Battery replacing device and battery replacing system

Abstract

The utility model discloses a battery replacing device and a battery replacing system. The battery replacing device comprises a movable base, a battery replacing mechanism and a positioning mechanism. The battery replacing mechanism is arranged on the movable base and used for locking the battery to the mounting frame or unlocking the battery from the mounting frame. The positioning mechanism is arranged on the movable base and used for centering and clamping the mounting frame from the two sides of the mounting frame in the first direction so that positioning of the battery replacing mechanism and the mounting frame in the first direction can be achieved, and the first direction is perpendicular to the gravity direction. According to the technical scheme provided by the invention, the battery replacement efficiency of the battery replacement device can be effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of battery replacement, in particular to a battery replacement device and a battery replacement system. BACKGROUND

[0002] With the development of new energy technology, the number of devices using batteries increases. When the power of the electrical equipment is exhausted, the power can be supplemented by connecting a charging device. At the same time, the power can also be quickly supplemented by replacing the battery. In general, a dedicated device (i.e. a battery replacement device) is needed to replace the battery.

[0003] The existing battery replacement device is subject to high-precision positioning sensors and software algorithms, which results in strict requirements for reference features and movement accuracy, and causes low battery replacement efficiency. CONTENT OF THE UTILITY MODEL

[0004] The present application provides a battery replacement device and a battery replacement system. The technical scheme provided by the present application can effectively improve the battery replacement efficiency of the battery replacement device.

[0005] The present application is achieved by the following technical scheme:

[0006] In a first aspect, some embodiments of the present application provide a battery replacement device for replacing a battery of an electrical device, the electrical device comprising a mounting frame for mounting the battery. The battery replacement device comprises a moving base, a battery replacement mechanism, and a positioning mechanism. The battery replacement mechanism is arranged on the moving base and is used to lock the battery on the mounting frame or unlock the battery from the mounting frame. The positioning mechanism is arranged on the moving base and is used to center and clamp the mounting frame from both sides of the mounting frame along a first direction to achieve positioning of the battery replacement mechanism and the mounting frame along the first direction, the first direction being perpendicular to the direction of gravity.

[0007] The above scheme can make the battery replacement device float and adjust the position of the battery replacement mechanism relative to the mounting frame by the reaction force of the mounting frame along the first direction, or determine the relative position relationship between the battery replacement mechanism and the mounting frame from both sides of the mounting frame along the first direction, so as to quickly achieve positioning of the battery replacement mechanism and the mounting frame, and effectively improve the battery replacement efficiency of the battery replacement device.

[0008] According to some embodiments of the present application, the positioning mechanism comprises at least one pair of clamping assemblies, and along the first direction, two clamping assemblies in each pair of clamping assemblies are respectively located on both sides of the battery replacement mechanism.

[0009] The above scheme can effectively clamp the mounting frame by arranging two pairs of clamping assemblies on both sides of the battery replacement mechanism, so as to quickly achieve positioning of the battery replacement mechanism and the mounting frame, and effectively improve the battery replacement efficiency of the battery replacement device.

[0010] According to some embodiments of the present application, the clamping assembly comprises a driving member and a clamping member, the driving member being configured to drive the clamping member to switch between a working position close to the mounting frame and a non-working position away from the mounting frame.

[0011] The above scheme enables the clamping member to switch between the working position and the non-working position through the driving of the driving member, so that the battery replacing device can move the base to walk between the battery replacing station and the battery taking and placing device, and the positioning of the battery replacing mechanism and the mounting frame can be achieved at the battery replacing station, thereby improving the battery replacing efficiency of the battery replacing device.

[0012] According to some embodiments of the present application, the clamping member is rotatably connected to the moving base around a first axis, the first axis, the first direction and the direction of gravity are perpendicular to each other. The driving member is configured to drive the clamping member to rotate around the first axis, so that the clamping member switches between the working position and the non-working position, and the working position is higher than the non-working position.

[0013] The above scheme sets the clamping member to be rotatably arranged on the moving base around the first axis, so that the clamping member can rotate under the driving of the driving member, and the two clamping members arranged in pairs can quickly make clamping action or cancel the clamping action, thereby efficiently achieving the positioning of the battery replacing mechanism and the mounting frame, and facilitating the improvement of the battery replacing efficiency of the battery device.

[0014] According to some embodiments of the present application, in the working position, the length direction of the clamping member is parallel to the direction of gravity; and in the non-working position, the length direction of the clamping member is perpendicular to the direction of gravity.

[0015] In the above scheme, the clamping member is parallel to the direction of gravity in the working position, so that the clamping member can be parallel to the side surface of the mounting frame, thereby effectively determining the relative positional relationship between the mounting frame and the battery replacing mechanism along the first direction, and achieving high-precision positioning of the two; and the clamping member is parallel to the horizontal direction in the non-working position, thereby reducing the risk of interference between the battery replacing device and other structural members during walking.

[0016] According to some embodiments of the present application, along the first direction, the size of the mounting frame is L, and when the clamping members of the pair of clamping assemblies are both in the working position, the distance between the two clamping members is K, and 0≤K-L≤10mm is satisfied.

[0017] The above scheme limits the difference between the distance K of the two clamping members when they are both in the working position and the size L of the mounting frame along the first direction, so that when the positioning mechanism makes the clamping action, the error value between the battery replacing mechanism and the mounting frame is within the allowable range, the positioning of the battery replacing mechanism and the mounting frame is achieved, the battery replacing precision requirement is met, and the battery replacing efficiency of the battery replacing device is improved.

[0018] According to some embodiments of the present application, the upper surface of the mobile base has a groove, and the clamping member is accommodated in the groove in the non-working position.

[0019] The above scheme can reduce the risk of interference with other structural members due to the protrusion of the clamping member and affect the movement of the battery replacement device by providing a groove on the upper surface of the mobile base to accommodate the clamping member in the non-working position.

[0020] According to some embodiments of the present application, the clamping assembly further comprises a guide rail, a sliding block and a transmission member, the guide rail is fixed to the mobile base and extends in the first direction, the sliding block is slidingly fitted to the guide rail, the driving member is connected to the sliding block, and one end of the transmission member is movably connected to the sliding block and the other end is movably connected to the clamping member.

[0021] In the above scheme, the driving member is drivingly connected to the clamping member through the guide rail, the sliding block and the transmission member, which can limit the rotation angle of the clamping member, effectively switching the clamping member between the working position and the non-working position, ensuring the centering accuracy of the clamping member to the mounting frame, and further ensuring the positioning accuracy between the battery replacement mechanism and the mounting frame, which is beneficial to the improvement of the battery replacement efficiency of the battery replacement device.

[0022] According to some embodiments of the present application, the clamping assembly further comprises a first detection member for detecting the offset of the mounting frame and the battery replacement mechanism in the second direction, and the first direction, the second direction and the direction of gravity are perpendicular to each other. The mobile base is configured to adjust the position in response to the offset detected by the first detection member to position the battery replacement mechanism and the mounting frame in the second direction.

[0023] The above scheme can make the mobile base walk a corresponding distance in response to the offset, thereby positioning the battery replacement mechanism and the mounting frame in the second direction, which is beneficial to the improvement of the battery replacement efficiency of the battery replacement device.

[0024] According to some embodiments of the present application, the first detection member is arranged on the clamping member.

[0025] The above scheme can position the battery replacement mechanism and the mounting frame in the second direction when the clamping member is in the working position, i.e. after the positioning of the battery replacement mechanism and the mounting frame in the first direction is completed, thereby improving the battery replacement accuracy of the battery replacement mechanism and the battery replacement efficiency of the battery replacement device.

[0026] According to some embodiments of the present application, the first detection member comprises a grating, a travel switch or a laser ranging sensor.

[0027] The first detection member can select a plurality of sensor schemes to adapt to different requirements, such as meeting different accuracy requirements or cost requirements.

[0028] According to some embodiments of the present application, the clamping assembly further comprises a second detection member for detecting the offset of the mounting frame and the battery replacing mechanism in the first direction. The battery replacing mechanism is configured to lock or unlock the battery from the mounting frame in response to the offset detected by the second detection member; and / or, the driving member is configured to adjust the output power in response to the offset detected by the second detection member.

[0029] The second detection member is arranged to detect the offset of the mounting frame and the battery replacing mechanism in the first direction. In some embodiments, the battery replacing device can identify the positioning of the battery replacing mechanism and the mounting frame in the first direction to complete the positioning, so as to perform the battery replacing operation, thereby improving the automation of the battery replacing device and improving the battery replacing efficiency of the battery replacing device. In some embodiments, the driving member can differentiate the driving speed of the clamping member at different positions, thereby reducing the risk of collision between the clamping member and the mounting frame due to excessive speed, and causing damage to the battery replacing device or the vehicle.

[0030] According to some embodiments of the present application, the second detection member is arranged on the clamping member.

[0031] In the above scheme, the second detection member is arranged on the clamping member, which can effectively detect the offset of the mounting frame and the battery replacing mechanism in the first direction, improve the detection efficiency, and improve the battery replacing efficiency of the battery replacing device.

[0032] According to some embodiments of the present application, the second detection member comprises a grating, a travel switch or a laser ranging sensor.

[0033] The second detection member can select a plurality of sensor schemes to adapt to different requirements, such as meeting different accuracy requirements or cost requirements.

[0034] According to some embodiments of the present application, the positioning mechanism comprises at least two pairs of clamping assemblies, the at least two pairs of clamping assemblies are arranged in the second direction, and the first direction, the second direction and the gravity direction are perpendicular to each other.

[0035] The above scheme comprises a plurality of pairs of clamping assemblies arranged in the second direction, which can make the battery replacing device and the mounting frame in the plane formed by the second direction and the gravity direction, thereby improving the positioning accuracy of the mounting frame and the battery replacing mechanism in the first direction by the positioning mechanism, and further improving the battery replacing efficiency of the battery replacing device.

[0036] According to some embodiments of the present application, the mobile base comprises a chassis and a floating platform, the floating platform is movably arranged on the chassis along a first direction, the battery replacing mechanism and the positioning mechanism are arranged on the floating platform.

[0037] According to the above scheme, the battery replacing mechanism and the positioning mechanism are arranged on the chassis through the floating platform, so that when the positioning mechanism clamps the mounting frame, the battery replacing mechanism can be driven to float under the reaction force of the mounting frame, the position of the battery replacing mechanism is adjusted, and the positioning of the battery replacing mechanism and the mounting frame is realized.

[0038] According to some embodiments of the present application, the mobile base comprises an automated guided vehicle.

[0039] According to the above scheme, by arranging the mobile base as an automated guided vehicle, the battery replacing device can realize free walking, meet different battery replacing conditions, and improve the battery replacing efficiency.

[0040] In a second aspect, some embodiments of the present application further provide a battery replacing system, the battery replacing system comprises a battery taking and placing device and the battery replacing device provided in the first aspect, and the battery taking and placing device is used to take the battery on the battery replacing device or place the battery on the battery replacing device.

[0041] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0043] Figure 1 It is a schematic diagram of the battery replacing system in some embodiments of the present application;

[0044] Figure 2 It is a structural schematic diagram of the battery replacing device when it is not positioned on the mounting frame in some embodiments of the present application;

[0045] Figure 3 It is a perspective view of the battery replacing device when it is positioned on the mounting frame in some embodiments of the present application;

[0046] Figure 4 It is a structural schematic diagram of the battery replacing device when it is positioned on the mounting frame in some embodiments of the present application;

[0047] Figure 5Figure 1 is a perspective view of a battery replacement device in a non-working position according to some embodiments of the present application;

[0048] Figure 6 Figure 2 is a perspective view of a battery replacement device in a working position according to some embodiments of the present application;

[0049] Figure 7 Figure 3 is a schematic view of a driving member and a clamping member in a non-working position according to some embodiments of the present application;

[0050] Figure 8 Figure 4 is a schematic view of a driving member and a clamping member in a working position according to some embodiments of the present application;

[0051] Figure 9 Figure 5 is a schematic view of a driving member and a clamping member according to some other embodiments of the present application;

[0052] Figure 10 Figure 6 is a schematic view of a battery replacement device and a mounting frame according to some embodiments of the present application;

[0053] Figure 11 Figure 7 is a schematic view of a battery replacement device according to some other embodiments of the present application.

[0054] Figure 1 is a perspective view of a battery replacement device in a non-working position according to some embodiments of the present application; DETAILED DESCRIPTION

[0055] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the specification herein is for describing particular embodiments only and is not intended to be limiting of the application. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure and will not be interpreted in an overly literal sense unless expressly so defined herein.

[0057] Reference throughout this application to "example" means that a particular feature, structure, or characteristic described in connection with the example can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of other embodiments.

[0058] In the description of the application, it is necessary to explain that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "attaching" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0059] The term "and / or" in the application is only a description of the association relationship between the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. In addition, the character " / " in the application generally represents that the front and rear associated objects have an "or" relationship.

[0060] In the embodiments of the application, the same reference signs represent the same parts, and for the sake of brevity, the detailed description of the same parts is omitted in different embodiments. It should be understood that the thickness, length and width of various components in the embodiments of the application shown in the drawings, as well as the overall thickness, length and width of the integrated device, are only exemplary and should not constitute any limitation on the application.

[0061] "Multiple" appearing in the application means two or more (including two).

[0062] With the development of new energy technology, the number of devices using batteries increases. When the power of the electrical device is exhausted, the power can be supplemented by connecting a charging device, for example, an electric vehicle can be connected to a charging pile. Compared with the method of connecting a charging device to supplement power, replacing a battery can achieve faster power supplement. There are also battery replacement systems specially used for replacing batteries. The battery replacement system is provided with a battery taking and placing device and a movable battery replacement device. The battery replacement device is used to replace the battery of the electrical device. Optionally, the battery replacement device can include a mobile base and a battery replacement mechanism. The mobile base drives the battery replacement device to move, so that the battery replacement device moves between the electrical device and the battery taking and placing device, and the discharged battery taken off the electrical device and the full battery on the battery taking and placing device are exchanged.

[0063] Optionally, the mobile base can include an Automated Guided Vehicle (AGV) or a Rail Guided Vehicle (RGV).

[0064] The battery replacement mechanism is a component for realizing the battery replacement action. For example, the electrical device includes a mounting frame, and the battery is mounted on the mounting frame. The battery replacement mechanism can unlock the discharged battery from the mounting frame, or lock the full battery on the mounting frame. Exemplarily, the connection relationship between the mounting frame and the battery is a threaded locking. The battery replacement mechanism can release the locking between the two to take off the discharged battery and carry the discharged battery to the battery taking and placing device through the movement of the mobile base. The full battery is obtained by the battery taking and placing device, and the full battery is threaded and locked on the mounting frame through the movement of the mobile base to the electrical device.

[0065] During the process of replacing the battery of the electrical device by the battery replacement device, the battery replacement mechanism and the mounting frame need to be positioned so that they are within an allowable error range to meet the demand for battery replacement accuracy. In related technologies, the battery replacement device uses 3D cameras, radars and other devices to realize the positioning of the battery replacement mechanism and the mounting frame. However, this positioning method needs to be combined with software algorithms, needs to perform image acquisition and reference feature comparison steps, and requires high hardware configuration (for example, high accuracy of sensing devices and movement of the mobile base). The movement accuracy of the mobile base needs to be adjusted multiple times to achieve positioning, thus affecting the battery replacement efficiency of the battery replacement device.

[0066] In view of this, in order to improve the battery replacement efficiency, some embodiments of the present application provide a battery replacement device. The battery replacement device includes a mobile base, a battery replacement mechanism and a positioning mechanism. The battery replacement mechanism is arranged on the mobile base and is used to lock the battery on the mounting frame or unlock the battery from the mounting frame. The positioning mechanism is arranged on the mobile base and is used to center and clamp the mounting frame from both sides of the mounting frame along a first direction to realize the positioning of the battery replacement mechanism and the mounting frame in the first direction, and the first direction is perpendicular to the direction of gravity.

[0067] The above scheme can make the battery replacement device float under the reaction force of the mounting frame along the first direction to adjust the position of the battery replacement mechanism relative to the mounting frame, or determine the relative position relationship between the battery replacement mechanism and the mounting frame by the two sides of the mounting frame along the first direction, so as to quickly realize the positioning of the battery replacement mechanism and the mounting frame, and effectively improve the battery replacement efficiency of the battery replacement device.

[0068] The battery replacement device and the battery replacement system disclosed by the embodiments of the present application can be used for replacing the battery of a vehicle, but are not limited to this, and can also be used for replacing the battery of other electric equipment, such as electric toys, electric tools, electric cars, electric vehicles, ships, spacecraft, etc. The electric toys can include fixed or mobile types, such as game consoles, electric car toys, electric ship toys, electric plane toys, etc. The electric tools can include fixed or mobile types, such as electric lathes, electric sweeper cars, etc. The spacecraft can include airplanes, rockets, space shuttles, spacecraft, etc.

[0069] The battery replacement device and the battery replacement system will be described below by taking the electric equipment as a vehicle as an example.

[0070] Please refer to Figure 1 , Figure 1 The figure is a schematic diagram of the battery replacement system in some embodiments of the present application.

[0071] The battery replacement system 1000 includes a battery replacement device 100 and a battery taking and placing device 200. Some embodiments of the present application take the electric device as a vehicle as an example.

[0072] The battery taking and placing device 200 is used for storing and charging the battery 400. The battery taking and placing device 200 can be provided with a mechanical arm, which is used for taking the battery 400 on the battery replacement device 100 and placing it into a battery charging device for charging, and taking the fully charged battery 400 from the battery charging device and placing it on the battery replacement device 100.

[0073] In order to realize the replacement of the vehicle battery 400, the battery 400 with no electric energy on the vehicle needs to be taken off by the battery replacement device 100 and transported to the battery charging device for charging, and then the fully charged battery 400 needs to be transported to the vehicle by the battery replacement device 100 and installed on the vehicle.

[0074] In some embodiments, the battery replacement device 100 includes a track guided vehicle, and the battery replacement system 1000 further includes a track, and the battery replacement device 100 is movably arranged on the track. In some embodiments, the battery replacement device 100 includes an automatic guided vehicle, and the track can not be arranged.

[0075] Exemplarily, the vehicle has a mounting frame 300 arranged on the chassis 11 of the vehicle, and the battery 400 is mounted on the mounting frame 300. The battery replacing device 100 can move below the vehicle to move between the vehicle and the battery taking and placing device 200. The battery replacing device 100 removes the battery 400 on the mounting frame 300 and carries it to the battery taking and placing device 200, and the battery taking and placing device 200 is updated with a full battery 400, and the full battery 400 is locked to the mounting frame 300, so as to realize the battery replacement of the vehicle.

[0076] Some embodiments of the present application provide a battery replacing device 100, which is shown in Figures 2-4 , Figure 2 FIG. 1 is a structural schematic diagram of the battery replacing device 100 in some embodiments of the present application when not positioned on the mounting frame 300, Figure 3 FIG. 2 is a perspective view of the battery replacing device 100 in some embodiments of the present application when positioned on the mounting frame 300, Figure 4 FIG. 3 is a structural schematic diagram of the battery replacing device 100 in some embodiments of the present application when positioned on the mounting frame 300.

[0077] The battery replacing device 100 is used for replacing the battery 400 of an electric device, and the electric device includes a mounting frame 300 for mounting the battery 400. The battery replacing device 100 includes a moving base 10, a battery replacing mechanism 20, and a positioning mechanism 30. The battery replacing mechanism 20 is arranged on the moving base 10 and is used for locking the battery 400 on the mounting frame 300 or unlocking the battery 400 from the mounting frame 300. The positioning mechanism 30 is arranged on the moving base 10 and is used for clamping the mounting frame 300 from both sides of the mounting frame 300 along a first direction x to realize the positioning of the battery replacing mechanism 20 and the mounting frame 300 along the first direction x, and the first direction x is perpendicular to the direction of gravity z.

[0078] Optionally, the moving base 10 can include an automated guided vehicle (AGV) or a rail guided vehicle (RGV).

[0079] In some embodiments of the present application, the moving base 10 can include an automated guided vehicle, which can freely move along a set route through self-navigation and driving wheels, so as to move to a battery replacing position of the electric device, for example, below the mounting frame 300, to replace the battery of the electric device through the battery replacing mechanism 20.

[0080] The battery replacement mechanism 20 is a mechanism for locking or unlocking the battery 400 from the mounting frame 300. Exemplarily, the battery replacement mechanism 20 includes a bolt locking structure for removing or locking a bolt between the battery 400 and the mounting frame 300, thereby achieving replacement of the battery 400.

[0081] Optionally, the battery replacement mechanism 20 is arranged on the mobile base 10 in a liftable manner. By adjusting the height of the battery replacement mechanism 20, the bolt locking structure of the battery replacement mechanism 20 can act on the bolt between the battery 400 and the mounting frame 300.

[0082] Optionally, the battery replacement mechanism 20 is provided with a positioning member. The positioning member can cooperate with the mounting frame 300 or the battery 400 on the mounting frame 300, so that the battery replacement mechanism 20 is accurately positioned on the mounting frame 300 or the battery 400 on the mounting frame 300, thereby reducing the risk of structural damage to the battery 400 due to inaccurate positioning, and facilitating improvement of the reliability of battery replacement. Exemplarily, the positioning member can be a positioning pin 21, and the mounting frame 300 or the battery 400 is provided with a positioning hole cooperating with the positioning pin 21.

[0083] The positioning mechanism 30 is arranged on the mobile base 10. After the mobile base 10 travels to the battery replacement position of the power-consuming device, the positioning mechanism 30 performs a centering and clamping action on the mounting frame 300 along the first direction x, so as to accurately position the battery replacement mechanism 20 and the mounting frame 300 along the first direction x. The first direction x is perpendicular to the direction of gravity z. In some embodiments, the power-consuming device is a vehicle, and the first direction x can be the wheelbase direction of the vehicle, or the first direction x can be the width direction of the vehicle.

[0084] The "centering and clamping the mounting frame 300 from both sides of the mounting frame 300 along the first direction x to achieve the positioning of the battery replacing mechanism 20 and the mounting frame 300 along the first direction x" can be understood as that the positioning mechanism 30 makes a clamping action on the mounting frame 300 from both sides of the mounting frame 300 along the first direction x to be able to abut both sides of the mounting frame 300 along the first direction x, so that the mobile base 10 is floated by the reaction force, thereby adjusting the position of the battery replacing mechanism 20 and the mounting frame 300 along the first direction x, and achieving the positioning of the battery replacing mechanism 20 and the mounting frame 300 along the first direction x. For example, when the mobile base 10 moves to the battery replacing position, the battery replacing mechanism 20 fails to complete the positioning with the mounting frame 300 due to the navigation accuracy of the mobile base 10. The positioning mechanism 30 works to center and clamp the mounting frame 300 from both sides of the mounting frame 300 along the first direction x. During the clamping of the mounting frame 300, the mobile base 10 is unbraked and floated by the reaction force of the mounting frame 300. When the positioning mechanism 30 clamps the mounting frame 300, the mobile base 10 is braked, and at this time, the positioning of the battery replacing mechanism 20 and the mounting frame 300 along the first direction x is achieved.

[0085] Alternatively, it can be understood that the positioning mechanism 30 makes a clamping action on the mounting frame 300 from both sides of the mounting frame 300 along the first direction x to be able to abut both sides of the mounting frame 300 along the first direction x, so that the positioning mechanism 30 is floated by the reaction force, thereby adjusting the position of the battery replacing mechanism 20 and the mounting frame 300 along the first direction x, and achieving the positioning of the battery replacing mechanism 20 and the mounting frame 300 along the first direction x. For example, the mobile base 10 includes a chassis 11 and a floating platform 12, the floating platform 12 is movably arranged on the chassis 11 along the first direction x, and the battery replacing mechanism 20 and the positioning mechanism 30 are arranged on the floating platform 12. When the mobile base 10 moves to the battery replacing position, the battery replacing mechanism 20 fails to complete the positioning with the mounting frame 300 due to the navigation accuracy of the mobile base 10. The positioning mechanism 30 works to center and clamp the mounting frame 300 from both sides of the mounting frame 300 along the first direction x. During the clamping of the mounting frame 300, the floating platform 12 is braked and floated by the reaction force of the mounting frame 300. When the positioning mechanism 30 clamps the mounting frame 300, the positioning of the battery replacing mechanism 20 and the mounting frame 300 along the first direction x is completed.

[0086] Or can be understood as, positioning mechanism 30 in the mounting frame 300 along the first direction x on both sides of the mounting frame 300 make clamping action, along the first direction x, based on the mounting frame 300 on both sides of the mounting frame 300 and positioning mechanism 30 offset amount detection, when the offset amount is within the allowable accuracy error range, then realize the battery swap mechanism 20 and the mounting frame 300 in the first direction x positioning. Exemplarily, when the mobile base 10 moves to the battery swap position, the battery swap mechanism 20 just with the mounting frame 300 complete along the first direction x positioning. In order to determine whether to locate to the position, the positioning mechanism 30 work, from the mounting frame 300 along the first direction x on both sides of the mounting frame 300 make centering clamping action, can be completed in the mobile base 10 or the battery swap mechanism 20 does not float when clamping, or the positioning mechanism 30 in the process of clamping the mounting frame 300 and the battery swap mechanism 20 along the first direction x offset amount detection, when the offset amount is within the allowable accuracy error range, then realize the battery swap mechanism 20 and the mounting frame 300 in the first direction x positioning.

[0087] In some embodiments, the positioning mechanism 30 comprises a mechanical clamping arm, the mechanical clamping arm comprises a pair of mechanical arms, the pair of mechanical arms can make the action of mutual embracing along the first direction x, so as to be able to center clamping of the mounting frame 300.

[0088] In some embodiments, the positioning mechanism 30 comprises at least one pair of clamping components 31, two clamping components 31 in a pair of clamping components 31 are respectively located on both sides of the battery swap mechanism 20, two clamping components 31 in a pair of clamping components 31 make centering clamping action together, so as to position the positioning mechanism 30 and the mounting frame 300 along the first direction x.

[0089] Optionally, the clamping component 31 can comprise a deflection structure, and the centering clamping is realized by making deflection action of two clamping components 31 respectively by a pair of clamping components 31. The deflection action can be understood as a rotating action or a turning action.

[0090] Optionally, the clamping component 31 can comprise a translation structure, and the centering clamping is realized by making translation action along the first direction x of two clamping components 31 respectively by a pair of clamping components 31.

[0091] The above scheme, by the positioning mechanism 30 from the mounting frame 300 along the first direction x on both sides of the mounting frame 300 make centering clamping action, can make the battery swap device 100 float by the reaction force of the mounting frame 300 along the first direction x to adjust the position of the battery swap mechanism 20 relative to the mounting frame 300, or determine the relative position relationship of the battery swap mechanism 20 and the mounting frame 300 from the mounting frame 300 along the first direction x on both sides, so as to quickly realize the positioning of the battery swap mechanism 20 and the mounting frame 300, and further effectively improve the battery swap efficiency of the battery swap device 100.

[0092] According to some embodiments of the present application, referring to Figure 4 , the positioning mechanism 30 includes at least one pair of clamping assemblies 31, and two clamping assemblies 31 in each pair of clamping assemblies 31 are respectively located on two sides of the battery replacing mechanism 20 along the first direction x.

[0093] In some embodiments, the positioning mechanism 30 includes pairs of clamping assemblies 31. Optionally, the number of pairs of clamping assemblies 31 can be one pair, two pairs, three pairs or more pairs.

[0094] Each pair of clamping assemblies 31 includes two clamping assemblies 31, one of which is a first clamping assembly 310 and the other of which is a second clamping assembly 311, and the first clamping assembly 310 is located on one side of the battery replacing mechanism 20 and the second clamping assembly 311 is located on the other side of the battery replacing mechanism 20 along the first direction x. Figure 4 For example, the first clamping assembly 310 is located on the left side of the battery replacing mechanism 20 and the second clamping assembly 311 is located on the right side of the battery replacing mechanism 20, and during the positioning process with the mounting frame 300, the first clamping assembly 310 can move towards the left side of the mounting frame 300, the second clamping assembly 311 can move towards the right side of the mounting frame 300, and the first clamping assembly 310 and the second clamping assembly 311 jointly make a centering and clamping action, so that the battery replacing mechanism 20 and the mounting frame 300 are located between the first clamping assembly 310 and the second clamping assembly 311, and the positioning of the battery replacing mechanism 20 and the mounting frame 300 along the first direction x is achieved.

[0095] Optionally, when the positioning mechanism 30 includes multiple pairs of clamping assemblies 31, the multiple pairs of clamping assemblies 31 can be arranged along the second direction y, and the first direction x, the second direction y and the gravity direction z are perpendicular to each other.

[0096] The above scheme can effectively make a clamping action on the mounting frame 300 by arranging two pairs of clamping assemblies 31 on both sides of the battery replacing mechanism 20, so as to quickly achieve the positioning of the battery replacing mechanism 20 and the mounting frame 300, and effectively improve the battery replacing efficiency of the battery replacing device 100.

[0097] Optionally, in other embodiments, the positioning mechanism 30 can include a mechanical clamping arm, which can be arranged on the mobile base 10, for example, the mechanical clamping arm can be located on the central axis of the battery replacing mechanism 20 perpendicular to the first direction x, and the mechanical clamping arm includes a pair of mechanical arms capable of making a mutual clamping action along the first direction x to center and clamp the mounting frame 300.

[0098] According to some embodiments of the present application, referring to Figure 5 and Figure 6 , Figure 5Fig. 3 is a perspective view of the battery replacement device 100 when the clamping member 33 is in the non-working position according to some embodiments of the present application, Figure 6 Fig. 4 is a perspective view of the battery replacement device 100 when the clamping member 33 is in the working position according to some embodiments of the present application. The clamping assembly 31 includes a driving member 32 and a clamping member 33, and the driving member 32 is configured to drive the clamping member 33 to switch between the working position close to the mounting frame 300 and the non-working position away from the mounting frame 300.

[0099] In some embodiments, the driving member 32 is a power output structure configured to drive the clamping member 33 to switch between the working position and the non-working position.

[0100] The non-working position refers to a position where the clamping member 33 is away from the mounting frame 300 and does not position the battery replacement mechanism 20 and the mounting frame 300. For example, when the clamping member 33 is in the non-working position, the height of the clamping member 33 can be lower than the height of the mounting frame 300, so that the mobile base 10 can freely move under the mounting frame 300. Alternatively, when the clamping member 33 is in the non-working position, the clamping member 33 can be parallel to the horizontal direction. Alternatively, the surface of the mobile base 10 is formed with a groove 13, and the clamping member 33 can be located in the groove 13 when the clamping member 33 is in the non-working position.

[0101] The working position refers to a position where the clamping member 33 is close to the mounting frame 300 and positions the battery replacement mechanism 20 and the mounting frame 300. The close to the mounting frame 300 of the clamping member 33 can be understood as that the clamping member 33 contacts one side of the mounting frame 300 along the first direction x, or the clamping member 33 is close to one side of the mounting frame 300 along the first direction x, and the distance between the clamping member 33 and the one side of the mounting frame 300 along the first direction x is within the allowed battery replacement error. For example, when the clamping member 33 is in the working position, the height of the clamping member 33 can be higher than the height of the mounting frame 300, so that the clamping member 33 can cooperate with one side of the mounting frame 300 along the first direction x to realize the positioning of the battery replacement mechanism 20 and the mounting frame 300 along the first direction x.

[0102] In some embodiments, the clamping member 33 can be a clamping arm, and the clamping arm can be close to the mounting frame 300 under the driving of the driving member 32.

[0103] Alternatively, referring to Figure 7 and Figure 8 , Figure 7 Fig. 5 is a schematic view of the driving member 32 and the clamping member 33 when the clamping member 33 is in the non-working position according to some embodiments of the present application, Figure 8FIG. 6 is a schematic view of the driving member 32 and the clamping member 33 in some embodiments of the present application. The driving member 32 is capable of driving the clamping member 33 to rotate around the first axis, so that the clamping member 33 performs a rotating action to approach or move away from the mounting frame 300. The driving member 32 can be a power output structure or assembly capable of outputting torque, for example, the driving member 32 includes a combination of a linear push rod and a linkage structure, or the driving member 32 includes a motor directly outputting torque.

[0104] Optionally, referring to Figure 9 , Figure 9 FIG. 7 is a schematic view of the driving member 32 and the clamping member 33 in some other embodiments of the present application. The driving member 32 is capable of providing at least two actions, one of which includes a lifting action, and the other of which includes a horizontal action. The lifting action is capable of adjusting the height of the clamping member 33 relative to the mounting frame 300, and the horizontal action is capable of causing the clamping member 33 to approach or move away from the mounting frame 300. The driving member 32 can be a power output structure capable of at least two actions, for example, the driving member 32 includes a two-axis mechanical arm, or the driving member 32 is a combination of multiple linear output structures, so as to Figure 9 For example, the driving member 32 includes a lifting driving member 320 and a linear push member 321, the telescopic rod of the lifting driving member 320 is connected with the linear push member 321, and the output rod of the linear push member 321 is connected with the clamping member 33.

[0105] The above scheme, through the driving of the driving member 32, causes the clamping member 33 to be capable of switching between the working position and the non-working position, so that the battery replacing device 100 is capable of moving the base 10 to walk between the battery replacing station and the battery taking and placing device 200 under the driving of the replacing mechanism 20, and realizes the positioning of the replacing mechanism 20 and the mounting frame 300 under the battery replacing station, thereby improving the battery replacing efficiency of the battery replacing device 100.

[0106] According to some embodiments of the present application, referring to Figures 5-8 , the clamping member 33 is rotatably connected to the moving base 10 around the first axis, the first axis, the first direction x and the direction of gravity z are perpendicular to each other. The driving member 32 is used to drive the clamping member 33 to rotate around the first axis, so that the clamping member 33 switches between the working position and the non-working position, and the working position is higher than the non-working position.

[0107] Referring to Figure 6 and Figure 7 , Figure 6 and Figure 7 FIG. 7 shows the first axis s, which can be perpendicular to the first direction x and parallel to the second direction y.

[0108] The clamping member 33 is rotatably connected to the moving base 10 around the first axis, so that the rotation point of the clamping member 33 remains stationary relative to the moving base 10, and the free end of the clamping member 33 rotates relative to the moving base 10 by the power provided by the driving member 32. Exemplarily, the clamping member 33 is arranged on one side of the battery replacing mechanism 20 along the first direction x through a hinged shaft, and when the driving member 32 works, the clamping member 33 rotates around the hinged shaft and rotates towards the mounting frame 300 above the battery replacing mechanism 20, so as to be close to one side of the mounting frame 300 along the first direction x.

[0109] The above scheme sets the clamping member 33 to be rotatably arranged on the moving base 10 around the first axis, so that the clamping member 33 rotates under the driving of the driving member 32, and thus the two clamping members 33 arranged in pairs can quickly make clamping action or cancel the clamping action, efficiently realizing the positioning of the battery replacing mechanism 20 and the mounting frame 300, so as to facilitate the improvement of the battery 400 device replacement efficiency.

[0110] In other embodiments, the clamping member 33 is connected with the driving member 32, the driving member 32 is arranged on the moving base 10, and the driving member 32 drives the clamping member 33 to rotate around the first axis to switch the clamping member 33 between the working position and the non-working position.

[0111] According to some embodiments of the present application, in the working position, the length direction of the clamping member 33 is parallel to the gravity direction z. In the non-working position, the length direction of the clamping member 33 is perpendicular to the gravity direction z.

[0112] In some embodiments, along the length direction of the clamping member 33, one end of the clamping member 33 is rotatably connected to the moving base 10 around the first axis, and the other end of the clamping member 33 is a free end for approaching or moving away from the mounting frame 300.

[0113] In some embodiments, the plane in which the side of the mounting frame 300 along the first direction x is parallel to the gravity direction z. Please refer to Figure 4 and Figure 6 When the clamping member 33 is in the working position, the length direction of the clamping member 33 is parallel to the gravity direction z, so that the side of the clamping member 33 facing the mounting frame 300 is parallel to the side of the mounting frame 300 facing the clamping member 33, so that the clamping member 33 contacts one side of the mounting frame 300 along the first direction x, or accurately detects the offset of the clamping member 33 and the mounting frame 300 along the first direction x.

[0114] Please refer to Figure 6 When the clamping member 33 is in the non-working position, the length direction of the clamping member 33 is parallel to the gravity direction z.

[0115] Optionally, the clamping member 33 has two stop positions under the driving of the driving member 32, one of which is the working position and the other is the non-working position. The stop position can be understood as the maximum position of the clamping member 33 under the driving of the driving member 32. For example, when the driving member 32 is a combination of a linear push rod and a connecting rod structure, the rotation stop position of the clamping member 33 is defined by limiting the linear pushing stroke of the linear push rod.

[0116] In the above scheme, the clamping member 33 is parallel to the direction of gravity z in the working position, so that the clamping member 33 can be parallel to the side surface of the mounting frame 300, so as to effectively determine the relative position relationship of the mounting frame 300 and the battery replacing mechanism 20 along the first direction x, and realize high-precision positioning of the two; the clamping member 33 is parallel to the direction of gravity z in the non-working position, that is, parallel to the horizontal direction, which can reduce the risk of interference between the battery replacing device 100 and other structural members during walking.

[0117] According to some embodiments of the present application, along the first direction x, the size of the mounting frame 300 is L, and when the clamping members 33 of the pair of clamping assemblies 31 are both in the working position, the distance between the two clamping members 33 is K, which satisfies 0≤K-L≤10mm.

[0118] Please refer to Figure 4 , along the first direction x, the size of the mounting frame 300 is L, and when the clamping members 33 of the pair of clamping assemblies 31 are both in the working position, the distance between the two clamping members 33 is K, and the value of K-L can be 0mm, 1mm, 2mm, 3mm, 4mm, 5mm, 6mm, 7mm, 8mm, 9mm, 10mm or any value between adjacent two values.

[0119] It can be understood that when the value of K-L is 0mm, both clamping members 33 can be tightly held when they are in the working position.

[0120] It can be understood that when the value of K-L is not 0mm, when the two clamping members 33 are driven to rotate by the driving members 32, at least the following cases exist: case one, one of the clamping members 33 can contact the mounting frame 300, so that the moving base 10 or the battery replacing mechanism 20 floats to realize positioning of the battery replacing mechanism 20 and the mounting frame 300. Case two, when both clamping members 33 are in the working position, neither of them contacts the mounting frame 300, but the offset of the battery replacing mechanism 20 and the mounting frame 300 along the first direction x is within the allowable battery replacing accuracy error. For example, the positioning pin 21 on the battery replacing mechanism 20 guides the positioning of the pin hole on the battery 400 to realize the final positioning, and the guiding positioning error of the positioning pin 21 and the pin hole can be less than or equal to 10mm.

[0121] In some other embodiments, the guiding positioning error of the positioning pin 21 and the pin hole can be less than or equal to a, and the value range of K-L can be between 0 and a.

[0122] The above scheme defines the difference between the distance K of the two clamping members 33 in the working position and the size L of the mounting frame 300 along the first direction x, so that when the clamping action is performed, the error value between the battery replacing mechanism 20 and the mounting frame 300 is within the allowable range, the positioning of the battery replacing mechanism 20 and the mounting frame 300 is achieved, the battery replacing precision requirement is met, and the battery replacing efficiency of the battery replacing device 100 is improved.

[0123] According to some embodiments of the present application, referring to Figure 5 , the upper surface of the moving base 10 has a groove 13, and in the non-working position, the clamping member 33 is accommodated in the groove 13.

[0124] In some embodiments, the upper surface of the moving base 10 is provided with a groove 13, and when the clamping member 33 is in the non-working position, the clamping member 33 is accommodated in the groove 13, that is, it does not protrude from the upper surface of the moving base 10.

[0125] Exemplarily, the moving base 10 includes a housing, and the upper surface of the housing has a groove 13, and the clamping assembly 31 is arranged inside the housing.

[0126] The above scheme provides the groove 13 on the upper surface of the moving base 10, so that the clamping member 33 can be accommodated in the groove 13 when it is in the non-working position, and the risk of affecting the movement of the battery replacing device 100 due to the interference of the protruding clamping member 33 with other structural members is reduced.

[0127] In some other embodiments, in the non-working position, the clamping member 33 can protrude from the upper surface of the moving base 10. For example, the clamping assembly 31 is arranged on the upper surface of the moving base 10.

[0128] According to some embodiments of the present application, referring to Figure 7 and Figure 8 , the clamping assembly 31 further includes a guide rail 34, a sliding block 35, and a transmission member 36. The guide rail 34 is fixed to the moving base 10, and the guide rail 34 extends along the first direction x. The sliding block 35 is slidingly fitted to the guide rail 34. The driving member 32 is connected with the sliding block 35. One end of the transmission member 36 is movably connected with the sliding block 35, and the other end is movably connected with the clamping member 33.

[0129] In some embodiments, the clamping assembly 31 further includes a guide rail 34, a sliding block 35, and a transmission member 36. The guide rail 34 is arranged on the moving base 10 and located on one side of the battery replacing mechanism 20 along the first direction x, and the guide rail 34 extends along the first direction x. Optionally, the number of guide rails 34 is multiple, and the multiple guide rails 34 are arranged along the second direction y.

[0130] The slider 35 is in sliding fit with the guide rail 34, and the driving member 32 is connected with the slider 35 and can drive the slider 35 to slide along the first direction x on the guide rail. In some embodiments, when the number of the guide rails 34 is multiple, the slider 35 is in sliding fit with the multiple guide rails 34.

[0131] One end of the transmission member 36 is movably connected with the slider 35, for example, the one end of the transmission member 36 is hinged with the slider 35. The other end of the transmission member 36 is movably connected with the clamping member 33, for example, the other end of the transmission member 36 is hinged with the clamping member 33. Optionally, the hinge point of the transmission member 36 and the clamping member 33 is between the two ends of the clamping member 33 along the length direction of the clamping member 33. When the driving member 32 drives the slider 35 to slide along the first direction x, the transmission member 36 can push the clamping member 33 to rotate around the first axis.

[0132] It can be understood that by limiting the sliding stroke of the slider 35, the rotation angle of the clamping member 33 can be limited, so that the clamping member 33 is switched only between the working position and the non-working position, for example, by limiting the sliding stroke of the slider 35, the rotation angle of the clamping member 33 is 90°, so as to be switched between the non-working position perpendicular to the gravity direction z and the working position parallel to the gravity direction z.

[0133] In some embodiments, the driving member 32 can output linear motion to push the slider 35 to slide along the first direction x. Optionally, the driving member 32 can be a telescopic electric cylinder, a pneumatic cylinder or a linear motor, etc.

[0134] In the above scheme, the driving member 32 is in transmission connection with the clamping member 33 through the guide rail 34, the slider 35 and the transmission member 36, and the rotation angle of the clamping member 33 can be limited, so as to effectively switch the clamping member 33 between the working position and the non-working position, and to a certain extent guarantee the centering accuracy of the clamping member 33 to the mounting frame 300, and further guarantee the positioning accuracy between the battery replacing mechanism 20 and the mounting frame 300, which is beneficial to the improvement of the battery replacing efficiency of the battery replacing device 100.

[0135] According to some embodiments of the present application, please refer to Figure 8 and Figure 10 , Figure 10 are schematic diagrams of the battery replacing device 100 and the mounting frame 300 in some embodiments of the present application.

[0136] The clamping assembly 31 further comprises a first detection member 37, which is used to detect the offset amount of the mounting frame 300 and the battery replacing mechanism 20 in the second direction y, and the first direction x, the second direction y and the gravity direction z are perpendicular to each other. The moving base 10 is configured to adjust the position in response to the offset amount detected by the first detection member 37, so as to position the battery replacing mechanism 20 and the mounting frame 300 in the second direction y.

[0137] In some embodiments, the clamping assembly 31 further comprises a first detection member 37 for detecting the offset of the mounting frame 300 and the battery replacing mechanism 20 in the second direction y, and the mobile base 10 is configured to move by itself to adjust the position of the battery replacing mechanism 20 in the second direction y in response to the offset detected by the first detection member 37, so as to position the battery replacing mechanism 20 and the mounting frame 300 in the second direction y.

[0138] Optionally, the first detection member 37 is arranged on the clamping member 33, and when the clamping member 33 is in the working position, the first detection member 37 can detect the offset of the mounting frame 300 and the clamping member 33 in the second direction y, so as to detect the offset of the mounting frame 300 and the battery replacing mechanism 20 in the second direction y. For example, the first detection member 37 can detect the distance between the outer contour surface of the mounting frame 300 in the second direction y and the clamping member 33, and the distance can be the offset of the mounting frame 300 and the battery replacing mechanism 20 in the second direction y.

[0139] Optionally, the first detection member 37 can be arranged at the free end of the clamping member 33 and on the side of the clamping member 33 facing the mounting frame 300.

[0140] Optionally, the side of the free end of the clamping member 33 facing the mounting frame 300 is provided with a recess, and the first detection member 37 can be arranged in the recess.

[0141] In some embodiments, the navigation accuracy of the mobile base 10 is 20 mm, and the mobile base 10 allows the offset of the mounting frame 300 and the battery replacing mechanism 20 in the second direction y to be in the range of 50 mm to 100 mm, so that the battery replacing device 100 can realize the positioning of the battery replacing mechanism 20 and the mounting frame 300 in the second direction y by moving the mobile base 10 itself.

[0142] Optionally, the detection accuracy of the first detection member 37 can be less than or equal to 5 mm. For example, the detection accuracy of the first detection member 37 can be 1 mm, 2 mm, 3 mm, 4 mm, 5 mm or any value between two adjacent values.

[0143] Optionally, the first detection member 37 can include a grating, a travel switch, a laser ranging sensor, etc.

[0144] The above scheme can detect the offset of the mounting frame 300 and the battery replacing mechanism 20 in the second direction y by the first detection member 37, so that the mobile base 10 can move a corresponding distance in response to the offset, so as to position the battery replacing mechanism 20 and the mounting frame 300 in the second direction y, thereby facilitating the improvement of the battery replacing efficiency of the battery replacing device 100.

[0145] In some other embodiments, the first detection member 37 can be arranged at other positions of the battery replacing device 100. For example, the first detection member 37 can be arranged on the mobile base 10, or the first detection member 37 can be arranged on one side of the battery replacing mechanism 20 along the second direction y, or the first detection member 37 can be arranged on both sides of the battery replacing mechanism 20 along the second direction y.

[0146] According to some embodiments of the present application, the first detection member 37 is arranged on the clamping member 33.

[0147] Please refer to Figure 8 , the first detection member 37 is arranged on the side of the clamping member 33 facing the mounting frame 300.

[0148] Optionally, the clamping member 33 has opposite hinged ends and free ends, the hinged ends rotate around the first axis, and the first detection member 37 is arranged on the free ends.

[0149] Optionally, the side of the free end facing the mounting frame 300 is provided with a recess, and the first detection member 37 is arranged in the recess.

[0150] Optionally, the side of the free end facing the mounting frame 300 is provided with a protrusion 330, the protrusion 330 can contact the mounting frame 300 when the clamping member 33 is in the working position, and the side of the protrusion 330 facing the mounting frame 300 is provided with a recess, and the first detection member 37 is arranged in the recess.

[0151] The above scheme, by arranging the first detection member 37 on the clamping member 33, can position the battery replacing mechanism 20 and the mounting frame 300 along the second direction y after the clamping member 33 is in the working position, that is, the positioning of the battery replacing mechanism 20 and the mounting frame 300 along the first direction x is completed, thereby improving the battery replacing precision of the battery replacing mechanism 20 and facilitating the improvement of the battery replacing efficiency of the battery replacing device 100.

[0152] According to some embodiments of the present application, the first detection member 37 includes a grating, a travel switch or a laser ranging sensor.

[0153] The above scheme, the first detection member 37 can select a variety of sensor schemes to meet different needs, such as different precision requirements or cost requirements.

[0154] According to some embodiments of the present application, the clamping assembly 31 further comprises a second detection member 38, the second detection member 38 is used to detect the offset of the mounting frame 300 and the battery replacing mechanism 20 along the first direction x. The battery replacing mechanism 20 is configured to lock or unlock the battery 400 from the mounting frame 300 in response to the offset detected by the second detection member 38; and / or, the driving member 32 is configured to adjust the output power in response to the offset detected by the second detection member 38.

[0155] In some embodiments, the clamping assembly 31 further comprises a second detecting member 38 for detecting the offset of the mounting frame 300 and the battery replacing mechanism 20 in the first direction x.

[0156] Optionally, the battery replacing mechanism 20 can replace the battery 400 on the mounting frame 300 in response to the offset detected by the second detecting member 38. For example, when the offset detected by the second detecting member 38 is within the accuracy error range allowed by the battery replacing mechanism 20, the battery replacing mechanism 20 can start to work to lock or unlock the battery 400 on the mounting frame 300. For example, when the offset detected by the second detecting member 38 is less than 10 mm, the battery replacing mechanism 20 starts to work.

[0157] Optionally, the driving member 32 can adjust the output power in response to the offset detected by the second detecting member 38. For example, when the clamping member 33 is switched from the non-working position to the working position, the offset detected by the second detecting member 38 gradually decreases, and when the clamping member 33 approaches the mounting frame 300, the output power of the driving member 32 decreases to reduce the rotation speed of the clamping member 33, thereby reducing the impact force of the clamping member 33 on the mounting frame 300. For example, when the clamping member 33 is switched from the non-working position to the working position, the offset detected by the second detecting member 38 gradually decreases, but the clamping member 33 has not yet reached the working position, the output power of the driving member 32 decreases to reduce the rotation speed of the clamping member 33, so that the clamping member 33 continues to rotate at a low speed until it contacts the mounting frame 300, and the mobile base 10 or the battery replacing mechanism 20 floats.

[0158] Optionally, the second detecting member 38 is arranged on the clamping member 33, and when the clamping member 33 is in the working position, the first detecting member 37 can detect the offset of the mounting frame 300 and the clamping member 33 in the first direction x, thereby detecting the offset of the mounting frame 300 and the battery replacing mechanism 20 in the first direction x. For example, the second detecting member 38 can detect the distance between the outer contour surface of the mounting frame 300 in the first direction x and the clamping member 33, which can be the offset of the mounting frame 300 and the battery replacing mechanism 20 in the first direction x.

[0159] Optionally, the second detecting member 38 can be arranged at the free end of the clamping member 33 and on the side of the clamping member 33 facing the mounting frame 300.

[0160] Optionally, the side of the free end of the clamping member 33 facing the mounting frame 300 is provided with a recess, and the second detecting member 38 can be arranged in the recess.

[0161] According to some embodiments of the present application, the second detecting member 38 is arranged on the clamping member 33.

[0162] Optionally, the clamping member 33 has opposite hinged ends and a free end, the hinged ends rotate around the first axis, and the second detection member 38 is arranged at the free end. Optionally, a recess is arranged on the side of the free end facing the mounting frame 300, and the first detection member 37 is arranged in the recess. Optionally, a protrusion 330 is arranged on the side of the free end facing the mounting frame 300, the protrusion 330 can contact the mounting frame 300 when the clamping member 33 is in the working position, and a recess is arranged on the side of the protrusion 330 facing the mounting frame 300, and the second detection member 38 is arranged in the recess.

[0163] In the above scheme, by arranging the second detection member 38 on the clamping member 33, the offset of the mounting frame 300 and the battery replacing mechanism 20 in the first direction x can be effectively detected, the detection efficiency is improved, and the battery replacing efficiency of the battery replacing device 100 is improved.

[0164] According to some embodiments of the present application, the second detection member 38 includes a grating, a travel switch, or a laser ranging sensor.

[0165] In the above scheme, the second detection member 38 can select a variety of sensor schemes to adapt to different needs, such as meeting different precision requirements or cost requirements.

[0166] According to some embodiments of the present application, please refer to Figure 6 The positioning mechanism 30 includes at least two pairs of clamping assemblies 31, the at least two pairs of clamping assemblies 31 are arranged at intervals along the second direction y, and the first direction x, the second direction y, and the gravitational direction z are perpendicular to each other.

[0167] In some embodiments, the positioning mechanism 30 includes multiple pairs of clamping assemblies 31, and the multiple pairs of clamping assemblies 31 are arranged at intervals along the second direction y. For example, the positioning mechanism 30 includes two pairs of clamping assemblies 31, and the two pairs of clamping assemblies 31 are arranged at intervals along the second direction y, and the two clamping assemblies 31 in each pair of clamping assemblies 31 are arranged on the two sides of the battery replacing mechanism 20 along the first direction x, respectively.

[0168] In the above scheme, by arranging multiple pairs of clamping assemblies 31 arranged at intervals along the second direction y, the battery replacing device 100 and the mounting frame 300 can be stably arranged in the plane formed by the second direction y and the gravitational direction z, thereby improving the positioning accuracy of the mounting frame 300 and the battery replacing mechanism 20 in the first direction x by the positioning mechanism 30, and further improving the battery replacing efficiency of the battery replacing device 100.

[0169] According to some other embodiments of the present application, please refer to Figure 11 , Figure 11 is a structural schematic diagram of the battery replacing device 100 in some other embodiments of the present application.

[0170] The mobile base 10 comprises a chassis 11 and a floating platform 12, the floating platform 12 is movably arranged on the chassis 11 along the first direction x, and the battery replacing mechanism 20 and the positioning mechanism 30 are arranged on the floating platform 12.

[0171] The mobile base 10 comprises a chassis 11 and a floating platform 12, the chassis 11 can comprise an Automated Guided Vehicle (AGV) or a Rail Guided Vehicle (RGV), and the chassis 11 is used to drive the entire battery replacing device 100 to move. The floating platform 12 is a support structure floatingly arranged on the chassis 11, and the battery replacing mechanism 20 and the positioning mechanism 30 are arranged on the floating platform 12. In some embodiments, the floating platform 12 can be movably arranged on the chassis 11 along the first direction x, and when the positioning mechanism 30 and the battery replacing mechanism 20 work, the floating platform 12 can be moved relative to the chassis 11 along the first direction x, so as to be quickly positioned with the mounting frame 300. Alternatively, a floating structure, such as an elastic structure, can be arranged between the floating platform 12 and the chassis 11 along the first direction x, so as to realize the relative movement of the floating platform 12 and the chassis 11 along the first direction x.

[0172] Alternatively, the floating platform 12 can also be movably arranged on the chassis 11 along the second direction y.

[0173] The above scheme is that the battery replacing mechanism 20 and the positioning mechanism 30 are arranged on the chassis 11 through the floating platform 12, so that when the positioning mechanism 30 is in the centering and clamping state of the mounting frame 300, the positioning mechanism 30 can drive the battery replacing mechanism 20 to float under the reaction force of the mounting frame 300, adjust the position of the battery replacing mechanism 20, and realize the positioning of the battery replacing mechanism 20 and the mounting frame 300.

[0174] According to some embodiments of the present application, the mobile base 10 comprises an automated guided vehicle.

[0175] The mobile base 10 can comprise an Automated Guided Vehicle (AGV).

[0176] The above scheme is that the mobile base 10 is arranged as an automated guided vehicle, so that the battery replacing device 100 can freely move, different battery replacing conditions can be met, and the battery replacing efficiency can be improved.

[0177] According to some embodiments of the present application, please refer to Figure 1 Further provided is a battery replacing system 1000, which comprises the battery taking and placing device 200 and the battery replacing device 100 provided in the first aspect, and the battery taking and placing device 200 is used to take the battery 400 away from the battery replacing device 100 or place the battery 400 on the battery replacing device 100.

[0178] The battery taking and placing device 200 is used to store and charge the battery 400. The battery taking and placing device 200 can be provided with a mechanical arm, which is used to take the battery 400 on the battery swapping device 100 and place it into the battery 400 charging device for recycling, and take the fully charged battery 400 from the battery 400 charging device and place it on the battery swapping device 100.

[0179] The battery swapping device 100 can exchange the battery 400 between the electrical device and the battery taking and placing device 200, so as to realize the replacement of the battery 400 of the electrical device.

[0180] According to some embodiments of the present application, a battery swapping device 100 is provided, please refer to Figures 2-10 .

[0181] The battery swapping device 100 is used to replace the battery 400 of a vehicle, and the vehicle comprises a mounting frame 300 for mounting the battery 400. The battery swapping device 100 comprises a mobile base 10, a battery swapping mechanism 20 and a positioning mechanism 30. The battery swapping mechanism 20 is arranged on the mobile base 10 and is used to lock the battery 400 on the mounting frame 300 or unlock the battery 400 from the mounting frame 300. The positioning mechanism 30 is arranged on the mobile base 10 and is used to center and clamp the mounting frame 300 from both sides of the mounting frame 300 along a first direction x, so as to realize the positioning of the battery swapping mechanism 20 and the mounting frame 300 along the first direction x, and the first direction x is perpendicular to a gravity direction z.

[0182] Optionally, the mobile base 10 comprises an automatic guided vehicle, and the navigation accuracy of the mobile base 10 can be 20 mm.

[0183] Optionally, the positioning pin 21 on the battery swapping mechanism 20 can be guided and positioned with the pin hole on the battery 400, so as to realize the final positioning of the battery swapping mechanism 20 and the mounting frame 300, and the positioning error allowed by the guided and positioned is less than or equal to 10 mm.

[0184] Optionally, the positioning mechanism 30 comprises two pairs of clamping assemblies 31, and the two pairs of clamping assemblies 31 are arranged at intervals along a second direction y. The two clamping assemblies 31 in each pair of clamping assemblies 31 are respectively located on both sides of the battery swapping mechanism 20 along the first direction x, and the first direction x, the second direction y and the gravity direction z are perpendicular to each other.

[0185] The clamping assembly 31 comprises a driving member 32, a guide rail 34, a sliding block 35, a transmission member 36 and a clamping member 33. The guide rail 34 is fixed to the mobile base 10 and extends along a first direction x. The sliding block 35 is slidingly fitted to the guide rail 34. The driving member 32 is connected to the sliding block 35. One end of the transmission member 36 is movably connected to the sliding block 35, and the other end is movably connected to the middle part of the clamping member 33. One end of the clamping member 33 is rotatably connected to the mobile base 10 about a first axis, and the other end is used to cooperate with the mounting frame 300. The first axis, the first direction x and the direction of gravity z are perpendicular to each other. The driving member 32 can be a telescopic electric cylinder, which is used to push the sliding block 35 to slide along the first direction x, so that the clamping member 33 rotates about the first axis, so as to switch the clamping member 33 between a working position (see Figure 6 ) and a non-working position (see Figure 5 ). In the working position, the length direction of the clamping member 33 is parallel to the direction of gravity z. In the non-working position, the length direction of the clamping member 33 is perpendicular to the direction of gravity z.

[0186] It can be understood that when the battery replacement device 100 performs the battery replacement operation, the mobile base 10 navigates and walks to the bottom of the battery 400 of the vehicle, and then the positioning mechanism 30 performs fine positioning, so that the position of the battery replacement mechanism 20 and the battery 400 is within the allowable range (the allowable error range of the positioning pin 21), and then the positioning pin 21 on the battery replacement mechanism 20 and the pin hole on the battery 400 are precisely positioned, and then the battery replacement mechanism 20 locks the battery 400 on the mounting frame 300 or unlocks the battery 400 from the mounting frame 300.

[0187] It can be understood that when the battery replacement device 100 enters the bottom of the battery 400 of the vehicle, the height of the battery replacement device 100 should be lower than the lowest position of the battery 400. When the positioning mechanism 30 performs the positioning operation, the height of the battery replacement device 100 should be between the highest position and the lowest position of the mounting frame 300 when the clamping member 33 is in the working position, so that the clamping member 33 can act on the mounting frame 300.

[0188] Optionally, the clamping member 33 is provided with detection elements, including a first detection element 37 and a second detection element 38. The first detection element 37 is used to detect the offset of the mounting frame 300 and the battery swapping mechanism 20 in the second direction y, and the second detection element 38 is used to detect the offset of the mounting frame 300 and the battery swapping mechanism 20 in the first direction x. The battery swapping device 100, in response to the offset measured by the first detection element 37, can adjust the position of the movable base 10 to achieve positioning of the battery swapping mechanism 20 and the mounting frame 300 in the second direction y. The battery swapping device 100, in response to the offset measured by the second detection element 38, causes the battery swapping mechanism 20 to operate, locking the battery 400 onto or unlocking the battery 400 from the mounting frame 300, or causing the drive member 32 to adjust its output power and adjust the rotation speed of the clamping member 33.

[0189] Exemplary embodiments of this application provide a battery swapping operation process, including:

[0190] The mobile base 10 is guided by its built-in navigation and positioning system to the swapping point at the bottom of the vehicle battery 400;

[0191] The traveling direction of the mobile base 10 is the first direction x. When the battery swapping device 100 is in place, the clamping member 33 rotates at an initial speed to a certain angle (distance from the mounting frame 300) to decelerate.

[0192] When the clamping arm on a positioning mechanism 30 contacts the mounting frame 300, and the clamping arm has not reached 90° (i.e., the working position), the clamping member 33 continues to rotate at a low speed.

[0193] When the clamping member 33 rotates and contacts the mounting frame 300, it causes the movable base 10 to generate a floating force. At this time, the wheel motor of the movable base 10 is deactivated and braked, and the floating effect is achieved by the rolling of the wheel.

[0194] When all clamping parts 33 rotate to 90° (that is, when they are all in the working position), the rotation stops and the wheel motor of the moving base 10 is braked and started.

[0195] The first detection element 37 on the clamping member 33 detects the deviation in the second direction y, and the moving base 10 adjusts and positions itself by moving on its own.

[0196] Location complete.

[0197] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A battery swapping device for replacing the battery of an electrical device, the electrical device including a mounting frame for mounting the battery, characterized in that, The battery swapping device includes: Mobile base; A battery swapping mechanism, disposed on the mobile base, is used to lock the battery to the mounting frame or unlock the battery from the mounting frame; A positioning mechanism is provided on the movable base for centering and clamping the mounting frame from both sides along a first direction to achieve positioning of the battery swapping mechanism and the mounting frame in the first direction, which is perpendicular to the direction of gravity.

2. The battery swapping device according to claim 1, characterized in that, The positioning mechanism includes at least one pair of clamping components, with two of the clamping components in each pair located on both sides of the battery swapping mechanism along the first direction.

3. The battery swapping device according to claim 2, characterized in that, The clamping assembly includes a drive member and a clamping member, the drive member being used to drive the clamping member to switch between a working position close to the mounting frame and a non-working position away from the mounting frame.

4. The battery swapping device according to claim 3, characterized in that, The clamping member is rotatably connected to the movable base about a first axis, wherein the first axis, the first direction, and the direction of gravity are perpendicular to each other; The driving member is used to drive the clamping member to rotate around the first axis, so that the clamping member switches between the working position and the non-working position, wherein the working position is higher than the non-working position.

5. The battery swapping device according to claim 4, characterized in that, In the working position, the length direction of the clamping member is parallel to the direction of gravity; in the non-working position, the length direction of the clamping member is perpendicular to the direction of gravity.

6. The battery swapping device according to claim 5, characterized in that, Along the first direction, the size of the mounting frame is L, and when both clamping members of the pair of clamping assemblies are in the working position, the distance between the two clamping members is K, satisfying 0≤KL≤10mm.

7. The battery swapping device according to claim 4, characterized in that, The upper surface of the movable base has a groove, and in the non-working position, the clamping member is accommodated in the groove.

8. The battery swapping device according to claim 4, characterized in that, The clamping assembly further includes a guide rail, a slider, and a transmission component. The guide rail is fixed to the movable base and extends along the first direction. The slider is slidably engaged with the guide rail. The driving component is connected to the slider. One end of the transmission component is movably connected to the slider, and the other end is movably connected to the clamping component.

9. The battery swapping device according to claim 3, characterized in that, The clamping assembly further includes a first detection element, which is used to detect the offset of the mounting frame and the battery swapping mechanism in a second direction, wherein the first direction, the second direction, and the gravity direction are perpendicular to each other. The movable base is configured to adjust its position in response to an offset measured by the first detection element, so as to position the battery swapping mechanism and the mounting frame in the second direction.

10. The battery swapping device according to claim 9, characterized in that, The first detection element is disposed on the clamping element.

11. The battery swapping device according to claim 10, characterized in that, The first detection element includes a grating, a limit switch, or a laser rangefinder.

12. The battery swapping device according to claim 3, characterized in that, The clamping assembly further includes a second detection element, which is used to detect the offset of the mounting frame and the battery swapping mechanism in a first direction; The battery swapping mechanism is configured to lock the battery to the mounting frame or unlock the battery from the mounting frame in response to an offset measured by the second detection element. And / or, the drive is configured to adjust the output power in response to an offset measured by the second detector.

13. The battery swapping device according to claim 12, characterized in that, The second detection element is disposed on the clamping element.

14. The battery swapping device according to claim 13, characterized in that, The second detection element includes a grating, a limit switch, or a laser rangefinder.

15. The battery swapping device according to any one of claims 2-14, characterized in that, The positioning mechanism includes at least two pairs of clamping components, which are spaced apart along a second direction, and the first direction, the second direction, and the gravity direction are perpendicular to each other.

16. The battery swapping device according to claim 1, characterized in that, The mobile base includes a chassis and a floating platform. The floating platform is movably disposed on the chassis along the first direction, and the battery swapping mechanism and the positioning mechanism are disposed on the floating platform.

17. The battery swapping device according to claim 1, characterized in that, The mobile base includes an automated guided vehicle.

18. A battery swapping system, characterized in that, include: Battery loading and unloading device; The battery swapping device according to any one of claims 1-17, wherein the battery removal and placement device is used to remove the battery from the battery swapping device or place the battery onto the battery swapping device.

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