Y-direction extension track is not affected, so that the sub-robot can move to the top of the vehicle battery swap port;

[0025] The surface of the reel of the utility model is provided with a thread groove matching the wire rope, the reel is provided with a rope guide ring, the inner surface of the rope guide ring is provided with a threaded rib matching the thread groove, the rope guide ring has a rope threading groove, the wire rope passes through the rope threading groove and is connected to the reel, the lifting drive motor drives the reel to rotate, and during the process of the reel driving the wire rope to be wound, the rope guide ring is limited by the limit rod and is threadedly connected to the reel, so that the rope guide ring and the reel rotate, and the arrangement of the rope guide ring allows the wire rope to be stably wound in the thread groove of the reel;

[0026] The tensioning structure of the utility model includes a guide column, a tensioning spring and a sliding block. The upper end of the guide column is fixed with a limiting ring, and the lower end of the guide column passes through the sliding block and is fixed to the sling. The tensioning spring is sleeved on the guide column, and the tensioning spring is located between the limiting ring and the sliding block. The movable pulley is installed on the sliding block. Through the setting of the tensioning structure, the wire rope is continuously tensioned to ensure stability during the lifting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural diagram of the utility model;

[0028] Figure 2 This utility model Figure 1 A magnified view of point A;

[0029] Figure 3 It is a structural diagram of the battery charging compartment of the present utility model;

[0030] Figure 4 It is a structural schematic diagram of the carrier of the present utility model;

[0031] Figure 5 This is a structural diagram of the parent-child battery-swap robot of the present invention;

[0032] Figure 6 This utility model Figure 5 An enlarged view of point B;

[0033] Figure 7 This utility model Figure 5 The enlarged view of point C;

[0034] Figure 8 This is a schematic structural diagram of the sub-robot and the lateral fine-tuning mechanism of the utility model;

[0035] Figure 9 This utility model Figure 8 The enlarged view of point D;

[0036] Figure 10 This is a cross-sectional view of the sub-robot and the lateral fine-tuning mechanism of the utility model;

[0037] Figure 11 This utility model Figure 10 The enlarged view of point E;

[0038] Figure 12 It is a structural diagram of the sling and lifting drive mechanism of the utility model;

[0039] Figure 13 This utility model Figure 12 The enlarged view of point F;

[0040] Figure 14 This utility model Figure 12 The enlarged view of G;

[0041] Figure 15 It is a structural diagram of the lifting drive mechanism of the utility model;

[0042] Figure 16 This utility model Figure 15 The enlarged view of H;

[0043] Figure 17 It is a structural schematic diagram of the reel of the utility model;

[0044] Figure 18 This is a structural diagram of the guide rope ring of the utility model;

[0045] Figure 19 It is a structural schematic diagram of the battery pack of the present utility model;

[0046] Figure 20 It is a structural diagram of the sling of the utility model;

[0047] Figure 21 This utility model Figure 20 An enlarged view of point I;

[0048] The parts in the accompanying drawings are marked as follows:

[0049] 1. Lifting device; 11. Guide post; 111. Limiting ring; 12. Tension spring; 13. Sliding block; 14. Spacer; 15. Spring washer; 16. Pulley sleeve; 161. Perforation; 21. X-axis moving frame; 211. Pin hole; 22. Gear; 23. X-axis drive motor; 24. Rack; 25. X-axis travel wheel; 31. Y-axis moving frame; 311. Guide rail; 32. Y-axis travel wheel; 33. Y-axis drive motor; 34 , Y-track; 41, mounting seat; 411, connecting hole; 412, guide structure; 42, fine-tuning screw; 43, fine-tuning drive motor; 44, fixing plate; 45, connecting block; 451, connecting part; 51, wire rope; 52, reel; 521, thread groove; 53, lifting drive motor; 54, fixed pulley; 541, pulley mounting plate; 55, movable pulley; 56, transmission wheel assembly; 57, guide rope ring; 571, screw Rib; 572, rope threading groove; 573, guide groove; 58, limit rod; 61, guide block; 62, tongue plate; 63, electric push rod; 64, rotating shaft; 65, rotating plate; 66, first adjustment block; 67, second adjustment block; 68, connecting rod; 71, proximity sensor; 72, induction washer; 73, guide rod; 731, pressing convex head; 74, return spring; 100, battery charging compartment; 101, cache station; 1 02. Charging station; 103. Carrier; 104. Charging port; 105. Guide column; 200. Vehicle battery swap port; 201. Y-axis extension track; 202. Connecting track; 203. Connecting push rod; 204. Inclined surface; 205. Slider; 206. Locating pin; 300. New energy vehicle; 400. Parent-child battery swap robot; 500. Battery pack; 501. Frame; 502. Card slot; 600. Guide track. DETAILED DESCRIPTION

[0050] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention.

[0051] Example: A parallel mother-child dual-robot power swap station, such as Figure 1 As shown, it includes a battery charging compartment 100, a vehicle battery swap port 200, and a parent-child battery swap robot 400 for swapping batteries for a new energy vehicle 300;

[0052] like Figure 3 As shown, the battery charging compartment 100 includes a cache station 101 and several charging stations 102, which are arranged in parallel. The battery charging compartment 100 is connected to the vehicle battery swap port 200, and the parent-child battery swap robot 400 transports the battery pack 500 between the battery charging compartment 100 and the new energy vehicle 300;

[0053] In a specific implementation, there are 7 charging stations, 1 cache station, and the battery swap robot is located above the charging station and the cache station;

[0054] In this embodiment, a guide rail 600 is further provided to guide the new energy vehicle into the vehicle battery swap port. There are two guide rails, and the two guide rails are respectively located on both sides of the new energy vehicle, and the guide rails are fixed to the ground;

[0055] like Figure 4 As shown, both the cache station and the charging station 102 are provided with a carrier 103 , the carrier 103 is equipped with a charging interface 104 for charging the battery pack 500 , and the battery pack 500 is placed above the carrier 103 of the charging station 102 ;

[0056] In this embodiment, a guide post 105 is installed above the carrier, and the guide post is inserted into the battery pack to position the battery pack;

[0057] The parent-child battery exchange robot 400 includes a sling 1, a mother robot that drives the sling 1 to move along the X direction, a child robot that drives the sling 1 to move along the Y direction, a lifting drive mechanism that drives the sling 1 to move up and down, and a lateral fine-tuning mechanism;

[0058] like Figure 5 He Ru Figure 6 As shown, the mother robot includes an X-direction moving frame 21, a gear 22 and an X-direction drive motor 23. The X-direction drive motor 23 is fixed to the X-direction moving frame 21, and the output shaft of the X-direction drive motor 23 is connected to the gear 22. The gear 22 is engaged with the rack 24, and the rack 24 is fixed to the battery swap station.

[0059] The specific rack is fixed to the wall of the battery swap station;

[0060] The X-direction moving frame is equipped with X-direction running wheels 25, and the wall of the battery swap station is equipped with X-direction guide rails, and the X-direction running wheels roll along the X-direction rails;

[0061] like Figure 7 As shown, the sub-robot includes a Y-direction moving frame 31, a Y-direction walking wheel 32 and a Y-direction driving motor 33. The Y-direction driving motor 33 is fixed to the Y-direction moving frame 31, and the output shaft of the Y-direction driving motor 33 is connected to the Y-direction walking wheel 32. The Y-direction walking wheel 32 is located above the Y-direction track 34 and can roll along the direction of the Y-direction track 34. The Y-direction track 34 is installed on the X-direction moving frame 21. In this embodiment, the Y-direction driving motor and the Y-direction walking wheel are connected by a steering gear.

[0062] like Figure 2As shown, an extension track docking with the Y-direction track 34 is provided above the vehicle battery swap port 200, and the extension track includes a Y-direction extension track 201, a connecting track 202 and a connecting push rod 203 that drives the connecting track 202 to move back and forth along the Y-direction. The Y-direction extension track 201 is fixed to the battery swap station, and the ends of the Y-direction extension track 201 and the connecting track 202 are both provided with an inclined surface 204, and the inclined surface 204 of the Y-direction extension track 201 has the same inclination as the inclined surface 204 of the connecting track 202. Driven by the connecting push rod 203, the connecting track 202 approaches or moves away from the Y-direction extension track 201 so that the two inclined surfaces 204 fit together or form a gap. In this embodiment, the distance of the gap formed is less than the length of the inclined surface in the Y-direction.

[0063] The connecting push rod 203 is installed at the battery swap station, and the connecting push rod 203 is connected to the slider 205, the slider 205 is connected to the connecting rail 202, the slider 205 has a positioning pin 206, and the X-axis movable frame 21 is provided with a pin hole 211 corresponding to the positioning pin 206.

[0064] In this embodiment, the Y-axis extension track and the connecting push rod are both installed on the wall of the battery swap station. The wall of the battery swap station is provided with a guide bar, and the connecting track can move along the direction of the guide bar.

[0065] like Figure 8 He Ru Figure 10 As shown, the lateral fine-tuning mechanism includes a mounting seat 41, a fine-tuning screw 42 and a fine-tuning drive motor 43. The fine-tuning drive motor 43 is fixed to a fixed plate 44, and the fixed plate 44 is fixed to the Y-direction movable frame 31. The output shaft of the fine-tuning drive motor 43 is connected to the fine-tuning screw 42, and the fine-tuning screw 42 is threadedly connected to the connecting block 45, and the connecting block 45 is connected to the mounting seat 41.

[0066] In a specific implementation, the connecting block extends to form a connecting portion 451, and the mounting seat is provided with a connecting hole 411, and the connecting portion is inserted into the hole;

[0067] like Figure 11 As shown, the Y-direction movable frame is provided with a guide rail 311 arranged along the X direction, and the mounting seat is provided with a guide structure 412 matching the guide rail.

[0068] like Figure 12 ,like Figure 13As shown, the lifting drive mechanism includes several groups of pulley assemblies, a wire rope 51 wound around the pulley assemblies, a drum 52 and a lifting drive motor 53, the pulley assembly includes a fixed pulley 54 and two movable pulleys 55, the fixed pulley 54 is installed on the mounting seat 41, and the two movable pulleys 55 are installed on the sling 1, the wire rope 51 passes around the fixed pulley 54 and the two ends of the wire rope 51 pass through the two movable pulleys 55 respectively, one end of the wire rope 51 is fixed to the mounting seat 41, and the other end of the wire rope 51 is connected to the drum 52, the drum 52 is connected to the transmission wheel assembly 56, the transmission wheel assembly 56 is connected to the lifting drive motor 53, and the lifting drive motor 53 is fixed to the mounting seat 41.

[0069] In this embodiment, the transmission wheel assembly includes a driving wheel and a driven wheel, wherein the driving wheel is fixed to the output shaft of the lifting drive motor, the driving wheel and the driven wheel are meshed, and the driven wheel is fixed to the reel;

[0070] The fixed pulley is mounted on a pulley mounting plate 541 , and the pulley mounting plate is rotatably connected to a mounting seat.

[0071] like Figure 17 The surface of the drum 52 is provided with a thread groove 521 matching the wire rope 51, and the drum 52 is sleeved with a guide rope ring 57, and the inner surface of the guide rope ring 57 is provided with a thread rib 571 matching the thread groove 521. Figure 18 As shown, the guide rope ring 57 has a rope threading groove 572 , and the steel wire rope 51 passes through the rope threading groove 572 and then is wound around the thread groove 521 .

[0072] like Figure 9 As shown, the mounting seat 41 is installed with a limiting rod 58 , and the guide rope ring 57 is provided with a guide groove 573 matching the limiting rod 58 .

[0073] like Figure 15 、 Figure 16 As shown, the sling 1 is installed with a tensioning structure, which includes a guide column 11, a tensioning spring 12 and a sliding block 13. The upper end of the guide column 11 is fixed with a limiting ring 111, and the lower end of the guide column 11 passes through the sliding block 13 and is fixed to the sling 1. The tensioning spring 12 is sleeved on the guide column 11, and the tensioning spring 12 is located between the limiting ring 111 and the sliding block 13, and the movable pulley 55 is installed on the sliding block 13.

[0074] In this embodiment, the tensioning spring is sleeved on the spacer 14, the spacer is sleeved on the guide post, and spring washers 15 are provided on the top and bottom of the tensioning spring, and the spring washers are sleeved on the guide post.

[0075] It also includes a pulley sleeve 16, the movable pulley 55 is installed inside the pulley sleeve 16, the pulley sleeve 16 is fixed to the sliding block 13, the pulley sleeve 16 is provided with a through hole 161, the wire rope 51 passes through the through hole 161 and is wound around the movable pulley 55, thereby preventing the wire rope from detaching from the movable pulley.

[0076] like Figure 13 、 19 As shown, the sling 1 is equipped with at least one locking mechanism and a plurality of guide blocks 61 corresponding to the frame 501 of the battery pack 500 , and the guide blocks are provided with guide surfaces.

[0077] like Figure 20 、 21 As shown, the locking mechanism includes two tongue plates 62 and an electric push rod 63 that drives the tongue plates 62 to rotate and engage the slots 502 of the battery pack 500. The two tongue plates 62 are respectively fixed to two rotating shafts 64, which are rotatably connected to the sling 1. The two rotating shafts 64 are respectively fixed to two rotating plates 65. One end of the electric push rod 63 is rotatably connected to a first adjustment block 66, which is mounted on the sling 1. The other end of the electric push rod 63 is rotatably connected to a second adjustment block 67, which is rotatably connected to one of the two rotating plates 65. The two rotating plates 65 are respectively rotatably connected to the ends of a connecting rod 68. A single electric push rod can drive the two tongue plates to rotate simultaneously, facilitating the grabbing of the battery pack.

[0078] It also includes a sensing structure, which includes a proximity sensor 71, a sensing washer 72 and a guide rod 73. The lower end of the guide rod is provided with a pressing protrusion 731, and the upper end of the guide rod is connected to the sensing washer through the sling. The sensing washer corresponds to the proximity sensor, and the proximity sensor is installed on the sling. The guide rod is covered with a reset spring 74, and the reset spring is located between the pressing protrusion and the sling. During the descent of the sling, the pressing protrusion presses the battery pack, and the sensing washer rises. The proximity sensor senses the sensing washer, thereby controlling the sling to descend to a suitable position.

[0079] The working principle of the present utility model is as follows: the vehicle enters the vehicle battery swap port through the guidance of the guide rail, the X-axis drive motor drives the gear to rotate, thereby driving the X-axis movable frame to move along the rack, the connecting push rod pushes the connecting rail to dock with the Y-axis rail, and the Y-axis drive motor drives the Y-axis walking wheel to rotate, thereby causing the Y-axis movable frame to roll along the Y-axis rail, the connecting rail and the Y-axis extension rail, so that the sub-robot can move to the top of the vehicle battery swap port, the lifting drive mechanism drives the spreader to descend, the electric push rod drives the tongue plate to rotate, and the tongue plate is inserted into the slot of the battery pack at the loss point and then lifted, the Y-axis movable frame (sub-robot) moves to the top of the cache station and places the battery pack on the carrier at the cache station. The parent-child battery swap robot takes the fully charged battery pack at the charging station and returns to the top of the cache station. The sub-robot moves to the top of the vehicle battery swap port, and the lifting drive mechanism drives the spreader to descend so that the battery pack is installed on the new energy vehicle. After the battery pack is replaced, the new energy vehicle drives away.

[0080] The above are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A parallel-type dual-robot battery swap station, characterized by: It comprises a battery charging compartment (100), a vehicle battery exchange port (200), and a parent-child battery exchange robot (400) for exchanging batteries for a new energy vehicle (300); The battery charging compartment includes a cache station (101) and a plurality of charging stations (102), the cache station and the plurality of charging stations are arranged in parallel, the battery charging compartment is connected to the vehicle battery swap port, and the parent-child battery swap robot transports the battery pack (500) between the battery charging compartment and the new energy vehicle; The cache station and the charging station are both provided with a carrier (103), the carrier being provided with a charging interface (104) for charging a battery pack, and the battery pack being placed above the carrier of the charging station; The parent-child battery exchange robot comprises a sling (1), a mother robot driving the sling to move in the X direction, a child robot driving the sling to move in the Y direction, a lifting drive mechanism driving the sling to move up and down, and a lateral fine-tuning mechanism; The mother robot comprises an X-direction moving frame (21), a gear (22) and an X-direction drive motor (23), wherein the X-direction drive motor is fixed to the X-direction moving frame, and the output shaft of the X-direction drive motor is connected to the gear, the gear is meshed with a rack (24), and the rack is fixed to the battery swap station; The sub-robot comprises a Y-direction moving frame (31), a Y-direction walking wheel (32) and a Y-direction driving motor (33), wherein the Y-direction driving motor is fixed to the Y-direction moving frame, and the output shaft of the Y-direction driving motor is connected to the Y-direction walking wheel, wherein the Y-direction walking wheel is located above a Y-direction track (34) and can roll along the direction of the Y-direction track, and the Y-direction track is installed on the X-direction moving frame; An extension track docking with the Y-direction track is provided above the battery swap port of the vehicle, the extension track comprising a Y-direction extension track (201), a connecting track (202) and a connecting push rod (203) for driving the connecting track to move back and forth along the Y-direction, the Y-direction extension track is fixed to the battery swap station, the ends of the Y-direction extension track and the connecting track are both provided with an inclined surface (204), and the inclined surface of the Y-direction extension track has the same inclination as the inclined surface of the connecting track, and the connecting track is driven by the connecting push rod to approach or move away from the Y-direction extension track so that the two inclined surfaces fit together or form a gap.

2. The parallel parent-child dual-robot battery swap station according to claim 1, characterized in that: The connecting push rod is installed at the battery swap station, and the connecting push rod is connected to a slider (205), the slider is connected to the connecting track, the slider has a positioning pin (206), and the X-direction movable frame is provided with a pin hole (211) corresponding to the positioning pin.

3. The parallel parent-child dual-robot battery swap station according to claim 1, characterized in that: The lateral fine-tuning mechanism comprises a mounting seat (41), a fine-tuning screw rod (42) and a fine-tuning drive motor (43); the fine-tuning drive motor is fixed to a fixed plate (44); the fixed plate is fixed to a Y-axis movable frame; the output shaft of the fine-tuning drive motor is connected to the fine-tuning screw rod; the fine-tuning screw rod is threadedly connected to a connecting block (45); and the connecting block is connected to the mounting seat.

4. The parallel parent-child dual-robot battery swap station according to claim 3, characterized in that: The lifting drive mechanism comprises a plurality of pulley assemblies, a steel wire rope (51) wound around the pulley assemblies, a drum (52) and a lifting drive motor (53), wherein the pulley assemblies comprise a fixed pulley (54) and two movable pulleys (55), wherein the fixed pulley is mounted on a mounting seat, and the two movable pulleys are mounted on a sling, wherein the steel wire rope passes around the fixed pulley and the two ends of the steel wire rope pass through the two movable pulleys respectively, wherein one end of the steel wire rope is fixed to the mounting seat, and the other end of the steel wire rope is connected to the drum, and the drum is connected to a transmission wheel assembly (56), and the transmission wheel assembly is connected to the lifting drive motor, and the lifting drive motor is fixed to the mounting seat.

5. The parallel parent-child dual-robot battery swap station according to claim 4, characterized in that: The surface of the drum is provided with a thread groove (521) matching the steel wire rope, the drum is sleeved with a rope guide ring (57), the inner surface of the rope guide ring is provided with a thread rib (571) matching the thread groove, the rope guide ring has a rope threading groove (572), and the steel wire rope passes through the rope threading groove and is wound around the thread groove.

6. The parallel parent-child dual-robot battery swap station according to claim 5, characterized in that: The mounting seat is provided with a limiting rod (58), and the guide rope ring is provided with a guide groove (573) matching the limiting rod.

7. The parallel parent-child dual-robot battery swap station according to claim 4, characterized in that: The sling is equipped with a tensioning structure, which includes a guide column (11), a tensioning spring (12) and a sliding block (13). A limiting ring (111) is fixed to the upper end of the guide column, and the lower end of the guide column passes through the sliding block and is fixed to the sling. The tensioning spring is sleeved on the guide column, and the tensioning spring is located between the limiting ring and the sliding block. The movable pulley is installed on the sliding block.

8. The parallel parent-child dual-robot battery swap station according to claim 7, characterized in that: It also includes a pulley sleeve (16), the movable pulley is installed inside the pulley sleeve, the pulley sleeve is fixed to the sliding block, the pulley sleeve is provided with a through hole (161), and the steel wire rope passes through the through hole and then winds around the movable pulley.

9. The parallel parent-child dual-robot battery swap station according to claim 1, characterized in that: The sling is equipped with at least one locking mechanism and a plurality of guide blocks (61) corresponding to the frame (501) of the battery pack, and the guide blocks are provided with guide surfaces.

10. The parallel parent-child dual-robot battery swap station according to claim 9, characterized in that: The locking mechanism includes two tongue plates (62) and an electric push rod (63) that drives the tongue plates to rotate and engage in the card slot (502) of the battery pack, the two tongue plates are respectively fixed to two rotating shafts (64), the rotating shafts are rotatably connected to the sling, and the two rotating shafts are respectively fixed to the two rotating plates (65), one end of the electric push rod is rotatably connected to the first adjustment block (66), the first adjustment block is installed on the sling, and the other end of the electric push rod is rotatably connected to the second adjustment block (67), the second adjustment block is rotatably connected to one of the two rotating plates, and the two rotating plates are rotatably connected to the two ends of the connecting rod (68).

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