AGV (Automatic Guided Vehicle) battery replacing robot and battery replacing station

Abstract

The AGV battery replacing robot comprises at least one bracket which is integrally rectangular, a walking mechanism used for driving the bracket to move horizontally is arranged at the bottom of the bracket, and a concave or hollow battery bin is arranged in the middle of the bracket. A supporting plate for loading a battery and a vertically arranged lifting mechanism are horizontally arranged in the battery bin, the lifting mechanism is arranged on the outer side of the supporting plate, and the edge of the supporting plate is hung at the upper end of the lifting mechanism through a supporting mechanism extending upwards; the sum of the lowest height of the supporting plate and the thickness of the battery is smaller than the battery replacement distance between the chassis to be subjected to battery replacement and the ground in the battery replacement state. The utility model has the advantages that the structural design is ingenious, the battery replacement can be completed without a trench structure, the construction cost and the battery replacement difficulty are reduced, and the like.

Description

Technical Field

[0001] This utility model relates to the field of electric vehicle battery swapping technology, and in particular to an AGV battery swapping robot and a battery swapping station. Background Technology

[0002] With the continuous development of pure electric vehicles, pure electric commercial vehicles are gradually being promoted and popularized, and battery swapping has become the preferred energy replenishment method for pure electric commercial vehicles. Currently, pure electric commercial vehicles mainly use backpack-type batteries and under-mounted batteries. Backpack-type batteries are usually disassembled or installed by hoisting, which has problems such as occupying a large transportation space, affecting loading capacity, and their own inertia affecting driving safety. Under-mounted batteries hang the battery under the chassis, making full use of the space under the chassis and solving the problems of backpack-type batteries. However, due to the heavy weight of commercial vehicles, it is inconvenient to lift them. The main battery swapping method is to set up a trench under the battery swapping location. There are two ways to set up the trench: one is to set up battery swapping equipment in the trench, park the vehicle on the trench, and have the battery swapping equipment perform the battery swapping operation. However, this type of trench has safety risks. Another approach involves setting up a parking platform that protrudes relative to the ground at the battery swapping location, such as the "Commercial Vehicle Chassis Battery Swapping Station" disclosed in Chinese patent literature (publication number CN115230645B). This parking platform is equipped with a movable bridge pad that can avoid the moving battery charging rack. The bridge pad can move away from the battery charging rack, and a battery swapping robot moves between the battery charging rack and the chassis to complete the swapping process. However, this "pit-like" bridge pad needs to withstand repeated crushing by commercial vehicles, affecting the service life of the bridge pad and its underlying track. Therefore, how to achieve commercial vehicle battery swapping without a "pit" structure has become an urgent problem to be solved. Utility Model Content

[0003] In view of the shortcomings of the prior art, the technical problem to be solved by this utility model is: how to provide an AGV battery swapping robot and battery swapping station with a clever structural design that can adapt to different vehicle models and wheelbases and can complete battery swapping without the need for a "pit" structure, which is conducive to reducing construction costs and battery swapping difficulty.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] An AGV battery swapping robot includes at least one rectangular bracket. The bottom of the bracket has a walking mechanism for driving horizontal movement. The bracket has a recessed or hollow battery compartment in its center. A horizontally arranged tray for loading batteries and a vertically arranged lifting mechanism are located within the battery compartment. The lifting mechanism is positioned outside the tray, and the edge of the tray is attached to the upper end of the lifting mechanism via an upwardly extending support mechanism. The minimum height of the tray plus the battery thickness is less than the battery swapping distance between the chassis to be swapped and the ground during the swapping process.

[0006] In the aforementioned structure, the battery compartment is recessed or hollow in the center of the bracket. Simultaneously, the edge of the tray within the battery compartment is attached to the upper end of the lifting mechanism via an upward-extending support mechanism. This allows the tray to sink to the bottom of the battery compartment, reducing the battery height during the swapping process and enabling the AGV battery swapping robot to smoothly enter under the chassis for battery swapping. During swapping, the battery is placed on the tray, the lifting mechanism lowers the tray to its lowest position, and the traveling mechanism drives the bracket horizontally to under the vehicle chassis to perform the swapping operation.

[0007] Furthermore, at least two brackets are detachably arranged side by side along the width direction, and in two adjacent brackets, one bracket has a protruding pin structure on its side, and the other bracket has a socket structure corresponding to the pin structure on its side; the two brackets are detachably connected by the pin structure and the socket structure.

[0008] In the same series of commercial vehicles, the battery adopts a modular design. The battery capacity can be combined by the number of modules, or the battery capacity can be combined according to the length with a fixed width. The bracket can be detachably connected by a pin structure and a socket structure. It can be used to combine different numbers of modules and battery lengths to meet the battery swapping needs of various vehicle models, increase compatibility and reduce costs.

[0009] Furthermore, the bracket is equipped with an electrical control system for controlling the walking mechanism and the lifting mechanism; in two adjacent brackets, one bracket has a protruding electrical plug on its side, and the other bracket has an electrical socket on its side corresponding to the electrical plug; the electrical plug and the electrical socket are respectively connected to the corresponding electrical control system, and the electrical control systems of the two brackets are detachably connected through the electrical plug and the electrical socket.

[0010] In this way, the electrical control systems on two adjacent brackets can be detachably connected through electrical plugs and electrical sockets, which can satisfy both the independent control of a single bracket and the synchronous control of a combination of brackets.

[0011] The pin structure includes a locking pin, and the insertion hole structure includes a locking hole. The locking pin and the locking hole have matching spiral locking surfaces or matching steel ball locking mechanisms. The locking pin or the locking hole is provided with a rotary drive mechanism for driving the two to rotate relative to each other and lock, or a linear telescopic mechanism for unlocking or deactivating the steel ball locking mechanism.

[0012] In this way, the two brackets can be reliably connected by locking pins and locking holes with threaded locking surfaces or ball locking mechanisms.

[0013] The steel ball locking mechanism includes a snap-fit ​​sleeve disposed within the locking hole. The outer diameter of the snap-fit ​​sleeve matches the inner diameter of the locking hole and is axially movable within the locking hole. The diameter of the locking pin matches the inner diameter of the snap-fit ​​sleeve and can be coaxially inserted into the snap-fit ​​sleeve. The snap-fit ​​sleeve has a radially penetrating snap-fit ​​hole, and multiple snap-fit ​​holes are evenly distributed along the circumference of the snap-fit ​​sleeve. Steel balls are disposed within the snap-fit ​​holes. The locking pin has a circumferentially annular snap-fit ​​groove. The diameter of the steel ball is greater than the wall thickness of the snap-fit ​​sleeve, and the difference between the two matches the depth of the snap-fit ​​groove. The outer end of the locking hole has a larger diameter unlocking cavity, allowing the steel ball on the snap-fit ​​sleeve to retract radially into the unlocking cavity. The telescopic end of the linear telescopic mechanism is axially connected to the snap-fit ​​sleeve.

[0014] In this way, the linear telescopic mechanism moves the snap-fit ​​sleeve axially along the locking hole. Before locking, the steel ball is moved to the position of the unlocking cavity. During the insertion of the locking pin into the snap-fit ​​sleeve, the steel ball retracts radially into the unlocking cavity. After the locking pin is coaxially inserted into the snap-fit ​​sleeve, the linear telescopic mechanism moves the snap-fit ​​sleeve toward the inside of the locking hole. At this time, the locking pin also moves together. Since the outer diameter of the snap-fit ​​sleeve matches the inner diameter of the locking hole, the steel ball moves toward the inside of the snap-fit ​​sleeve under the action of the inner wall of the locking hole and enters the snap-fit ​​groove. At this time, the snap-fit ​​sleeve and the locking pin are connected by the action of the steel ball and the snap-fit ​​groove. The linear telescopic mechanism further pulls the snap-fit ​​sleeve toward the inside of the locking hole, which can tighten the locking pin, thereby making the two brackets tightly fixed and connected.

[0015] Furthermore, the walking mechanism includes a suspension arranged laterally on the bracket, an electric drive assembly is mounted on the suspension, and the output end of the electric drive assembly is connected to a walking wheel; the bottom of the bracket has a clearance opening corresponding to the walking wheel.

[0016] Furthermore, one end of the suspension is rotatably mounted on the bracket via a horizontally arranged hinge, and the other end has a portal frame spanning the suspension, with the lower end of the portal frame fixed to the bracket; the suspension is connected to the portal frame via a vertically inserted screw, and a spring is sleeved on the screw, with both ends of the spring abutting between the suspension and the portal frame respectively.

[0017] In this way, the suspension can rotate up and down around the hinge to adjust the relative position of the travel wheel and the bracket, and the other end of the suspension is cushioned by a spring.

[0018] The size of the tray is matched to the size of a single battery module. At least one tray is provided in the battery compartment. Two lifting mechanisms are provided at each end of each tray. Each lifting mechanism is connected to the tray through a ball joint structure.

[0019] In this way, by matching the size of the pallets to the size of individual battery modules or small-sized batteries, each pallet is responsible for lifting and installing only one battery module. Even if there are two or more battery modules or large-sized batteries in the battery compartment, they can be lifted and installed separately or simultaneously. Alternatively, some pallets can be used to remove batteries waiting to be charged, while others are used to replace fully charged batteries, thereby improving battery swapping efficiency. Furthermore, the horizontal orientation of the pallets can be adjusted by adjusting the lifting height of each lifting mechanism, thus adjusting the horizontal orientation of the battery modules and the chassis, ensuring reliable battery replacement.

[0020] Furthermore, the lifting mechanism is a vertically arranged multi-stage electric cylinder or multi-stage hydraulic cylinder; the traveling wheels are Mecanum wheels, omnidirectional wheels, or steering wheels; the electric drive assembly includes a drive motor; the pallet has an unlocking mechanism for removing and installing the battery, and the unlocking mechanism is configured one-to-one with the locking mechanism on the battery; the bracket has an upward-facing visual inspection mechanism for detecting the target locking position of the battery.

[0021] A battery swapping station, comprising the AGV battery swapping robot described above.

[0022] In summary, this utility model has the advantages of ingenious structural design, allowing battery swapping to be completed without a "pit" structure for different vehicle models and wheelbases, which helps to reduce construction costs and the difficulty of battery swapping. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the battery charging compartment and the battery swapping robot in this embodiment.

[0024] Figure 2 for Figure 1A schematic diagram of the battery charging compartment.

[0025] Figure 3 This is a structural diagram of the charging rack and the battery swapping robot.

[0026] Figure 4 This is a structural diagram showing the battery mounting configuration of the supporting beam and battery rack.

[0027] Figure 5 This is a schematic diagram of the connection structure between the T-shaped hanging rod structure and the strip hole on the battery module.

[0028] Figure 6 This is a structural diagram of the supporting beam and battery rack.

[0029] Figure 7 This is a structural diagram of a single battery rack and supporting beam.

[0030] Figure 8 This is a cross-sectional structural diagram of the battery rack and supporting beam.

[0031] Figure 9 This is a schematic diagram of the overall structure of the AGV battery swapping robot.

[0032] Figure 10 This is a schematic diagram of a bracket structure with two trays in this embodiment.

[0033] Figure 11 This is a schematic diagram of a bracket structure with a tray in this embodiment.

[0034] Figure 12 This is a schematic diagram of the walking mechanism.

[0035] Figure 13 This is a cross-sectional structural diagram of the linear telescopic mechanism and the steel ball locking mechanism. Detailed Implementation

[0036] The present invention will be further described in detail below with reference to a battery swapping station that adopts the structure of the present invention.

[0037] In practical implementation: such as Figures 1 to 13As shown, a battery swapping station includes a battery charging compartment and an AGV battery swapping robot. The battery charging compartment includes a charging frame 1, which includes an overall rectangular outer frame 11. The bottom of the outer frame 11 is provided with multiple support legs. The height of the support legs matches the ground clearance of the chassis of the vehicle to be swapped, and the minimum distance between two adjacent support legs on at least one side is greater than the maximum distance between two adjacent front and rear wheels on the vehicle to be swapped. The outer frame 11 has transversely arranged support beams 12, with at least two support beams 12 spaced apart. A battery rack 13 for mounting batteries is erected between two adjacent support beams 12. The AGV battery swapping robot includes a rectangular bracket 21. A walking mechanism 22 for driving the bracket 21 horizontally is located at the bottom of the bracket 21. A recessed or hollow battery compartment is located in the middle of the bracket 21. A horizontally arranged pallet 23 for loading batteries and a vertically arranged lifting mechanism 24 are located inside the battery compartment. The lifting mechanism 24 is located on the outside of the pallet 23, and the edge of the pallet 23 is attached to the upper end of the lifting mechanism 24 via an upwardly extending support mechanism. The minimum height of the pallet 23 plus the battery thickness is less than the battery swapping distance between the chassis to be swapped and the ground during battery swapping.

[0038] Because the battery compartment is recessed or hollow in the center of the bracket, and the edge of the tray inside the battery compartment is attached to the upper end of the lifting mechanism via an upward-extending support mechanism, the tray can sink to the bottom of the battery compartment, reducing the battery height during the battery swapping process. This allows the AGV battery swapping robot to smoothly enter under the chassis for battery swapping. Furthermore, the height of the outriggers matches the ground clearance of the chassis, and the minimum distance between two adjacent outriggers on at least one side is greater than the maximum distance between two adjacent front and rear wheels. This ensures that the AGV battery swapping robot, adapted to the vehicle chassis, can also smoothly move under the outer frame.

[0039] Typically, to facilitate battery installation and removal, there are two main locking structures between the battery and the chassis. One type integrates the locking / unlocking mechanism onto the chassis; the battery module simply needs to be mounted on the tray 23, and the locking / unlocking mechanism on the chassis locks the battery module in place. The other type involves a locking rod that can be rotated and removed directly from the bottom of the battery module. Rotating the locking rod connects its top to the chassis. The locking rod and chassis can be connected via a threaded connection or a non-threaded connection. Figure 5The structure shown features a T-shaped crossbar at the top of the locking rod and a slotted hole on the chassis. By passing the crossbar through the slotted hole and rotating the locking rod 90°, the battery module can be mounted onto the chassis. Therefore, in practical implementation, for cases where the battery module has a locking rod, the tray 23 also has an unlocking mechanism corresponding to the locking rod of the chassis to be swapped, allowing the AGV battery swapping robot to smoothly complete battery removal and installation. Correspondingly, the battery rack 13 also has a locking structure (such as a slotted hole) consistent with the chassis to be swapped, facilitating battery mounting.

[0040] During battery swapping, the AGV battery swapping robot uses its walking mechanism to move horizontally under the chassis to be swapped. After aligning with the battery, it uses a lifting mechanism to raise the pallet to the bottom of the battery. At this point, the battery is removed from the chassis using the unlocking mechanism on the pallet 23 and placed onto the pallet 23. The lifting mechanism then lowers the pallet 23 to its lowest position, and the walking mechanism moves horizontally to the bottom of the battery charging compartment to find an empty battery rack. The lifting mechanism raises the pallet to the bottom of the battery rack, and the battery is installed onto the locking mechanism on the battery rack 13 using the unlocking mechanism on the pallet 23. The pallet 23 is lowered to its lowest position again and moved horizontally under the battery rack containing the battery. The pallet 23 is then raised to the bottom of the battery, and the battery is removed from the battery rack 13 using the unlocking mechanism and placed onto the pallet 23. After the pallet 23 is lowered to its lowest position with the battery loaded, it moves horizontally under the chassis, raises the battery to the bottom of the chassis, and completes the installation using the unlocking mechanism, thus completing the battery swapping operation.

[0041] To improve battery swapping efficiency, two AGV battery swapping robots can be used to operate simultaneously. While one AGV battery swapping robot enters the chassis to remove the battery to be charged, the other AGV battery swapping robot enters the battery charging compartment to retrieve a fully charged battery, which can greatly improve battery swapping efficiency.

[0042] In order to enable the AGV battery swapping robot to accurately locate the battery mounting position on the chassis and battery rack, the bracket 21 has an upward-facing visual positioning mechanism, which is used to locate the target position of the battery.

[0043] Because the distance between the vehicle chassis and the ground is low, the AGV battery-swapping robot's height is limited in order to smoothly enter and exit the chassis on flat ground. Typically, the maximum height of the AGV battery-swapping robot is less than the minimum ground clearance for mounting the battery on the chassis during battery swapping. The maximum height of the AGV battery-swapping robot with the battery is matched to the chassis height, allowing the AGV battery-swapping robot to move under the chassis after loading the battery. After battery swapping, the unloaded AGV battery-swapping robot can also smoothly pass under the battery and move out from under the chassis. To enable the AGV battery-swapping robot to lift the battery to the chassis for mounting, the maximum lifting height of the lifting mechanism 24 needs to be maximized. Therefore, the lifting mechanism 24 adopts a vertically arranged multi-stage electric cylinder.

[0044] However, within the battery charging compartment, there are multiple battery racks. Since the outer frame height is designed to match the chassis height, the height at which batteries are mounted on the racks is similar to the height at which batteries are mounted on the chassis. This allows the AGV battery-swapping robot to move smoothly under the battery charging compartment when unloaded, and the AGV's lifting height is also suitable for battery replacement within the compartment. However, when the AGV is loaded with batteries, the batteries protrude above the robot, making its overall height higher than the bottom of the batteries mounted on other racks (i.e., the minimum ground clearance). This creates interference, preventing the AGV from moving freely under the charging compartment. If the battery rack height were directly increased, the lifting stroke of the lifting mechanism 24 would need to be further increased to accommodate it. This would significantly increase the cost of the lifting mechanism 24 and reduce its stability. With increased use, its positioning accuracy would gradually decrease, making battery removal and installation more difficult. Therefore, in this embodiment, the battery rack 13 is mounted on the supporting beam 12 via a vertically arranged lifting assembly 14. Using the lifting assembly to mount the battery rack allows for battery removal and installation. The battery rack can be lowered using the lifting assembly to match the height of the chassis, facilitating the AGV battery swapping robot's removal and installation of the batteries. During battery charging, the lifting assembly raises the entire battery rack, increasing the height of the bottom of the mounted batteries. This prevents interference between the AGV battery swapping robot carrying the batteries and the batteries mounted on the battery rack, ensuring smooth passage for the AGV battery swapping robot. Figure 4 As shown, one of the battery racks 13 is lifted by the lifting assembly 14, thereby increasing the bottom space.

[0045] When mounting batteries, to ensure all locking mechanisms between the battery and the battery holder are fully engaged, the battery needs to be lifted as high as possible. If there is an angle between the mating surfaces of the battery and the battery holder, the first point of contact will be compressed, potentially damaging the battery. To allow the battery holder to adjust adaptively, a vertically retractable elastic floating component 15 is provided between the battery holder 13 and the support beam 12 or lifting assembly 14. In this embodiment, the support beam 12 has a vertically arranged guide rod 121, and the battery holder 13 includes a base 131 mounted on the support beam 12 along its length and a hanging bracket 132 for mounting batteries. The base 131 has a clearance hole corresponding to the guide rod 121, through which the guide rod 121 passes. The elastic floating component 15 is an adjusting spring sleeved on the guide rod 121, with both ends of the adjusting spring acting between the base 131 and the support beam 12. In this way, when the battery rack is subjected to upward force, it acts on the elastic floating component and moves upward. During the upward movement, the battery rack adaptively adjusts its posture to fit the top of the battery, ensuring that all locking mechanisms engage with the locking structure on the battery rack for reliable locking. The elastic floating component allows the battery rack room to move, preventing the battery from being directly pressed against the battery rack during lifting and causing damage, thus extending battery life and reducing safety risks. After the battery is installed, the battery rack returns to its original position using its own weight.

[0046] Specifically, the adjusting spring is sleeved on one end of the guide rod 121 that passes through the clearance hole, and a baffle 124 is detachably fixed to the upper end of the guide rod 121. The adjusting spring 123 abuts against the base 131 and the baffle 124. Figure 8 As shown, the guide rod and baffle are mounted on the support beam and remain fixed as a whole. During the battery lifting process, the battery rack is subjected to an upward thrust, which moves upward along the guide rod through the clearance hole and presses against the adjusting spring sleeved on the guide rod, thus achieving stable floating adjustment. After the installation is completed, the adjusting spring applies a downward force to the battery rack, allowing the battery rack to smoothly return to its original position under the combined action of its own weight, the weight of the battery, and the spring force.

[0047] In addition, the supporting beam 12 has a vertically arranged guide post 122, the upper end of which is tapered; the base 131 has a guide hole corresponding to the guide post 122, the inner diameter of which matches the outer diameter of the guide post.

[0048] The lifting assembly 14 consists of electrically operated lifting cylinders symmetrically arranged at both ends of the base 131. The bracket 132 has a support member 134 corresponding to the lifting assembly 14, with the top of the support member 134 mounted on the upper end of the lifting assembly 14. The bracket 132 comprises a rectangular frame, and the support member 134 is a vertically arranged support column on the frame. The top of the support column has a horizontally protruding support portion, and the upper end of the lifting assembly 14 is mounted on the support portion.

[0049] In practice, in order to enable the battery to quickly enter the charging state, the battery rack 13 has a charging connector corresponding to the charging port of the battery; the battery rack 13 has a coolant connector corresponding to the coolant hole of the battery; and the battery rack 13 has a sensor for detecting the state of the locking structure.

[0050] Inside the charging station, at least two charging racks 1 are provided, such as... Figure 1 As shown, the outer frames 11 of two adjacent charging racks 1 are fixedly connected by bolts. They can also be distributed on both sides of the battery swapping channel. This allows for flexible assembly of the charging racks according to the site conditions, thereby significantly reducing construction costs.

[0051] like Figures 9-11 As shown, the walking mechanism 22 includes a suspension 221 laterally mounted on a bracket 21. An electric drive assembly is mounted on the suspension 221, and the output end of the electric drive assembly is connected to a walking wheel 222. The bottom of the bracket 21 has a clearance opening corresponding to the walking wheel 222. The walking wheel 222 can be a Mecanum wheel, an omnidirectional wheel, or a steering wheel. The electric drive assembly includes a drive motor. This allows the AGV battery-swapping robot to move in all directions.

[0052] like Figure 12 As shown, one end of the suspension 221 is rotatably mounted on the bracket 21 via a horizontally arranged hinge, and the other end has a portal bracket 223 spanning the suspension 221. The lower end of the portal bracket 223 is fixed on the bracket 21. The suspension 221 is connected to the portal bracket 223 via a vertically inserted screw. A spring 224 is sleeved on the screw, and the two ends of the spring 224 abut against the suspension 221 and the portal bracket 223 respectively.

[0053] When a vehicle has uneven weight distribution or is subjected to external factors such as suspension issues, there may be a tilt angle between the chassis and the ground. During the battery swapping process, especially when the battery is installed, the part of the battery that first contacts the chassis will be squeezed under the lifting action of the lifting mechanism 24. At this time, the corresponding part of the AGV battery swapping robot will be subjected to reverse pressure, and the spring on that side will contract to adapt to the angle matching between the battery and the chassis. This can not only prevent the battery from being damaged by hard compression, but also increase the battery swapping efficiency.

[0054] In practical implementation, due to the influence of vehicle wheelbase, it is impossible to guarantee that all vehicles use the same battery. However, in the same series of commercial vehicles with the same body width and different wheelbases, in order to improve battery versatility and reduce production costs, the battery adopts a modular design. The battery capacity can be adjusted by combining the number of modules or by adjusting the capacity according to the length. For models with a smaller wheelbase, the number of modules or the length can be reduced, or the battery modules can be installed in a distributed manner. For models with a longer wheelbase, multiple modules can be used or the length can be increased. To meet the battery replacement needs of different wheelbase models, the AGV battery swapping robot can also adopt a minimum module design. As shown in the figure, at least two brackets 21 are detachably arranged side by side along the width direction. In two adjacent brackets 21, one of the brackets 21 has a protruding pin structure on its side, and the other bracket 21 has a corresponding insertion hole structure on its side. The two brackets 21 are detachably connected by the pin structure and the insertion hole structure.

[0055] In this embodiment, considering that long-wheelbase vehicles are equipped with three battery modules or longer battery packs, and short-wheelbase vehicles are equipped with two battery modules or shorter battery packs, two brackets 21 are detachably arranged side by side along the width direction. The size of the tray 23 matches the size of a single battery module. One tray 21 has one tray 23 in its battery compartment, and the other tray 21 has two trays 23 arranged side by side in its battery compartment. Each tray 23 has two lifting mechanisms 24 at each end, and each lifting mechanism 24 is connected to the tray 23 through a ball joint structure. That is, each tray 23 is supported by four lifting mechanisms 24 at its four corners. By adjusting the lifting height of each lifting mechanism, the horizontal posture of the tray can be adjusted, that is, the horizontal posture of the battery module can be adjusted, so as to make the battery module adapt to the horizontal posture of the chassis for reliable battery replacement.

[0056] The pin structure includes a positioning pin 251 and a locking pin 261, and the insertion hole structure includes a positioning hole 252 and a locking hole 262. The inner diameter of the positioning hole 252 matches the diameter of the positioning pin 251, and the outer end has a flared guide hole. The locking pin 261 and the locking hole 262 have matching spiral locking surfaces or matching steel ball locking mechanisms. The locking pin 261 or the locking hole 262 is provided with a rotary drive mechanism for driving the two to rotate relative to each other and lock, or a linear telescopic mechanism for unlocking or deactivating the steel ball locking mechanism.

[0057] In this embodiment, a steel ball locking mechanism is used between the locking pin 261 and the locking hole 262, such as... Figure 13 As shown, the steel ball locking mechanism includes a snap-fit ​​sleeve 263 disposed within the locking hole 262. The outer diameter of the snap-fit ​​sleeve 263 matches the inner diameter of the locking hole 262 and is axially movable within the locking hole 262. The diameter of the locking pin 261 matches the inner diameter of the snap-fit ​​sleeve 263 and can be coaxially inserted into the snap-fit ​​sleeve 263. The snap-fit ​​sleeve 263 has a snap-fit ​​hole arranged radially through it, and multiple snap-fit ​​holes are evenly distributed along the circumference of the snap-fit ​​sleeve 263. A steel ball 264 is disposed in the snap-fit ​​hole; the locking pin 261 has a snap-fit ​​groove 265 arranged in a ring along the circumference, the diameter of the steel ball 264 is larger than the wall thickness of the snap-fit ​​sleeve 263, and the difference between the two matches the depth of the snap-fit ​​groove 265; the outer end of the locking hole 262 has an unlocking cavity with a larger diameter, so that the steel ball 264 on the snap-fit ​​sleeve 263 can be radially retracted into the unlocking cavity; the telescopic end of the linear telescopic mechanism is axially connected to the snap-fit ​​sleeve 263.

[0058] In this way, the linear telescopic mechanism moves the snap-fit ​​sleeve axially along the locking hole. Before locking, the steel ball is moved to the position of the unlocking cavity. During the insertion of the locking pin into the snap-fit ​​sleeve, the steel ball retracts radially into the unlocking cavity. After the locking pin is coaxially inserted into the snap-fit ​​sleeve, the linear telescopic mechanism moves the snap-fit ​​sleeve toward the inside of the locking hole. At this time, the locking pin also moves together. Since the outer diameter of the snap-fit ​​sleeve matches the inner diameter of the locking hole, the steel ball moves toward the inside of the snap-fit ​​sleeve under the action of the inner wall of the locking hole and enters the snap-fit ​​groove. At this time, the snap-fit ​​sleeve and the locking pin are connected by the action of the steel ball and the snap-fit ​​groove. The linear telescopic mechanism further pulls the snap-fit ​​sleeve toward the inside of the locking hole, which can tighten the locking pin, thereby making the two brackets tightly fixed and connected.

[0059] like Figure 10 and Figure 11As shown, the bracket 21 is equipped with an electrical control system for controlling the walking mechanism 22 and the lifting mechanism 24. In two adjacent brackets 21, one bracket 21 has a protruding electrical plug 271 on its side, and the other bracket 21 has an electrical socket 272 corresponding to the electrical plug 271 on its side. The electrical plug 271 and electrical socket 272 are respectively connected to the corresponding electrical control system, and the electrical control systems of the two brackets 21 are detachably connected via the electrical plug 271 and electrical socket 272. In this way, the electrical control systems on two adjacent brackets can be detachably connected via the electrical plug 271 and electrical socket 272, satisfying both independent control of a single bracket and synchronous control of the bracket combination.

[0060] In order to enable the brackets 21 to be automatically assembled, the brackets 21 are provided with a positioning module that can determine the relative positions between the brackets 21. The positioning module is connected to the electronic control system. In this way, the positioning module can be used to move the brackets 21 to the position for assembly, thereby realizing automated operation.

[0061] Furthermore, the side of bracket 21 also has a visual positioning module, which is used to detect the position of the pin structure or socket structure on another bracket 21. This allows bracket 21 to find the assembly position more accurately based on the positioning module.

[0062] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An AGV battery replacing robot, characterized in that, The application relates to a battery changing device, which comprises at least one overall rectangular bracket (21), the bottom of the bracket (21) is provided with a walking mechanism (22) for driving the bracket (21) to move horizontally, the middle of the bracket (21) is provided with a recessed or hollow battery compartment, the battery compartment is horizontally provided with a supporting plate (23) for loading batteries and a vertical lifting mechanism (24), the lifting mechanism (24) is arranged outside the supporting plate (23), the edge of the supporting plate (23) is hung on the upper end of the lifting mechanism (24) through upward extending supporting mechanisms, and the sum of the lowest height of the supporting plate (23) and the thickness of the batteries is smaller than the battery changing distance between a battery changing bottom plate and the ground in a battery changing state.

2. The AGV battery replacing robot according to claim 1, wherein, The bracket (21) is detachably arranged side by side in the width direction and is provided with at least two, and in the two adjacent brackets (21), the side of any bracket (21) is provided with a protruding plug structure, and the side of the other bracket (21) is provided with a corresponding socket structure; the two brackets (21) are detachably connected through the plug structure and the socket structure.

3. The AGV battery replacing robot according to claim 2, wherein, The bracket (21) is provided with an electric control system for controlling the walking mechanism (22) and the lifting mechanism (24); in the two adjacent brackets (21), the side of any bracket (21) is provided with a protruding electric plug (271), and the side of the other bracket (21) is provided with a corresponding electric socket (272); the electric plug (271) and the electric socket (272) are respectively connected to the corresponding electric control systems, and the electric control systems of the two brackets (21) are detachably connected through the electric plug and the electric socket.

4. The AGV battery replacing robot according to claim 2, wherein, The plug structure comprises a locking column (261), the socket structure comprises a locking hole (262), the locking column (261) and the locking hole (262) are provided with mutually matched spiral locking surfaces or mutually matched steel ball locking mechanisms, and the locking column (261) or the locking hole (262) is provided with a rotary driving mechanism for driving relative rotation locking or a linear extension mechanism for locking or unlocking the steel ball locking mechanism.

5. The AGV battery replacing robot according to claim 4, wherein, The steel ball locking mechanism comprises a clamping sleeve (263) arranged in the locking hole (262), the outer diameter of the clamping sleeve (263) is consistent with the inner diameter of the locking hole (262), and the clamping sleeve (263) is movably arranged in the locking hole (262) in an axial direction; the diameter of the locking column (261) matches the inner diameter of the clamping sleeve (263), and the locking column (261) can be coaxially inserted into the clamping sleeve (263); the clamping sleeve (263) is provided with a clamping hole penetrating in a radial direction, a plurality of clamping holes are uniformly arranged along the circumference of the clamping sleeve (263), and a steel ball (264) is arranged in the clamping hole; the locking column (261) is provided with a clamping groove (265) arranged in a ring shape along the circumference, the diameter of the steel ball (264) is greater than the wall thickness of the clamping sleeve (263), and the difference between the two matches the depth of the clamping groove (265); the end of the locking hole (262) facing outward is provided with an unlocking cavity with a larger diameter, so that the steel ball (264) on the clamping sleeve (263) can retreat into the unlocking cavity in a radial direction at the unlocking cavity; and the telescopic end of the linear telescopic mechanism is connected to the clamping sleeve (263) in an axial direction.

6. The AGV battery swapping robot of claim 1, wherein, The walking mechanism (22) comprises a suspension (221) arranged transversely on the bracket (21), the suspension (221) is provided with an electric drive assembly, and the output end of the electric drive assembly is connected with a walking wheel (222); and the bottom of the bracket (21) is provided with a clearance opening corresponding to the walking wheel (222).

7. The AGV battery replacing robot according to claim 6, wherein, One end of the suspension (221) is rotatably connected to the bracket (21) through a horizontally arranged hinge shaft, and the other end is provided with a door-shaped support (223) arranged across the suspension (221), and the lower end of the door-shaped support (223) is fixed to the bracket (21); the suspension (221) is connected to the door-shaped support (223) through a vertically arranged screw rod, a spring (224) is arranged on the screw rod, and the two ends of the spring (224) are respectively abutted between the suspension (221) and the door-shaped support (223).

8. The AGV battery swapping robot of claim 1, wherein, The size of the supporting plate (23) matches the size of a single battery module, at least one supporting plate (23) is arranged in the battery compartment, two lifting mechanisms (24) are arranged at each end of each supporting plate (23), and each lifting mechanism (24) is connected to the supporting plate (23) through a ball hinge structure.

9. The AGV battery replacing robot according to claim 6, wherein, The lifting mechanism (24) is a vertically arranged multi-stage electric cylinder or multi-stage hydraulic cylinder; the walking wheel (222) is a Mecanum wheel, an omni-directional wheel or a rudder wheel; the electric drive assembly comprises a driving motor; the supporting plate (23) is provided with a locking and unlocking mechanism for disassembling and assembling the battery, and the locking and unlocking mechanism is arranged in one-to-one correspondence with a locking mechanism on the battery; and the bracket (21) is provided with an upwardly arranged visual positioning mechanism, and the visual positioning mechanism is used for positioning the target position of the battery.

10. A battery swap station, characterized by, The AGV battery replacing robot comprises the AGV battery replacing robot according to any one of claims 1-9.

Images