Battery replacing equipment with pallet fork

Abstract

The utility model provides battery replacing equipment with forks. The battery replacing equipment comprises a walking frame, a rotating frame and a pair of telescopic forks. The rotating frame is rotationally connected with the walking frame through a rotating assembly. A pair of telescopic forks is connected with the rotating frame through a moving pair moving in the vertical direction, and the telescopic forks stretch out and draw back in the horizontal direction. The battery replacing equipment with the pallet forks is provided with the walking frame and the rotating frame, the pair of telescopic pallet forks are arranged on the rotating frame, and during working, the rotating frame can rotate relative to the walking frame to adjust the angle of the telescopic pallet forks, so that the angle of a butt joint battery box can be adjusted, and the angle of the battery box can be adjusted after the battery box is borne.

Description

Technical Field

[0001] This disclosure pertains to power swapping equipment, and more particularly to a power swapping equipment with forks. Background Technology

[0002] Existing battery swapping equipment with forks includes either a hoisting type or a bi-directional telescopic type. The hoisting type involves suspending the swapping equipment above the vehicle and battery box, moving it along the X and Y axes. The battery box is then lifted by vertical movement in conjunction with X and Y axis movement, enabling its transport. The bi-directional telescopic type uses the forks to extend and retract along the sides of the vehicle and battery rack to transport the battery box.

[0003] However, neither of these two structures allows for easy adjustment of the battery box's moving angle, making it difficult to meet the needs of more complex application scenarios. Summary of the Invention

[0004] In view of the above, it is necessary to provide a battery swapping device with forks that can easily adjust the extension angle of the telescopic forks.

[0005] Therefore, this disclosure provides a power swapping device with forks, comprising:

[0006] Walking frame;

[0007] A rotating frame is rotatably connected to the traveling frame via a rotating assembly;

[0008] A pair of telescopic forks are connected to the rotating frame via a sliding joint that moves vertically, and the telescopic forks extend and retract horizontally.

[0009] According to the aforementioned battery swapping device with forks, the rotating assembly includes a rotating disk connecting the traveling frame and the center position of the rotating frame, and at least one of a carrier and a corresponding carrier wheel, wherein one of the carrier and the carrier wheel is connected to the traveling frame, and the other is connected to the rotating frame.

[0010] According to the aforementioned battery swapping device with forks, the rotating assembly includes a plurality of the aforementioned carrier members and carrier wheels, the carrier wheels cooperating with the carrier members, and the carrier members blocking the carrier wheels in the vertical direction.

[0011] According to the aforementioned battery swapping device with forks, the rotating assembly further includes a telescopic rotating push rod rotatably connected between the rotating frame and the traveling frame.

[0012] The battery swapping device with forks further includes a lifting drive mechanism, wherein a pair of telescopic forks are respectively movably connected to the rotating frame in a vertical direction; the lifting drive mechanism is connected to the telescopic forks.

[0013] The lifting drive mechanism includes:

[0014] The system includes a lifting drive, a pair of first pulleys, and a first traction rope. The first pulleys are rotatably connected to the rotating frame, and the first traction rope passes around the pair of first pulleys to form a chain. The telescopic forks are connected to the first traction rope. The lifting drive is connected to the first traction rope and is used to move the first traction rope to lift and lower the telescopic forks.

[0015] The system includes a counterweight cylinder, a second pulley, and a second traction rope. The second pulley is rotatably connected to the rotating frame. One end of the second traction rope is connected to the telescopic fork, and the other end passes around the second pulley and connects to the counterweight cylinder.

[0016] The lifting drive mechanism also includes a movable pulley, which is rotatably connected to the counterweight cylinder. One end of the second traction rope is connected to the telescopic fork, and the other end passes through the second pulley and the movable pulley in sequence to connect to the rotating frame.

[0017] According to the aforementioned battery swapping device with forks, the telescopic forks include:

[0018] The telescopic mechanism is connected to the rotating frame at one end, and its free end can extend and retract horizontally.

[0019] An actuator includes a base, a mounting plate, and a control assembly. The base is connected to the free end of the telescopic mechanism. The mounting plate includes a connecting portion and a support portion for supporting the battery box. The connecting portion is rotatably connected to the base, and the support portion is connected to the connecting portion.

[0020] The control component includes a controller and a first sensor, the first sensor being used to detect the swing angle of the connecting part, and the controller being used to adjust the position of the hanging plate according to the swing angle.

[0021] The actuator further includes a pair of elastic blocks, each elastic block comprising a fixed block connected to the base, a top shaft movably connected to the fixed block in a horizontal direction, and a spring connected between the top shaft and the fixed block, with the top shafts of the pair of elastic blocks abutting against both sides of the connecting portion.

[0022] The first sensor is a displacement sensor used to detect the swing distance of the connecting part; the control component also includes a second sensor, which is a pair of pressure sensors located at both ends of the support part, used to detect the pressure of the support part supporting the battery box.

[0023] The battery swapping equipment with forks further includes a positioning detection mechanism, which comprises:

[0024] A telescopic assembly is telescopically connected to the telescopic mechanism along the width direction perpendicular to the length direction of the telescopic mechanism;

[0025] A ranging sensor, connected to the telescopic assembly, is used to detect the distance change of the battery box along the width direction;

[0026] The controller adjusts the angle at which the telescopic mechanism extends toward the battery box based on the change in distance.

[0027] According to the aforementioned battery swapping device with forks, the lifting drive mechanism further includes a drive shaft, which is rotatably connected to the rotating frame, and the first pulley is connected to the drive shaft;

[0028] The lifting drive mechanism also includes a synchronization component, which includes a synchronization wheel and a synchronization chain. The synchronization wheel is connected to the drive shaft, and the synchronization chain passes around the synchronization wheel.

[0029] Compared to existing technologies, the aforementioned battery swapping equipment with forks is equipped with a traveling frame and a rotating frame. A pair of telescopic forks are mounted on the rotating frame. During operation, the angle of the telescopic forks can be adjusted by rotating the rotating frame relative to the traveling frame, thereby adjusting the angle of the docking battery box, or adjusting the angle of the battery box after it is loaded. Attached Figure Description

[0030] To more clearly illustrate the specific implementation methods, the accompanying drawings used in the description of the implementation methods will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a structural diagram of a battery swapping device with forks.

[0032] Figure 2 This is a structural diagram of the traveling frame and the rotating frame.

[0033] Figure 3 This is a structural diagram of the lifting drive mechanism and the battery swapping fork.

[0034] Figure 4 This is a structural diagram of the telescopic forks and battery box.

[0035] Figure 5 This is a schematic diagram of the telescopic fork structure.

[0036] Figure 6 This is a structural diagram of the base and drive assembly (rack not shown).

[0037] Figure 7This is a structural schematic diagram of the first telescopic swing arm, rack, and transmission assembly.

[0038] Figure 8 This is a structural diagram of the base, mounting plate, and control components.

[0039] Figure 9 This is a schematic diagram of the elastic stop.

[0040] Figure 10 This is a schematic diagram of the positioning and detection mechanism.

[0041] Figure 11 This is a schematic diagram of a battery swapping device with forks in another embodiment.

[0042] Figure 12 This is a schematic diagram of the lifting drive mechanism in another embodiment of the battery swapping equipment.

[0043] Explanation of key component symbols:

[0044] 10-Traveling frame; 11-Bearing component; 12-Rotating disk;

[0045] 20-Rotating frame; 21-Bearing wheel; 22-Rotating push rod;

[0046] 30-Telescopic fork; 31-Telescopic mechanism; 311-Base; 3111-First roller; 3112-First track; 3113-Tension adjustment element; 3114-Drive motor; 3115-Gear set; 3116-Rack; 316-First transmission chain; 3161-First transmission wheel; 317-Second transmission chain; 3171-Second transmission wheel; 312-First telescopic arm; 313-Second telescopic arm; 314-Telescopic motor; 315-Telescopic rack;

[0047] 32-Actuator; 321-Base; 322-Hanging plate; 3221-Connecting part; 3222-Bearing part; 323-Fixing block; 3231-Cavity; 324-Top shaft; 3241-Spring; 325-Displacement sensor; 326-Pressure sensor; 327-Connecting pivot; 328-Positioning hole;

[0048] 33-Positioning detection mechanism; 331-Fixed rod; 332-Moving block; 333-End drive motor; 334-Drive rack; 335-Distance sensor;

[0049] 40-Lifting drive mechanism; 41-Control box; 42-First pulley; 43-First traction rope; 44-Lifting drive motor; 45-Counterweight cylinder; 46-Second pulley; 461-Drive shaft; 47-Moving pulley; 48-Second traction rope; 49-Synchronous chain; 491-Synchronous pulley.

[0050] 50 - Battery box; 51 - Bracket.

[0051] The following detailed embodiments will further illustrate this disclosure in conjunction with the above-described drawings. Detailed Implementation

[0052] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the disclosure will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. Many specific details are set forth in the following description to provide a thorough understanding of this disclosure; the described embodiments are merely a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0053] 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 disclosure belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure.

[0054] In various embodiments, for ease of description and not limitation of this disclosure, the term "connection" used in the patent application specification and claims is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "below," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship also changes accordingly.

[0055] Figure 1 This is a structural diagram of a power swapping device with forks. For example... Figure 1 As shown, the battery swapping equipment with forks includes a traveling frame 10, a rotating frame 20, a pair of telescopic forks 30, and a lifting drive mechanism 40. The pair of telescopic forks 30 are connected to the rotating frame 20 via a sliding joint that moves vertically. The telescopic forks 30 can extend and retract horizontally. The lifting drive mechanism 40 corresponds to the pair of telescopic forks 30 and is used to drive the telescopic forks 30 to move vertically.

[0056] Figure 2 This is a structural schematic diagram of the traveling frame 10 and the rotating frame 20. (See attached diagram.) Figure 2As shown, the bottom of the walking frame 10 is equipped with walking wheels and a walking motor connected to the walking wheels, which drives the walking wheels to rotate and complete the walking action. The rotating frame 20 is rotatably connected to the walking frame 10 through a rotating assembly. In this embodiment, the centers of the walking frame 10 and the rotating frame 20 are coaxially connected to a rotating disk 12, and the walking frame 10 and the rotating frame 20 are rotatably connected through the rotating disk 12. In order to improve the connection strength between the walking frame 10 and the rotating frame 20, in this embodiment, the power swapping equipment also includes an arc-shaped support member 11 and a support wheel 21 corresponding to the support member 11. One of the support member 11 and the support wheel 21 is connected to the walking frame 10, and the other is connected to the rotating frame 20. Specifically, the power swapping equipment includes four support members 11 and four support wheels 21. The four support wheels 21 are rotatably connected to the four corners of the rotating frame 20, and the arc-shaped support member 11 is connected to the walking frame 10. When the rotating frame 20 rotates relative to the walking frame 10 around the rotating disk, the support wheels 21 are guided to move sequentially through the support members 11, which improves the support strength of the rotating frame 20. In this embodiment, the support member 11 has an arc-shaped groove extending horizontally. The support wheel 12 contacts the top and bottom surfaces of the groove of the support member 11, and the support member 11 stops the support wheel 12 vertically through the groove. When the telescopic fork 30 is working, one side of the support wheel 12 presses against the bottom surface of the support member 11, and the other side of the support wheel 12 presses against the top surface of the support member 11, thereby effectively improving the stability of the rotating frame 20 and reducing the risk of the rotating frame 20 tipping over. In other embodiments, the support member 11 may be a protrusion protruding radially, abutting against the support wheel 21 along its top and bottom surfaces to stop the support member 11 vertically.

[0057] Those skilled in the art will understand that the rotating disk 12 is not necessary. In some embodiments, the walking frame 10 and the rotating frame 20 can be rotatably connected by the rotating disk 12 alone. In other embodiments, the rotating assembly can also be rotatably connected by only the carrier 11 and the corresponding carrier wheel 21 of the carrier 11.

[0058] Figure 3 This is a structural diagram of the lifting drive mechanism 40 and the telescopic forks 30. (See diagram below.) Figure 3 As shown, a pair of telescopic forks 30 are vertically movably connected to the rotating frame 20, and a pair of lifting drive mechanisms 40 are respectively connected to the telescopic forks 30, driving the telescopic forks 30 to move synchronously up and down. In this embodiment, the lifting drive mechanism 40 corresponds one-to-one with the telescopic fork 30, and each lifting drive mechanism 40 independently drives the telescopic fork 30 to move up and down independently. Therefore, the pair of telescopic forks 30 can be raised and lowered independently, thereby adjusting the degree of freedom of rotation around the Y-axis, adapting to the situation where the battery box is tilted around the Y-axis.

[0059] The lifting drive mechanism 40 comprises two parts: the first part includes a lifting driver 44, a pair of first pulleys 42, and a first traction rope 43. The pair of first pulleys 42 are rotatably connected to the top and bottom ends of the rotating frame 20, respectively. The first traction rope 43 passes around the pair of first pulleys 42 to form a closed loop chain. The lifting driver 44 is connected to the first pulleys 42 and drives the first traction rope 43 to move through the first pulleys 42. Control cabinets 45 are located on both sides of the rotating frame 20 and are used to control the lifting driver 44 and other components of the power swapping equipment. The telescopic forks 30 are connected to the first traction rope 43 through locking mechanisms, allowing them to move up and down following the first traction rope 43.

[0060] The second part includes a counterweight cylinder 45, a second pulley 46, a movable pulley 47, and a second traction rope 48, forming a movable pulley assembly structure. The counterweight cylinder 45 is a device that stores energy through pneumatic or hydraulic pressure. The second pulley 46 is rotatably connected to the rotating frame 20, and the movable pulley 47 is rotatably connected to the counterweight cylinder 45. One end of the second traction rope 48 is connected to the telescopic fork 30, and the other end passes sequentially around the second pulley 46 and the movable pulley 47 to connect to the rotating frame 20. The counterweight cylinder 45 can be a hydraulic cylinder, pneumatic cylinder, or other energy storage device. During operation, the telescopic fork 30 drives the movable pulley 47 to move vertically via the second traction rope 48. During this movement, the movable pulley 47 pushes and pulls the counterweight cylinder 45, allowing the counterweight cylinder 45 to store and release energy, reducing the energy consumption of the power swapping equipment. This eliminates the need for a separate counterweight in the lifting drive mechanism, reducing the overall weight of the power swapping equipment. Moreover, the second part of the configuration allows the counterweight cylinder to be placed in other parts of the rotating frame 20, such as on the side, making the overall configuration of the power swapping equipment more flexible.

[0061] In this embodiment, the telescopic fork 30 is moved by the second traction rope 48, which, together with the structure of the first part, drives the telescopic fork 30 to move. Since the movable pulley 47 is only half the size of the telescopic fork 30, the telescopic fork 30 can be moved twice the distance with a small stroke of the counterweight cylinder 45. However, the movable pulley 47 is not necessary. In other embodiments, one end of the second traction rope 48 can be connected to the telescopic fork 30, and the other end can be routed around the second pulley 46 to connect to the counterweight cylinder 47, which can also achieve the function of energy storage through the counterweight cylinder 47.

[0062] Figure 4 This is a structural diagram of the telescopic forks 30 and the battery box 50. Figure 5 This is a structural diagram of the telescopic fork 30. (For example...) Figure 4 and 5As shown, the telescopic fork 30 includes a pair of telescopic mechanisms 31 and an actuator 32 movably connected to the extended end of the telescopic mechanism 31. After the telescopic mechanism 31 adjusts its telescopic direction, the actuator 32 can extend towards the battery box 50, lift the battery box 50, and complete the battery swapping operation for the vehicle.

[0063] The battery box 50 has brackets 51 on both sides. After the actuator 32 moves to the bottom of the brackets 51, it can lift the battery box 50 and move the battery box 50. In order to facilitate the positioning of the battery box 50, in this embodiment, the bottom surface of the brackets 51 is also provided with a positioning rod (not shown in the figure). The positioning rod corresponds to the telescopic fork 30, which facilitates the docking and positioning of the battery box 50 and the telescopic fork 30.

[0064] One end of a pair of telescopic mechanisms 31 of the telescopic forks 30 is connected to a rotating frame 20, which can adjust the angle of the telescopic direction of the telescopic mechanism 31. Each telescopic mechanism 31 has an actuator 32 at its extended end, which is used to move the battery box 50 by engaging with the bracket 51 of the battery box 50.

[0065] Specifically, the telescopic mechanism 31 can extend and retract along its length and includes a base 311, a first telescopic arm 312, a second telescopic arm 313, a drive assembly, and a transmission assembly. The base 311 can be connected to other components, or it can be equipped with components such as wheels to achieve the functions of movement, lifting, and steering of the base 311. The above-mentioned functions of the base 311 are prior art and will not be described in detail in this embodiment. The first telescopic arm 312 is movably connected to the base 311 along the extension direction, and the second telescopic arm 313 is movably connected to the first telescopic arm 312 along the extension direction. The drive assembly is used to drive the first telescopic arm 312 to move relative to the base 311. When the first telescopic arm 312 moves, the transmission assembly drives the second telescopic arm 313 to move relative to the first telescopic arm 312. For ease of description, the fixed end of the telescopic mechanism 31 (i.e., the end where the base 311 is located) is called the fixed end, and the other end that can extend and retract is called the free end.

[0066] Figure 6 This is a structural diagram of the base 311 and the drive assembly (rack 3116 not shown). Figure 5 and Figure 6 As shown, the base 311 has a "C" shaped cross-section, with multiple first rollers 3111 rotatably connected on one side. In addition, a tensioning adjustment member 3113 is provided at each end of the side of the base 311 near the first telescopic arm 312 along its length.

[0067] Figure 7 This is a structural diagram of the first telescopic swing arm, rack 3116, and transmission assembly. Figure 7As shown, the first telescopic arm 312 is movably connected to the base 311 via a first roller 3111 and a first track 3112. Specifically, the first telescopic arm 312 has an "I"-shaped cross-section, and the first track 3112 is disposed on the upper and lower sides of the first telescopic arm 312 and contacts the first roller 3111. The rotation surfaces of the first roller 3111 and the second roller are concave in the middle, and the contact surfaces of the first track 3112 and the second track correspond to the rotation surfaces of the first roller 3111 and the second roller. In this embodiment, the first roller 3111 is a V-shaped wheel with a concave cross-section, which, by fitting into the first track 3112, prevents the first telescopic arm 312 from detaching from the base 3111.

[0068] Similarly, please see Figure 5 The second telescopic arm 313 has multiple second rollers (not shown in the figure) on its side near the first telescopic arm 312. The first telescopic arm 312 has a second track (not shown in the figure) corresponding to the second rollers. The second telescopic arm 313 is movably connected to the first telescopic arm 312 through the second rollers and the second track. The structure of the second telescopic arm 313 connecting to the first telescopic arm 312 is similar to the structure of the first telescopic arm 312 connecting to the base 311, and will not be described again here.

[0069] Please refer to the previous document. Figure 5-7 The drive assembly, used to drive the first telescopic arm 312 to telescopically move relative to the base 311, includes a drive motor 3114, a gear set 3115, and a rack 3116 meshing with the gear set 3115. In this embodiment, the drive motor 3114 is connected to the side of the base 311 opposite to the first telescopic arm 312. The gear set 3115 includes multiple meshing gears, which are rotatably connected to the base 311. The drive motor 3114 is connected to the gears of the gear set 3115. The rack 3116 is arranged along the length direction on the side of the first telescopic arm 312 facing the base 311 and meshes with multiple gears of the gear set 3115. The drive motor 3114 is connected to the first telescopic arm 312 in sequence through the gear set 3115, the rack 3116, and in operation. During operation, the drive motor 3114, through the gears of the gear set 3115 meshing with the rack 3116, drives the first telescopic arm 312 to move relative to the base 311 in the telescopic direction.

[0070] Please refer to the previous document. Figure 5-7The transmission assembly includes a first transmission chain 316 and a first transmission wheel 3161, as well as a second transmission chain 317 and a second transmission wheel 3171. The first transmission wheel 3161 and the second transmission wheel 3171 are rotatably connected to both ends of the first telescopic arm 312. One end of the first transmission chain 316 is connected to one end of the base 311 via a tension adjusting member 3113, and the other end passes around the first transmission wheel 3161 and connects to the end of the second telescopic arm 313. One end of the second transmission chain 317 is connected to the other end of the base 311 via the tension adjusting member 3113, and the other end passes around the second transmission wheel 3171 and connects to the other end of the second telescopic arm 313. When the first telescopic arm 312 extends, it drives the first transmission wheel 3161 to move. The first transmission wheel 3161 acts as a movable pulley 47, and through the first transmission chain 316, it drives the second telescopic arm 313 to extend relative to the first telescopic arm 312. Similarly, when the first telescopic arm 312 retracts, it drives the second transmission wheel 3171 to move. The second transmission wheel 3171 acts as a movable pulley 47, and through the second transmission chain 317, it drives the second telescopic arm 313 to retract relative to the first telescopic arm 312.

[0071] Figure 8 This is a structural diagram of the base 321, the mounting plate 322, and the control components. (See diagram below.) Figure 8 As shown, the actuator 32 is movably connected to the second telescopic arm 313 and includes a base 321, a mounting plate 322, and an elastic stop. The base 321 is used to movably connect to the second telescopic arm 313 of the telescopic mechanism 31, the mounting plate 322 is rotatably connected to the base 321 and is used to support the bracket 51 of the battery box 50, and the elastic stop is used to stop the mounting plate 322 and to reset the mounting plate 322.

[0072] Please see Figure 5 and 8 The base 321 is movably connected to the telescopic mechanism 31 along its length. Specifically, the side of the base 321 opposite the hanging plate 322 is provided with multiple sliders, which are movably connected to the side of the second telescopic arm 313 near the actuator 32. In order to drive the base 321 to move relative to the second telescopic arm 313, in this embodiment, an end drive motor 333 is provided in the second telescopic arm 313 and connected to the base 321 via a lead screw. During operation, the end drive motor 333 drives the lead screw to rotate, thereby driving the base 321 to move along the length of the second telescopic arm 313.

[0073] The mounting plate 322 includes a connecting portion 3221 and a supporting portion 3222. The connecting portion 3221 is rotatably connected to the base 321, and the supporting portion 3222 is connected to the connecting portion 3221 to support the battery box 50. Specifically, the top of the connecting portion 3221 has a protruding end, and the middle part is rotatably connected to the base 321 via a connecting pivot 327. The supporting portion 3222 is connected to the bottom of the connecting portion 3221 and extends horizontally, forming a certain angle with the connecting portion 3221, preferably 90°. The supporting portion 3222 is provided with positioning holes 328 corresponding to the positioning posts of the battery box 50. During operation, when the support part 3222 moves to the underside of the bracket 51 of the battery box 50, due to the rotational connection of the connecting part 3221, the support part 3222 can adapt to the tilt angle of the battery box 50 and fit against the bracket 51 to lift the bracket 51; after lifting the battery box 50, the connecting part 3221 swings under the gravity of the battery box 50, and the battery box 50 can swing to a vertical state, thereby avoiding moving the battery box 50 in a tilted state.

[0074] Figure 9 This is a schematic diagram of the elastic stop. (Example) Figure 8 and Figure 9 As shown, the actuator 32 also includes a pair of elastic stops. Each elastic stop includes a fixing block 323 connected to the base 321, a top shaft 324 movably connected to the fixing block 323 in a horizontal direction, and a spring 3241 connected between the top shaft 324 and the fixing block 323. The top shaft 324 of the pair of elastic stops abuts against both sides of the connecting portion 3221. The fixing block 323 has a cavity 3231, and at least part (i.e., the protruding end) of the connecting portion 3221 extends into the cavity 3231. The top shaft 324 extends into the cavity 3231 and abuts against the connecting portion 3221. Under normal conditions, the top shaft 324 of the pair of elastic stops supports the connecting portion 3221, and the bearing portion 3222 is in a horizontal position and will not tilt. Moreover, after the battery box 50 is disengaged from the bearing portion 3222, the bearing portion 3222 can also be reset under the action of the top shaft 324 of the elastic stops.

[0075] To detect the swing angle of the connecting part 3221, in this embodiment, the telescopic fork 30 further includes a control component, which includes a controller, a first sensor, and a second sensor. The first sensor is used to detect the swing angle of the connecting part 3221, and the controller is used to adjust the position of the mounting plate 322 according to the swing angle. In this embodiment, the first sensor is a displacement sensor 325 used to detect the swing distance of the connecting part 3221. The second sensor is a pressure sensor 326. In this embodiment, the telescopic fork 30 also includes a pair of pressure sensors 326, which are located at both ends of the supporting part 3222 and are used to detect the pressure of the supporting part 3222 supporting the battery box 50.

[0076] When the support part 3222 moves below the bracket 51 of the battery box 50, the telescopic mechanism 31 moves upward until the pressure sensor 326 starts to sense it. If the positioning hole 328 of the support part 3222 does not correspond to the positioning rod of the battery box 50, the connecting part 3221 will swing under the gravity of the battery box 50. When the displacement sensor 325 detects that the swing distance of the connecting part 3221 exceeds a preset value (i.e., the swing angle exceeds a preset value), the controller controls the telescopic mechanism 31 to extend and retract according to the swing angle, driving the support part 3222 to move relative to the bracket 51 of the battery box 50 until the positioning hole 328 of the support part 3222 corresponds to the positioning rod of the battery box 50, and the swing angle is within the preset value range. Then, it checks whether the pressure difference between the pair of pressure sensors 326 is within the preset range. If it is, it controls the telescopic mechanism 31 to continue to rise and transport the battery box 50.

[0077] Figure 10 This is a structural schematic diagram of the positioning and detection mechanism 33. (Example) Figure 5 and Figure 10 As shown, in order to adjust the extension angle of the telescopic mechanism 31, in this embodiment, the telescopic fork 30 further includes a positioning detection mechanism 33, which includes a telescopic assembly and a distance sensor 335. The telescopic assembly is telescopically connected to the telescopic mechanism 31 along the width direction perpendicular to the length direction of the telescopic mechanism 31, and the distance sensor 335 is connected to the telescopic assembly for detecting the distance change of the battery box 50 along the width direction.

[0078] Specifically, the telescopic assembly includes a fixed rod 331, a movable block 332, an end-drive motor 333, and a drive rack 334. The fixed rod 331 is substantially perpendicularly connected to the base 311 of the telescopic mechanism 31, preferably connected to the base 311 of the telescopic mechanism 31. The movable block 332 is movably connected to the fixed rod 331, and the distance sensor 335 is connected to the movable block 332. The drive rack 334 is connected to the movable block 332, and the end-drive motor 333 is connected to the drive rack 334 via gears. The drive rack 334 drives the movable block 332 to move, thereby causing the distance sensor 335 to move in a direction perpendicular to the telescopic direction, measuring the distance between the distance sensor 335 and the battery box 50. During operation, the controller adjusts the angle at which the telescopic mechanism 31 extends towards the battery box 50 according to the change in distance.

[0079] Figure 11 This is a schematic diagram of a power swapping device with forks in another implementation. Figure 12This is a schematic diagram of the lifting drive mechanism in another embodiment of the battery swapping equipment. The lifting drive mechanism further includes a lifting drive motor 40 and a transmission shaft 461, the transmission shaft 461 being rotatably connected to the rotating frame 20, and the first pulley 42 being connected to the transmission shaft 462. The difference between this embodiment and the previous embodiment is that, in this embodiment, as... Figure 11 and 12 As shown, the lifting drive mechanism also includes a synchronization component, which includes a synchronization pulley 491 and a synchronization chain 49. The synchronization pulley 491 is connected to the drive shaft 461, and the synchronization chain 49 passes around the synchronization pulleys 491 on both sides of the rotating frame 20. During operation, the lifting drive motor 44 drives the first traction rope 43 on one side through the drive shaft 461, driving the counterweight 41 and the telescopic fork 30 to move up and down. At the same time, the drive shaft 461 synchronizes the rotation speed of the drive shafts 461 on both sides through the synchronization pulleys 491 and the synchronization chain 49, so that the rotation speed of the drive shafts 461 on both sides is the same, avoiding the problem of tilting caused by the different speeds on both sides of the telescopic fork 30.

[0080] The following combination Figure 1 This document describes in detail a battery swapping method implemented using a telescopic fork 30, the battery swapping method comprising the following steps:

[0081] S1: Detect the change in distance to the battery box 50 along the width direction perpendicular to the extension direction of the telescopic forks 30. Specifically, the telescopic assembly carries a distance sensor 335 that moves along the width direction, detecting the distance to the battery box 50 during the movement.

[0082] S2: The controller determines the deviation angle between the extension direction of the telescopic fork 30 and the bracket 51 of the battery box 50 based on the distance change. In the vertical state, the distance change detected by the distance sensor 335 should be within the preset range. If it exceeds the preset range, it is determined that the extension direction is not parallel to the bracket 51 of the battery box 50 and there is a certain angle between them.

[0083] S3: The controller adjusts the extension direction of the telescopic fork 30 according to the deviation angle until the bearing part 3222 is parallel to the bracket 51.

[0084] S4: The telescopic fork 30 extends toward the battery box 50 until the support portion 3222 of the mounting plate 322 of the telescopic fork 30 is located below the bracket 51 of the battery box 50.

[0085] S5: When the support part 3222 moves upward and contacts the bracket 51 of the battery box 50, the swing angle of the connecting part 3221 of the hanging plate 322 is detected. In this step, when the support part 3222 contacts the bracket 51, the contact between the support part 3222 and the bracket 51 is determined by the pressure value detected by the pressure sensor 326 of the support part 3222.

[0086] S6: Extend or retract the telescopic fork 30 according to the swing angle, and adjust the position of the carrier 3222 and the battery box 50 along the telescopic direction. Specifically, the swing angle of the connecting part 3221 is determined by detecting the swing distance of the connecting part 3221 by the displacement sensor 325.

[0087] S7: If the pressure difference between the pressure sensors 326 at both ends of the support portion 3222 is within a preset range, the support portion 3222 moves upward to lift the battery box 50. If it exceeds the preset range, the telescopic mechanism 31 is controlled to extend or retract according to the swing direction of the connecting portion 3221 to adjust the distance between the support portion 3222 and the bracket 51 until the positioning rod of the bracket 51 is fully inserted into the positioning hole 328 of the support portion 3222.

[0088] During the handling of the battery box, this battery swapping device is more flexible and can be adjusted with multiple degrees of freedom to adapt to the posture of the battery box. For ease of description, in this embodiment, the extension direction of the telescopic fork 30 is taken as the Y-axis, the direction perpendicular to the extension direction is taken as the X-axis, and the vertical direction is taken as the Z-axis.

[0089] 1. By rotating the push rod 22 to push the rotating frame 20 to rotate relative to the traveling frame 10, the degree of freedom of the telescopic fork 30 to rotate around the Z-axis can be adjusted; moreover, during the rotation, due to the constraints of the load-bearing component 11 and the load-bearing wheel 21, the steering is precise and stable, and it is not easy to overturn.

[0090] 2. A pair of telescopic forks 30 are driven by an independent lifting drive mechanism. The telescopic forks 30 can be raised and lowered individually to adapt to the height difference of the battery box and to compensate for the degree of freedom of the telescopic forks 30 to rotate around the Y-axis.

[0091] 3. The mounting plate 322 of the actuator 32 at the end of the telescopic fork 30 can rotate to adapt to the situation where the heights of the near and far ends of the battery box are different, and the degree of freedom of rotation around the X-axis is compensated by the mounting plate 322.

[0092] Furthermore, the aforementioned battery swapping equipment with forks is equipped with a traveling frame 10 and a rotating frame 20, with a pair of telescopic forks 30 mounted on the rotating frame 20. During operation, the angle of the telescopic forks 30 can be adjusted by rotating the rotating frame 20 relative to the traveling frame 10, thereby adjusting the angle of the docking battery box 50, or adjusting the angle of the battery box 50 after it is loaded.

[0093] Furthermore, the telescopic fork 30 and the battery swapping method rotatably connect the connecting part 3221 of the mounting plate 322 to the bottom. During the process of the bearing part 3222 lifting the battery box 50, the controller adjusts the position of the mounting plate 322 according to the swing angle of the connecting part 3221 until the bearing part 3222 is parallel to the bracket 51 of the battery box 50. Thus, the bearing part 3222 can fit against the bracket 51 of the battery box 50 to lift the battery box 50, avoiding damage to the battery box 50.

[0094] Because the mounting plate 322 is rotatably connected to the base 321, the battery box 50 can be adjusted to a vertical position under gravity during transportation, and the tilt angle will not be affected by the deflection of the telescopic mechanism 31, thus facilitating the handover of the battery box 50. Before the telescopic mechanism 31 extends or retracts, the angle at which the telescopic mechanism 31 extends toward the battery box 50 can also be adjusted by the change in distance to avoid deviation when the telescopic forks 30 align with the battery box 50.

[0095] In the several specific embodiments provided in this disclosure, it will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this disclosure. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Terms such as "first," "second," etc., are used to denote names and do not indicate any particular order.

[0096] The above embodiments are only used to illustrate the technical solutions of this disclosure and are not intended to limit it. Although this disclosure has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of this disclosure should not depart from the spirit and scope of the technical solutions of this disclosure.

Claims

1. A power swapping device with forks, characterized in that, include: Walking frame; A rotating frame is rotatably connected to the traveling frame via a rotating assembly; A pair of telescopic forks are connected to the rotating frame via a sliding joint that moves vertically, and the telescopic forks extend and retract horizontally. The telescopic forks include: The telescopic mechanism is connected to the rotating frame at one end, and its free end can extend and retract horizontally. An actuator includes a base and a mounting plate. The base is connected to the free end of the telescopic mechanism. The mounting plate includes a connecting part and a support part for supporting the battery box. The connecting part is rotatably connected to the base, and the support part is connected to the connecting part. The control component includes a controller and a first sensor, the first sensor being used to detect the swing angle of the connecting part, and the controller being used to adjust the position of the hanging plate according to the swing angle.

2. The power swapping device with forks as described in claim 1, characterized in that, The rotating assembly includes a rotating disk connecting the center of the traveling frame and the rotating frame, and at least one of a carrier and a corresponding carrier wheel. One of the carrier and the carrier wheel is connected to the traveling frame, and the other is connected to the rotating frame.

3. The power swapping device with forks as described in claim 2, characterized in that, The rotating assembly includes multiple bearing members and bearing wheels, the bearing wheels cooperating with the bearing members, and the bearing members stopping the bearing wheels in the vertical direction.

4. The power swapping device with forks as described in claim 1, characterized in that, The rotating assembly also includes a retractable rotating push rod, which is rotatably connected between the rotating frame and the traveling frame.

5. The power swapping device with forks as described in claim 1, characterized in that, It also includes a lifting drive mechanism, wherein a pair of the telescopic forks are respectively movably connected to the rotating frame in a vertical direction; the lifting drive mechanism is connected to the telescopic forks.

6. The power swapping device with forks as described in claim 5, characterized in that, The lifting drive mechanism includes: The system includes a lifting drive, a pair of first pulleys, and a first traction rope. The first pulleys are rotatably connected to the rotating frame, and the first traction rope passes around the pair of first pulleys to form a chain. The telescopic forks are connected to the first traction rope. The lifting drive is connected to the first traction rope and is used to move the first traction rope to lift and lower the telescopic forks. The system includes a counterweight cylinder, a second pulley, and a second traction rope. The second pulley is rotatably connected to the rotating frame. One end of the second traction rope is connected to the telescopic fork, and the other end passes around the second pulley and connects to the counterweight cylinder.

7. The power swapping device with forks as described in claim 6, characterized in that, The lifting drive mechanism also includes a movable pulley, which is rotatably connected to the counterweight cylinder. One end of the second traction rope is connected to the telescopic fork, and the other end passes through the second pulley and the movable pulley in sequence to connect to the rotating frame.

8. The power swapping device with forks as described in claim 1, characterized in that, The actuator further includes a pair of elastic blocks, each elastic block comprising a fixed block connected to the base, a top shaft movably connected to the fixed block in a horizontal direction, and a spring connected between the top shaft and the fixed block, with the top shafts of the pair of elastic blocks abutting against both sides of the connecting portion.

9. The power swapping device with forks as described in claim 1, characterized in that, The first sensor is a displacement sensor used to detect the swing distance of the connecting part; the control component also includes a second sensor, which is a pair of pressure sensors located at both ends of the support part, used to detect the pressure of the support part supporting the battery box.

10. The power swapping device with forks as described in claim 1, characterized in that, It also includes a positioning detection mechanism, which comprises: A telescopic assembly is telescopically connected to the telescopic mechanism along the width direction perpendicular to the length direction of the telescopic mechanism; A ranging sensor, connected to the telescopic assembly, is used to detect the distance change of the battery box along the width direction; The controller adjusts the angle at which the telescopic mechanism extends toward the battery box based on the change in distance.

11. The power swapping device with forks as described in claim 6, characterized in that, The lifting drive mechanism further includes a drive shaft, which is rotatably connected to the rotating frame, and the first pulley is connected to the drive shaft; The lifting drive mechanism also includes a synchronization component, which includes a synchronization wheel and a synchronization chain. The synchronization wheel is connected to the drive shaft, and the synchronization chain passes around the synchronization wheel.

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