Walking anti-skid device, shuttle vehicle, battery replacement channel and battery replacement station

Abstract

This utility model discloses a walking anti-slip device, a shuttle car, a battery swapping channel, and a battery swapping station. The walking anti-slip device is applied within the battery swapping station and includes: a limiting wheel connected to the shuttle car within the station, allowing the shuttle car to rotate the limiting wheel; and a limiting pad located within the battery swapping channel between the battery swapping station and the charging rack. The limiting wheel cooperates with the limiting pad and can move on the limiting pad. The battery swapping station includes the shuttle car and the walking anti-slip device described above. In this utility model, the limiting pad provides an anti-slip function. The limiting wheel, connected to the shuttle car, moves on the limiting pad, effectively preventing slippage during shuttle car movement, ensuring accurate positioning, improving battery swapping efficiency, and enhancing safety.

Description

[0001] This application claims priority to Chinese patent application 2024108619916, filed on June 28, 2024. The entire contents of the aforementioned Chinese patent application are incorporated herein by reference. Technical Field

[0002] This utility model relates to a walking anti-slip device, a shuttle vehicle, a battery swapping channel, and a battery swapping station. Background Technology

[0003] Currently, electric vehicle battery packs are generally installed in two ways: fixed and swappable. Fixed batteries are typically mounted on the vehicle, with the vehicle itself serving as the charging point. Swappable battery packs, on the other hand, are usually attached to the vehicle via a movable installation method. A depleted battery pack can be removed using a battery swapping device, transported to a charging facility for charging, and then a fully charged battery pack is brought back to the vehicle for replacement. After the removed battery pack has been fully charged, it is then reinstalled on the vehicle.

[0004] Current battery swapping equipment includes shuttle cars used for swapping batteries. These shuttle cars need to move back and forth between the vehicle and the charging site. Because the shuttle cars are prone to slippage during their movement, alignment between the shuttle car, the vehicle, and the charging site is difficult, resulting in low battery swapping efficiency and safety. Especially in cold regions, icing on the tracks can easily cause the shuttle cars to slip and deviate significantly from their positioning, leading to battery pack swapping failures. Utility Model Content

[0005] The technical problem to be solved by this utility model is to overcome the defects in the prior art where the shuttle car is easily affected by slippage during the movement, resulting in low battery replacement efficiency, low safety, and battery pack replacement failure. The present invention provides a walking anti-slip device, a shuttle car, a battery swapping channel, and a battery swapping station.

[0006] The present invention solves the above-mentioned technical problems through the following technical solution:

[0007] A walking anti-slip device is used in a battery swapping station, the walking anti-slip device comprising:

[0008] A limiting wheel is connected to a shuttle car within the battery swapping station so that the shuttle car drives the limiting wheel to rotate.

[0009] A limiting pad is provided in the battery swapping channel between the battery swapping station and the charging rack in the battery swapping station. The limiting wheel cooperates with the limiting pad and can move and walk on the limiting pad.

[0010] In this solution, the above-mentioned structure is adopted. The limiting pad is set in the battery swapping channel between the battery swapping station and the charging rack and plays an anti-slip role. When the shuttle car moves, the limiting wheels also move on the limiting pad. The limiting wheels will not slip when moving on the limiting pad, thus effectively avoiding the phenomenon of the shuttle car slipping during movement, ensuring the accuracy of movement and positioning, improving battery swapping efficiency, and enhancing safety.

[0011] Preferably, the limiting pad extends from the battery swapping station to the charging rack within the battery swapping channel;

[0012] Alternatively, the limiting pad may be segmented and may be positioned at least in a first position adjacent to the battery swapping station and a second position adjacent to the charging rack.

[0013] In this solution, the above-mentioned structure is adopted. By placing the limiting pad between the battery swapping station and the charging rack throughout the entire process, the shuttle car will not slip during the entire movement, achieving faster movement and higher positioning accuracy, thus improving battery swapping efficiency and safety.

[0014] In addition, multiple segmented limiting pads are set at least at the first position adjacent to the battery swapping station and the second position adjacent to the charging rack. This ensures that the shuttle car can pass through the limiting pads without slipping when moving to the first and second positions, thereby effectively ensuring accurate sensor detection and precise positioning at the battery swapping station and the charging rack. At the same time, the limiting pads do not need to be set up throughout the entire process, reducing costs and making it very convenient to use.

[0015] Preferably, the walking anti-slip device further includes a detection component and a positioning component that cooperate to identify each other. One of the detection component and the positioning component is disposed on the shuttle car, and the other is disposed in the battery swapping channel and is used to position the shuttle car when it travels to the battery swapping station and / or the shuttle car when it travels to the charging rack. When the limiting pad is segmented, the walking anti-slip device is configured such that the limiting wheel cooperates with the limiting pad and moves on the limiting pad before the detection component identifies the positioning component.

[0016] In this solution, the aforementioned structural form is adopted. The detection and positioning components work together to detect the shuttle's position within the battery swapping station and / or charging rack, and to control the shuttle's movement to stop. Simultaneously, before the detection component identifies the positioning component, the limiting wheel engages with the limiting pad, allowing the limiting wheel to move along the pad and preventing slippage during shuttle movement. Only then do the detection and positioning components trigger and work together to identify and control the shuttle to stop. The shuttle's braking distance is no longer driven by the limiting wheel but by both the limiting wheel and the limiting pad, thus avoiding slippage over that distance, ensuring braking accuracy to a certain extent, achieving accurate positioning, improving battery swapping efficiency, and enhancing safety.

[0017] Preferably, the shuttle includes traveling wheels, and the limiting wheel is disposed on the outside of the traveling wheels.

[0018] In this solution, the above-mentioned structural form is adopted. The shuttle car moves by rotating the walking wheels, and the walking wheels directly drive the limit wheels to move, ensuring more accurate movement. At the same time, the limit wheels are installed on the outside of the walking wheels, making installation very convenient.

[0019] Preferably, the radius of the limiting wheel is not greater than the radius of the traveling wheel, and the radius difference between the traveling wheel and the limiting wheel is less than the height of the limiting pad;

[0020] Alternatively, the traveling wheels travel on the track to drive the shuttle car in a preset direction, the radius of the limiting wheel is greater than the radius of the traveling wheels, and the radius difference between the limiting wheel and the traveling wheels is less than the height of the track;

[0021] And / or, the anti-slip device further includes a connector between the walking wheel and the limiting wheel;

[0022] The number of the connectors is one, and the connectors are concentrically arranged with and connected to the rotating shaft of the shuttle.

[0023] Alternatively, there may be multiple connectors, which are evenly spaced along the circumference of the limiting wheel.

[0024] In this design, the aforementioned structural form is used. Because the radius difference between the traveling wheel and the limiting wheel is less than the height of the limiting pad, when the limiting pad is placed below the limiting wheel, the sum of the radius of the limiting wheel and the height of the limiting pad is greater than the radius of the traveling wheel. This ensures that the limiting wheel and the limiting pad cooperate to achieve an anti-slip effect. No limiting pad is placed below the traveling wheel to avoid contact between the traveling wheel and the limiting pad, which would increase friction and affect the shuttle's operating efficiency.

[0025] Then, by ensuring that the radius difference between the limiting wheel and the traveling wheel is less than the height of the track, when the track is positioned below the traveling wheel, the sum of the radius of the traveling wheel and the height of the track is greater than the radius of the limiting wheel. This ensures that the traveling wheel and the track work together to allow the traveling wheel to move on the track, driving the shuttle car in a preset direction. This achieves accurate shuttle car positioning, improves battery swapping efficiency, and enhances safety. Simultaneously, there is space below the limiting wheel to install a limiting pad. This ensures the limiting pad is properly installed, allowing the limiting wheel to move on the limiting pad, effectively preventing the shuttle car from slipping during movement. This also ensures accurate positioning, improves battery swapping efficiency, and enhances safety.

[0026] Furthermore, the limit wheel is installed and connected to the driving wheel through a connector. Installing the limit wheel through the connector is very convenient and the connection is highly stable. At the same time, the connector is located between the driving wheel and the limit wheel, making the overall structure more compact, taking up less space, and simple in structure.

[0027] In addition, the use of multiple connectors ensures a high connection strength and greater stability between the traveling wheel and the limit wheel.

[0028] Preferably, the connecting member is a connecting rod, and the two ends of the connecting rod are respectively fixed to the traveling wheel and the limiting wheel;

[0029] Alternatively, the connecting component is a one-way bearing, with the inner ring of the one-way bearing fixed to the traveling wheel and the outer ring of the one-way bearing fixed to the limiting wheel.

[0030] In this solution, the above-mentioned structural form is adopted, and the connecting part is a connecting rod, which makes the overall structure simple, easy to assemble, and low in cost.

[0031] Furthermore, the connecting component uses a one-way bearing. When the shuttle needs to move to a position and achieve precise positioning, the one-way bearing drives the limit wheel to rotate. The limit wheel and the limit pad mesh and transmit torque, preventing slippage of the limit wheel on the limit pad. The shuttle's braking distance is no longer driven by the limit wheel but by both the limit wheel and the limit pad, resulting in high accuracy in shuttle movement and positioning. Conversely, when the shuttle needs to exit a position and precise positioning is no longer required, the traveling wheels retract. Due to the one-way bearing, the limit wheel does not transmit torque, ensuring that even when the limit wheel moves on the limit pad, it does not exert force on the traveling wheels.

[0032] Preferably, the number of limiting pads is at least two, and the at least two limiting pads are respectively arranged on both sides of the shuttle along the traveling direction of the shuttle; the number of limiting wheels is at least two, and at least one limiting wheel is arranged on each side of the shuttle along the traveling direction of the shuttle and cooperates with the limiting pad on the corresponding side, and at least one of the two limiting wheels cooperates with the limiting pad on the corresponding side during the movement of the shuttle.

[0033] In this solution, the above-mentioned structural form is adopted, which allows the shuttle car to move on the limiting pad via limiting wheels on both sides or one side, ensuring that both sides of the shuttle car can achieve accurate movement and positioning, improving battery swapping efficiency and enhancing safety.

[0034] Preferably, the outer circumferential surface of the limiting wheel has a plurality of outwardly protruding first anti-slip teeth.

[0035] In this solution, the above-mentioned structural form is adopted. Multiple outwardly protruding first anti-slip teeth greatly increase the friction of the limiting wheel during movement, further ensuring more accurate positioning of the shuttle, improving battery swapping efficiency, and enhancing safety.

[0036] Preferably, the limiting pad has a plurality of inwardly recessed anti-slip grooves along the traveling direction of the limiting wheel, and when the limiting wheel moves on the limiting pad, the first anti-slip tooth is inserted into the anti-slip groove accordingly.

[0037] And / or, the limiting pad has a plurality of second anti-slip teeth, the first anti-slip teeth engaging with the second anti-slip teeth.

[0038] In this solution, the aforementioned structure is adopted. The limiting wheel is inserted into the anti-slip groove of the limiting pad via the first anti-slip tooth, so that the first anti-slip tooth abuts against the anti-slip groove, greatly increasing the friction between the limiting wheel and the limiting pad, and further ensuring more accurate movement and positioning of the shuttle. At the same time, the first anti-slip tooth can guide the insertion into the anti-slip groove, allowing the limiting wheel to make corrections and fine adjustments during movement, thus achieving higher accuracy in the movement and positioning of the shuttle.

[0039] In addition, the limiting wheel can also engage with the second anti-slip tooth on the limiting pad through the first anti-slip tooth, so that the first anti-slip tooth and the second anti-slip tooth abut against each other, greatly increasing the friction between the limiting wheel and the limiting pad, and further ensuring that the movement and positioning of the shuttle is more accurate; at the same time, when the first anti-slip tooth and the second anti-slip tooth engage, they can guide the insertion and alignment, so that the limiting wheel can make corrections and fine adjustments during the movement, and achieve higher accuracy in the movement and positioning of the shuttle.

[0040] Preferably, the limiting pad includes a pad body and a mounting component, one end of the mounting component is connected to the pad body, and the other end of the mounting component is detachably connected to the battery swapping channel; the pad body is provided with the anti-slip groove or the second anti-slip tooth.

[0041] In this solution, the above-mentioned structure is adopted. The pad body is installed on the battery swapping channel where the shuttle car moves through the mounting components. The mounting components adopt a detachable connection method, which makes the limiting pad easy to install and remove, and can be quickly removed when not slipping. At the same time, it does not damage the original structure of the battery swapping channel, and is easy to replace and adjust the position.

[0042] Preferably, the pad body is a chain, a timing belt, or a rubber belt;

[0043] And / or, the number of the mounting components is multiple, and the multiple mounting components are respectively connected to the bottom of the mat body or to both sides of the mat body along the traveling direction of the shuttle;

[0044] And / or, the mounting component is a pressure plate, which is pressed against the top surface of the pad body; or, the mounting component includes a pressure plate, an elastic element, and a limiting element, the pad body is mounted and connected to the top surface of the pressure plate, the pressure plate is movably disposed on the battery swapping channel, the elastic element and the limiting element are spaced apart on the battery swapping channel along the traveling direction of the shuttle, and both the elastic element and the limiting element abut against the bottom surface of the pressure plate.

[0045] In this solution, the above-mentioned structural form allows for the selection and installation of different types of pad bodies according to different working conditions, and the structure is simple and the cost is low.

[0046] Meanwhile, by installing and connecting multiple mounting components to both sides of the pad body, the installation and connection stability of the pad body is improved, effectively preventing the pad body from shifting or misaligning during use. This results in high accuracy in movement and positioning, improved battery swapping efficiency, and enhanced safety.

[0047] Furthermore, this design facilitates the installation and connection of the pad body, resulting in convenient installation and enhanced stability. Simultaneously, the pressure plate has a gap protruding from the pad body, allowing the limiting wheels to move within this gap and on the pad body. The pressure plate effectively limits the movement of the limiting wheels, ensuring they move in a predetermined direction. This improves the accuracy of the shuttle's positioning, increases battery swapping efficiency, and enhances safety.

[0048] Furthermore, by using an elastic element to abut against the bottom surface of the pressure plate and apply an upward force, the limiting wheel and the limiting pad are smoothly engaged without disengagement. This results in faster movement and higher positioning accuracy, improving battery swapping efficiency and safety. Simultaneously, the limiting element abuts against the bottom surface of the pressure plate and restricts its downward movement, effectively ensuring the engagement between the limiting wheel and the limiting pad, further enhancing the stability of the anti-slip device.

[0049] Preferably, the pressure plate has an elastic portion, a hinge portion, and a limiting portion along its length direction. The hinge portion is hinged to the power exchange channel. The elastic member abuts against the elastic portion and applies an upward force to the elastic portion. The limiting member abuts against the limiting portion and restricts the limiting portion from moving downward.

[0050] In this solution, the above-mentioned structure is adopted. The pressure plate is installed and connected to the battery swapping channel in a hinged manner. Both ends cooperate with the elastic element and the limiting element through the elastic part and the limiting part respectively, thereby ensuring that the limiting wheel and the limiting pad are smoothly engaged and will not disengage, further improving the stability of the walking anti-slip device.

[0051] The elastic element is a spring, which has high elasticity, good performance, and easily returns to its original shape after the external force is removed.

[0052] Preferably, the elastic part has a downwardly protruding limiting post, and the elastic element is sleeved on the limiting post;

[0053] And / or, the bottom of the limiting member is connected to the battery swapping channel, and the top of the limiting member is used to abut against the limiting part.

[0054] In this solution, the above-mentioned structural form is adopted. The limiting post plays a positioning role, and the elastic element is sleeved on the limiting post, which effectively prevents the elastic element from shifting or misaligning during use and improves the stability of the installed components.

[0055] In addition, the limiters are installed on the battery swapping channel, which ensures that the limiters are fixedly connected and will not move during use, thus ensuring high stability.

[0056] Preferably, there are two charging racks, two battery swapping channels, and two shuttle cars, and one battery swapping station. The two battery swapping channels are located on both sides of the battery swapping station.

[0057] In the two shuttle cars, each shuttle car has at least two limiting wheels, and at least one limiting wheel is provided on each side of the shuttle car along the travel direction of the shuttle car and cooperates with the limiting pad on the corresponding side.

[0058] Preferably, each shuttle car has an upper limit wheel and a lower limit wheel, and four limit pads, including two first limit pads and two second limit pads. The two first limit pads are respectively arranged on both sides of the battery swapping channel along the travel direction of the shuttle car and are located in the battery swapping station and one of the charging racks respectively. The upper limit wheel and the lower limit wheel on one shuttle car respectively cooperate with the two first limit pads. The two second limit pads are respectively arranged on both sides of the battery swapping channel along the travel direction of the shuttle car and are located in the battery swapping station and another charging rack respectively. The upper limit wheel and the lower limit wheel on the other shuttle car respectively cooperate with the two second limit pads.

[0059] In this solution, the above-mentioned structural form is adopted, which allows the shuttle car to move on the limiting pad via limiting wheels on both sides or one side, ensuring that both sides of the shuttle car can achieve accurate movement and positioning, improving battery swapping efficiency and enhancing safety.

[0060] Furthermore, the two shuttles work together seamlessly during travel and positioning via the interlocking limit wheels and limit pads, ensuring accurate positioning, improving battery swapping efficiency, and enhancing safety. Simultaneously, the limit pads do not require continuous installation, reducing costs and making them extremely convenient to use.

[0061] A shuttle vehicle that includes the limiting wheels described above.

[0062] A battery swapping channel includes a limiting pad as described above.

[0063] A battery swapping station includes a walking anti-slip device as described above.

[0064] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of this utility model.

[0065] The positive and progressive effects of this utility model are as follows:

[0066] The present invention relates to a walking anti-slip device, a shuttle car, a battery swapping channel, and a battery swapping station. The limiting pad plays an anti-slip role. It is connected to the shuttle car through the limiting wheel and moves on the limiting pad, which effectively avoids the shuttle car slipping during movement, ensures accurate positioning, improves battery swapping efficiency, and enhances safety. Attached Figure Description

[0067] Figure 1 This is a schematic diagram of the walking anti-slip device and shuttle car of Embodiment 1 of this utility model.

[0068] Figure 2This is a partially enlarged schematic diagram of the anti-slip walking device and shuttle car of Embodiment 1 of this utility model.

[0069] Figure 3 This is a schematic diagram of the walking anti-slip device and shuttle car in Embodiment 2 of this utility model.

[0070] Figure 4 This is a partially enlarged schematic diagram of the anti-slip walking device and shuttle car in Embodiment 2 of this utility model.

[0071] Figure 5 This is a schematic diagram of the walking anti-slip device and shuttle car in Embodiment 3 of this utility model.

[0072] Figure 6 This is a partially enlarged schematic diagram of the anti-slip walking device and shuttle car in Embodiment 3 of this utility model.

[0073] Figure 7 This is a schematic diagram of the structure of the battery swapping station according to Embodiment 4 of this utility model.

[0074] Figure 8 This is a schematic diagram of the limiting wheel and one-way bearing in Embodiment 4 of this utility model.

[0075] Figure 9 This is a schematic diagram of the limiting pad in Embodiment 4 of this utility model.

[0076] Figure 10 This is a schematic diagram of the anti-slip walking device of Embodiment 4 of this utility model during use.

[0077] Explanation of reference numerals in the attached figures:

[0078] Walking anti-slip device 100

[0079] Limit wheel 1

[0080] First anti-slip tooth 11

[0081] Upper limit wheel 12

[0082] Lower limit wheel 13

[0083] Limiting pad 2

[0084] Anti-slip groove 21

[0085] Pad body 22

[0086] Mounting component 23

[0087] Pressure plate 231

[0088] Elastic part 2311

[0089] Hinged part 2312

[0090] Limiting part 2313

[0091] Elastic component 232

[0092] Limiting component 233

[0093] Second anti-slip tooth 24

[0094] First limiting pad 25

[0095] Second limiting pad 26

[0096] Connector 3

[0097] Positioning component 4

[0098] Detection component 5

[0099] Shuttle 200

[0100] 201 Walking Wheel

[0101] 300 battery swapping stations

[0102] Charging compartment 400 Detailed Implementation

[0103] The present invention will be described more clearly and completely below by way of embodiments and in conjunction with the accompanying drawings, but the present invention is not limited to the scope of the embodiments.

[0104] Example 1

[0105] This utility model discloses a battery swapping station, such as... Figure 1 and Figure 2 As shown, the battery swapping station includes a walking anti-slip device 100 and a shuttle 200. The shuttle 200 can move within the battery swapping channel between the battery swapping station and the charging rack. The shuttle 200 is used to remove the batteries that need to be replaced from the electric vehicles at the battery swapping station, and then move them to the charging rack to charge the replaced batteries. The fully charged batteries are then taken out of the charging rack and transported to the battery swapping station to perform the battery swapping operation on the electric vehicles.

[0106] The anti-slip device 100 is used in the battery swapping station. This device includes a limiting wheel 1 and a limiting pad 2. The limiting wheel 1 is connected to a shuttle 200 within the station, allowing the shuttle 200 to rotate the limiting wheel 1. The limiting pad 2 is located in the battery swapping channel between the swapping station and the charging rack. The limiting wheel 1 cooperates with the limiting pad 2 and can move on the limiting pad 2. The limiting pad 2, located in the battery swapping channel between the swapping station and the charging rack, serves an anti-slip function. During the movement of the shuttle 200, the limiting wheel 1 also moves along with it, ensuring that the limiting wheel 1 moves on the limiting pad 2 simultaneously without slippage. This effectively prevents the shuttle 200 from slipping during movement, ensuring accurate positioning, improving battery swapping efficiency, and enhancing safety.

[0107] In one embodiment, the limiting pad 2 can extend from the battery swapping station to the charging rack within the battery swapping channel. The shuttle 200 moves back and forth within the battery swapping channel between the battery swapping station and the charging rack. By placing the limiting pad 2 between the battery swapping station and the charging rack throughout the entire movement, the shuttle 200 will not slip during its movement, achieving faster movement and higher positioning accuracy, thus improving battery swapping efficiency and safety.

[0108] In another embodiment, the limiting pad 2 can also be segmented, and at least located at a first position adjacent to the battery swapping station and a second position adjacent to the charging rack. By separately setting multiple segmented limiting pads 2, with at least one limiting pad 2 located at the first position adjacent to the battery swapping station and the second position adjacent to the charging rack, the shuttle 200 can pass through the limiting pads 2 without slipping when moving to the first and second positions. This effectively ensures accurate sensor detection and precise positioning at the battery swapping station and charging rack. Furthermore, the limiting pad 2 does not need to be set throughout the entire movement, reducing costs and making it very convenient to use. Of course, in actual use, the limiting pad 2 can be set not only at the first and second positions, but also at equal intervals between the battery swapping station and the charging rack, to ensure that the shuttle 200 does not slip during movement while also considering cost.

[0109] like Figure 2 As shown, the shuttle 200 includes traveling wheels 201 and a limiting wheel 1 disposed on the outer side of the traveling wheels 201. The shuttle moves by rotating the traveling wheels 201. The limiting wheel 1 is disposed on the outer side of the traveling wheels 201, and the traveling wheels 201 directly drive the limiting wheel 1 to move, ensuring more accurate movement. At the same time, the limiting wheel 1 is installed on the outer side of the traveling wheels 201, making installation very convenient.

[0110] In one embodiment, the radius of the limiting wheel 1 is no greater than the radius of the traveling wheel 201, and the radius difference between the traveling wheel 201 and the limiting wheel 1 is less than the height of the limiting pad 2. The limiting pad 2 is installed on the traveling path of the limiting wheel 1 and located below the limiting wheel 1. Because the radius difference between the traveling wheel 201 and the limiting wheel 1 is less than the height of the limiting pad 2, when the limiting pad 2 is located below the limiting wheel 1, the sum of the radius of the limiting wheel 1 and the height of the limiting pad 2 is greater than the radius of the traveling wheel 201. This ensures that the limiting wheel 1 and the limiting pad 2 cooperate to achieve an anti-slip effect. The limiting pad 2 is not installed below the traveling wheel 201 to avoid contact between the traveling wheel 201 and the limiting pad 2, which would increase friction and affect the traveling efficiency of the shuttle 200.

[0111] In another embodiment, the traveling wheel 201 travels on the track to drive the shuttle 200 in a preset direction. The radius of the limiting wheel 1 is larger than the radius of the traveling wheel 201, and the difference in radius between the limiting wheel 1 and the traveling wheel 201 is less than the height of the track. The track is installed on the traveling path of the traveling wheel 201 and below it. Because the difference in radius between the limiting wheel 1 and the traveling wheel 201 is less than the height of the track, when the track is located below the traveling wheel 201, the sum of the radius of the traveling wheel 201 and the height of the track is greater than the radius of the limiting wheel 1. This ensures that the traveling wheel 201 and the track cooperate to enable the traveling wheel 201 to travel on the track and drive the shuttle 200 in a preset direction, thereby achieving accurate positioning of the shuttle 200, improving battery swapping efficiency, and enhancing safety. Meanwhile, there is space below the limiting wheel 1 to install the limiting pad 2, which ensures the installation of the limiting pad 2 and allows the limiting wheel 1 to move on the limiting pad 2. This effectively prevents the shuttle 200 from slipping during movement, ensuring accurate positioning, improving battery swapping efficiency, and enhancing safety.

[0112] like Figure 1 As shown, there are two limiting pads 2, which are respectively set on both sides of the shuttle 200 along the traveling direction of the shuttle 200; there are at least two limiting wheels 1, with at least one limiting wheel 1 set on each side of the shuttle 200 along the traveling direction of the shuttle 200 and cooperating with the corresponding limiting pad 2. At least one of the two limiting wheels 1 cooperates with the corresponding limiting pad 2 during the movement of the shuttle 200. In this embodiment, limiting wheels 1 and limiting pads 2 are set on both sides of the shuttle 200, so that the two sides of the shuttle 200 can move and travel on the limiting pads 2 via the limiting wheels 1, ensuring that both sides of the shuttle 200 can achieve accurate movement and positioning, improving battery swapping efficiency and enhancing safety.

[0113] In this embodiment, there are two limiting wheels 1, located on both sides of the shuttle 200. Of course, in other embodiments, the number of limiting wheels 1 is multiple and not limited, to ensure that the shuttle 200 can move stably without slipping.

[0114] like Figure 2 As shown, the outer circumferential surface of the limiting wheel 1 has multiple outwardly protruding first anti-slip teeth 11. During the movement of the limiting wheel 1, the outwardly protruding first anti-slip teeth 11 can abut against the limiting pad 2. The multiple outwardly protruding first anti-slip teeth 11 greatly increase the friction of the limiting wheel 1 during movement, further ensuring more accurate positioning of the shuttle 200, improving battery swapping efficiency, and enhancing safety.

[0115] In this embodiment, the limiting pad 2 has multiple inwardly recessed anti-slip grooves 21 along the walking direction of the limiting wheel 1. When the limiting wheel 1 moves on the limiting pad 2, the first anti-slip teeth 11 are inserted into the corresponding anti-slip grooves 21. During the movement of the shuttle 200, the limiting wheel 1 is inserted into the anti-slip grooves 21 of the limiting pad 2 through the first anti-slip teeth 11, so that the first anti-slip teeth 11 abut against the anti-slip grooves 21, greatly increasing the friction between the limiting wheel 1 and the limiting pad 2, and further ensuring that the movement and positioning of the shuttle 200 is more accurate; at the same time, the first anti-slip teeth 11 can guide the insertion into the anti-slip grooves 21, so that the limiting wheel 1 can be corrected and fine-tuned during the movement, and the movement and positioning accuracy of the shuttle 200 is higher.

[0116] The limiting pad 2 includes a pad body 22 and a mounting component 23. One end of the mounting component 23 is connected to the pad body 22, and the other end is detachably connected to the battery swapping channel. The pad body 22 is provided with anti-slip grooves 21. The pad body 22 is installed on the battery swapping channel of the shuttle 200 via the mounting component 23. The mounting component 23 adopts a detachable connection method, which makes the limiting pad 2 easy to install and remove, and can be quickly removed when not slipping; at the same time, it does not damage the original structure of the battery swapping channel, and is easy to replace and adjust the position.

[0117] In this embodiment, there are multiple mounting components 23, which are respectively connected to both sides of the pad body 22 along the traveling direction of the shuttle 200. By installing multiple mounting components 23 on both sides of the pad body 22, the pad body 22 is stably installed on the battery swapping channel, achieving higher installation stability of the pad body 22, effectively avoiding displacement or misalignment of the pad body 22 during use, ensuring high accuracy in movement and positioning, improving battery swapping efficiency, and enhancing safety.

[0118] Specifically, the mounting component 23 has an L-shaped structure. The vertical structure is used for mounting and connecting to the side of the pad body 22, and the horizontal structure has connecting holes. Fasteners are used to facilitate installation on the power swapping channel through the connecting holes.

[0119] Of course, in other embodiments, multiple mounting components 23 may also be connected to the bottom of the pad body 22 respectively. The mounting components 23 are mounted on the battery swapping channel, and the bottom of the pad body 22 is mounted on the mounting components 23, thereby realizing the mounting connection of the pad body 22, which is convenient for installation.

[0120] In this embodiment, the pad body 22 is a chain, which has a simple structure and low cost.

[0121] The anti-slip device 100 also includes a connector 3 connecting the traveling wheel 201 and the limiting wheel 1. Multiple connectors 3 can be arranged at even intervals along the circumference of the limiting wheel 1. The two ends of the connector 3 are connected to the traveling wheel 201 and the limiting wheel 1, respectively. The limiting wheel 1 is installed on the traveling wheel 201 via the connector 3. Installing the limiting wheel 1 via the connector 3 is very convenient and provides high connection stability. Furthermore, the connector 3 is located between the traveling wheel 201 and the limiting wheel 1, resulting in a more compact overall structure, less space occupation, and a simpler structure.

[0122] In this embodiment, there are two connectors 3. The two connectors 3 are respectively connected to the two ends of the diameter of the traveling wheel 201 and the limiting wheel 1, so that the connection strength between the traveling wheel 201 and the limiting wheel 1 is high and the stability is higher.

[0123] In this embodiment, the connecting member 3 is a connecting rod, and the two ends of the connecting rod are fixed to the traveling wheel 201 and the limiting wheel 1 respectively, which makes the overall structure simple, easy to assemble, and low in cost.

[0124] Example 2

[0125] like Figure 3 and Figure 4 As shown, the same parts of the walking anti-slip device 100 in this embodiment as in Embodiment 1 will not be repeated; only the differences will be explained. In this Embodiment 2, the limiting pad 2 has multiple second anti-slip teeth 24, and the first anti-slip teeth 11 mesh with the second anti-slip teeth 24. During the movement of the shuttle 200, the limiting wheel 1 meshes with the second anti-slip teeth 24 on the limiting pad 2 through the first anti-slip teeth 11, so that the first anti-slip teeth 11 and the second anti-slip teeth 24 abut against each other, greatly increasing the friction between the limiting wheel 1 and the limiting pad 2, further ensuring that the movement and positioning of the shuttle 200 are more accurate; at the same time, when the first anti-slip teeth 11 and the second anti-slip teeth 24 mesh, they can guide the insertion and alignment, so that the limiting wheel 1 can make corrections and fine adjustments during the movement, achieving higher accuracy in the movement and positioning of the shuttle 200.

[0126] In this embodiment 2, the pad body 22 is provided with a plurality of upwardly protruding second anti-slip teeth 24, and the plurality of upwardly protruding second anti-slip teeth 24 are spaced apart along the length direction of the pad body 22.

[0127] Specifically, the pad body 22 is a synchronous belt. Different types of pad bodies 22 can be selected and installed according to different working conditions. The structure is simple and the cost is low.

[0128] In this embodiment 2, there is one connector 3. The connector 3 is concentrically arranged with and connected to the rotating shaft of the shuttle 200. The connector 3, the traveling wheel 201 and the limiting wheel 1 are concentrically arranged. The limiting wheel 1 is installed and connected to the traveling wheel 201 through a connector 3, which makes the installation and connection convenient, and the structure is simple and low cost.

[0129] Example 3

[0130] like Figure 5 and Figure 6 As shown, the same parts of the walking anti-slip device 100 in this embodiment as in Embodiment 1 will not be repeated; only the differences will be explained. In this Embodiment 3, the pad body 22 is a rubber belt. When the limiting wheel 1 moves on the pad body 22, the limiting wheel 1 can be inserted into the rubber belt through the first anti-slip tooth 11, thereby greatly increasing the friction between the limiting wheel 1 and the limiting pad 2, further ensuring that the movement and positioning of the shuttle 200 are more accurate; at the same time, the structure is simple and the cost is low.

[0131] In this embodiment 3, the mounting component 23 is a pressure plate, which is pressed onto the top of the pad body 22. Specifically, there are two pressure plates, one end of which is pressed onto the top two ends of the rubber belt, and the other ends of both pressure plates are detachably connected to the battery swapping channel, thereby realizing the installation and connection of the rubber belt. The installation and connection are convenient and more stable. At the same time, a gap is formed between the two pressure plates, which protrudes from the rubber belt. The limiting wheel 1 moves within the gap and on the rubber belt. The two pressure plates will limit the movement of the limiting wheel 1, so that the limiting wheel 1 moves in a preset direction, realizing the accuracy of the shuttle 200's movement and positioning, improving the battery swapping efficiency and enhancing safety.

[0132] Example 4

[0133] like Figures 7 to 10As shown, the parts of the battery swapping station in this embodiment that are the same as those in Embodiment 1 will not be repeated; only the differences will be explained. In this Embodiment 4, the battery swapping station includes two charging bays 400, two battery swapping channels, and one battery swapping station 300. The charging rack is set inside the charging bays 400. The two charging bays 400 are located on both sides of one battery swapping station 300. The two battery swapping channels are located between the two charging bays 400 and the battery swapping station 300. The shuttle 200 can move within the battery swapping channel between the battery swapping station 300 and the charging bays 400.

[0134] In this embodiment 4, the number of shuttle cars 200 is two, with one attached... Figure 7 The diagram illustrates the different positions of the shuttle 200, with the left shuttle 200 positioned in the charging bay 400 and the battery swapping station 300 respectively. Multiple limiting pads 2 are used, and these limiting pads 2 are segmented and installed along the battery swapping channel.

[0135] The anti-slip device 100 also includes a detection component 5 and a positioning component 4 that cooperate to identify each other. One of the detection component 5 and the positioning component 4 is disposed on the shuttle 200, and the other is disposed in the battery swapping channel and is used to position the shuttle 200 when it moves to the battery swapping station 300 and / or when it moves into the charging rack. When the limiting pad 2 is segmented, the anti-slip device 100 is configured such that the limiting wheel 1 engages with the limiting pad 2 and moves on the limiting pad 2 before the detection component 5 identifies the positioning component 4. The detection component 5 and the positioning component 4 cooperate to detect the position of the shuttle 200 in the battery swapping station 300 and / or the charging rack and to control the shuttle 200 to stop moving. Before the detection component 5 identifies the positioning component 4, the limiting wheel 1 first cooperates with the limiting pad 2, allowing the limiting wheel 1 to move on the limiting pad 2. This ensures that the shuttle 200 does not slip when it moves. Only then do the detection component 5 and the positioning component 4 trigger and cooperate to identify and control the shuttle 200 to stop. The braking distance of the shuttle 200 will be changed from being driven by the limiting wheel 1 to being driven by both the limiting wheel 1 and the limiting pad 2. This avoids slippage over that distance, ensuring braking accuracy to a certain extent, achieving accurate positioning, improving battery swapping efficiency, and enhancing safety.

[0136] The detection component 5 and the positioning component 4 can be magnetic induction sensors and magnetic strips, respectively, to achieve more accurate detection. Specifically, the detection component 5 is a magnetic induction sensor installed on the shuttle 200, and the positioning component 4 is a magnetic strip, which can be installed at the battery swapping station 300 or inside the charging rack.

[0137] Connector 3 can be a one-way bearing. The inner ring of the one-way bearing is fixed to the traveling wheel 201, and the outer ring is fixed to the limiting wheel 1. When the shuttle 200 needs to move to a position and achieve precise positioning during its travel, the limiting wheel 1 and the limiting pad 2 cooperate to prevent slippage. During travel, the traveling wheel 201 will rotate together with the limiting wheel 1 through the one-way bearing. The limiting wheel 1 and the limiting pad 2 mesh and transmit torque, preventing the limiting wheel 1 from slipping on the limiting pad 2. Furthermore, the braking distance of the shuttle 200 will be achieved by both the limiting wheel 1 and the limiting pad 2, instead of the limiting wheel 1 driving the movement. This results in high accuracy in positioning the shuttle 200. Meanwhile, when the shuttle 200 needs to exit its position and no longer needs precise positioning during its operation, the traveling wheel 201 retracts outward. Even if the limiting wheel 1 moves on the limiting pad 2, due to the action of the one-way bearing, the limiting wheel 1 does not transmit torque, so that even if the limiting wheel 1 moves on the limiting pad 2, it will not act on the traveling wheel 201.

[0138] The outer ring of the one-way bearing is connected to the limiting wheel 1 by a key, and the inner ring of the one-way bearing is connected to the traveling wheel 201 of the shuttle 200 by a key.

[0139] Of course, in other embodiments, the connecting member 3 may also include a connecting rod and a one-way bearing. One end of the connecting rod is fixedly connected to the traveling wheel 201, the inner ring of the one-way bearing is fixed to the outer circumferential surface of the connecting rod, and the outer ring of the one-way bearing is fixed to the limiting wheel 1.

[0140] The mounting component 23 includes a pressure plate 231, an elastic element 232, and a limiting element 233. The pad body 22 is mounted on the top surface of the pressure plate 231. The pressure plate 231 is movably mounted on the battery swapping channel. The elastic element 232 and the limiting element 233 are spaced apart on the battery swapping channel along the traveling direction of the shuttle 200, and both the elastic element 232 and the limiting element 233 abut against the bottom surface of the pressure plate 231. The elastic element 232 abuts against the bottom surface of the pressure plate 231 and applies an upward force to the pressure plate 231. When the limiting wheel 1 travels on the limiting pad 2, it applies a downward force to the limiting pad 2. The limiting wheel 1 can rotate around the hole on the limiting pad 2 and travel forward. Under the action of the elastic element 232, the limiting wheel 1 and the limiting pad 2 are smoothly engaged without disengagement, achieving faster movement and higher positioning accuracy, improving battery swapping efficiency and safety. Meanwhile, by the limiting member 233 abutting against the bottom surface of the pressure plate 231 and restricting the downward movement of the pressure plate 231, the mutual engagement between the limiting wheel 1 and the limiting pad 2 is effectively ensured, further improving the stability of the walking anti-slip device 100.

[0141] In this embodiment 4, the pressure plate 231 has an elastic portion 2311, a hinge portion 2312, and a limiting portion 2313 along its length. The hinge portion 2312 is hinged to the battery swapping channel. The elastic member 232 abuts against the elastic portion 2311 and applies an upward force to the elastic portion 2311. The limiting member 233 abuts against the limiting portion 2313 and restricts the downward movement of the limiting portion 2313. The limiting pad 2 is installed on the elastic portion 2311, the hinge portion 2312, and the limiting portion 2313. The pressure plate 231 is installed and connected to the battery swapping channel in a hinged manner. Both ends cooperate with the elastic member 232 and the limiting member 233 through the elastic portion 2311 and the limiting portion 2313, respectively, thereby ensuring that the limiting wheel 1 and the limiting pad 2 are smoothly engaged without disengagement, further improving the stability of the walking anti-slip device 100.

[0142] Specifically, since the initial position of the limiting wheel 1 on the limiting pad 2 is prone to a large gap, when the shuttle 200 needs to move to the position and be accurately positioned during its travel, the limiting wheel 1 first moves to the elastic part 2311 of the pressure plate 231. The elastic element 232 makes the gap between the limiting pad 2 on the elastic part 2311 and the limiting wheel 1 smaller so as to achieve mutual engagement, ensuring the accuracy of movement and positioning, improving battery swapping efficiency, and enhancing safety.

[0143] The hinge part 2312 is connected to the battery swapping channel by a pin, making installation and connection very convenient.

[0144] The bottom of the limiting member 233 is connected to the battery swapping channel, and the top of the limiting member 233 is used to abut against the limiting part 2313. The limiting member 233 is installed on the battery swapping channel, so that the limiting member 233 is fixedly connected and will not move during use, thus ensuring high stability.

[0145] The elastic part 2311 has a downwardly protruding limiting post, and the elastic element 232 is sleeved on the limiting post. The limiting post plays a positioning role, and the sleeved elastic element 232 on the limiting post effectively prevents the elastic element 232 from shifting or misaligning during use, thereby improving the stability of the mounting component 23.

[0146] The elastic element 232 can be a spring, which has high elasticity, good performance, and easily returns to its original shape after the external force is removed. The spring is sleeved on the limiting post, making installation and connection convenient.

[0147] In the two shuttle cars 200, each shuttle car 200 has at least two limiting wheels 1. At least one limiting wheel 1 is provided on each side of the shuttle car 200 along its traveling direction, and it cooperates with the corresponding limiting pad 2. The simultaneous cooperation of the limiting wheels 1 and limiting pads 2 on both sides of the shuttle car 200 enables precise positioning and stopping. Specifically, when the shuttle car 200 is positioned and stopped within the battery swapping station 300, the cooperation of the limiting wheel 1 and limiting pad 2 on one side drives both the limiting wheel 1 and limiting pad 2 together to achieve precise positioning and stopping; when positioned and stopped within the charging rack, the cooperation of the limiting wheel 1 and limiting pad 2 on the other side drives both the limiting wheel 1 and limiting pad 2 together to achieve precise positioning and stopping.

[0148] In this embodiment 4, each shuttle 200 has a limiting wheel 1 including an upper limiting wheel 12 and a lower limiting wheel 13. There are four limiting pads 2, including two first limiting pads 25 and two second limiting pads 26. The two first limiting pads 25 are respectively set on both sides of the battery swapping channel along the traveling direction of the shuttle 200 and are located in the battery swapping station 300 and one of the charging racks respectively. The upper limiting wheel 12 and the lower limiting wheel 13 on one shuttle 200 cooperate with the two first limiting pads 25 respectively. The two second limiting pads 26 are respectively set on both sides of the battery swapping channel along the traveling direction of the shuttle 200 and are located in the battery swapping station 300 and another charging rack respectively. The upper limiting wheel 12 and the lower limiting wheel 13 on the other shuttle 200 cooperate with the two second limiting pads 26 respectively.

[0149] In the two shuttle cars 200, since two first limiting pads 25 are set on both sides of the battery swapping channel, one shuttle car 200 only cooperates with the two first limiting pads 25 and is assigned to the battery swapping station 300 and one of the charging racks for precise positioning. Two second limiting pads 26 are set on both sides of the battery swapping channel, and the other shuttle car 200 only cooperates with the two second limiting pads 26 and is assigned to the battery swapping station 300 and another charging rack for precise positioning. This ensures that one shuttle car 200 will not interfere with the two second limiting pads 26, and the other shuttle car 200 will not interfere with the two first limiting pads 25, thereby ensuring accurate movement and positioning, improving battery swapping efficiency, and enhancing safety.

[0150] Specifically, see Appendix Figure 7As shown, each shuttle 200 has two limit wheels 1, which are respectively set on both sides of the shuttle 200 to form an upper limit wheel 12 and a lower limit wheel 13. Four limiting pads 2 are located in two charging racks and one battery swapping station 300, respectively. Two first limiting pads 25 are located in the left charging rack and the battery swapping station 300, respectively, on the upper and lower sides. When the left shuttle 200 moves towards the charging compartment 400, only the upper limiting wheel 12 will mesh with the first limiting pad 25 and transmit torque. When the lower limiting wheel 13 passes the first limiting pad 25 on the corresponding side, due to the connection of the one-way bearing, the lower limiting wheel 13 is in an idle state and does not mesh with the first limiting pad 25. Therefore, the braking distance of the left shuttle 200 will be changed from being driven by the limiting wheel 1 to being driven by both the limiting wheel 1 and the limiting pad 2. This ensures that the shuttle 200 moves and positions itself accurately within the left charging compartment 400. When the left shuttle 200 moves toward the battery swapping station 300, only the lower limit wheel 13 will mesh with the first limit pad 25 and transmit torque. The upper limit wheel 12, when passing the first limit pad 25 on the corresponding side, will not mesh with the first limit pad 25 due to the connection of the one-way bearing. As a result, the braking distance of the left shuttle 200 will be changed from being driven by the limit wheel 1 to being driven by both the limit wheel 1 and the limit pad 2. This ensures that the shuttle 200 moves and positions itself with high accuracy within the battery swapping station 300. Similarly, the two second limiting pads 26 are located in the charging rack on the right and the battery swapping station 300 on the upper and lower sides, respectively. When the shuttle car 200 on the right moves towards the charging compartment 400, only the lower limiting wheel 13 will mesh with the second limiting pad 26 and transmit torque. When the lower limiting wheel 13 passes the second limiting pad 26 on the corresponding side, due to the connection of the one-way bearing, the lower limiting wheel 13 is in a free-spinning state and does not mesh with the second limiting pad 26. Therefore, the braking distance of the shuttle car 200 on the right will be changed from being driven by the limiting wheel 1 to being driven by both the limiting wheel 1 and the limiting pad 2 together, thus realizing the braking distance of the shuttle car 200. The right-hand charging compartment 400 has high positioning accuracy. When the right-hand shuttle 200 moves towards the battery swapping station 300, only the upper limit wheel 12 will mesh with the second limit pad 26 and transmit torque. When the upper limit wheel 12 passes the second limit pad 26 on the corresponding side, due to the connection of the one-way bearing, the upper limit wheel 12 is in an idle state and does not mesh with the second limit pad 26. Therefore, the braking distance of the right-hand shuttle 200 will be changed from being driven by the limit wheel 1 to being driven by both the limit wheel 1 and the limit pad 2. This ensures that the shuttle 200 has high positioning accuracy within the battery swapping station 300.

[0151] In this embodiment, each shuttle car uses a combination of a single-sided limiting wheel and a limiting pad, which simplifies the structure, ensures accurate positioning of the shuttle car and avoids slippage, while also saving materials and reducing costs.

[0152] In this embodiment 4, the upper and lower sides of the first limiting pad 25 and the second limiting pad 26 located in the battery swapping station 300 are staggered, so that the upper limiting wheel 12 and the lower limiting wheel 13 on the two shuttle cars 200 cooperate with the first limiting pad 25 and the second limiting pad 26 respectively to achieve precise positioning and stopping without interference.

[0153] Of course, in other embodiments, the first limiting pad 25 and the second limiting pad 26 located within the battery swapping station 300 may also be located on the same side and spaced apart.

[0154] When the left shuttle 200 enters the battery swapping station 300, it needs to pass the second limiting pad 26 of the corresponding upper limit wheel 12. Due to the action of the one-way bearing, the upper limit wheel 12 of the left shuttle 200 does not transmit torque when passing the second limiting pad 26. After encountering the second limiting pad 26, it can directly slide over the second limiting pad 26. At the same time, the upper limit wheel 12 of the left shuttle 200 only meshes with the first limiting pad 25 located in the charging compartment 400 and transmits torque when it enters the charging compartment 400.

[0155] When the shuttle 200 on the right enters the battery swapping station 300, it needs to pass through the first limiting pad 25 of the corresponding lower limiting wheel 13. Due to the action of the one-way bearing, the lower limiting wheel 13 of the shuttle 200 on the right does not transmit torque when passing through the first limiting pad 25. After encountering the first limiting pad 25, it can directly slide over the first limiting pad 25. At the same time, the lower limiting wheel 13 of the shuttle 200 on the right only meshes with the second limiting pad 26 located in the charging compartment 400 and transmits torque when it enters the charging compartment 400.

[0156] Example 5

[0157] This embodiment discloses a shuttle 200 applied to a battery swapping station. The shuttle 200 can move within the battery swapping channel between the battery swapping station 300 and the charging bay 400. The charging bay 400 has a charging rack for placing and charging batteries. When an electric vehicle drives to the battery swapping station 300, the shuttle 200 removes the battery that needs to be replaced from the electric vehicle at the battery swapping station 300, then moves it to the charging bay 400, places the depleted battery on the charging rack, and charges the depleted battery, thereby charging the replaced battery. The fully charged battery is then taken out of the charging rack and transported to the battery swapping station 300, thus performing a battery swapping operation on the electric vehicle.

[0158] The shuttle 200 includes a battery swapping device and multiple wheels 201. The multiple wheels 201 are located at the bottom of the battery swapping device. The shuttle 200 moves by rotating the multiple wheels 201. The battery swapping device is used to pick up and put down batteries from electric vehicles or charging racks.

[0159] The shuttle 200 also includes a limiting wheel 1 as described in the above embodiment. The limiting wheel 1 is disposed on the outer side of the traveling wheel 201, and the rotation of the traveling wheel 201 directly drives the limiting wheel 1 to move, ensuring more accurate movement. Of course, in other embodiments, the limiting wheel 1 is not limited to being installed on the outer side of the traveling wheel 201; it can also be disposed on the inner side of the traveling wheel 201, or it can be disposed on the battery swapping equipment, and the movement of the battery swapping equipment drives the rotation of the limiting wheel 1.

[0160] The limit wheel 1 can be directly connected to the travel wheel axle of the travel wheel 201, and the rotation of the travel wheel axle directly drives the rotation of the limit wheel 1.

[0161] The shuttle 200 may also include a connector 3, one end of which is connected to the limiting wheel 1, and the other end of which is connected to the traveling wheel 201 and / or the traveling wheel axle. The number of connectors 3 may be one or more.

[0162] Connector 3 can be a connecting rod or a one-way bearing.

[0163] When the connecting part 3 is a one-way bearing, the inner ring of the one-way bearing is fixed to the traveling wheel 201 or the power swapping equipment, and the outer ring of the one-way bearing is fixed to the limiting wheel 1. When the shuttle 200 needs precise positioning during its movement, the one-way bearing interacts with the limiting wheel 1 and transmits torque, achieving high accuracy in the movement and positioning of the shuttle 200. When the shuttle 200 retracts outwards during its movement and does not require precise positioning, the one-way bearing prevents the limiting wheel 1 from transmitting torque, effectively avoiding interference and ensuring high stability.

[0164] The number of limiting wheels 1 can be two, with the two limiting wheels 1 respectively set on both sides of the shuttle 200. Of course, the number of limiting wheels 1 can also be multiple, and at least one limiting wheel 1 is set on each side of the shuttle 200 along the traveling direction of the shuttle 200.

[0165] The outer circumferential surface of the limiting wheel 1 has multiple outwardly protruding first anti-slip teeth 11. During the movement of the limiting wheel 1, the outwardly protruding first anti-slip teeth 11 can abut against the battery swapping channel. The multiple outwardly protruding first anti-slip teeth 11 greatly increase the friction of the limiting wheel 1 during movement, further ensuring more accurate positioning of the shuttle 200, improving battery swapping efficiency, and enhancing safety.

[0166] A limiting pad 2 and a track are installed in the battery swapping channel between the battery swapping station 300 and the charging rack 400. The traveling wheels 201 of the shuttle 200 travel on the track, and the limiting wheels 1 cooperate with the limiting pads 2 and can move on the limiting pads 2. This ensures that the limiting wheels 1 move on the limiting pads 2 simultaneously with the shuttle 200, and the limiting wheels 1 do not slip on the limiting pads 2, thus effectively preventing the shuttle 200 from slipping during movement, ensuring accurate positioning, improving battery swapping efficiency, and enhancing safety.

[0167] In one embodiment, the radius of the limiting wheel 1 is no greater than the radius of the traveling wheel 201, and the radius difference between the traveling wheel 201 and the limiting wheel 1 is less than the height of the limiting pad 2. The limiting pad 2 is installed on the traveling path of the limiting wheel 1 and located below the limiting wheel 1. Because the radius difference between the traveling wheel 201 and the limiting wheel 1 is less than the height of the limiting pad 2, when the limiting pad 2 is located below the limiting wheel 1, the sum of the radius of the limiting wheel 1 and the height of the limiting pad 2 is greater than the radius of the traveling wheel 201. This ensures that the limiting wheel 1 and the limiting pad 2 cooperate to achieve an anti-slip effect. The limiting pad 2 is not installed below the traveling wheel 201 to avoid contact between the traveling wheel 201 and the limiting pad 2, which would increase friction and affect the traveling efficiency of the shuttle 200.

[0168] In another embodiment, the traveling wheel 201 travels on the track to drive the shuttle 200 in a preset direction. The radius of the limiting wheel 1 is larger than the radius of the traveling wheel 201, and the difference in radius between the limiting wheel 1 and the traveling wheel 201 is less than the height of the track. The track is installed on the traveling path of the traveling wheel 201 and below it. Because the difference in radius between the limiting wheel 1 and the traveling wheel 201 is less than the height of the track, when the track is located below the traveling wheel 201, the sum of the radius of the traveling wheel 201 and the height of the track is greater than the radius of the limiting wheel 1. This ensures that the traveling wheel 201 and the track cooperate to enable the traveling wheel 201 to travel on the track and drive the shuttle 200 in a preset direction, thereby achieving accurate positioning of the shuttle 200, improving battery swapping efficiency, and enhancing safety. Meanwhile, there is space below the limiting wheel 1 to install the limiting pad 2, which ensures the installation of the limiting pad 2 and allows the limiting wheel 1 to move on the limiting pad 2. This effectively prevents the shuttle 200 from slipping during movement, ensuring accurate positioning, improving battery swapping efficiency, and enhancing safety.

[0169] Example 6

[0170] This embodiment discloses a battery swapping channel, which is applied to a battery swapping station and located between the battery swapping station 300 and the charging compartment 400. The charging compartment 400 has a charging rack for placing and charging batteries. The battery swapping station 300 is used to locate electric vehicles that need battery replacement. A shuttle 200 travels on the battery swapping channel, allowing the shuttle 200 to remove the batteries that need replacement from the electric vehicles at the battery swapping station 300. By traveling on the battery swapping channel to the battery swapping station 300, the shuttle 200 places the deficient battery on the charging rack and charges the deficient battery. The fully charged battery is then removed from the charging rack. By traveling on the battery swapping channel and transporting the battery to the battery swapping station 300, the battery swapping operation is performed on the electric vehicle.

[0171] The battery swapping channel includes a limiting pad 2 as described in the above embodiment. The limiting pad 2 is disposed within the battery swapping channel between the battery swapping station 300 and the charging rack in the battery swapping station. The limiting pad 2 cooperates with the shuttle 200, allowing the shuttle 200 to move and travel on the limiting pad 2. The limiting pad 2 serves as an anti-slip surface. The shuttle 200 moves simultaneously with the limiting pad 2 during its movement, preventing slippage and effectively avoiding slippage during its movement. This ensures accurate positioning, improves battery swapping efficiency, and enhances safety.

[0172] The battery swapping channel also includes tracks, and the shuttle 200 includes battery swapping equipment, multiple traveling wheels 201, and limiting wheels 1 as described in Embodiment 5 above. The multiple traveling wheels 201 are located at the bottom of the battery swapping equipment and travel on the tracks. The limiting wheels 1 are connected to the traveling wheels 201 and / or the battery swapping equipment, and cooperate with limiting pads 2, allowing them to move on the limiting pads 2. This ensures that while the shuttle 200 moves within the battery swapping channel, the limiting wheels 1 move on the limiting pads 2 simultaneously, preventing slippage and effectively avoiding slippage during the shuttle's movement. This ensures accurate positioning, improves battery swapping efficiency, and enhances safety. Specifically, there are two tracks, with the multiple traveling wheels 201 distributed on both sides of the battery swapping equipment, and the traveling wheels 201 on both sides of the equipment travel on the two tracks.

[0173] In one embodiment, the radius of the limiting wheel 1 is no greater than the radius of the traveling wheel 201, and the height of the limiting pad 2 is greater than the radius difference between the traveling wheel 201 and the limiting wheel 1. The limiting pad 2 is installed on the traveling path of the limiting wheel 1 and located below the limiting wheel 1. Because the radius difference between the traveling wheel 201 and the limiting wheel 1 is less than the height of the limiting pad 2, when the limiting pad 2 is located below the limiting wheel 1, the sum of the radius of the limiting wheel 1 and the height of the limiting pad 2 is greater than the radius of the traveling wheel 201. This ensures that the limiting wheel 1 and the limiting pad 2 cooperate to achieve an anti-slip effect. The limiting pad 2 is not installed below the traveling wheel 201 to avoid contact between the traveling wheel 201 and the limiting pad 2, which would increase friction and affect the traveling efficiency of the shuttle 200.

[0174] In another embodiment, the traveling wheel 201 travels on the track to drive the shuttle 200 in a preset direction. The radius of the limiting wheel 1 is larger than the radius of the traveling wheel 201, and the difference in radius between the limiting wheel 1 and the traveling wheel 201 is less than the height of the track. The track is installed on the traveling path of the traveling wheel 201 and below it. Because the difference in radius between the limiting wheel 1 and the traveling wheel 201 is less than the height of the track, when the track is located below the traveling wheel 201, the sum of the radius of the traveling wheel 201 and the height of the track is greater than the radius of the limiting wheel 1. This ensures that the traveling wheel 201 and the track cooperate to enable the traveling wheel 201 to travel on the track and drive the shuttle 200 in a preset direction, thereby achieving accurate positioning of the shuttle 200, improving battery swapping efficiency, and enhancing safety. Meanwhile, there is space below the limiting wheel 1 to install the limiting pad 2, which ensures the installation of the limiting pad 2 and allows the limiting wheel 1 to move on the limiting pad 2. This effectively prevents the shuttle 200 from slipping during movement, ensuring accurate positioning, improving battery swapping efficiency, and enhancing safety.

[0175] In one embodiment, the limiting pad 2 can extend from the battery swapping station 300 to the charging rack, so that the shuttle 200 can move on the limiting pad 2 throughout the entire process without slipping, achieving faster movement and higher positioning accuracy, improving battery swapping efficiency and safety.

[0176] Specifically, there are two limiting pads 2, which are respectively set on both sides of the shuttle 200 along the traveling direction of the shuttle 200; there are at least two limiting wheels 1, with at least one limiting wheel 1 set on each side of the shuttle 200 along the traveling direction of the shuttle 200 and cooperating with the corresponding limiting pad 2. At least one of the two limiting wheels 1 cooperates with the corresponding limiting pad 2 during the movement of the shuttle 200. In this embodiment, limiting wheels 1 are set on both sides of the shuttle 200, and limiting pads 2 corresponding to the limiting wheels 1 are provided in the battery swapping channel, so that the two sides of the shuttle 200 can move and travel on the limiting pads 2 via the limiting wheels 1, ensuring that both sides of the shuttle 200 can achieve accurate movement and positioning, improving battery swapping efficiency and enhancing safety.

[0177] In another embodiment, the limiting pads 2 can also be segmented, and at least located at a first position adjacent to the battery swapping station 300 and a second position adjacent to the charging rack. By separately setting multiple segmented limiting pads 2, with at least one limiting pad 2 located at the first position adjacent to the battery swapping station 300 and the second position adjacent to the charging rack, that is, limiting pads 2 corresponding to the two limiting wheels 1 are provided at both the first and second positions, i.e., paired limiting pads 2, the shuttle 200 can pass through the limiting pads 2 without slipping when moving to the first and second positions. This effectively ensures accurate sensor detection and precise positioning at the battery swapping station 300 and the charging rack. Furthermore, the limiting pads 2 do not need to be set throughout the entire movement, reducing costs and making it very convenient to use. Of course, in actual use, limiting pads 2 can be set not only at the first and second positions, but also multiple segmented limiting pads 2 can be set at equal intervals between the battery swapping station 300 and the charging rack to ensure that the shuttle 200 does not slip during movement while also considering cost. Furthermore, when the battery swapping station is equipped with two shuttle cars 200 and two charging bays 400, the two charging bays 400 are located on both sides of the battery swapping station 300. Each shuttle car 200 travels in the battery swapping channel between the charging bay 400 and the battery swapping station 300 on the corresponding side. Each battery swapping channel has a first position and a second position. Both the two first positions and the two second positions are equipped with pairs of limiting pads 2 corresponding to the two limiting wheels 1. That is to say, there are four pairs of limiting pads 2.

[0178] In other embodiments, the limiting pad 2 is segmented, and a limiting pad 2 corresponding to one of the limiting wheels 1 is provided at the first position and the second position respectively. Specifically, the two limiting wheels 1 located on both sides of the shuttle 200 along the walking direction of the shuttle 200 are the upper limiting wheel 12 and the lower limiting wheel 13 respectively. A limiting pad corresponding to the lower limiting wheel 13 is provided at the first position, and a limiting pad 2 corresponding to the upper limiting wheel 12 is provided at the second position. This arrangement allows the limiting pad 2 to be provided in only a small segment in the walking direction, making the structure simpler and further saving materials. Furthermore, when the battery swapping station is equipped with two shuttle cars 200 and two charging bays 400, the two charging bays 400 are located on both sides of the battery swapping station 300. Each shuttle car 200 travels in the battery swapping channel between the charging bay 400 and the battery swapping station 300 on the corresponding side. Each battery swapping channel has a first position and a second position. Each of the two first positions and the two second positions is equipped with a limiting pad 2 corresponding to one of the limiting wheels 1 of one of the shuttle cars 200. That is, there are four limiting pads 2. The four limiting pads 2 include two first limiting pads 25 and two second limiting pads 26. The two first limiting pads 25 are respectively set on both sides of the battery swapping channel along the traveling direction of the shuttle car 200 and are located in the battery swapping station 300 and one of the charging racks, respectively. The two second limiting pads 26 are respectively set on both sides of the battery swapping channel along the traveling direction of the shuttle car 200 and are located in the battery swapping station 300 and another charging rack, respectively.

[0179] Of course, in other embodiments, the number of limiting pads 2 may not be limited.

[0180] In one embodiment, the limiting pad 2 has multiple inwardly recessed anti-slip grooves along the traveling direction of the shuttle 200. During the movement of the shuttle 200 on the limiting pad 2, the shuttle 200 can be inserted into the anti-slip grooves, allowing the shuttle 200 to abut against the anti-slip grooves, greatly increasing the friction between the shuttle 200 and the limiting pad 2, and further ensuring more accurate movement and positioning of the shuttle 200. At the same time, the insertion of the shuttle 200 into the anti-slip grooves can guide the insertion into place, allowing the shuttle 200 to make corrections and fine adjustments during movement, thus achieving higher accuracy in movement and positioning of the shuttle 200.

[0181] In another embodiment, the limiting pad 2 has multiple second anti-slip teeth 24, which can mesh with the first anti-slip teeth 11 of the shuttle 200 in embodiment 5. During the movement of the shuttle 200, the engagement of the first anti-slip teeth 11 with the second anti-slip teeth 24 on the limiting pad 2 causes the first anti-slip teeth 11 and the second anti-slip teeth 24 to abut against each other, greatly increasing the friction between the shuttle 200 and the limiting pad 2, further ensuring more accurate positioning of the shuttle 200. Simultaneously, the engagement of the first anti-slip teeth 11 and the second anti-slip teeth 24 guides insertion and alignment, allowing the limiting wheel 1 to make corrections and fine adjustments during movement, thus achieving higher accuracy in the positioning of the shuttle 200.

[0182] In one embodiment, the specific structure of the limiting pad 2 is as described in Embodiment 1. The limiting pad 2 includes a pad body 22 and a mounting component 23. One end of the mounting component 23 is connected to the pad body 22, and the other end of the mounting component 23 is detachably connected to the battery swapping channel. The pad body 22 is provided with anti-slip grooves 21. The pad body 22 is installed on the battery swapping channel on which the shuttle 200 moves through the mounting component 23. The mounting component 23 adopts a detachable connection method, which makes the limiting pad 2 easy to install and remove, and can be quickly removed when not slipping; at the same time, it does not damage the original structure of the battery swapping channel, and is convenient for replacement and position adjustment.

[0183] Multiple mounting components 23 are connected to both sides of the pad body 22 along the traveling direction of the shuttle 200. By installing multiple mounting components 23 on both sides of the pad body 22, the pad body 22 is stably installed on the battery swapping channel, achieving higher installation stability, effectively preventing displacement or misalignment during use, ensuring high accuracy in movement and positioning, improving battery swapping efficiency, and enhancing safety.

[0184] Specifically, the mounting component 23 has an L-shaped structure. The vertical structure is used for mounting and connecting to the side of the pad body 22, and the horizontal structure has connecting holes. Fasteners are used to facilitate installation on the power swapping channel through the connecting holes.

[0185] Of course, in other embodiments, multiple mounting components 23 may also be connected to the bottom of the pad body 22 respectively. The mounting components 23 are mounted on the battery swapping channel, and the bottom of the pad body 22 is mounted on the mounting components 23, thereby realizing the mounting connection of the pad body 22, which is convenient for installation.

[0186] In this embodiment, the pad body 22 is a chain, which has a simple structure and low cost.

[0187] In another embodiment, the specific structure of the limiting pad 2 is as described in embodiment 4. The limiting pad 2 includes a pad body 22 and a mounting component 23. The mounting component 23 includes a pressure plate 231, an elastic element 232 and a limiting element 233. The pad body 22 is mounted and connected to the top surface of the pressure plate 231. The pressure plate 231 is movably disposed on the battery swapping channel. The elastic element 232 and the limiting element 233 are disposed at intervals on the battery swapping channel along the traveling direction of the shuttle 200, and both the elastic element 232 and the limiting element 233 abut against the bottom surface of the pressure plate 231. The elastic element 232 abuts against the bottom surface of the pressure plate 231 and applies an upward force to the pressure plate 231. When the limiting wheel 1 travels on the limiting pad 2, it applies a downward force to the limiting pad 2. The limiting wheel 1 can rotate around the hole in the limiting pad 2 and travel forward. Under the action of the elastic element 232, the limiting wheel 1 and the limiting pad 2 are smoothly engaged without disengagement, achieving faster movement and higher positioning accuracy, improving battery swapping efficiency and safety. At the same time, the limiting element 233 abuts against the bottom surface of the pressure plate 231 and restricts the downward movement of the pressure plate 231, effectively ensuring the mutual engagement between the limiting wheel 1 and the limiting pad 2, further improving the stability of the walking anti-slip device 100.

[0188] The pressure plate 231 has an elastic part 2311, a hinge part 2312, and a limiting part 2313 along its length. The hinge part 2312 is hinged to the power exchange channel. The elastic member 232 abuts against the elastic part 2311 and applies an upward force to the elastic part 2311. The limiting member 233 abuts against the limiting part 2313 and restricts the downward movement of the limiting part 2313. The limiting pad 2 is installed on the elastic part 2311, the hinge part 2312, and the limiting part 2313. The pressure plate 231 is installed and connected to the power exchange channel in a hinged manner. Both ends cooperate with the elastic member 232 and the limiting member 233 through the elastic part 2311 and the limiting part 2313, respectively, thereby ensuring that the limiting wheel 1 and the limiting pad 2 are smoothly engaged without disengagement, further improving the stability of the walking anti-slip device 100.

[0189] Specifically, since the initial position of the limiting wheel 1 on the limiting pad 2 is prone to a large gap, when the shuttle 200 needs to move to the position and be accurately positioned during its travel, the limiting wheel 1 first moves to the elastic part 2311 of the pressure plate 231. The elastic element 232 makes the gap between the limiting pad 2 on the elastic part 2311 and the limiting wheel 1 smaller so as to achieve mutual engagement, ensuring the accuracy of movement and positioning, improving battery swapping efficiency, and enhancing safety.

[0190] The hinge part 2312 is connected to the battery swapping channel by a pin, making installation and connection very convenient.

[0191] The bottom of the limiting member 233 is connected to the battery swapping channel, and the top of the limiting member 233 is used to abut against the limiting part 2313. The limiting member 233 is installed on the battery swapping channel, so that the limiting member 233 is fixedly connected and will not move during use, thus ensuring high stability.

[0192] The elastic part 2311 has a downwardly protruding limiting post, and the elastic element 232 is sleeved on the limiting post. The limiting post plays a positioning role, and the sleeved elastic element 232 on the limiting post effectively prevents the elastic element 232 from shifting or misaligning during use, thereby improving the stability of the mounting component 23.

[0193] The elastic element 232 can be a spring, which has high elasticity, good performance, and easily returns to its original shape after the external force is removed. The spring is sleeved on the limiting post, making installation and connection convenient.

[0194] While specific embodiments of this utility model have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this utility model is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this utility model, but all such changes and modifications fall within the scope of protection of this utility model.

Claims

1. A walking anti-skid device applied in a battery swap station, characterized in that, The anti-slip walking device includes: A limiting wheel is connected to a shuttle car within the battery swapping station so that the shuttle car drives the limiting wheel to rotate. A limiting pad is provided in the battery swapping channel between the battery swapping station and the charging rack in the battery swapping station. The limiting wheel cooperates with the limiting pad and can move and walk on the limiting pad.

2. The anti-slip walking device as described in claim 1, characterized in that, The limiting pad extends from the battery swapping station to the charging rack within the battery swapping channel; Alternatively, the limiting pad may be segmented and may be positioned at least in a first position adjacent to the battery swapping station and a second position adjacent to the charging rack.

3. The walkingslips device according to claim 2, wherein The anti-slip walking device also includes a detection component and a positioning component that cooperate to identify each other. One of the detection component and the positioning component is set on the shuttle car, and the other is set in the battery swapping channel and is used to position the shuttle car when it travels to the battery swapping station and / or the shuttle car when it travels to the charging rack. When the limiting pad is set in segments, the anti-slip walking device is configured such that the limiting wheel cooperates with the limiting pad and moves on the limiting pad before the detection component identifies the positioning component.

4. The walkingslips device according to claim 1, wherein The shuttle includes traveling wheels, and the limiting wheels are disposed on the outside of the traveling wheels; And / or, the number of the limiting pads is at least two, and the at least two limiting pads are respectively arranged on both sides of the shuttle along the traveling direction of the shuttle; the number of the limiting wheels is at least two, and at least one limiting wheel is arranged on each side of the shuttle along the traveling direction of the shuttle and cooperates with the limiting pad on the corresponding side, and at least one of the two limiting wheels cooperates with the limiting pad on the corresponding side during the movement of the shuttle.

5. The walkingslips device according to claim 4, wherein The radius of the limiting wheel is not greater than the radius of the traveling wheel, and the radius difference between the traveling wheel and the limiting wheel is less than the height of the limiting pad; Alternatively, the traveling wheels travel on the track to drive the shuttle car in a preset direction, the radius of the limiting wheel is greater than the radius of the traveling wheels, and the radius difference between the limiting wheel and the traveling wheels is less than the height of the track; And / or, the anti-slip device further includes a connector between the walking wheel and the limiting wheel; The number of the connectors is one, and the connectors are concentrically arranged with and connected to the rotating shaft of the shuttle. Alternatively, there may be multiple connectors, which are evenly spaced along the circumference of the limiting wheel.

6. The walkingslips device according to claim 5, wherein The connector is a connecting rod, and the two ends of the connecting rod are respectively fixed to the traveling wheel and the limiting wheel; Alternatively, the connecting component is a one-way bearing, with the inner ring of the one-way bearing fixed to the traveling wheel and the outer ring of the one-way bearing fixed to the limiting wheel.

7. The walk-anti-skid device according to any one of claims 1 to 6, wherein The outer circumferential surface of the limiting wheel has multiple outwardly protruding first anti-slip teeth.

8. The walkingslips device according to claim 7, wherein The limiting pad has multiple inwardly recessed anti-slip grooves along the traveling direction of the limiting wheel. When the limiting wheel moves on the limiting pad, the first anti-slip tooth is inserted into the anti-slip groove accordingly. And / or, the limiting pad has a plurality of second anti-slip teeth, wherein the first anti-slip teeth mesh with the second anti-slip teeth.

9. The walkingslips device according to claim 8, wherein The limiting pad includes a pad body and a mounting component. One end of the mounting component is connected to the pad body, and the other end of the mounting component is detachably connected to the battery swapping channel. The pad body is provided with the anti-slip groove or the second anti-slip tooth.

10. The walkingslips device according to claim 9, wherein The pad body is a chain, timing belt, or rubber belt; And / or, the number of the mounting components is multiple, and the multiple mounting components are respectively connected to the bottom of the mat body or to both sides of the mat body along the traveling direction of the shuttle; And / or, the mounting component is a pressure plate, which is pressed against the top surface of the pad body; or, the mounting component includes a pressure plate, an elastic element, and a limiting element, the pad body is mounted and connected to the top surface of the pressure plate, the pressure plate is movably disposed on the battery swapping channel, the elastic element and the limiting element are spaced apart on the battery swapping channel along the traveling direction of the shuttle, and both the elastic element and the limiting element abut against the bottom surface of the pressure plate.

11. The walk-anti-skid device according to claim 10, wherein The pressure plate has an elastic part, a hinge part, and a limiting part along its length. The hinge part is hinged to the power exchange channel. The elastic member abuts against the elastic part and applies an upward force to the elastic part. The limiting member abuts against the limiting part and restricts the limiting part from moving downward.

12. The walkingslips device according to claim 11, wherein The elastic part has a downwardly protruding limiting post, and the elastic element is sleeved on the limiting post; and / or, the bottom of the limiting element is connected to the battery swapping channel, and the top of the limiting element is used to abut against the limiting part.

13. The anti-slip walking device as described in claim 1, characterized in that, The number of the charging rack, the battery swapping channel and the shuttle car is two, the number of the battery swapping station is one, and the two battery swapping channels are located on both sides of the battery swapping station. In the two shuttle cars, each shuttle car has at least two limiting wheels, and at least one limiting wheel is provided on each side of the shuttle car along the travel direction of the shuttle car and cooperates with the limiting pad on the corresponding side.

14. The walkingslips device according to claim 13, wherein Each shuttle car has an upper limit wheel and a lower limit wheel. There are four limit pads, including two first limit pads and two second limit pads. The two first limit pads are respectively positioned on both sides of the battery swapping channel along the shuttle car's travel direction and are located within the battery swapping station and one of the charging racks, respectively. The upper limit wheel and lower limit wheel on one shuttle car respectively cooperate with the two first limit pads. The two second limit pads are respectively positioned on both sides of the battery swapping channel along the shuttle car's travel direction and are located within the battery swapping station and another charging rack, respectively. The upper limit wheel and lower limit wheel on the other shuttle car respectively cooperate with the two second limit pads.

15. A shuttle vehicle, characterized by It includes the limiting wheel as described in any one of claims 1-14.

16. A battery swapping lane, characterized in that, It includes the limiting pad as described in any one of claims 1-14.

17. A battery swap station, characterized by, It includes the anti-slip walking device as described in any one of claims 1-14.

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