Battery replacement robot and battery replacement station

Abstract

The utility model provides a battery replacing robot and a battery replacing station. The battery replacing robot comprises a walking assembly, a lifting assembly, a battery replacing platform and a rotating assembly. The walking assembly is suitable for being arranged on the battery replacing track so that the battery replacing robot can move in the first direction. The lifting assembly is located above the walking assembly. And the battery replacing platform is fixedly connected to the lifting assembly above the lifting assembly. The rotating assembly is connected between the walking assembly and the lifting assembly. The rotating assembly is used for rotating the lifting assembly between a first angle position in the first direction and a second angle position in the second direction. The first direction is the extension direction of the battery replacement track. The second direction is perpendicular or substantially perpendicular to the first direction. And the first direction and the second direction are parallel to the horizontal plane. According to the utility model, the orientation of the battery replacing platform can be changed, so that the purpose of changing the orientation of the battery pack by rotating the battery pack is achieved, and the volume of an applicable box body is reduced.

Description

Technical Field

[0001] This utility model generally relates to the technical field of battery swapping for new energy vehicles, and more specifically to a battery swapping robot and a battery swapping station. Background Technology

[0002] The battery swapping robots in related technologies are applicable to battery swapping stations that are relatively large, making it difficult to adapt to the need for retrieving and placing battery packs in smaller battery swapping stations.

[0003] Therefore, there is a need to provide a battery swapping robot and a battery swapping station to at least partially solve the above problems. Utility Model Content

[0004] The present invention includes a series of simplified concepts, which will be further explained in detail in the detailed description section. This present invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] To at least partially solve the above problems, the first aspect of this utility model provides a battery swapping robot, the battery swapping robot comprising:

[0006] A walking assembly, adapted to be mounted on a battery swapping track, so that the battery swapping robot moves along a first direction;

[0007] A lifting assembly, located above the walking assembly;

[0008] A battery swapping platform, which is fixedly connected to the lifting assembly above the lifting assembly; and

[0009] A rotating assembly is connected between the traveling assembly and the lifting assembly, and the rotating assembly is used to rotate the lifting assembly between a first angular position along a first direction and a second angular position along a second direction.

[0010] Wherein, the first direction is the extension direction of the battery swapping track, the second direction is perpendicular or substantially perpendicular to the first direction, and the first direction and the second direction are each parallel to the horizontal plane.

[0011] According to the first aspect of this utility model, the battery swapping robot uses a rotating component to change the lifting component to a first angular position and a second angular position, thereby changing the orientation of the battery swapping platform and ultimately rotating the battery pack to change its orientation. Changing the lifting component to the first angular position reduces the space occupied by the battery swapping robot in the second direction, better adapts to the needs of retrieving and placing battery packs on the battery rack, increases the adaptability of the battery swapping robot, and helps to reduce the volume of the housing used to accommodate the battery swapping robot.

[0012] Optionally, the rotating assembly includes an actuating component and a driving component;

[0013] The actuator includes a fixed part and a rotating part, which are rotatably connected relative to each other. The fixed part is connected to the walking assembly above the walking assembly, and the rotating part is connected to the lifting assembly below the lifting assembly. The drive member is connected to the actuator to drive the rotating part to rotate relative to the fixed part.

[0014] Optionally, the battery swapping robot further includes:

[0015] An electrical control box is provided, which is at least connected to the rotating component via a cable. The electrical control box is used to send control signals to the rotating component to control the rotation angle and timing of the rotating component.

[0016] Optionally, the battery swapping robot further includes:

[0017] A cable chain is used to cover the cable connecting the electrical control box and the rotating assembly. The cable chain is disposed above the traveling assembly and is at least partially wrapped around the outer periphery of the rotating assembly.

[0018] Optionally, the rotating assembly includes an actuating component and a driving component. The actuating component includes a fixed part and a rotating part, which are rotatably connected relative to each other. The fixed part is connected to the traveling assembly above the traveling assembly, and the rotating part is connected to the lifting assembly below the lifting assembly. The driving component is connected to the actuating component in a transmission manner.

[0019] The lifting assembly includes a lifting base, which is fixedly connected to the rotating part above the rotating part.

[0020] in,

[0021] The electrical control box is located above the lifting platform; and / or

[0022] One end of the cable chain is fixed relative to the fixing part, and the other end of the cable chain is fixed relative to the lifting seat.

[0023] Optionally, the actuating component is a rotary reducer, and the driving component is fixedly connected to the fixed part.

[0024] Optionally, the lifting assembly includes:

[0025] A lifting seat, which is connected to the rotating assembly above the rotating assembly;

[0026] A pair of main scissor lift components, wherein the pair of main scissor lift components are vertically extendable and retractable above the lifting seat, and the pair of main scissor lift components are respectively located at both ends of the length direction of the lifting seat;

[0027] A secondary scissor lift component is provided above the lifting seat and is telescopically mounted vertically, with the secondary scissor lift component located at the end of the lifting seat in the width direction.

[0028] Optionally, the battery swapping platform includes a support platform and an unlocking / unlocking component;

[0029] The support platform is used to support the battery pack, and the support platform is connected to the lifting assembly above the lifting assembly;

[0030] The locking and unlocking components are disposed on the carrier platform to at least perform locking and unlocking actions on the battery pack.

[0031] Optionally, the locking / unlocking assembly includes multiple locking / unlocking guns connected to the upper part of the support platform for locking and unlocking the battery pack; and / or

[0032] The battery swapping platform includes a lifting position sensor, which is located above the support platform and is used to detect whether the lifting assembly has been lifted into position; and / or

[0033] The battery swapping platform includes multiple locking and unlocking positioning pins, which are spaced apart and connected to the support platform. Each locking and unlocking positioning pin protrudes from the upper surface of the support platform and is adapted to be inserted into a positioning hole in the battery pack to position the battery pack relative to the support platform in the horizontal direction; and / or

[0034] The battery swapping platform includes multiple support blocks connected to the upper part of the carrier platform, and the multiple support blocks protrude from the upper surface of the carrier platform to support the battery pack.

[0035] A second aspect of this utility model provides a battery swapping station, the battery swapping station comprising:

[0036] The container has the same external dimensions as a standard shipping container. The container has a battery swapping channel that runs through the width of the container. The container also has an internal storage space that is adjacent to and connected to the battery swapping channel along the length of the container. The storage space is used to accommodate at least a battery rack and a palletizer.

[0037] A battery swapping track is located inside the enclosure and is configured to extend along the length of the enclosure from the battery swapping channel into the accommodating space.

[0038] The aforementioned battery swapping robot is movably mounted on the battery swapping track, allowing it to move between the battery swapping channel and the accommodating space.

[0039] According to the second aspect of this utility model, by applying the above-mentioned battery swapping robot, the volume of the container can be reduced, and the external dimensions of the container are the same as those of a standard shipping container, thereby enabling the battery swapping station to better adapt to the needs of maritime transport and thus reduce maritime transport costs. Attached Figure Description

[0040] The following drawings, which illustrate embodiments of the present invention, are incorporated herein as part of the present invention for understanding the invention. The drawings show embodiments of the present invention and their descriptions, serving to explain the principles of the present invention. In the drawings,

[0041] Figure 1 This is a front view of a battery swapping robot according to a preferred embodiment of the present invention, in a state of being connected to a battery swapping track.

[0042] Figure 2 for Figure 1 The diagram shows a top view of the battery swapping robot connected to the battery swapping track.

[0043] Figure 3 for Figure 1 The right view of the battery swapping robot shown, in the state of being connected to the battery swapping track;

[0044] Figure 4 This is another front view of a battery swapping robot according to a preferred embodiment of the present invention, in a state of being connected to a battery swapping track;

[0045] Figure 5 This is a top view of a battery swapping robot according to a preferred embodiment of the present invention with the lifting assembly and battery swapping platform removed.

[0046] Figure 6This is a front view of the lifting assembly in a preferred embodiment of the present invention.

[0047] Figure 7 for Figure 6 A top view of the lifting assembly in its current state;

[0048] Figure 8 A schematic diagram of the unlocking / unlocking component according to a preferred embodiment of the present invention; and

[0049] Figure 9 This is a schematic diagram of a battery swapping station according to a preferred embodiment of this application, with the side walls of the enclosure and other structures omitted from the diagram.

[0050] Explanation of reference numerals in the attached figures:

[0051] 10: Battery Pack 100: Battery Swapping Station

[0052] 111: Enclosure; 111e: Battery swapping channel

[0053] 111f: Capacity space; 114: Battery swapping track

[0054] 114a: Rack and pinion; 115a: Battery swapping position detection component

[0055] 115b: First charging position detection element; 115c: Second charging position detection element

[0056] 115d: Potential switching limit detection device; 115e: Charging potential limit detection device

[0057] 116: Camera; 120: Lifting assembly

[0058] 130: Battery swapping robot; 131: Walking component

[0059] 131a: Walking frame; 131b: Walking wheels

[0060] 131c: First test piece; 131d: Second test piece

[0061] 131e: Walking drive component; 131f: Gear

[0062] 132: Rotating assembly; 132a: Fixed part

[0063] 132b: Rotating part; 132c: Driving component

[0064] 132d: Rotating test piece; 132e: First angle detection piece.

[0065] 132f: Second angle detection component; 132g: Third angle detection component

[0066] 132h: Cable chain; 133: Lifting assembly

[0067] 133a: Main scissor lift component; 133a1: Main scissor arm

[0068] 133b: Secondary scissor lift component; 133b1: Secondary scissor arm

[0069] 133c: Lifting transmission component; 133d: Lifting drive component

[0070] 133e: Lifting platform; 134: Battery swapping platform

[0071] 134a: Platform 134b: Lock / Unlock Gun

[0072] 134b1: Added unlocking mechanism to the gun head; 134b2: Added unlocking spring.

[0073] 134b3: Add / unlock driver; 134c: Lift-in-position sensor

[0074] 134d: Add / unlock positioning pin; 134e: Support block

[0075] 135: Electrical control box; 140: First battery rack

[0076] 150: Palletizer; 160: Second Battery Rack

[0077] D1: Length direction; D2: Width direction

[0078] D3: height direction Detailed Implementation

[0079] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that embodiments of the present invention may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with embodiments of the present invention.

[0080] To fully understand the embodiments of this utility model, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of this utility model is not limited to the specific details familiar to those skilled in the art.

[0081] It should be understood that the terminology used herein is intended only to describe particular embodiments and is not intended to limit the scope of the invention. The singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0082] The ordinal numbers such as "first" and "second" used in this utility model are merely identifiers and do not have any other meaning, such as a specific order. Furthermore, for example, the term "first component" does not imply the existence of a "second component," and the term "second component" does not imply the existence of a "first component." It should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "inner," "outer," and similar expressions used in this utility model are for illustrative purposes only and are not intended to be limiting.

[0083] The terms “center,” “parallel,” “perpendicular,” “aligned,” and “symmetrical” used in this invention are not necessarily precise, but rather encompass typical engineering tolerances.

[0084] The specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings, which show representative embodiments of the present invention and are not intended to limit the present invention.

[0085] See Figures 1 to 8 This embodiment provides a battery swapping robot 130. The battery swapping robot 130 includes, from bottom to top, a walking component 131, a rotating component 132, a lifting component 133, and a battery swapping platform 134. The walking component 131 is adapted to be mounted on a battery swapping track 114 so that the battery swapping robot 130 moves along a first direction. The battery swapping platform 134 is fixedly connected to the lifting component 133. The rotating component 132 connects the walking component 131 and the lifting component 133. The rotating component 132 is used to rotate the lifting component 133 between a first angular position along the first direction and a second angular position along a second direction, thereby driving the battery swapping platform 134 to rotate. The first direction is the extension direction of the battery swapping track 114, and the second direction is perpendicular or substantially perpendicular to the first direction. Both the first and second directions are parallel to the horizontal plane.

[0086] The phrase "the second direction is substantially perpendicular to the first direction" here means that the second direction and the first direction do not necessarily have to be 90° apart; for example, they can be any angle within the range of 85° to 95°.

[0087] The battery pack 10 is typically rectangular or substantially rectangular in shape. This means that the battery pack 10 has a longer horizontal dimension and a shorter horizontal dimension. To accommodate the shape of the battery pack 10, the battery swapping platform 134 is also typically rectangular or substantially rectangular in shape. Accordingly, the battery swapping platform 134 has a longer horizontal dimension and a shorter horizontal dimension. When carrying the battery pack 10, the longer horizontal dimension of the battery pack 10 is aligned with the longer horizontal dimension of the battery swapping platform 134. During the rotation of the battery swapping platform 134 in this embodiment, when the lifting assembly 133 is at a first angular position along the first direction, the longer horizontal dimension of the battery swapping platform 134 is aligned with the first direction, making it suitable for the battery swapping platform 134 to transfer the battery pack 10 along the first direction between the battery swapping station and the battery rack, thereby reducing space occupation in the second direction. During the rotation of the battery swapping platform 134, when the lifting component 133 is at the second angle position along the second direction, the horizontal direction of the longer dimension of the battery swapping platform 134 is consistent with the second direction, so that the battery swapping platform 134 can adapt to removing the battery pack 10 from the vehicle or installing the battery pack 10 into the vehicle at the battery swapping station.

[0088] According to this embodiment, the battery swapping robot 130 uses a rotating component 132 to change the lifting component 133 to a first angular position and a second angular position, thereby changing the orientation of the battery swapping platform 134 and achieving the purpose of reversing the orientation of the battery pack 10. Changing the lifting component 133 to the first angular position reduces the space occupied by the battery swapping robot 130 in the second direction, better adapts to the needs of picking up and placing the battery pack 10 on the battery rack, increases the adaptability of the battery swapping robot 130, and helps to reduce the volume of the housing used to accommodate the battery swapping robot.

[0089] Optionally, the rotating component 132 is used to rotate the lifting component 133 about a rotation axis. The rotation axis is parallel to or substantially parallel to the vertical direction.

[0090] See Figure 1 , Figures 3 to 5 In some embodiments, the rotating assembly 132 includes an actuating member and a driving member 132c. The actuating member includes a fixed portion 132a and a rotating portion 132b. The fixed portion 132a and the rotating portion 132b are rotatably connected relative to each other. The fixed portion 132a is connected to the traveling assembly 131 above the traveling assembly 131. The rotating portion 132b is connected to the lifting assembly 133 below the lifting assembly 133. The driving member 132c is drively connected to the actuating member to drive the rotating portion 132b to rotate relative to the fixed portion 132a.

[0091] See Figure 3In some embodiments, the battery swapping robot 130 further includes an electrical control box 135. The electrical control box 135 is at least connected to the rotating component 132 via a cable. The electrical control box 135 is used to send control signals to the rotating component 132 to control the rotation angle and timing of the rotating component 132. By placing the electrical control box 135 in the battery swapping robot 130, it is beneficial to reduce the length of the cable between the electrical control box 135 and the rotating component 132, and also to reduce the possibility that the cable between the electrical control box 135 and the rotating component 132 will be pulled and damaged due to the movement of the battery swapping robot 130 in the first direction.

[0092] See Figure 5 Furthermore, the battery swapping robot 130 also includes a cable chain 132h. The cable chain 132h is used to cover the cable connecting the electrical control box 135 and the rotating assembly 132. The cable chain 132h is positioned above the walking assembly 131 and is at least partially encircled around the outer periphery of the rotating assembly 132. The cable chain 132h prevents the cable from easily becoming tangled and damaged. By providing the cable chain 132h, the cable connecting the electrical control box 135 and the rotating assembly 132 can be further protected.

[0093] exist Figure 5 In the example shown, the electrical control box 135 is positioned above the traveling assembly 131. The electrical control box 135 is fixed relative to the fixed part 132a. When the lifting assembly 133 is in the first angular position, Figure 5 The dashed line in the diagram indicates either cable chain 132h' or cable chain 132h”, which represents the position of the cable chain at this time.

[0094] See 1. Figures 3 to 5 In some examples, the rotating component 132 is also used to position the lifting component 133 at a third angular position along the first direction.

[0095] If the lifting assembly 133 is defined as having a second angular position as its initial position, then the rotating part 132b can rotate clockwise relative to the fixed part 132a to position the lifting assembly 133 at a first angular position, and the rotating part 132b can rotate counterclockwise relative to the fixed part 132a to position the lifting assembly 133 at a third angular position. When the lifting assembly 133 is at the first angular position, Figure 5 The dashed lines in the diagram indicate the position of either cable chain 132h' or cable chain 132h" at this time. When the lifting assembly 133 is in the third angle position... Figure 5 The dashed line in the diagram indicates the position of the other cable chain, either 132h' or 132h'.

[0096] See Figure 5In some embodiments, the rotating assembly 132 includes an actuating member and a driving member 132c. The actuating member includes a fixed portion 132a and a rotating portion 132b. The fixed portion 132a and the rotating portion 132b are rotatably connected relative to each other. The fixed portion 132a is connected to the traveling assembly 131 above the traveling assembly 131. The rotating portion 132b is connected to the lifting assembly 133 below the lifting assembly 133. The driving member 132c is drive-connected to the actuating member. The lifting assembly 133 includes a lifting seat 133e. The lifting seat 133e is fixed to the rotating portion above the rotating portion. An electrical control box 135 is disposed above the lifting seat 133e. Specifically, the electrical control box 135 is disposed on the upper part of the lifting seat 133e. One end of the cable chain 132h is fixed relative to the fixed portion 132a, and the other end of the cable chain 132h is fixed relative to the lifting seat 133e. Compared to placing the electrical control box 135 on top of the walking component 131, this reduces the space occupied between the walking component 131 and the lifting component 133, thereby improving the structural compactness. At the same time, it lowers the center of gravity of the combination of the lifting component 133 and the battery swapping platform 134, making the translational and rotational movements of the battery swapping robot 130 more stable.

[0097] Optionally, the actuating component can be a rotary reducer as in the prior art. The driving component 132c is fixedly connected to the fixed part 132a. The driving component 132c includes a motor.

[0098] See Figure 1 , Figures 3 to 5 Furthermore, the battery swapping robot 130 also includes a rotating test piece 132d, a first angle detection piece 132e, a second angle detection piece 132f, and a third angle detection piece 132g. The rotating test piece 132d is fixed relative to the rotating part, for example, fixed to the lifting assembly 133. The first angle detection piece 132e, the second angle detection piece 132f, and the third angle detection piece 132g are all fixed relative to the fixed part 132a. The first angle detection piece 132e is triggered by the rotating test piece 132d when the lifting assembly 133 is in the first angle position. The second angle detection piece 132f is triggered by the rotating test piece 132d when the lifting assembly 133 is in the second angle position. The third angle detection piece 132g is triggered by the rotating test piece 132d when the lifting assembly 133 is in the second angle position.

[0099] exist Figure 1 , 3 as well as Figure 4 In the example shown, rotating the measured component 132d to align it with the second angle detection component 132f triggers the second angle detection component 132f. At this time, the lifting assembly 133 is located at the second angle position.

[0100] See Figure 1 , Figures 3 to 7 In some embodiments, the lifting assembly 133 includes a lifting seat 133e, a pair of main scissor fork members 133a, and a secondary scissor fork member 133b. The lifting seat 133e is connected to the rotating assembly 132 above the rotating assembly 132. The pair of main scissor fork members 133a are vertically extendable and extendable above the lifting seat 133e. The pair of main scissor fork members 133a are located at opposite ends of the lifting seat 133e in the length direction. The secondary scissor fork member 133b is vertically extendable and extendable above the lifting seat 133e. The secondary scissor fork member 133b is located at the end of the lifting seat 133e in the width direction. By adding the secondary scissor fork member 133b, the horizontal sway amplitude of the battery swapping platform 134 during the lifting process can be effectively reduced or suppressed, thereby making it easier for the battery swapping platform 134 to align with the vehicle's battery pack 10 and for the battery pack 10 to be installed into the vehicle more accurately.

[0101] Continue reading Figure 1 , Figures 3 to 7 Optionally, the main scissor lift member 133a includes at least one pair of main scissor arms 133a1 hinged to each other. The secondary scissor lift member 133b includes at least one pair of secondary scissor arms 133b1 hinged to each other. The hinge axis of the at least one pair of main scissor arms 133a1 is perpendicular to or substantially perpendicular to the hinge axis of the at least one pair of secondary scissor arms 133b1.

[0102] Furthermore, the lifting assembly 133 also includes a lifting transmission component 133c and a lifting drive component 133d. The lifting transmission component 133c includes components such as a rigid chain. The rigid chain connects the main scissor lift component 133a and the lifting seat 133e, or the battery swapping platform 134 and the lifting seat 133e. The lifting drive component 133d is used to drive the rigid chain to move, thereby driving the battery swapping platform 134 to lift.

[0103] Optionally, the lifting drive component 133d is a motor. The lifting transmission component 133c includes a rigid chain, a sprocket, and a sprocket shaft. The sprocket meshes with the rigid chain. The sprocket is fixed to the sprocket shaft. The sprocket shaft is mounted on the lifting base 133e via a bearing housing. The motor drives the sprocket shaft to rotate, thereby driving the rigid chain to move.

[0104] The lifting assembly 133 according to this embodiment achieves the lifting function by using a rigid chain and a scissor fork, resulting in smooth lifting with minimal or no swaying. The lifting drive component 133d uses a servo motor for more precise position adjustment.

[0105] See Figures 1 to 4 ,as well as Figure 8In some embodiments, the battery swapping platform 134 includes a support platform 134a and an locking / unlocking assembly. The support platform 134a is used to support the battery pack 10. The support platform 134a is connected to the lifting assembly 133 above the lifting assembly 133. The locking / unlocking assembly is disposed on the support platform 134a to at least perform locking and unlocking actions on the battery pack 10. Locking the battery pack 10 can be understood as securing the battery pack 10 to the vehicle. Unlocking the battery pack 10 can be understood as removing the battery pack 10 from the vehicle.

[0106] See Figures 1 to 4 Furthermore, the locking / unlocking assembly includes multiple locking / unlocking guns 134b. These multiple locking / unlocking guns 134b are connected to the upper part of the support platform 134a for locking and unlocking the battery pack 10.

[0107] See Figure 8 Optionally, the locking / unlocking gun 134b includes a locking / unlocking gun head 134b1, a locking / unlocking spring 134b2, and a locking / unlocking drive component 134b3. The locking / unlocking gun head 134b1 is floatingly mounted on the support platform 134a via the locking / unlocking spring 134b2. The locking / unlocking gun head 134b1 protrudes from the upper surface of the support platform 134a. The locking / unlocking gun head 134b1 is suitable for the installation and removal of the battery pack 10 bolts, i.e., performing locking and unlocking operations. The locking / unlocking spring 134b2 is used for stroke buffering, which can buffer the force between the locking / unlocking gun head 134b1 and the bolts during the upward movement, thereby preventing rigid collisions. The locking / unlocking drive component 134b3 is used to drive the locking / unlocking gun head 134b1 to rotate. The locking / unlocking drive component 134b3 can be a motor. In the illustrated example, the motor is horizontally positioned, and a reversing transmission structure, such as a bevel gear set, can be provided between the motor and the locking / unlocking gun head 134b1.

[0108] See Figure 2 Furthermore, the battery swapping platform 134 includes a lift-in-place sensor 134c. The lift-in-place sensor 134c is located on the upper part of the support platform 134a. The lift-in-place sensor 134c is used to detect whether the lifting assembly 133 has been lifted into place. The lift-in-place sensor 134c is triggered when the lifting assembly 133 lifts the battery swapping platform 134 into place.

[0109] Optionally, the lifting position sensor 134c is a contact sensor. For example, the lifting position sensor 134c uses a limit switch or a micro switch.

[0110] See Figures 1 to 4Furthermore, the battery swapping platform 134 includes multiple locking / unlocking positioning pins 134d. These pins are spaced apart and connected to the support platform 134a, protruding from the upper surface of the support platform 134a. The pins are adapted to be inserted into positioning holes in the battery pack 10 to position the battery pack 10 and the support platform 134a horizontally. When the battery swapping robot 130 moves under the vehicle and the locking / unlocking positioning pins 134d are aligned with the positioning holes in the battery pack 10, the lifting assembly 133 raises the battery swapping platform 134, allowing the locking / unlocking positioning pins 134d to be inserted into the positioning holes in the battery pack 10. With the battery pack 10 supported by the battery swapping platform 134, the multiple locking / unlocking positioning pins 134d collectively limit the horizontal movement of the battery pack 10.

[0111] Continue reading Figures 1 to 4 Furthermore, the battery swapping platform 134 includes multiple support blocks 134e. The multiple support blocks 134e are connected to the upper part of the support platform 134a. The multiple support blocks 134e protrude from the upper surface of the support platform 134a to support the battery pack 10. By having the multiple support blocks 134e contact and support the battery pack 10, resistance can be reduced during the process of the battery pack 10 detaching from the battery swapping platform 134; at the same time, it also helps to protect the battery pack 10.

[0112] See Figure 1 , Figure 3 as well as Figure 4In some embodiments, the aforementioned walking assembly 110 includes a walking frame 131a, walking wheels 131b, a first test piece 131c, a second test piece 131d, a walking drive 131e, and a gear 131f. The walking wheels 131b are rotatably mounted on the walking frame 131a for walking along the battery swapping track 114. The upper part of the walking frame 131a is fixedly connected to the fixing part 132a of the aforementioned rotating assembly 132. The first test piece 131c and the second test piece 131d are respectively connected to the two ends of the walking drive 131e along a first direction. The first test piece 131c is used to cooperate with the battery swapping position detection piece 115a and the battery swapping potential limit detection piece 115d disposed on the battery swapping track 114 to detect the position of the battery swapping robot 130. When the battery swapping position detection piece 115a is triggered by the first test piece 131c, it indicates that the battery swapping robot 130 has moved to the battery swapping station. When the battery swapping limit detector 115d is triggered by the first test piece 131c, it indicates that the battery swapping robot 130 has displaced too far and exceeded the battery swapping station, triggering an over-limit alarm. The second test piece 131d works in conjunction with the first charging position detector 115b, the second charging position detector 115c, and the charging position limit detector 115e, all located on the battery swapping track 114, to detect the position of the battery swapping robot 130. When the first charging position detector 115b is triggered by the second test piece 131d, it indicates that the battery swapping robot 130 has moved to the target position corresponding to the battery rack with the lifting assembly 133 positioned at a first angular position. When the second charging position detector 115c is triggered by the second test piece 131d, it indicates that the battery swapping robot 130 has moved to the target position corresponding to the battery rack with the lifting assembly 133 positioned at a third angular position. When the charging position limit detector 115e is triggered by the second test piece 131d, it indicates that the battery swapping robot 130 has displaced too far and exceeded the target position corresponding to the battery rack. The travel drive component 131e is fixed to the travel frame 131a. The travel drive component 131e is driveably connected to the gear 131f to drive the gear 131f to rotate. The gear 131f is used to mesh with the rack 114a arranged on the battery swapping track 114, thereby enabling the travel assembly 110 to move along the battery swapping track 114. The travel drive component 131e can be an electric motor.

[0113] According to the battery swapping robot 130 of this embodiment, by setting a rotating component 132, the battery swapping robot 130 can realize the reversal of the battery pack 10, thereby solving the problem that the battery rack for the battery pack 10 to enter and exit the charging chamber is difficult due to the standard container single-box structure of the applicable battery swapping station 100.

[0114] See Figure 9 and combined Figures 1 to 8This embodiment provides a battery swapping station 100. The battery swapping station 100 includes a container 111, a battery swapping track 114, and the aforementioned battery swapping robot 130. The external dimensions of the container 111 are the same as those of a standard shipping container. A battery swapping channel 111e is provided in the container 111. The battery swapping channel 111e extends through the container 111 along its width direction D2. The interior of the container 111 also has a receiving space 111f. The receiving space 111f is adjacent to the battery swapping channel 111e along the length direction D1 of the container 111 and is connected to the battery swapping channel 111e. The receiving space 111f is used to accommodate at least a battery rack and a palletizer 150. The battery swapping track 114 is located inside the container 111. The battery swapping track 114 is configured to extend along the length direction D1 of the container 111 from the battery swapping channel 111e into the receiving space 111f. The battery swapping robot 130 is movably mounted on the battery swapping track 114, allowing it to move between the battery swapping channel 111e and the receiving space 111f. In this embodiment, the battery swapping track 114 extends along the length direction D1 of the housing 111. That is, the first direction is parallel to or substantially parallel to the length direction D1 of the housing 111. Correspondingly, the second direction is parallel to or substantially parallel to the width direction D2 of the housing 111.

[0115] According to the embodiment, the battery swapping station 100 can reduce the volume of the container 111 by applying the battery swapping robot 130 described above, and the external dimensions of the container 111 are the same as those of a standard container, so that the battery swapping station 100 can better adapt to the needs of maritime transport and thus reduce maritime transport costs.

[0116] The container 111 has standard container dimensions, facilitating the containerized transport of the battery swapping station 100. In this embodiment, the container can be a standard 40-foot container (length × width × height: 12192mm x 2438mm x 2896mm). Since the width of the container 111 is relatively short, the length of the battery pack 10 is often greater than the width of the container. Therefore, the battery swapping robot 130 is needed to perform a reversal (rotating the battery pack 10 from parallel to the width direction D2 of the container 111 in its length direction to parallel to the length direction D1 of the container 111) before it can be moved from the battery swapping channel 111e into the receiving space 111f (or from the receiving space 111f into the battery swapping channel 111e). This achieves a compact structure, convenient transport, and functional integration suitable for battery swapping for the charging and swapping station 100.

[0117] See Figure 9In addition, the battery swapping station 100 also includes a lifting assembly 120, a first battery rack 140, a palletizer 150, and a second battery rack 160. The lifting assembly 120, battery swapping robot 130, first battery rack 140, palletizer 150, and second battery rack 160 are all located within the accommodating space 111f of the housing 111. A battery swapping channel 111e is located at one end of the housing 111 along its length direction D1. The battery swapping channel 111e is used to accommodate vehicles to be swapped. The lifting assembly 120 is located in the battery swapping channel 111e and is used to lift and lower the vehicle to change its position in the height direction D3 of the housing 111. The lifting assembly 120 can adopt a structure suitable for lifting vehicles in the prior art. The battery swapping channel 111e, first battery rack 140, palletizer 150, and second battery rack 160 are arranged sequentially along the length direction D1 of the housing 111. The battery swapping robot 130 can move along the length direction D1 of the housing 111 between the battery swapping channel 111e and the first battery rack 140. When the battery swapping robot 130 is located in the battery swapping channel 111e, it can remove the battery pack 10 from the vehicle or install the battery pack 10 into the vehicle. When the battery swapping robot 130 is located in the first battery rack 140, it can remove the battery pack 10 from the first battery rack 140 or place the battery pack 10 in the first battery rack 140. The first battery rack 140 has a buffer layer and a first charging layer. The first charging layer is located above the buffer layer. The buffer layer is used to store the battery pack 10 transferred by the battery swapping robot 130, or to buffer the battery pack 10 transferred by the palletizer 150 from the first charging layer or the second battery rack 160. The first charging layer is adapted to store the battery pack 10 and charge the battery pack 10. The second battery rack 160 includes a second charging layer for storing the battery pack 10 and charging the battery pack 10.

[0118] See Figure 9 In some embodiments, to meet monitoring requirements, the battery swapping station 100 may also include a camera 116 suitable for acquiring image information.

[0119] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of the invention. Terms such as “set” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0120] This utility model has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this utility model to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this utility model, and all such variations and modifications fall within the scope of protection claimed by this utility model.

Claims

1. A battery-swapping robot, characterized in that, The battery swapping robot includes: A walking assembly, adapted to be mounted on a battery swapping track, so that the battery swapping robot moves along a first direction; A lifting assembly, located above the walking assembly; A battery swapping platform, which is fixedly connected to the lifting assembly above the lifting assembly; and A rotating assembly is connected between the traveling assembly and the lifting assembly, and the rotating assembly is used to rotate the lifting assembly between a first angular position along a first direction and a second angular position along a second direction. Wherein, the first direction is the extension direction of the battery swapping track, the second direction is perpendicular or substantially perpendicular to the first direction, and the first direction and the second direction are each parallel to the horizontal plane.

2. The battery swapping robot according to claim 1, characterized in that, The rotating assembly includes an actuating component and a driving component; The actuator includes a fixed part and a rotating part, which are rotatably connected relative to each other. The fixed part is connected to the walking assembly above the walking assembly, and the rotating part is connected to the lifting assembly below the lifting assembly. The drive member is connected to the actuator to drive the rotating part to rotate relative to the fixed part.

3. The battery swapping robot according to claim 1 or 2, characterized in that, The battery swapping robot also includes: An electrical control box is provided, which is at least connected to the rotating component via a cable. The electrical control box is used to send control signals to the rotating component to control the rotation angle and timing of the rotating component.

4. The battery swapping robot according to claim 3, characterized in that, The battery swapping robot also includes: A cable chain is used to cover the cable connecting the electrical control box and the rotating assembly. The cable chain is disposed above the traveling assembly and is at least partially wrapped around the outer periphery of the rotating assembly.

5. The battery swapping robot according to claim 4, characterized in that, The rotating assembly includes an actuating component and a driving component. The actuating component includes a fixed part and a rotating part, which are rotatably connected relative to each other. The fixed part is connected to the walking assembly above the walking assembly, and the rotating part is connected to the lifting assembly below the lifting assembly. The driving component is connected to the actuating component in a transmission manner. The lifting assembly includes a lifting base, which is fixedly connected to the rotating part above the rotating part. in, The electrical control box is located above the lifting platform; and / or One end of the cable chain is fixed relative to the fixing part, and the other end of the cable chain is fixed relative to the lifting seat.

6. The battery swapping robot according to claim 2, characterized in that, The actuating component is a rotary reducer, and the driving component is fixedly connected to the fixed part.

7. The battery swapping robot according to claim 1, characterized in that, The lifting assembly includes: A lifting seat, which is connected to the rotating assembly above the rotating assembly; A pair of main scissor lift components, wherein the pair of main scissor lift components are vertically extendable and retractable above the lifting seat, and the pair of main scissor lift components are respectively located at both ends of the length direction of the lifting seat; A secondary scissor lift component is provided above the lifting seat and is telescopically mounted vertically, with the secondary scissor lift component located at the end of the lifting seat in the width direction.

8. The battery swapping robot according to claim 1, characterized in that, The battery swapping platform includes a support platform and an unlocking / unlocking component; The support platform is used to support the battery pack, and the support platform is connected to the lifting assembly above the lifting assembly; The locking and unlocking components are disposed on the carrier platform to at least perform locking and unlocking actions on the battery pack.

9. The battery swapping robot according to claim 8, characterized in that, The locking / unlocking assembly includes multiple locking / unlocking guns connected to the upper part of the support platform for locking and unlocking the battery pack; and / or The battery swapping platform includes a lifting position sensor, which is located above the support platform and is used to detect whether the lifting assembly has been lifted into position; and / or The battery swapping platform includes multiple locking and unlocking positioning pins, which are spaced apart and connected to the support platform. Each locking and unlocking positioning pin protrudes from the upper surface of the support platform and is adapted to be inserted into a positioning hole in the battery pack to position the battery pack relative to the support platform in the horizontal direction; and / or The battery swapping platform includes multiple support blocks connected to the upper part of the carrier platform, and the multiple support blocks protrude from the upper surface of the carrier platform to support the battery pack.

10. A battery swapping station, characterized in that, The battery swapping station includes: The container has the same external dimensions as a standard shipping container. The container has a battery swapping channel that runs through the width of the container. The container also has an internal storage space that is adjacent to and connected to the battery swapping channel along the length of the container. The storage space is used to accommodate at least a battery rack and a palletizer. A battery swapping track is located inside the enclosure and is configured to extend along the length of the enclosure from the battery swapping channel into the accommodating space. According to any one of claims 1 to 9, the battery swapping robot is movably disposed on the battery swapping track so that the battery swapping robot can move between the battery swapping channel and the accommodating space.

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