Device for replacing battery of shared electric vehicle

Abstract

The utility model provides a device for replacing a battery of a shared electric vehicle, which belongs to the technical field of operation of the shared electric vehicle and comprises a supporting chassis, a horizontal adjusting component, a longitudinal adjusting component, a grabbing component and a moving component, the horizontal adjusting component is positioned at the upper part of the supporting chassis, and the longitudinal adjusting component is positioned on the horizontal adjusting component; the grabbing assembly is located on the longitudinal adjusting assembly, the horizontal adjusting assembly is fixedly connected with the supporting chassis, and the longitudinal adjusting assembly is connected with the horizontal adjusting assembly and the grabbing assembly. During use, the moving assembly drives the supporting chassis to move, and the horizontal adjusting assembly drives the longitudinal adjusting assembly to transversely move left and right and move front and back on the supporting chassis; the longitudinal adjusting assembly drives the grabbing assembly to ascend or descend, and the grabbing assembly rotates in the axial direction of the longitudinal adjusting assembly, so that all-directional movement of the grabbing assembly is achieved, and the grabbing assembly can be located at the grabbing point of the battery block of the shared electric vehicle for grabbing to cope with the shared electric vehicles at different parking positions and postures.

Description

Technical Field

[0001] This utility model relates to the field of shared electric vehicle operation technology, and in particular to a device for replacing the battery of a shared electric vehicle. Background Technology

[0002] With the booming development of the sharing economy, shared electric vehicles have become an indispensable part of the urban transportation system. However, with the continuous growth in the number of shared electric vehicles deployed and the increasing frequency of use, many problems have gradually emerged. In particular, the limited battery range of shared electric vehicles has led to shared electric vehicle operating companies having to rely on a large number of people or battery replacement devices to replace the batteries of shared electric vehicles with insufficient power in order to ensure the continuous operation of shared electric vehicles.

[0003] Existing examples, such as Chinese invention patent application number "CN201910914575.7", disclose an automated and efficient battery replacement component for shared electric bicycles. This component includes a mounting base, a clamping device, a charging storage unit, and a battery supply unit. The clamping device includes a robotic arm, a telescopic drive mechanism, and a sequential guide mechanism. The sequential guide mechanism and the telescopic drive mechanism cooperate to guide the robotic arm from an initial state to a right-turning state, then from a right-turning state to a left-turning state, and finally from a left-turning state back to the initial state. In the initial state, the robotic arm removes the depleted battery from the battery compartment; in the right-turning state, it removes the depleted battery... The battery is placed in the charging storage section. In the left-biased state, the fully charged battery is removed from the battery supply section and reset to the initial state before the fully charged battery is installed in the battery box. However, the automated and efficient battery replacement component for shared electric bicycles described in the above technical solution requires the shared electric bicycle to be properly placed on one side of the mounting base so that the battery box of the shared electric bicycle is facing the robotic arm. Only then can the robotic arm remove the depleted battery from the battery box and install the fully charged battery in the battery box. This method cannot flexibly handle various parking positions and postures of shared electric bicycles, resulting in low efficiency in replacing shared electric bicycle batteries. Utility Model Content

[0004] In view of this, it is necessary to provide a device for replacing the battery of shared electric vehicles, so as to flexibly cope with various parking locations and postures of shared electric vehicles and improve the efficiency of battery replacement.

[0005] This utility model provides a device for replacing the battery of a shared electric vehicle, comprising a supporting chassis, a horizontal adjustment component, a vertical adjustment component, a gripping component, and a moving component. The horizontal adjustment component is located on the upper part of the supporting chassis, the vertical adjustment component is located on the horizontal adjustment component, the gripping component is located on the vertical adjustment component, and the moving component is located at the bottom of the supporting chassis. The horizontal adjustment component is fixedly connected to the supporting chassis, and the vertical adjustment component is connected to both the horizontal adjustment component and the gripping component. The moving component is detachably connected to the supporting chassis. The horizontal adjustment component drives the vertical adjustment component to move laterally left and right and forward and backward on the supporting chassis. The vertical adjustment component drives the gripping component to rise or fall, and the gripping component rotates along the axial direction of the vertical adjustment component so that the gripping component is positioned at the gripping point of the shared electric vehicle battery pack for gripping. The moving component drives the supporting chassis to move.

[0006] Preferably, the horizontal adjustment component includes a left-right moving part and a front-back moving part. The left-right moving part is located on the upper part of the support chassis, the front-back moving part is located on the left-right moving part, and the vertical adjustment component is located on the front-back moving part. The left-right moving part is connected to the support chassis, the left-right moving part is connected to the front-back moving part, and the vertical adjustment component is connected to the front-back moving part. The left-right moving part drives the front-back moving part to move laterally left and right on the support chassis, and the front-back moving part drives the vertical adjustment component to move laterally left and right and front-back on the left-right moving part.

[0007] Preferably, the left and right moving part includes a lateral moving drive, a first slide rail, and a first sliding block. There are two lateral moving drive components, one of which is located at the front end of the supporting chassis and the other is located at the rear end of the supporting chassis. The two lateral moving drive components are parallel to each other. The first slide rail is located on one side of one of the lateral moving drive components and is parallel to the lateral moving drive component. The first sliding block is located on the first slide rail. The front and rear moving part is located on the lateral moving drive component. The first sliding block is slidably connected to the first slide rail. The front and rear moving part is connected to both the lateral moving drive component and the first sliding block.

[0008] The lateral movement drive includes two first rotating blocks, a first lead screw, and a first drive motor. The two first rotating blocks and the first drive motor are all located on the upper part of the support chassis. Both ends of the first lead screw are rotatably connected to the two first rotating blocks. The first drive motor and the two first rotating blocks are concentric and coaxial. The forward and backward moving part is located on the first lead screw. The two first rotating blocks are fixedly connected to the support chassis. The output end of the first drive motor is connected to the first lead screw. Both ends of the first slide rail are fixedly connected to the two first rotating blocks. The forward and backward moving part is threadedly connected to the first lead screw. The first sliding block is fixedly connected to the forward and backward moving part. The first drive motor drives the first lead screw to rotate on the two first rotating blocks. The first lead screw drives the forward and backward moving part to rotate. The forward and backward moving part drives the first sliding block to slide left and right on the first slide rail, so that the first sliding block guides the forward and backward moving part left and right.

[0009] Preferably, the forward and backward moving part includes a forward and backward moving drive, a second slide rail, and a second sliding block. There is at least one forward and backward moving drive. Both ends of the forward and backward moving drive are respectively threaded to the first lead screws of the two transverse moving drive. The second slide rail is located on one side of the forward and backward moving drive and is parallel to each other. The second sliding block is located on the second slide rail. The longitudinal adjustment component is located on the forward and backward moving drive. The second slide rail is connected to the forward and backward moving drive and is slidably connected to the second sliding block. The longitudinal adjustment component is connected to both the forward and backward moving drive and the second sliding block.

[0010] The forward and backward moving drive component includes two connecting blocks, a second lead screw, and a second drive motor. The two connecting blocks are respectively located on the first lead screws of the two transverse moving drive components, and the bottom ends of the two connecting blocks are threadedly connected to the first lead screws. The upper ends of the two connecting blocks are rotatably connected to the two ends of the second lead screws. The output end of the second drive motor is connected to the second lead screw. The two ends of the second slide rail are fixedly connected to the two connecting blocks. The longitudinal adjustment component is located on the second lead screw and is threadedly connected to the second lead screw. The second drive motor drives the second lead screw to rotate on the two connecting blocks. The second lead screw drives the longitudinal adjustment component to rotate. The longitudinal adjustment component drives the second sliding block to slide back and forth on the second slide rail, so that the second sliding block guides the longitudinal adjustment component forward and backward.

[0011] Preferably, the longitudinal adjustment assembly includes a support base and a lifting drive unit. The support base is located on the second lead screw, the lifting drive unit is located on the support base, and the gripping assembly is located on the lifting drive unit. The bottom end of the support base is threadedly connected to the second lead screw, and the side end of the support base is fixedly connected to the second sliding block. The lifting drive unit is connected to the support base, and the gripping assembly is connected to the lifting drive unit. The support base drives the lifting drive unit to move back and forth on the second lead screw and supports the lifting drive unit to rotate on the support base. The lifting drive unit drives the gripping assembly to rise or fall.

[0012] Preferably, the lifting drive unit includes a second rotating block, a lifting guide rail, a third lead screw, a lifting block, and a third drive motor. The second rotating block and the lifting guide rail are both located on the support base. The lifting guide rail is located on one side of the second rotating block. The second lead screw is located on the second rotating block. The second rotating block and the lifting guide rail are both fixedly connected to the support base. The second rotating block is rotatably connected to the third lead screw. The third lead screw is connected to the output end of the third drive motor. One end of the lifting block is threadedly connected to the third lead screw. The middle part of the lifting block is slidably connected to the lifting guide rail. The other end of the lifting block is fixedly connected to the gripping assembly. The third drive motor drives the third lead screw to rotate on the second rotating block. The third lead screw drives the lifting block to rise or fall on the lifting guide rail. The lifting block drives the gripping assembly to rise or fall.

[0013] Preferably, the gripping assembly includes a first connecting arm, a rotating part, and a clamping part. There is at least one rotating part. One end of the first connecting arm is fixedly connected to the lifting block, and the other end of the first connecting arm is connected to one end of the rotating part. The other end of the rotating part is fixedly connected to the clamping part. The rotation of the rotating part drives the clamping part to rotate axially along the lifting guide rail.

[0014] Preferably, the rotating part includes a fourth drive motor and a second connecting arm. The fourth drive motor is located on the first connecting arm at one end away from the lifting block, and the output shaft of the fourth drive motor passes through the first connecting arm and is connected to one end of the second connecting arm. The other end of the second connecting arm is fixedly connected to the clamping part. The fourth drive motor drives the second connecting arm to rotate, and the second connecting arm drives the clamping part to rotate.

[0015] Preferably, the clamping part includes a jaw, a pressing plate, a push rod, a connecting box, a sixth drive motor, and a connecting horizontal plate. The jaws are in at least one set, and the number of push rods is the same as the number of jaws. The jaws are located on the connecting box, the pressing plate is located inside the connecting box, the push rods are located on the pressing plate, the connecting box is located at the bottom of the connecting horizontal plate, and the sixth drive motor is located at the top of the connecting horizontal plate. The output end of the sixth drive motor passes through the connecting horizontal plate and extends into the connecting box. The middle part of the jaws is rotatably connected to the connecting box, and the pressing plate is connected to the connecting horizontal plate. The output end of the sixth drive motor is threadedly connected. One end of the push rod is rotatably connected to the pressure plate. The other end of the push rod passes through the connecting box and pushes the free end of the gripper. One end of the connecting horizontal plate is fixedly connected to the other end of the rotating part. The sixth drive motor drives the pressure plate to rise or fall. The pressure plate drives the push rod to rise or fall. The other end of the push rod pushes the free end of the gripper, so that a set of grippers on the connecting box can rotate in a direction closer to each other to clamp the battery block or rotate in a direction further away from each other to place the battery block.

[0016] Preferably, the device for replacing the battery of a shared electric vehicle further includes a battery housing and a conveying assembly. The battery housing is located on the upper part of the supporting chassis and on one side of the leveling assembly. The conveying assembly is located on the leveling assembly. The battery housing and the supporting chassis are integrally formed. The conveying assembly is fixedly connected to the leveling assembly. The gripping assembly places the battery block on the conveying assembly, and the conveying assembly conveys the battery block into the battery housing.

[0017] As can be seen from the above technical solution, the device for replacing the battery of a shared electric vehicle provided by this utility model includes a supporting chassis, a horizontal adjustment component, a vertical adjustment component, a gripping component, and a moving component. The horizontal adjustment component is located on the upper part of the supporting chassis, the vertical adjustment component is located on the horizontal adjustment component, the gripping component is located on the vertical adjustment component, and the moving component is located at the bottom of the supporting chassis. The horizontal adjustment component is fixedly connected to the supporting chassis, the vertical adjustment component is connected to both the horizontal adjustment component and the gripping component, and the moving component is detachably connected to the supporting chassis. In use, the moving component drives the supporting chassis to move, the horizontal adjustment component drives the vertical adjustment component to move laterally left and right and forward and backward on the supporting chassis, the vertical adjustment component drives the gripping component to rise or fall, and the gripping component rotates along the axial direction of the vertical adjustment component, thereby realizing the all-round movement of the gripping component so that the gripping component can be located at the gripping point of the shared electric vehicle battery pack for gripping, and can cope with shared electric vehicles with different parking positions and postures. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the device for replacing the battery of a shared electric vehicle provided by this utility model.

[0020] Figure 2 This is a schematic diagram of the horizontal adjustment component in this utility model.

[0021] Figure 3 This is a schematic diagram of the longitudinal adjustment component in this utility model.

[0022] Figure 4 This is a schematic diagram of the gripping component in this utility model.

[0023] Figure 5 This is a schematic diagram of the clamping part in this utility model.

[0024] Figure 6 This is a schematic diagram of the conveying component in this utility model.

[0025] Figure 7 This is a schematic diagram of the functional modules of the control module in this utility model.

[0026] Figure 8 This is a schematic diagram of the functional modules of the operation and scheduling module in this utility model.

[0027] The diagram shows: a device 10 for replacing the battery of a shared electric vehicle, a supporting chassis 110, a horizontal adjustment assembly 120, a left-right moving part 121, a lateral movement drive 1211, a first rotating block 12111, a first lead screw 12112, a first drive motor 12113, a first slide rail 1212, a first sliding block 1223, a front-back moving part 122, a front-back moving drive 1221, a connecting block 12211, a second lead screw 12212, and a second drive motor. 12213, Second slide rail 1222, Second sliding block 1223, Longitudinal adjustment assembly 130, Support base 131, Lifting drive unit 132, Second rotating block 1321, Lifting guide rail 1322, Third lead screw 1323, Lifting block 1324, Third drive motor 1325, Gripping assembly 140, First connecting arm 141, First rotating part 142, Fourth drive motor 1421, Second connecting arm 1422, Second rotating part 143, ... Components include: fifth drive motor 1431, third connecting arm 1432, clamping part 144, gripper 1441, pressing plate 1442, push rod 1443, connecting box 1444, sixth drive motor 1445, connecting cross plate 1446, moving assembly 150, third L-shaped support plate 151, eighth drive motor 152, Mecanum wheel 153, battery housing 160, conveying assembly 170, conveying trough 171, conveying part 172, and second L-shaped support plate 17. 21. Seventh drive motor 1722. Conveyor belt 1723. Support roller 1724. Transition connection 173. Transition groove 1731. Rotating roller 1732. Control module 180. Ultrasonic detection radar 181. Walking vision recognition camera 182. Grasping vision recognition camera 183. Battery swapping task receiving unit 184. Obstacle information receiving unit 185. Obstacle avoidance analysis unit 186. Motion control unit 187. Action control unit 188;

[0028] Operation scheduling module 20, data analysis unit 21, task distribution unit 22. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0030] In the description of this utility model, it should be understood that the terms "upper", "middle", "outer", "inner", "lower", etc., which indicate orientation or positional relationship, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0031] Please refer to Figure 1-6 This utility model provides a device 10 for replacing the battery of a shared electric vehicle, including a supporting chassis 110, a horizontal adjustment component 120, a vertical adjustment component 130, a gripping component 140, and a moving component 150. The horizontal adjustment component 120 is located on the upper part of the supporting chassis 110, the vertical adjustment component 130 is located on the horizontal adjustment component 120, the gripping component 140 is located on the vertical adjustment component 130, and the moving component 150 is located at the bottom of the supporting chassis 110. The horizontal adjustment component 120 is fixedly connected to the supporting chassis 110, and the vertical adjustment component 130 is connected to the horizontal adjustment component 120 and the gripping component 140. All components are connected. The moving component 150 and the supporting chassis 110 are detachably connected by bolts. In use, the moving component 150 drives the supporting chassis 110 to move. The horizontal adjustment component 120 drives the vertical adjustment component 130 to move laterally and backward on the supporting chassis 110. The vertical adjustment component 130 drives the gripping component 140 to rise or fall, and the gripping component 140 rotates along the axis of the vertical adjustment component 130, thereby realizing the all-round movement of the gripping component 140 so that the gripping component 140 can be located at the gripping point of the shared electric vehicle battery block for gripping, and can cope with shared electric vehicles with different parking positions and postures.

[0032] In one embodiment, the horizontal adjustment component 120 includes a left-right moving part 121 and a front-back moving part 122. The left-right moving part 121 is located on the upper part of the support chassis 110, and the front-back moving part 122 is located on the left-right moving part 121. The vertical adjustment component 130 is located on the front-back moving part 122. The left-right moving part 121 is connected to the support chassis 110 and the front-back moving part 122. The vertical adjustment component 130 is connected to the front-back moving part 122. The left-right moving part 121 drives the front-back moving part 122 to move laterally left and right on the support chassis 110. The front-back moving part 122 drives the vertical adjustment component 130 to move laterally left and right and front-back on the left-right moving part 121.

[0033] In one embodiment, the left-right moving part 121 includes a lateral moving drive 1211, a first slide rail 1212, and a first sliding block 1223. There are two lateral moving drive 1211s, one of which is located at the front end of the supporting chassis 110 and the other is located at the rear end of the supporting chassis 110. The two lateral moving drive 1211s are parallel to each other. The first slide rail 1212 is located on one side of one of the lateral moving drive 1211s and is parallel to the lateral moving drive 1211. The first sliding block 1223 is located on the first slide rail 1212. The front-back moving part 122 is located on the lateral moving drive 1211. The first sliding block 1223 is slidably connected to the first slide rail 1212. The front-back moving part 122 is connected to both the lateral moving drive 1211 and the first sliding block 1223.

[0034] The lateral movement drive component 1211 includes two first rotating blocks 12111, a first lead screw 12112, and a first drive motor 12113. The two first rotating blocks 12111 and the first drive motor 12113 are all located on the upper part of the support chassis 110. The two ends of the first lead screw 12112 are rotatably connected to the two first rotating blocks 12111 respectively. The first drive motor 12113 and the two first rotating blocks 12111 are concentric and coaxial. The forward and backward moving part 122 is located on the first lead screw 12112. The two first rotating blocks 12111 are fixedly connected to the support chassis 110. The output end of the first drive motor 12113 is connected to the first lead screw 12112. A lead screw 12112 is connected to the first slide rail 1212. The two ends of the first slide rail 1212 are fixedly connected to two first rotating blocks 12111 respectively. The front and rear moving part 122 is threadedly connected to the first lead screw 12112. The first sliding block 1223 is fixedly connected to the front and rear moving part 122. The first drive motor 12113 drives the first lead screw 12112 to rotate on the two first rotating blocks 12111. The first lead screw 12112 drives the front and rear moving part 122 to rotate. The front and rear moving part 122 drives the first sliding block 1223 to slide left and right on the first slide rail 1212, so that the first sliding block 1223 guides the front and rear moving part 122 left and right.

[0035] In one embodiment, the forward and backward moving part 122 includes a forward and backward moving drive member 1221, a second slide rail 1222, and a second sliding block 1223. There are two forward and backward moving drive members 1221, and the two ends of the forward and backward moving drive members 1221 are respectively threadedly connected to the first lead screws 12112 of the two transverse moving drive members 1211. The second slide rail 1222 is located on one side of the forward and backward moving drive member 1221, and the forward and backward moving drive member 1221 and the second slide rail 1222 are parallel to each other. The second sliding block 1223 is located on the second slide rail 1222. The longitudinal adjustment component 130 is located on the forward and backward moving drive member 1221. The second slide rail 1222 is connected to the forward and backward moving drive member 1221, and the second slide rail 1222 is slidably connected to the second sliding block 1223. The longitudinal adjustment component 130 is connected to both the forward and backward moving drive member 1221 and the second sliding block 1223.

[0036] Each forward and backward moving drive component 1221 includes two connecting blocks 12211, a second lead screw 12212, and a second drive motor 12213. The two connecting blocks 12211 are respectively located on the first lead screw 12112 of the two transverse moving drive components 1211, and the bottom ends of the two connecting blocks 12211 are threadedly connected to the first lead screw 12112. The upper ends of the two connecting blocks 12211 are rotatably connected to the two ends of the second lead screw 12212. The output end of the second drive motor 12213 is connected to the second lead screw 12212. The two sides of the second slide rail 1222... The ends are fixedly connected to two connecting blocks 12211 respectively. The longitudinal adjustment component 130 is located on the second lead screw 12212 and is threadedly connected to the second lead screw 12212. The second drive motor 12213 drives the second lead screw 12212 to rotate on the two connecting blocks 12211. The second lead screw 12212 drives the longitudinal adjustment component 130 to rotate. The longitudinal adjustment component 130 drives the second sliding block 1223 to slide back and forth on the second slide rail 1222, so that the second sliding block 1223 guides the longitudinal adjustment component 130 back and forth.

[0037] In one embodiment, the longitudinal adjustment assembly 130 includes a support base 131 and a lifting drive unit 132. The support base 131 is located on the second lead screw 12212, the lifting drive unit 132 is located on the support base 131, and the gripping assembly 140 is located on the lifting drive unit 132. The bottom end of the support base 131 is threadedly connected to the second lead screw 12212, and the side end of the support base 131 is fixedly connected to the second sliding block 1223. The lifting drive unit 132 is connected to the support base 131, and the gripping assembly 140 is connected to the lifting drive unit 132. The support base 131 drives the lifting drive unit 132 to move back and forth on the second lead screw 12212 and supports the lifting drive unit 132 to rotate on the support base 131. The lifting drive unit 132 drives the gripping assembly 140 to rise or fall.

[0038] In one embodiment, the lifting drive unit 132 includes a second rotating block 1321, a lifting guide rail 1322, a third lead screw 1323, a lifting block 1324, and a third drive motor 1325. The second rotating block 1321 and the lifting guide rail 1322 are both located on the support base 131. The lifting guide rail 1322 is located on one side of the second rotating block 1321. The second lead screw 12212 is located on the second rotating block 1321. The second rotating block 1321 and the lifting guide rail 1322 are both fixedly connected to the support base 131. The second rotating block 1321 and the third lead screw 1323 rotate... The third lead screw 1323 is connected to the output end of the third drive motor 1325. One end of the lifting block 1324 is threadedly connected to the third lead screw 1323. The middle part of the lifting block 1324 is slidably connected to the lifting guide rail 1322. The other end of the lifting block 1324 is fixedly connected to the gripping component 140. The third drive motor 1325 drives the third lead screw 1323 to rotate on the second rotating block 1321. The third lead screw 1323 drives the lifting block 1324 to rise or fall on the lifting guide rail 1322. The lifting block 1324 drives the gripping component 140 to rise or fall.

[0039] In one embodiment, the gripping component 140 includes a first connecting arm 141, a first rotating part 142, a second rotating part 143, and a clamping part 144. One end of the first connecting arm 141 is fixedly connected to the lifting block 1324, and the other end of the first connecting arm 141 is connected to one end of the first rotating part 142. The other end of the first rotating part 142 is connected to one end of the second rotating part 143, and the other end of the second rotating part 143 is fixedly connected to the clamping part 144. The first rotating part 142 and the second rotating part 143 rotate respectively, causing the clamping part 144 to rotate axially along the lifting guide rail 1322.

[0040] In one embodiment, the first rotating part 142 includes a fourth drive motor 1421 and a second connecting arm 1422. A third drive motor 1325 is located on the first connecting arm 141 at one end away from the lifting block 1324. The output shaft of the fourth drive motor 1421 passes through the first connecting arm 141 and is connected to one end of the second connecting arm 1422. The other end of the second connecting arm 1422 is connected to the second rotating part 143. The fourth drive motor 1421 drives the second connecting arm 1422 to rotate, and the second connecting arm 1422 drives the second rotating part 143 to rotate.

[0041] In one embodiment, the second rotating part 143 includes a fifth drive motor 1431 and a third connecting arm 1432. The fifth drive motor 1431 is located on the second connecting arm 1422 at one end away from the first connecting arm 141, and the output shaft of the fifth drive motor 1431 passes through the second connecting arm 1422 and is connected to one end of the third connecting arm 1432. The other end of the third connecting arm 1432 is fixedly connected to the gripping assembly 140. The fifth drive motor 1431 drives the third connecting arm 1432 to rotate, and the third connecting arm 1432 drives the clamping part 144 to rotate.

[0042] In one embodiment, the clamping part 144 includes grippers 1441, pressing plates 1442, push rods 1443, a connecting box 1444, a sixth drive motor 1445, and a connecting cross plate 1446. The grippers 1441 are in two sets, with two grippers forming one set. The number of push rods 1443 is the same as the number of grippers 1441. The grippers 1441 are located on the connecting box 1444, the pressing plates 1442 are located inside the connecting box 1444, and the push rods 1443 are positioned... On the pressing plate 1442, the connecting box 1444 is located at the bottom of the connecting horizontal plate 1446, the sixth drive motor 1445 is located at the top of the connecting horizontal plate 1446, the output end of the sixth drive motor 1445 passes through the connecting horizontal plate 1446 and extends into the connecting box 1444, the middle part of the gripper 1441 is rotatably connected to the connecting box 1444, the pressing plate 1442 is threadedly connected to the output end of the sixth drive motor 1445, and one end of the push rod 1443 is connected to the pressing plate 1442. The movable plate 1442 is rotatably connected, and the other end of the push rod 1443 passes through the connecting box 1444 and pushes the free end of the gripper 1441. One end of the connecting horizontal plate 1446 is fixedly connected to the other end of the first connecting arm 141. When clamping the battery block, the sixth drive motor 1445 drives the pressing plate 1442 to descend, and the pressing plate 1442 drives the push rod 1443 to descend. The other end of the push rod 1443 pushes the free end of the gripper 1441, so that the two sets of grippers 1441 rotate in a direction closer to each other on the connecting box 1444 to clamp the battery block. When placing the battery block, the sixth drive motor 1445 drives the pressing plate 1442 to rise, and the pressing plate 1442 drives the push rod 1443 to rise. The other end of the push rod 1443 is connected to the free end away from the gripper 1441, so that the two sets of grippers 1441 rotate in a direction away from each other on the connecting box 1444 to release the battery block for placement.

[0043] In one embodiment, the device 10 for replacing the battery of a shared electric vehicle further includes a battery housing 160 and a conveying assembly 170. The battery housing 160 is located on the upper part of the support chassis 110 and on one side of the horizontal adjustment assembly 120. The conveying assembly 170 is located on the horizontal adjustment assembly 120. The battery housing 160 and the support chassis 110 are integrally formed. The conveying assembly 170 is fixedly connected to the horizontal adjustment assembly 120. The gripping assembly 140 places the battery block on the conveying assembly 170, and the conveying assembly 170 conveys the battery block into the battery housing 160.

[0044] In one embodiment, the conveying assembly 170 includes a conveying trough 171, a conveying section 172, and a transition connecting section 173. There are two conveying troughs 171, and the number of conveying sections 172 and transition connecting sections 173 is the same as the number of conveying troughs 171. One end of the conveying trough 171 is fixedly connected to the first rotating block 12111 of one of the transverse drive members 1211, and the other end of the conveying trough 171 is fixedly connected to the first rotating block 12111 of another transverse drive member 1211. The conveying section 172 is located at the conveying... Inside the groove 171, one end of the transition connection 173 is connected to the opening of the battery housing 160, and the other end of the transition connection 173 is connected to the end of the conveying groove 171 near the battery housing 160. The conveying part 172 is connected to the conveying groove 171. The gripping assembly 140 places the battery block on the conveying part 172. The conveying part 172 rotates in the conveying groove 171. The conveying part 172 conveys the battery block to the transition connection 173, and the transition connection 173 conveys the battery block into the battery housing 160.

[0045] In one embodiment, the conveying unit 172 includes a second L-shaped support plate 1721, a seventh drive motor 1722, a conveyor belt 1723, and support rollers 1724. There are two support rollers 1724. The number of seventh drive motors 1722 and second L-shaped support plates 1721 is the same as the number of support rollers 1724. One second L-shaped support plate 1721 is located at one end of the conveying trough 171, and the other second L-shaped support plate 1721 is located at the other end of the conveying trough 171. One end of the second L-shaped support plate 1721 is fixedly connected to the conveying trough 171, and the other end of the second L-shaped support plate 1721 is fixedly connected to the seventh drive motor 1722. The two support rollers 1724 are respectively sleeved on the output shafts of the two seventh drive motors 1722. The conveyor belt 1723 is wrapped around the two support rollers 1724. The seventh drive motor 1722 drives the conveyor belt 1723 to rotate on the two support rollers 1724 so that the conveyor belt 1723 conveys the battery blocks.

[0046] In one embodiment, the transition connection 173 includes a transition groove 1731 and a rotating roller 1732. There are several rotating rollers 1732. One end of the transition groove 1731 is fixedly connected to one end of the conveying groove 171 near the battery housing 160, and the other end of the transition groove 1731 is fixedly connected to the opening of the battery housing 160. The rotating roller 1732 is located inside the transition groove 1731 and is rotatably connected to the transition groove 1731. When the conveyor belt 1723 conveys the battery block to the transition groove 1731, due to the height difference, the battery block automatically slides down the rotating roller 1732 into the battery housing 160.

[0047] In one embodiment, the moving component 150 includes a third L-shaped support plate 151, an eighth drive motor 152, and a Mecanum wheel 153. There are four third L-shaped support plates 151, and the number of eighth drive motors 152 and Mecanum wheels 153 is the same as the number of third L-shaped support plates 151. The four third L-shaped support plates 151 are respectively located at the four corners of the support chassis 110, and the four eighth drive motors 152 are respectively located on the four third L-shaped support plates 151. The third L-shaped support plates 151 are detachably connected to the support chassis 110 by bolts. The third L-shaped support plates 151 are welded to the eighth drive motors 152, and the output shaft of the eighth drive motor 152 is connected to the axis of the Mecanum wheel 153.

[0048] In this application, the Mecanum wheel 153 is prior art. The Mecanum wheel 153 has a hub + roller structure, in which the hub is the main support, and multiple drum-shaped rollers are obliquely distributed on the rim. The roller axis forms a 45-degree angle with the hub axis, and the generatrix envelope of the roller is a cylindrical surface, which ensures continuous rolling of the wheel while allowing lateral slippage. The motion synthesis mechanism of the Mecanum wheel 153 is that each roller can rotate independently. By adjusting the speed and direction of each wheel, the friction force is decomposed into lateral and longitudinal components, and finally synthesized into a resultant force vector in any direction. A typical four-wheel combination (left-hand and right-hand wheels are mirror-symmetrical) is driven independently by a motor, which can control the vehicle to achieve omnidirectional movement such as translation, diagonal movement, and rotation. It is a special wheel structure that can achieve omnidirectional movement.

[0049] In one embodiment, the device 10 for replacing the battery of a shared electric vehicle further includes a control module 180. The control module 180 includes an ultrasonic detection radar 181, a walking visual recognition camera 182, and a grasping visual recognition camera 183. There are four sets of ultrasonic detection radars 181, with two ultrasonic detection radars forming one set. The four sets of ultrasonic detection radars 181 are located on the four sides of the supporting chassis 110. The walking visual recognition camera 182 is located at the front end of the supporting chassis 110. The grasping visual recognition camera 183 is located at the bottom of the connecting cross plate 1446 and on one side of the connecting box 1444. The ultrasonic detection radar 181 and the walking visual recognition camera 182 are both fixedly connected to the supporting chassis 110. The grasping visual recognition camera 183 is fixedly connected to the connecting cross plate 1446. The ultrasonic detection radar 181 detects obstacles around the supporting chassis 110. The walking visual recognition camera 182 identifies the parking position, parking posture, and road conditions of the shared electric vehicle. The grasping visual recognition camera 183 identifies the battery pack.

[0050] In one implementation, please refer to Figure 7-8 The control module 180 also includes a battery swapping task receiving unit 184, an obstacle information receiving unit 185, an obstacle avoidance analysis unit 186, a movement control unit 187, and an action control unit 188. The obstacle information receiving unit 185 is electrically connected to the ultrasonic detection radar 181, the walking visual recognition camera 182, and the grasping visual recognition camera 183. The obstacle avoidance analysis unit 186 is electrically connected to the battery swapping task receiving unit 184, the obstacle information receiving unit 185, the movement control unit 187, and the action control unit 188.

[0051] The motion control unit 187 is electrically connected to four eighth drive motors 152. The first drive motor 12113, the second drive motor 12213, the third drive motor 1325, the fourth drive motor 1421, the fifth drive motor 1431, the sixth drive motor 1445, and the seventh drive motor 1722 are all electrically connected to the motion control unit 188. The battery swapping task receiving unit 184 receives battery swapping tasks, and the obstacle information receiving unit 185 receives data from the ultrasonic detection radar 181, the walking visual recognition camera 182, and the grasping visual recognition camera. The obstacle information collected by 183 is analyzed by the obstacle avoidance analysis unit 186 based on the obstacle information to determine the walking path and the battery block grabbing path. The movement control unit 187 controls the movement of the movement component 150. The motion control unit 188 controls the left and right movement part 121, the forward and backward movement part 122, the longitudinal adjustment component 130, the first rotation part 142, and the second rotation part 143 to realize the omnidirectional movement of the clamping part 144, so that the clamping part 144 can be located at the grabbing point of the shared electric vehicle battery block for grabbing, in response to shared electric vehicles with different parking positions and postures.

[0052] The operation scheduling module 20 includes a data analysis unit 21 and a task distribution unit 22. The data analysis unit 21 and the task distribution unit 22 are electrically connected. The data analysis unit 21 is used to generate battery swapping tasks for the control module 180 according to the battery swapping needs of shared electric vehicles in different locations. The task distribution unit 22 transmits the battery swapping tasks to the battery swapping task receiving unit 184.

[0053] The specific working process of the device 10 for replacing the battery of a shared electric vehicle is as follows: The data analysis unit 21 generates a battery replacement task and sends it through the task distribution unit 22. After receiving the battery replacement task, the battery replacement task receiving unit 184 uses ultrasonic detection radar 181 to detect obstacles around the supporting chassis 110, walking visual recognition camera 182 to identify the parking position, parking posture, and road conditions of the shared electric vehicle, and grasping visual recognition camera 183 to identify the battery pack. The obstacle information receiving unit 185 receives data from the ultrasonic detection radar 181, walking visual recognition camera 182, and grasping visual recognition camera 183. The obstacle information collected by the visual recognition camera 183 is analyzed by the obstacle avoidance analysis unit 186 based on the obstacle information to determine the walking path and the battery block grabbing path. The movement control unit 187 controls the movement of the movement component 150. The motion control unit 188 controls the left and right movement part 121, the front and back movement part 122, the longitudinal adjustment component 130, the first rotation part 142, and the second rotation part 143 to realize the omnidirectional movement of the clamping part 144 so that the clamping part 144 can be located at the grabbing point of the shared electric vehicle battery block for grabbing, in response to shared electric vehicles with different parking positions and postures.

[0054] When the left-right moving part 121 needs to move, the motion control unit 188 controls the first drive motor 12113 to drive the first lead screw 12112 to rotate on the two first rotating blocks 12111. The first lead screw 12112 drives the connecting block 12211 to rotate, and the connecting block 12211 drives the first sliding block 1223 to slide left and right on the first slide rail 1212, so that the first sliding block 1223 guides the connecting block 12211 left and right. When the front-back moving part 122 needs to move, the motion control unit 188 controls the second drive motor 12213 to drive the second lead screw 12212 to rotate on the two connecting blocks 12211 at its two ends. The second lead screw 12212 drives the support base 131 to rotate, and the support base 131 drives the second sliding block 1223 to slide back and forth on the second slide rail 1222, so that the second lead screw 12212 drives the support base 131 to rotate, and the support base 131 drives the second sliding block 1223 to slide back and forth on the second slide rail 1222, so that the second lead screw 12212 drives the connecting block 12211 to rotate. The sliding block 1223 guides the support base 131 forward and backward. When the longitudinal adjustment component 130 needs to rise or fall, the motion control unit 188 controls the third drive motor 1325 to drive the third lead screw 1323 to rotate on the second rotating block 1321. The third lead screw 1323 drives the lifting block 1324 to rise or fall on the lifting guide rail 1322. The lifting block 1324 drives the first connecting arm 141 to rise or fall. When the first rotating part 142 and the second rotating part 143 need to rotate, the motion control unit 188 controls the fourth drive motor 1421 to drive the second connecting arm 1422 to rotate. The second connecting arm 1422 drives the third connecting arm 1432 to rotate. The control unit 188 also controls the fifth drive motor 1431 to drive the third connecting arm 1432 to rotate. The third connecting arm 1432 drives the connecting cross plate 1446 to rotate.

[0055] When clamping the battery block, the motion control unit 188 controls the sixth drive motor 1445 to drive the pressure plate 1442 to descend. The pressure plate 1442 drives the push rod 1443 to descend. The other end of the push rod 1443 pushes the free end of the gripper 1441, so that the two sets of grippers 1441 rotate in a direction closer to each other on the connecting box 1444 to clamp the battery block. When placing the battery block, the sixth drive motor 1445 drives the pressure plate 1442 to rise. The pressure plate 1442 drives the push rod 1443 to rise. The other end of the push rod 1443 is away from the free end of the gripper 1441, so that the two sets of grippers 1441 rotate in a direction further away from each other on the connecting box 1444 to release the battery block and place it.

[0056] The above-disclosed embodiments are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of the present utility model. Those skilled in the art can understand that implementing all or part of the above-described embodiments and making equivalent changes in accordance with the claims of the present utility model are still within the scope of the utility model.

Claims

1. An apparatus for replacing a shared electric vehicle battery, characterized by: The application relates to a shared electric vehicle battery block grabbing device, which comprises a support base, a horizontal adjusting assembly, a longitudinal adjusting assembly, a grabbing assembly and a moving assembly, the horizontal adjusting assembly is arranged on the upper portion of the support base, the longitudinal adjusting assembly is arranged on the horizontal adjusting assembly, the grabbing assembly is arranged on the longitudinal adjusting assembly, the moving assembly is arranged on the bottom of the support base, the horizontal adjusting assembly is fixedly connected with the support base, the longitudinal adjusting assembly is connected with the horizontal adjusting assembly and the grabbing assembly, the moving assembly is detachably connected with the support base, the horizontal adjusting assembly drives the longitudinal adjusting assembly to move leftward and rightward and move forward and backward on the support base, the longitudinal adjusting assembly drives the grabbing assembly to ascend or descend, and the grabbing assembly rotates along the axial direction of the longitudinal adjusting assembly so that the grabbing assembly is located at a grabbing point of a shared electric vehicle battery block for grabbing, and the moving assembly drives the support base to move.

2. The device for replacing a shared electric vehicle battery as claimed in claim 1, characterized in that: The horizontal adjusting assembly comprises left-right moving portions and front-rear moving portions, the left-right moving portions are arranged on the upper portion of the support base, the front-rear moving portions are arranged on the left-right moving portions, the longitudinal adjusting assembly is arranged on the front-rear moving portions, the left-right moving portions are connected with the support base, the left-right moving portions are connected with the front-rear moving portions, and the longitudinal adjusting assembly is connected with the front-rear moving portions, the left-right moving portions drive the front-rear moving portions to move leftward and rightward on the support base, and the front-rear moving portions drive the longitudinal adjusting assembly to move leftward and rightward and move forward and backward on the left-right moving portions.

3. The device for replacing a shared electric vehicle battery as claimed in claim 2, characterized in that: The left-right moving portions comprise transverse driving members, first sliding rails and first sliding blocks, the transverse driving members are two, one of the transverse driving members is arranged at the front end of the support base, the other transverse driving member is arranged at the rear end of the support base, the two transverse driving members are parallel to each other, the first sliding rail is arranged on one side of one of the transverse driving members and parallel to the transverse driving member, the first sliding block is arranged on the first sliding rail, the front-rear moving portions are arranged on the transverse driving members, the first sliding block is slidingly connected with the first sliding rail, and the front-rear moving portions are connected with the transverse driving members and the first sliding blocks. The horizontal moving driving part comprises two first rotating blocks, a first screw rod and a first driving motor, the two first rotating blocks and the first driving motor are located on the upper part of the support base, the two ends of the first screw rod are rotationally connected with the two first rotating blocks respectively, the first driving motor is coaxial with the two first rotating blocks, the front-back moving part is located on the first screw rod, the two first rotating blocks are fixedly connected with the support base, the output end of the first driving motor is connected with the first screw rod, the two ends of the first sliding rail are fixedly connected with the two first rotating blocks respectively, the front-back moving part is threadedly connected with the first screw rod, the first sliding block is fixedly connected with the front-back moving part, the first driving motor drives the first screw rod to rotate on the two first rotating blocks, the first screw rod drives the front-back moving part to rotate, the front-back moving part drives the first sliding block to slide left and right on the first sliding rail, so that the first sliding block guides the front-back moving part left and right.

4. The device for replacing a shared electric vehicle battery as claimed in claim 3, characterized in that: The front-back moving part comprises a front-back moving driving part, a second sliding rail and a second sliding block, the front-back moving driving part is at least one, the two ends of the front-back moving driving part are threadedly connected with the first screw rods of the two horizontal moving driving parts respectively, the second sliding rail is located on one side of the front-back moving driving part, and the front-back moving driving part and the second sliding rail are parallel to each other, the second sliding block is located on the second sliding rail, the longitudinal adjusting assembly is located on the front-back moving driving part, the second sliding rail is connected with the front-back moving driving part, the second sliding rail is slidably connected with the second sliding block, and the longitudinal adjusting assembly is connected with the front-back moving driving part and the second sliding block. The front-back moving driving part comprises two connecting blocks, a second screw rod and a second driving motor, the two connecting blocks are located on the first screw rods of the two horizontal moving driving parts respectively, the bottom ends of the two connecting blocks are threadedly connected with the first screw rods, the upper ends of the two connecting blocks are rotationally connected with the two ends of the second screw rod respectively, the output end of the second driving motor is connected with the second screw rod, the two ends of the second sliding rail are fixedly connected with the two connecting blocks respectively, the longitudinal adjusting assembly is located on the second screw rod and is threadedly connected with the second screw rod, the second driving motor drives the second screw rod to rotate on the two connecting blocks, the second screw rod drives the longitudinal adjusting assembly to rotate, the longitudinal adjusting assembly drives the second sliding block to slide forward and backward on the second sliding rail, so that the second sliding block guides the longitudinal adjusting assembly forward and backward.

5. The device for replacing a shared electric vehicle battery as claimed in claim 4, characterized in that: The longitudinal adjustment assembly comprises a support seat, a lifting driving part, the support seat is located on the second screw rod, the lifting driving part is located on the support seat, the grabbing assembly is located on the lifting driving part, the bottom end of the support seat is threadedly connected with the second screw rod, the side end of the support seat is fixedly connected with the second sliding block, the lifting driving part is connected with the support seat, the grabbing assembly is connected with the lifting driving part, the support seat drives the lifting driving part to move back and forth on the second screw rod, and the support seat supports the lifting driving part to rotate on the support seat, the lifting driving part drives the grabbing assembly to ascend or descend.

6. The device for replacing a shared electric vehicle battery as claimed in claim 5, characterized in that: The lifting driving part comprises a second rotating block, a lifting guide rail, a third screw rod, a lifting block and a third driving motor, the second rotating block and the lifting guide rail are located on the support seat, the lifting guide rail is located on one side of the second rotating block, the second screw rod is located on the second rotating block, the second rotating block and the lifting guide rail are fixedly connected with the support seat, the second rotating block is rotationally connected with the third screw rod, the third screw rod is connected with the output end of the third driving motor, one end of the lifting block is threadedly connected with the third screw rod, the middle part of the lifting block is slidably connected with the lifting guide rail, the other end of the lifting block is fixedly connected with the grabbing assembly, the third driving motor drives the third screw rod to rotate on the second rotating block, the third screw rod drives the lifting block to ascend or descend on the lifting guide rail, and the lifting block drives the grabbing assembly to ascend or descend.

7. The device for replacing a shared electric vehicle battery as claimed in claim 6, characterized in that: The grabbing assembly comprises a first connecting arm, a rotating part and a clamping part, the rotating part is at least one, one end of the first connecting arm is fixedly connected with the lifting block, the other end of the first connecting arm is connected with one end of the rotating part, the other end of the rotating part is fixedly connected with the clamping part, and the rotating part drives the clamping part to rotate axially along the lifting guide rail.

8. The device for replacing a shared electric vehicle battery as claimed in claim 7, characterized in that: The rotating part comprises a fourth driving motor and a second connecting arm, the fourth driving motor is located on the end of the first connecting arm away from the lifting block, the output shaft of the fourth driving motor penetrates through the first connecting arm and is connected with one end of the second connecting arm, the other end of the second connecting arm is fixedly connected with the clamping part, the fourth driving motor drives the second connecting arm to rotate, and the second connecting arm drives the clamping part to rotate.

9. The device for replacing a shared electric vehicle battery as claimed in claim 7, wherein: The clamping part includes clamping jaws, pressing pieces, top rods, a connecting box, a sixth driving motor and a connecting horizontal plate. The clamping jaws are at least one group. The number of the top rods is the same as that of the clamping jaws. The clamping jaws are located on the connecting box. The pressing pieces are located in the connecting box. The top rods are located on the pressing pieces. The connecting box is located at the bottom of the connecting horizontal plate. The sixth driving motor is located at the upper part of the connecting horizontal plate. The output end of the sixth driving motor extends into the connecting box through the connecting horizontal plate. The middle part of the clamping jaw is rotationally connected with the connecting box. The pressing piece is threadedly connected with the output end of the sixth driving motor. One end of the top rod is rotationally connected with the pressing piece. The other end of the top rod jacks up the free end of the clamping jaw through the connecting box. One end of the connecting horizontal plate is fixedly connected with the other end of the rotating part. The sixth driving motor drives the pressing piece to ascend or descend. The pressing piece drives the top rod to ascend or descend. The other end of the top rod jacks up the free end of the clamping jaw, so that one group of the clamping jaws rotates on the connecting box in the direction of approaching each other to clamp the battery block or in the direction of moving away from each other to place the battery block.

10. The device for replacing a shared electric vehicle battery as claimed in claim 1, wherein: The device for replacing shared electric vehicle batteries further includes a battery containing box and a conveying assembly. The battery containing box is located on the upper part of the support base plate. The battery containing box is located on one side of the horizontal adjusting assembly. The conveying assembly is located on the horizontal adjusting assembly. The battery containing box is integrally formed with the support base plate. The conveying assembly is fixedly connected with the horizontal adjusting assembly. The grabbing assembly places the battery block on the conveying assembly. The conveying assembly conveys the battery block into the battery containing box.

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