Battery swapping robot and battery charging and swapping station

Abstract

A battery swapping robot and a battery charging and swapping station. The battery swapping robot comprises: a body (1); a battery bearing portion (2), which is provided with a plurality of locking and unlocking mechanisms (4), wherein the battery bearing portion (2) can bear power batteries, and the locking and unlocking mechanisms (4) can lock and unlock the power batteries; and a docking mechanism, which comprises plug ends (63) and socket ends (64), wherein one of each plug end (63) and each socket end (64) is arranged on the body (1), and the other is arranged on the battery bearing portion (2); each plug end (63) has an extended state and a retracted state in a horizontal direction; when in the extended state, each plug end (63) is plugged into the corresponding socket end (64) in a fitted manner, such that the battery bearing portion (2) is locked with the body (1); and when in the retracted state, each plug end (63) is separated from the corresponding socket end (64), such that the battery bearing portion (2) can be detached from the body (1).

Description

Battery swapping robots and charging and swapping stations CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to Chinese patent application CN202420511025.7, filed on March 15, 2024, with the invention name “Battery Swapping Robot and Charging and Swapping Station”. The entire contents of the above Chinese patent application are incorporated into this application by reference. Technical Field

[0002] The present invention relates to the field of battery charging and swapping technology, and in particular to a battery swapping robot and a charging and swapping station. Background Art

[0003] In the new energy sector, battery swapping technology can typically recharge new energy vehicles in a very short time, greatly improving recharging efficiency. Therefore, it is a key national recharging technology. However, with the rapid increase in the number of new energy vehicles, the number of new energy vehicle models and battery types has increased, resulting in a smaller number of battery swap models compatible with the same charging and swapping stations.

[0004] To address the limited number of compatible vehicle models at charging and swapping stations, one existing solution is to configure the battery swapping robot within the station with interchangeable locking and unlocking fixtures, enabling compatibility with multiple vehicle models by replacing different locking and unlocking fixtures. While this technical solution has addressed the compatibility issue at charging and swapping stations to some extent, achieving a stable connection between the locking and unlocking fixtures and the robot itself remains a pressing issue in its implementation.

[0005] Accordingly, this field requires a new technical solution to solve the above problems. Summary of the Invention

[0006] In order to solve at least one of the above problems in the prior art, that is, to solve the problem of how to improve the connection stability between the locking and unlocking tooling and the robot body, the present application provides a battery-swapping robot, the battery-swapping robot comprising:

[0007] ontology;

[0008] A battery carrying portion, on which a plurality of locking and unlocking mechanisms are provided. The battery carrying portion is configured to carry a power battery, and the locking and unlocking mechanisms are configured to lock and unlock the power battery of the vehicle to be battery-swapped;

[0009] The docking mechanism includes a plug end and a socket end, one of the plug end and the socket end is provided on the body, and the other is provided on the battery carrying portion, and the plug end has an extended state and a retracted state along the horizontal direction.

[0010] The plug end is configured to be plugged into and matched with the socket end when in the extended state, thereby locking the battery carrier to the body, and to be separated from the socket end when in the retracted state, thereby allowing the battery carrier to be detached from the body.

[0011] The technical solution of the present application can realize the rapid replacement of the battery carrying part through the matching connection between the plug end and the socket end, and the horizontal locking between the main body and the battery carrying part can also improve the connection stability between the battery carrying part and the main body.

[0012] In the preferred technical solution of the above-mentioned battery-exchange robot, the plug end is arranged on the main body, and the socket end is arranged on the battery carrying part.

[0013] By arranging the plug end on the body and the socket end on the battery carrying portion, it is possible to avoid arranging a plug end on each battery carrying portion, thereby saving arrangement costs.

[0014] In the preferred technical solution of the above-mentioned battery-swapping robot, the plug end includes a driving mechanism and a plug connector, the plug connector is connected to the driving mechanism, and the driving mechanism is configured to drive the plug connector to extend and retract.

[0015] By arranging a driving mechanism to drive the plug connector to extend and retract, automatic control of the plug end can be achieved.

[0016] In the preferred technical solution of the above-mentioned battery-swapping robot, the driving mechanism is an electric cylinder; and / or the plug connector is a rectangular block.

[0017] In the preferred technical solution of the above-mentioned battery-swapping robot, the socket end is a plug-in block, and a plug-in hole is provided on the plug-in block.

[0018] In the preferred technical solution of the above-mentioned battery-exchange robot, the docking mechanism also includes a first guide member, which is arranged on one side of the plug connector, and the first guide member is arranged to guide the plug connector when the plug connector is extended and retracted.

[0019] Providing the first guide member is beneficial for improving the plugging accuracy of the docking mechanism.

[0020] In the preferred technical solution of the above-mentioned battery-exchanging robot, the first guide member is a guide block, a guide hole is provided on the guide block, and the plug connector is at least partially located in the guide hole when in a retracted state.

[0021] In the preferred technical solution of the above-mentioned battery-swapping robot, there are two of each of the plug end and the socket end, and the extension directions of the two plug ends are different.

[0022] The different extension directions of the two plug ends can improve the locking effect between the body and the battery carrier and prevent the battery carrier from moving.

[0023] In the preferred technical solution of the above-mentioned battery-swapping robot, the extension directions of the two plug ends are opposite to each other; and / or

[0024] The two plug ends are arranged diagonally.

[0025] In the preferred technical solution of the above-mentioned battery-exchange robot, the battery-exchange robot also includes a second guide member and a third guide member, the second guide member is arranged on the main body, the third guide member is arranged on the battery-carrying part, and the second guide member can be matched and connected with the third guide member.

[0026] By providing the second guide member and the third guide member, guidance can be provided during the docking process between the battery carrying portion and the body, thereby improving docking accuracy.

[0027] In the preferred technical solution of the above-mentioned battery-exchange robot, the second guide member is a guide hole seat, and the third guide member is a guide pin.

[0028] In the preferred technical solution of the above-mentioned battery-exchanging robot, two of the second guide members and two of the third guide members are provided, the two second guide members are diagonally arranged, and the two third guide members are diagonally arranged.

[0029] In the preferred technical solution of the above-mentioned battery-exchange robot, the main body includes a bottom frame, a lifting mechanism and a connecting frame, the lifting mechanism is arranged on the bottom frame, the connecting frame is connected to the lifting mechanism, the battery carrying part includes a fixed frame, one of the plug end and the socket end is arranged on the connecting frame, and the other is arranged on the fixed frame.

[0030] In the preferred technical solution of the above-mentioned battery-swapping robot, among the multiple locking and unlocking mechanisms, at least some of the locking and unlocking mechanisms are movably arranged.

[0031] The above arrangement is conducive to improving the compatibility of the battery carrying part.

[0032] The present application also provides a charging and swapping station, which includes a battery swapping robot according to any one of the above technical solutions.

[0033] The charging and swapping station of the present application, by providing the above-mentioned battery swapping robot, can improve the compatibility of the battery swapping robot while also enabling rapid replacement and effective locking of the battery carrying part, thereby improving the connection stability between the battery carrying part and the main body. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present application is described below with reference to the accompanying drawings.

[0035] FIG1 is an assembly diagram of a battery-swapping robot according to a first embodiment of the present application;

[0036] Figure 2 is a structural diagram of the battery-swapping robot of this application;

[0037] FIG3 is a partial enlarged view of point A in FIG2 ;

[0038] Figure 4 is a bottom structural diagram of the battery carrying part of the battery-exchanging robot of the present application.

[0039] Reference Signs List

[0040] 1. Main body; 11. Bottom frame; 12. Lifting mechanism; 13. Connecting frame; 2. Battery carrier; 21. Fixing frame; 22. Carrying plate; 4. Locking and unlocking mechanism; 63. Plug end; 631. Drive mechanism; 632. Plug connector; 64. Socket end; 65. First guide member; 81. Second guide member; 82. Third guide member. DETAILED DESCRIPTION

[0041] The preferred embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application.

[0042] It should be noted that, in the description of this application, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on this application. In addition, the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, "multiple" refers to at least two.

[0043] Furthermore, it should be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0044] First, a brief introduction to the battery-swapping robot of this application is given.

[0045] In order to solve the problem of how to improve the connection stability between the locking and unlocking tooling and the robot body, the battery-swap robot of the present application includes a body, a battery carrying part and a docking mechanism. A plurality of locking and unlocking mechanisms are provided on the battery carrying part, the battery carrying part is configured to carry a power battery, and the locking and unlocking mechanism is configured to lock and unlock the power battery of the vehicle to be battery-swap. The docking mechanism includes a plug end and a socket end, one of the plug end and the socket end is provided on the body, and the other is provided on the battery carrying part, the plug end has an extended state and a retracted state in the horizontal direction, the plug end is configured to cooperate with the socket end in the extended state and thereby lock the battery carrying part with the body, and to separate from the socket end in the retracted state and thereby allow the battery carrying part to be detached from the body.

[0046] In one possible application scenario, the battery-swapping robot is located under the vehicle to be replaced, and the battery-carrying part is locked to the body through a docking mechanism. At this time, the plug end is in an extended state and plugged into the socket end. The battery-carrying part is first docked with the vehicle chassis, and then the locking and unlocking mechanism locks or unlocks the battery to achieve the replacement of the power battery. If the locking and unlocking mechanism on the battery-carrying part does not match the vehicle to be replaced or the battery at the bottom of the vehicle, the plug end in the docking mechanism is retracted, and the plug end is separated from the socket end. Then the current battery-carrying part is removed and replaced with another battery-carrying part that matches the vehicle to be replaced, and the above-mentioned battery-swapping operation is repeated.

[0047] The technical solution of the present application can realize the rapid replacement of the battery carrying part through the matching connection between the plug end and the socket end, and the horizontal locking between the main body and the battery carrying part can also improve the connection stability between the battery carrying part and the main body.

[0048] It should be noted that the above-mentioned horizontal direction in this application is not limited to an absolute horizontal direction. In fact, due to the limitations of manufacturing process and precision, an absolute horizontal direction is difficult to achieve. Therefore, as long as the extension direction of the plug end is in a roughly horizontal direction, for example, the extension direction has a certain angle with the horizontal direction, and the angle is controlled within 3°.

[0049] The preferred implementation of the present application will be introduced below with reference to FIG1 to FIG4 .

[0050] As shown in Figures 1 to 4, in a preferred technical solution, the battery-exchanging robot includes a main body 1, a battery carrying part 2 and a plug-in mechanism.

[0051] As shown in Figure 2, the main body 1 includes a base frame 11, a lifting mechanism 12, and a connecting frame 13. The base frame 11 is provided with a running portion, which enables the base frame 11 to reciprocate between predetermined positions. For example, the running portion includes running wheels and a running mechanism. The running wheels are mounted on the underside of the base frame 11. A track is provided between the battery rack and the battery swapping platform of the charging and swapping station, and the running wheels are located on this track. The running mechanism includes a drive motor and a rack and pinion assembly. The rack is mounted between the tracks, and the drive motor is mounted on the underside of the base frame 11. The output shaft of the drive motor is connected to the gear, and the gear and rack mesh. In this way, when the drive motor is in operation, the coordinated movement of the gear and rack enables the main body 1 to reciprocate along the track. In this application, the lifting mechanism 12 is a scissor-type lifting mechanism 12, with one side connected to the base frame 11 and the other side connected to the connecting frame 13. When the scissor-type lifting mechanism 12 is in operation, the connecting frame 13 can be vertically raised or lowered relative to the base frame 11.

[0052] Referring to Figures 1 and 4 , the battery carrier 2 includes a fixed frame 21 and a carrier plate 22. The fixed frame 21 is a frame formed by welding rectangular steel pipes, and the carrier plate 22 is formed by processing steel plates. The carrier plate 22 is connected to the upper side of the fixed frame 21. The locking and unlocking mechanism 4 is disposed on the carrier plate 22. Furthermore, the carrier plate 22 is floatingly connected to the fixed frame 21. The floating connection between the carrier plate 22 and the fixed frame 21 is a conventional method in the art and will not be described in detail in this application. Preferably, at least some of the multiple locking and unlocking mechanisms 4 are movable. For example, the illustrated embodiment includes twelve locking and unlocking mechanisms 4. The two locking and unlocking mechanisms 4 located in the middle of the carrier plate 22 are translatably movable. Of the ten locking and unlocking mechanisms 4 located around the carrier plate 22, the four locking and unlocking mechanisms 4 located on the same side of the carrier plate 22 (the upper left side in Figure 1) are liftable. The remaining six locking and unlocking mechanisms 4 are fixed to the carrier plate 22. The specific structures and connection methods of the translatable locking and unlocking mechanism and the liftable locking and unlocking mechanism are conventional means in this field and will not be described in detail in this application.

[0053] In the above embodiment, the carrier plate 22 is floatingly connected to the fixed frame 21, which can achieve floating alignment of the locking and unlocking mechanism 4, thereby improving the success rate of battery replacement. At least part of the locking and unlocking mechanism 4 is movable, which is beneficial to improving the compatibility of the battery carrier 2, so that the same battery carrier 2 can be used to match batteries of various specifications.

[0054] 2 and 3 , the docking mechanism includes a plug end 63 and a socket end 64, one of which is provided on the main body 1 and the other is provided on the battery carrying portion 2. Specifically, in the present application, the plug end 63 is provided on the main body 1 and the socket end 64 is provided on the battery carrying portion 2. More specifically, the plug end 63 is provided on the connection frame 13 of the main body 1 and the socket end 64 is provided on the fixed frame 21 of the battery carrying portion 2. The plug end 63 includes a driving mechanism 631 and a plug connector 632. The driving mechanism 631 is fixedly connected to the upper side of the connection frame 13, and the plug connector 632 is connected to the driving mechanism 631. The driving mechanism 631 is configured to drive the plug connector 632 to extend and retract. Preferably, the driving mechanism 631 is an electric cylinder, and the plug connector 632 is a rectangular block. The output end of the electric cylinder is connected to the rectangular block. When the electric cylinder is actuated, it can drive the rectangular block to extend and retract. The docking mechanism 6 also includes a first guide member 65, which is disposed on one side of the plug connector 632, more specifically, on the front side in the direction of extension of the plug connector 632. The first guide member 65 is configured to guide the plug connector 632 during its extension and retraction. Preferably, the first guide member 65 is a guide block fixedly mounted on the upper side of the connection frame 13. The guide block has a rectangular guide hole. The rectangular hole guides the rectangular block during its extension and retraction driven by the electric cylinder. The plug connector 632 is partially located within the guide hole when extended and fully located within the guide hole when retracted.

[0055] Referring to Figure 4 , the socket end 64 is a plug-in block, fixedly connected to the underside of the fixed frame 21. The plug-in block has a rectangular plug-in hole, and its cross-sectional area is slightly larger than that of the guide hole. When the battery carrier 2 is placed on the main body 1, the plug-in block is located on the side of the guide block away from the plug connector 632. As the plug connector 632 extends, it is guided by the guide block and inserted into the rectangular hole of the plug-in block. When the battery carrier 2 needs to be replaced, the plug connector 632 retracts and, guided by the guide block, exits the rectangular hole of the plug-in block and fully retracts into the rectangular hole of the guide block.

[0056] With further reference to Figures 2 and 4 , the present application includes two plug terminals 63 and two socket terminals 64, each extending in different directions. Furthermore, the two plug terminals 63 are arranged diagonally, extending in opposite directions. As shown in Figure 2 , the two plug terminals 63 are respectively arranged at the upper right and lower left corners of the upper side of the connection frame 13 , extending in opposite directions and both perpendicular to the direction of movement of the body 1 . Accordingly, the two socket terminals 64 are arranged correspondingly to the two plug terminals 63 .

[0057] The above arrangement, by providing a drive mechanism 631 to drive the plug connector 632 to extend and retract, enables automatic control of the plug end 63. By locating the plug end 63 in the body 1 and the socket end 64 in the battery holder 2, it is possible to avoid having to provide a plug end 63 for each battery holder 2, thus reducing installation costs. The different extension directions of the two plug ends 63 can enhance the locking effect between the body 1 and the battery holder 2, preventing the battery holder 2 from moving. The provision of a first guide member 65 helps improve the insertion precision of the docking mechanism.

[0058] Still referring to Figures 2 and 4, the battery-exchanging robot also includes a second guide member 81 and a third guide member 82, wherein the second guide member 81 is arranged on the main body 1, and the third guide member 82 is arranged on the battery carrying part 2, and the second guide member 81 can be connected with the third guide member 82. Preferably, the second guide member 81 is a guide hole seat, which is fixedly mounted on the upper side of the connecting frame 13, and the guide hole seat is annular. The third guide member 82 is a guide pin, which is fixedly mounted on the lower side of the fixed frame 21, and the guide pin is a cylindrical pin, which can be inserted into the annular guide hole seat. Preferably, two second guide members 81 and two third guide members 82 are each provided, and the two second guide members 81 are diagonally arranged, and the two third guide members 82 are diagonally arranged. As shown in Figure 2, the two second guide members 81 are respectively arranged at the upper left corner and the lower right corner of the upper side of the connecting frame 13. Correspondingly, the two third guide members 82 are arranged corresponding to the two second guide members 81.

[0059] By providing the second guide member 81 and the third guide member 82 , guidance can be provided during the docking process between the battery carrying portion 2 and the body 1 , thereby improving docking accuracy.

[0060] It should be noted that the above preferred embodiments are only used to illustrate the principles of this application and are not intended to limit the scope of protection of this application. Without departing from the principles of this application, those skilled in the art may adjust the above settings so that this application can be applied to more specific application scenarios.

[0061] For example, in an alternative embodiment, although the above embodiment is introduced with the main body 1 including a bottom frame 11, a lifting mechanism 12 and a connecting frame 13 as an example, this is only a possible embodiment, and those skilled in the art can select the specific structure of the main body 1 based on the specific application scenario. For example, the walking part may not be provided on the bottom frame 11, and the main body 1 may be fixedly provided below the battery exchange platform; for another example, the lifting mechanism 12 may not be provided, but the bottom frame 11 and the connecting frame 13 may be lifted and lowered as a whole by a lifting device. For another example, the specific structure and composition of the walking part are not unique. On the premise that the main body 1 can be able to walk, those skilled in the art can also adjust the walking part, such as replacing the walking wheel with a driving wheel, thereby eliminating the drive motor and the rack and pinion assembly. For another example, the scissor-type lifting mechanism 12 is only a preferred embodiment, and the lifting mechanism 12 can also be provided in other ways, such as using a chain mechanism or a rigid chain lifting mechanism 12 to achieve lifting.

[0062] For example, in another alternative embodiment, the specific configuration of the battery carrier 2 is not fixed, and those skilled in the art can adjust it based on the specific application scenario. For example, the battery carrier 2 can include only the fixed frame 21 or the carrier plate 22, or other plates or frames can be added between the two, as long as the battery carrier 2 can effectively carry the battery and dock with the body 1. For another example, in addition to being floatingly arranged on the fixed frame 21, the carrier plate 22 can also be fixedly connected to the fixed frame 21. For another example, among the multiple locking and unlocking mechanisms 4 provided on the carrier plate 22, all can be configured as fixed locking and unlocking mechanisms, or all can be configured as movable locking and unlocking mechanisms. When a movable locking and unlocking mechanism is present, at least one of a liftable locking and unlocking mechanism, a translatable locking and unlocking mechanism, and a locking and unlocking mechanism that can be both translated and lifted can be included. The number of locking and unlocking mechanisms 4 is also not fixed, and those skilled in the art can adjust it based on the specific battery specifications and the number of battery specifications that the battery carrier 2 can be compatible with.

[0063] For example, in another alternative embodiment, the specific configuration of the docking mechanism is not restrictive and can be adjusted by those skilled in the art, as long as the plug end 63 can be horizontally extended and plugged into the socket end 64. For example, the positions of the plug end 63 and the socket end 64 can be swapped, although this will inevitably increase costs. For another example, in addition to the aforementioned arrangement of an electric cylinder and a plug connector 632, the plug end 63 can also utilize an air cylinder, a hydraulic cylinder, or the like to drive the plug connector 632. In other embodiments, electromagnetic methods can also be employed to achieve movement of the plug connector 632, in which case the plug connector 632 needs to be made of magnetic metal. For another example, in addition to a rectangular block, the plug connector 632 can also be a rod-shaped member or a block of other shapes. For another example, in addition to a plug block, the socket end 64 can also be a perforated plate, a U-shaped screw, or the like. For another example, the cross-sectional area of ​​the plug hole of the socket end 63 does not necessarily have to be larger than that of the guide hole; the cross-sectional area of ​​the plug hole can also be equal to or smaller than that of the guide hole. For another example, the first guide member 65 is not required. In some embodiments, the first guide member 65 can be omitted. For another example, in addition to guide blocks, the first guide member 65 can also be an open or semi-open structure, such as a guide rib or guide groove. If the first guide member 65 includes a guide hole, the guide hole only needs to guide the plug connector 632 during its extension and retraction. Whether the plug connector 632 is located within the guide hole in both the extended and retracted states is not restrictive. For another example, the number of plug terminals 63 and socket terminals 64 is not fixed; two is a preferred embodiment, and this number can be adjusted by those skilled in the art. For another example, the two plug terminals 63 can extend in the same direction. If they extend in different directions, they do not necessarily extend in opposite directions; their extension directions can also be at an angle. For another example, the placement of the two plug terminals 63 and the two socket terminals 64 does not necessarily have to be strictly diagonal; those skilled in the art can make this choice based on the specific application scenario.

[0064] For another example, in another alternative embodiment, the provision of the second guide member 81 and the third guide member 82 is not necessary, and those skilled in the art may selectively omit them. The provision positions of the second guide member 81 and the third guide member 82 are not fixed, and their provision positions may be swapped. The number of the second guide member 81 and the third guide member 82 is not restrictive, and those skilled in the art may adjust them based on specific application scenarios. Provision of two second guide members 81 and two third guide members 82 is merely a more preferred embodiment. In the case where two second guide members 81 and two third guide members 82 are provided, the two second guide members 81 and the two third guide members 82 may not be provided along the diagonal line, but may be provided at any position. For another example, the second guide member 81 may not be provided, but a hole may be opened on the connecting frame 13 or the fixed frame 21 for connection with the guide pin.

[0065] Of course, the above-mentioned replaceable implementations, as well as the replaceable implementations and the preferred implementations, can be used in a cross-functional manner to combine new implementations to suit more specific application scenarios.

[0066] The present application also provides a charging and swapping station, which includes a battery swapping robot in any of the above technical solutions.

[0067] The charging and swapping station of the present application, by providing the above-mentioned battery swapping robot, can improve the compatibility of the battery swapping robot while also realizing rapid replacement and effective locking of the battery carrying part 2, thereby improving the connection stability between the battery carrying part 2 and the main body 1.

[0068] The following is an introduction to a possible battery swapping process of the battery swapping robot.

[0069] In one possible embodiment, a tool compartment is provided within the charging and swapping station, storing multiple battery carriers 2 of varying specifications. When the battery carrier 2 currently installed in the battery swapping robot's main body 1 does not match the model of the vehicle to be swapped, the battery carrier 2 replacement process is initiated. The drive mechanism 631 activates, driving the plug connector 632 out of the socket of the plug block. The battery carrier 2 then vertically detaches from the main body 1 and is retrieved into the tool compartment. A new battery carrier 2 matching the vehicle to be swapped is then accurately positioned vertically onto the main body 1, guided by the guide pins and guide sockets. The drive mechanism 631 activates, driving the plug connector 632 to extend and engage the socket of the plug block, locking the battery carrier 2 to the main body 1. Next, the battery swapping robot, driven by the travel mechanism and travel wheels, moves along the track to the bottom of the vehicle to be swapped. The lifting mechanism 12 operates to raise the battery carrier 2 to the vehicle chassis, and the unlocking mechanism 4 unlocks the depleted battery of the vehicle to be swapped. After unlocking is completed, the lifting mechanism 12 descends, and the battery carrier 2 drives the depleted battery down. Subsequently, the battery swap robot transports the depleted battery to the battery rack, receives the fully charged battery from the battery rack, and moves it again to the bottom of the vehicle to be swapped. The lifting mechanism 12 operates to lift the battery carrier 2 together with the fully charged battery to the vehicle chassis, and the locking and unlocking mechanism 4 locks the fully charged battery until locking is completed, and the lifting mechanism 12 descends again. At this point, the battery swap is complete.

[0070] Furthermore, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are intended to be within the scope of this application and to form different embodiments. For example, in the claims of this application, any of the claimed embodiments may be used in any combination.

[0071] Thus far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present application.

Claims

1. A battery-swapping robot, characterized in that: The battery-swapping robot comprises: ontology; A battery carrying portion, on which a plurality of locking and unlocking mechanisms are provided. The battery carrying portion is configured to carry a power battery, and the locking and unlocking mechanisms are configured to lock and unlock the power battery of the vehicle to be battery-swapped; The docking mechanism includes a plug end and a socket end, one of the plug end and the socket end is provided on the body, and the other is provided on the battery carrying portion, and the plug end has an extended state and a retracted state along the horizontal direction. The plug end is configured to be plugged into and matched with the socket end when in the extended state, thereby locking the battery carrier to the body, and to be separated from the socket end when in the retracted state, thereby allowing the battery carrier to be detached from the body.

2. The battery-swapping robot according to claim 1, characterized in that: The plug end is arranged on the body, and the socket end is arranged on the battery carrying portion.

3. The battery-swapping robot according to claim 1, characterized in that: The plug end includes a driving mechanism and a plug connector, the plug connector is connected to the driving mechanism, and the driving mechanism is configured to drive the plug connector to extend and retract.

4. The battery-swapping robot according to claim 3, characterized in that: The driving mechanism is an electric cylinder; and / or the plug connector is a rectangular block.

5. The battery-swapping robot according to claim 1, characterized in that: The socket end is a plug-in block, and a plug-in hole is provided on the plug-in block.

6. The battery-swapping robot according to claim 3, characterized in that: The docking mechanism further includes a first guide member, which is arranged on one side of the plug connector and is configured to guide the plug connector when the plug connector is extended or retracted.

7. The battery-swapping robot according to claim 6, characterized in that: The first guide member is a guide block, a guide hole is formed on the guide block, and the plug connector is at least partially located in the guide hole when in a retracted state.

8. The battery-swapping robot according to claim 1, characterized in that: There are two plug ends and two socket ends, and the two plug ends extend in different directions.

9. The battery-swapping robot according to claim 8, characterized in that: The extension directions of the two plug ends are opposite to each other; and / or The two plug ends are arranged diagonally.

10. The battery-swapping robot according to claim 1, characterized in that: The battery-exchanging robot also includes a second guide member and a third guide member. The second guide member is arranged on the main body, and the third guide member is arranged on the battery-carrying part. The second guide member can be matched and connected with the third guide member.

11. The battery-swapping robot according to claim 10, characterized in that: The second guide member is a guide hole seat, and the third guide member is a guide pin.

12. The battery-swapping robot according to claim 10, characterized in that: There are two of each of the second guide members and the third guide members, the two second guide members are arranged diagonally, and the two third guide members are arranged diagonally.

13. The battery-swapping robot according to claim 1, characterized in that: The main body includes a bottom frame, a lifting mechanism and a connecting frame, the lifting mechanism is arranged on the bottom frame, the connecting frame is connected to the lifting mechanism, the battery carrying part includes a fixing frame, one of the plug end and the socket end is arranged on the connecting frame, and the other is arranged on the fixing frame.

14. The battery-swapping robot according to claim 1, characterized in that: Among the multiple locking and unlocking mechanisms, at least some of the locking and unlocking mechanisms are movably arranged.

15. A charging and swapping station, characterized in that: The charging and swapping station includes the battery swapping robot according to any one of claims 1 to 14.

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