Battery swapping device and battery swapping system

Abstract

Disclosed in the present application are a battery swapping device and a battery swapping system. The battery swapping device comprises a movable base, a battery swapping mechanism and a positioning mechanism. The battery swapping mechanism is arranged on the movable base and is used for locking a battery to a mounting frame or unlocking the battery from the mounting frame. The positioning mechanism is arranged on the movable base, and is used for centering and clamping the mounting frame from two sides of the mounting frame in a first direction, so as to position the battery swapping mechanism and the mounting frame in the first direction, the first direction being perpendicular to the direction of gravity. The technical solution provided by the present application can effectively improve the battery swapping efficiency of the battery swapping device.

Description

Battery swapping devices and battery swapping systems Technical Field

[0001] This application relates to the field of battery swapping technology, and more specifically, to a battery swapping device and a battery swapping system. Background Technology

[0002] With the development of new energy technologies, more and more devices are using batteries. When the power of these devices is depleted, they are often recharged by connecting to a charging device. Alternatively, batteries can be replaced for faster power replenishment; typically, this requires a dedicated device (i.e., a battery swapping device).

[0003] Existing battery swapping devices are limited by high-precision positioning sensors and software algorithms, which result in stringent requirements for reference object features and movement accuracy, leading to low battery swapping efficiency. Summary of the Invention

[0004] This application provides a battery swapping device and a battery swapping system. The technical solution provided by this application can effectively improve the battery swapping efficiency of the battery swapping device.

[0005] This application is achieved through the following technical solution:

[0006] In a first aspect, some embodiments of this application provide a battery swapping device for replacing the battery of an electrical device, the electrical device including a mounting frame for mounting the battery. The battery swapping device includes a movable base, a battery swapping mechanism, and a positioning mechanism. The battery swapping mechanism is disposed on the movable base and is used to lock the battery onto the mounting frame or unlock the battery from the mounting frame. The positioning mechanism is disposed on the movable base and is used to clamp the mounting frame from both sides along a first direction to center and clamp the mounting frame, thereby achieving positioning of the battery swapping mechanism and the mounting frame in the first direction, which is perpendicular to the direction of gravity.

[0007] The above solution, through the positioning mechanism, clamps the mounting frame along both sides of the mounting frame in the first direction, which allows the battery swapping device to float and adjust its position relative to the mounting frame by the reaction force of the mounting frame along the first direction. Alternatively, the relative positional relationship between the battery swapping device and the mounting frame can be determined by the mounting frame along both sides of the first direction, thereby quickly achieving the positioning of the battery swapping device and the mounting frame, and thus effectively improving the battery swapping efficiency of the battery swapping device.

[0008] According to some embodiments of this application, the positioning mechanism includes at least one pair of clamping components, with two clamping components in each pair located on both sides of the battery swapping mechanism along a first direction.

[0009] The above solution, by setting two pairs of clamping components on both sides of the battery swapping mechanism, can effectively clamp the mounting frame, thereby quickly positioning the battery swapping mechanism and the mounting frame, and thus effectively improving the battery swapping efficiency of the battery swapping device.

[0010] According to some embodiments of this application, the clamping assembly includes a drive member and a clamping member, the drive member being used to drive the clamping member to switch between a working position close to the mounting frame and a non-working position far from the mounting frame.

[0011] The above solution enables the clamping component to switch between working and non-working positions through the driving of the driving component. This allows the battery swapping device to move between the battery swapping station and the battery pick-and-place device under the drive of the moving base, and to position the battery swapping mechanism and the mounting frame at the battery swapping station, thereby improving the battery swapping efficiency of the battery swapping device.

[0012] According to some embodiments of this application, the clamping member is rotatably connected to the movable base about a first axis, wherein the first axis, the first direction, and the direction of gravity are perpendicular to each other. A driving member is used to drive the clamping member to rotate about the first axis, thereby switching the clamping member between a working position and a non-working position, with the working position being higher than the non-working position.

[0013] The above solution sets the clamping member to be rotatably mounted on the movable base around the first axis, which allows the clamping member to rotate under the drive of the driving member. This enables the two clamping members in pairs to quickly perform clamping or unclamping actions, efficiently realizing the positioning of the battery swapping mechanism and the mounting frame, thereby improving the battery swapping efficiency of the battery device.

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

[0015] In the above scheme, when the clamping member is in the working position, it is parallel to the direction of gravity, so that the clamping member can be parallel to the side of the mounting frame, so as to effectively determine the relative positional relationship between the mounting frame and the battery swapping mechanism along the first direction and achieve high-precision positioning of the two; when the clamping member is not in the working position, it is parallel to the direction of gravity, that is, parallel to the horizontal direction, which can reduce the risk of interference between the battery swapping device and other structural components when it moves.

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

[0017] The above solution limits the difference between the distance K between the two clamping members when they are both in the working position and the dimension L of the mounting frame along the first direction. This ensures that the error between the battery swapping mechanism and the mounting frame is within the allowable range when the positioning mechanism performs the clamping action, thereby achieving the positioning of the battery swapping mechanism and the mounting frame, meeting the battery swapping accuracy requirements, and thus improving the battery swapping efficiency of the battery swapping device.

[0018] According to some embodiments of this application, the upper surface of the movable base has a groove, in which the clamping member is accommodated when the base is not in operation.

[0019] The above solution, by setting a groove on the upper surface of the mobile base, allows the clamping component to be accommodated in the groove when it is not in the working position, reducing the risk of interference with other structural components due to the protruding clamping component, which would affect the movement of the battery swapping device.

[0020] According to some embodiments of this application, the clamping assembly further includes a guide rail, a slider, and a transmission component. The guide rail is fixed to the movable base and extends along a first direction. The slider is slidably engaged with the guide rail. The driving component is connected to the slider. One end of the transmission component is movably connected to the slider, and the other end is movably connected to the clamping component.

[0021] In the above scheme, the driving component is connected to the clamping component through the guide rail, slider and transmission component, which can limit the rotation angle of the clamping component, thereby effectively enabling the clamping component to switch between working position and non-working position, ensuring the alignment accuracy of the clamping component with the mounting frame to a certain extent, and thus ensuring the positioning accuracy between the battery swapping mechanism and the mounting frame, which is conducive to improving the battery swapping efficiency of the battery swapping device.

[0022] According to some embodiments of this application, the clamping assembly further includes a first detection element for detecting the offset of the mounting frame and the battery swapping mechanism in a second direction, wherein the first direction, the second direction, and the direction of gravity are mutually perpendicular. The movable base is configured to adjust its position in response to the offset measured by the first detection element, so as to position the battery swapping mechanism and the mounting frame in the second direction.

[0023] The above solution, by setting a first detection element to detect the offset of the mounting frame and the battery swapping mechanism in the second direction, enables the moving base to travel the corresponding distance in response to the offset, thereby positioning the battery swapping mechanism and the mounting frame in the second direction, which in turn helps to improve the battery swapping efficiency of the battery swapping device.

[0024] According to some embodiments of this application, the first detection element is disposed on the clamping element.

[0025] The above solution, by setting the first detection component on the clamping component, enables the battery swapping mechanism and the mounting frame to be positioned in the second direction when the clamping component is in the working position, that is, after the positioning of the battery swapping mechanism and the mounting frame along the first direction is completed. This improves the battery swapping accuracy of the battery swapping mechanism and is conducive to improving the battery swapping efficiency of the battery swapping device.

[0026] According to some embodiments of this application, the first detection element includes a grating, a limit switch, or a laser rangefinder sensor.

[0027] In the above scheme, the first detection component can be selected from a variety of sensor solutions to adapt to different needs, such as meeting different accuracy requirements or cost requirements.

[0028] According to some embodiments of this application, the clamping assembly further includes a second detection element for detecting the offset of the mounting frame and the battery swapping mechanism in a first direction. The battery swapping mechanism is configured to lock the battery to the mounting frame or unlock the battery from the mounting frame in response to the offset measured by the second detection element; and / or, the drive element is configured to adjust the output power in response to the offset measured by the second detection element.

[0029] The above-mentioned solution, by setting a second detection component to detect the offset of the mounting frame and the battery swapping mechanism in the first direction, in some embodiments, enables the battery swapping device to identify the positioning of the battery swapping mechanism and the mounting frame along the first direction to complete the battery swapping operation, thereby improving the automation of the battery swapping device and the battery swapping efficiency; in some embodiments, it can realize the differentiation of the driving speed of the driving component to different positions of the clamping component, reducing the risk of the clamping component colliding with the mounting frame due to excessive speed when it is close to the mounting frame, resulting in damage to the battery swapping device or the vehicle.

[0030] According to some embodiments of this application, the second detection element is disposed on the clamping element.

[0031] In the above scheme, by setting the second detection element on the clamping element, the offset of the mounting frame and the battery swapping mechanism in the first direction can be effectively detected, thereby improving the detection efficiency and facilitating the improvement of the battery swapping efficiency of the battery swapping device.

[0032] According to some embodiments of this application, the second detection element includes a grating, a limit switch, or a laser rangefinder.

[0033] In the above scheme, the second detection component can be selected from a variety of sensor solutions to adapt to different needs, such as meeting different accuracy requirements or cost requirements.

[0034] According to some embodiments of this application, the positioning mechanism includes at least two pairs of clamping components, which are spaced apart along a second direction, and the first direction, the second direction, and the gravity direction are perpendicular to each other.

[0035] The above solution, by setting multiple pairs of clamping components spaced apart along the second direction, enables the battery swapping device and the mounting frame to be in a plane constructed by the second direction and the gravity direction. This facilitates the positioning mechanism to improve the positioning accuracy of the mounting frame and the battery swapping mechanism in the first direction, thereby improving the battery swapping efficiency of the battery swapping device.

[0036] According to some embodiments of this application, the mobile base includes a chassis and a floating platform, the floating platform being movably disposed on the chassis along a first direction, and the battery swapping mechanism and the positioning mechanism being disposed on the floating platform.

[0037] In the above scheme, the battery swapping mechanism and the positioning mechanism are set on the chassis via a floating platform. When the positioning mechanism clamps the mounting frame for centering, it can drive the battery swapping mechanism to float under the reaction force of the mounting frame, thereby adjusting the position of the battery swapping mechanism and achieving positioning between the battery swapping mechanism and the mounting frame.

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

[0039] The above solution, by setting the mobile base as an automatically guided vehicle, enables the battery swapping device to move freely, meeting different battery swapping conditions and improving battery swapping efficiency.

[0040] Secondly, some embodiments of this application also provide a battery swapping system, which includes a battery pick-and-place device and the battery swapping device provided in the first aspect. The battery pick-and-place device is used to remove the battery from the battery swapping device or place the battery on the battery swapping device.

[0041] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0042] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 is a schematic diagram of a battery swapping system in some embodiments of this application;

[0044] Figure 2 is a schematic diagram of the structure of the battery swapping device in some embodiments of this application when it is not positioned on the mounting frame;

[0045] Figure 3 is a perspective view of the battery swapping device positioned on the mounting frame in some embodiments of this application;

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

[0047] Figure 5 is a perspective view of the battery swapping device when the clamping member is in a non-working position in some embodiments of this application;

[0048] Figure 6 is a perspective view of the battery swapping device when the clamping member is in the working position in some embodiments of this application;

[0049] Figure 7 is a schematic diagram of the drive member and the clamping member when the clamping member is in a non-working position in some embodiments of this application;

[0050] Figure 8 is a schematic diagram of the drive member and the clamping member when the clamping member is in the working position in some embodiments of this application;

[0051] Figure 9 is a schematic diagram of the driving member and clamping member in some other embodiments of this application;

[0052] Figure 10 is a schematic diagram of the battery swapping device and mounting frame in some embodiments of this application;

[0053] Figure 11 is a schematic diagram of the structure of the battery swapping device in some other embodiments of this application.

[0054] Icons: 1000 - Battery swapping system; 100 - Battery swapping device; 200 - Battery pick-and-place device; 300 - Mounting frame; 400 - Battery; 10 - Mobile base; 11 - Chassis; 12 - Floating platform; 13 - Groove; 20 - Battery swapping mechanism; 21 - Positioning pin; 30 - Positioning mechanism; 31 - Clamping assembly; 310 - First clamping assembly; 311 - Second clamping assembly; 32 - Drive component; 320 - Lifting drive component; 321 - Linear push component; 33 - Clamping component; 330 - Protrusion; 34 - Guide rail; 35 - Slider; 36 - Transmission component; 37 - First detection component; 38 - Second detection component; x - First direction; y - Second direction; z - Gravity direction. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0056] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the description, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy.

[0057] In this application, the reference to "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments.

[0058] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0059] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0060] In the embodiments of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width, and other dimensions of various components in the embodiments of this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0061] In this application, "multiple" means two or more (including two).

[0062] With the development of new energy technologies, more and more devices are using batteries. When these devices run out of power, they are often recharged by connecting to charging equipment, such as charging stations for electric vehicles. Compared to connecting to charging stations, battery swapping provides a faster way to replenish power. Currently, there are also dedicated battery swapping systems. These systems include a battery pick-and-place device and a movable swapping unit. The swapping unit is used to replace the battery in the device. Optionally, the swapping unit may include a movable base and a swapping mechanism. The movable base moves the swapping unit between the device and the battery pick-and-place device, exchanging the depleted battery removed from the device with a fully charged battery from the device.

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

[0064] A battery swapping mechanism is a component that enables the battery swapping action. For example, the power device includes a mounting frame on which the battery is mounted. The battery swapping mechanism can unlock a depleted battery from the mounting frame or lock a fully charged battery to the mounting frame. Exemplarily, the connection between the mounting frame and the battery is a threaded engagement. The battery swapping mechanism can release the engagement to remove the depleted battery and, by moving the base, transport the depleted battery to a battery pick-and-place device. The battery pick-and-place device then retrieves a fully charged battery and, by moving the base to the power device, thread-locks the fully charged battery onto the mounting frame.

[0065] During the battery swapping process, the swapping mechanism and mounting frame need to be positioned within acceptable error ranges to meet the required swapping accuracy. Related technologies employ 3D cameras and radar to position the swapping mechanism and mounting frame. However, this method requires software algorithms, image acquisition, and feature comparison, and demands high-precision hardware (e.g., high accuracy of sensors and the moving base). Limited by the moving base's accuracy, multiple adjustments are needed to achieve proper positioning, thus impacting the swapping efficiency.

[0066] In view of this, to improve battery swapping efficiency, some embodiments of this application provide a battery swapping device. The battery swapping device includes a movable base, a battery swapping mechanism, and a positioning mechanism. The battery swapping mechanism is disposed on the movable base and is used to lock the battery onto the mounting frame or unlock the battery from the mounting frame. The positioning mechanism is disposed on the movable base and is used to clamp the mounting frame from both sides along a first direction to center it, thereby achieving positioning of the battery swapping mechanism and the mounting frame in the first direction, which is perpendicular to the direction of gravity.

[0067] The above solution, through the positioning mechanism, clamps the mounting frame along both sides of the mounting frame in the first direction, which allows the battery swapping device to float and adjust its position relative to the mounting frame by the reaction force of the mounting frame along the first direction. Alternatively, the relative positional relationship between the battery swapping device and the mounting frame can be determined by the mounting frame along both sides of the first direction, thereby quickly achieving the positioning of the battery swapping device and the mounting frame, and thus effectively improving the battery swapping efficiency of the battery swapping device.

[0068] The battery swapping device and system disclosed in this application can be used, but are not limited to, for swapping vehicle batteries. They can also be used for swapping batteries in other electrical equipment such as ships, aircraft, electric toys, power tools, electric vehicles, electric cars, ships, and spacecraft. Electric toys can be fixed or mobile, such as game consoles, electric car toys, electric ship toys, and electric airplane toys; power tools can be fixed or mobile, such as electric motorized tools and electric sweepers; and spacecraft can include airplanes, rockets, space shuttles, and spacecraft.

[0069] The following explanation uses a vehicle as an example to illustrate the battery swapping device and system.

[0070] Please refer to Figure 1, which is a schematic diagram of a battery swapping system in some embodiments of this application.

[0071] The battery swapping system 1000 includes a battery swapping device 100 and a battery pickup and drop-off device 200. Some embodiments of this application are illustrated using a vehicle as an example of an electrical device.

[0072] The battery pick-and-place device 200 is used to store the battery 400 and charge the battery 400. The battery pick-and-place device 200 may be equipped with a robotic arm, which can be used to remove the depleted battery 400 from the battery swapping device 100 and put it into the battery 400 charging device for recycling, and remove the fully charged battery 400 from the battery 400 charging device and place it on the battery swapping device 100.

[0073] In order to replace the vehicle battery 400, the depleted battery 400 needs to be removed from the vehicle by the battery swapping device 100 and transported to the battery 400 charging and discharging device for charging. Then, the fully charged battery 400 is transported to the vehicle by the battery swapping device 100 and installed in the vehicle.

[0074] In some embodiments, the battery swapping device 100 includes a rail-guided vehicle, and the battery swapping system 1000 also includes a track, on which the battery swapping device 100 is movably mounted. In some embodiments, the battery swapping device 100 includes an automated guided vehicle, which may not require a track.

[0075] For example, the vehicle has a mounting frame 300, which is mounted on the chassis 11 of the vehicle, and the battery 400 is mounted on the mounting frame 300. The battery swapping device 100 is capable of moving under the vehicle to move between the vehicle and the battery pick-and-place device 200. The battery swapping device 100 removes the battery 400 from the mounting frame 300 and transports it to the battery pick-and-place device 200, updates the fully charged battery 400 through the battery pick-and-place device 200, and locks the fully charged battery 400 onto the mounting frame 300, thereby realizing the battery swapping of the vehicle.

[0076] This application provides a battery swapping device 100 in some embodiments. Referring to Figures 2-4, Figure 2 is a structural schematic diagram of the battery swapping device 100 in some embodiments of this application when it is not positioned on the mounting frame 300, Figure 3 is a perspective view of the battery swapping device 100 in some embodiments of this application when it is positioned on the mounting frame 300, and Figure 4 is a structural schematic diagram of the battery swapping device 100 in some embodiments of this application when it is positioned on the mounting frame 300.

[0077] The battery swapping device 100 is used to replace the battery 400 of a power-consuming device, which includes a mounting frame 300 for mounting the battery 400. The battery swapping device 100 includes a movable base 10, a battery swapping mechanism 20, and a positioning mechanism 30. The battery swapping mechanism 20 is disposed on the movable base 10 and is used to lock the battery 400 onto the mounting frame 300 or unlock the battery 400 from the mounting frame 300. The positioning mechanism 30 is disposed on the movable base 10 and is used to clamp the mounting frame 300 from both sides along a first direction x, thereby positioning the battery swapping mechanism 20 and the mounting frame 300 in the first direction x, which is perpendicular to the gravity direction z.

[0078] Optionally, the mobile base 10 may include an Automated Guided Vehicle (AGV) or a Rail Guided Vehicle (RGV).

[0079] In some embodiments of this application, the mobile base 10 may include an automated guided vehicle that can travel freely along a set route through its own navigation and drive wheels, thereby being able to travel to the power exchange point of the electrical device, for example, under the mounting frame 300, so as to exchange the power of the electrical device through the power exchange mechanism 20.

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

[0081] Optionally, the battery swapping mechanism 20 can be raised and mounted on the movable base 10. By adjusting the height of the battery swapping mechanism 20, the bolt locking mechanism of the battery swapping mechanism 20 can act on the bolts between the battery 400 and the mounting frame 300.

[0082] Optionally, the battery swapping mechanism 20 is provided with a positioning element, which can cooperate with the mounting frame 300 or the battery 400 on the mounting frame 300 to accurately position the battery swapping mechanism 20 on the mounting frame 300 or the battery 400 on the mounting frame 300. This reduces the risk of damage to the battery 400 structure due to inaccurate positioning and improves the reliability of battery swapping. For example, the positioning element can be a positioning pin 21, and the mounting frame 300 or the battery 400 is provided with a positioning hole that cooperates with the positioning pin 21.

[0083] The positioning mechanism 30 is disposed on the movable base 10 and is used to precisely position the battery swapping mechanism 20 and the mounting frame 300 along the first direction x by performing a centering clamping action on the mounting frame 300 after the movable base 10 moves to the power swapping potential of the power-consuming device. The first direction x is perpendicular to the gravity direction z. In some embodiments, the power-consuming device is a vehicle, and the first direction x can be the wheelbase direction of the vehicle or the width direction of the vehicle.

[0084] The phrase "clamping the mounting frame 300 along both sides of the mounting frame 300 in the first direction x to achieve positioning of the battery swapping mechanism 20 and the mounting frame 300 in the first direction x" can be understood as the positioning mechanism 30 clamping the mounting frame 300 along both sides of the mounting frame 300 in the first direction x, thereby abutting against both sides of the mounting frame 300 in the first direction x. This causes the moving base 10 to float under the reaction force, thereby adjusting the position of the battery swapping mechanism 20 and the mounting frame 300 in the first direction x, achieving positioning of the battery swapping mechanism 20 and the mounting frame 300 in the first direction x. For example, when the moving base 10 moves to the swapping point, due to the navigation accuracy of the moving base 10, the battery swapping mechanism 20 fails to complete positioning with the mounting frame 300. The positioning mechanism 30 operates by clamping the mounting frame 300 in the center from both sides along the first direction x. During the clamping process, the moving base 10 is released from braking and floats due to the reaction force of the mounting frame 300. When the positioning mechanism 30 clamps the mounting frame 300, the moving base 10 brakes. At this time, the battery swapping mechanism 20 and the mounting frame 300 are positioned in the first direction x.

[0085] Alternatively, it can be understood that the positioning mechanism 30 clamps the mounting frame 300 on both sides along the first direction x, thereby abutting against both sides of the mounting frame 300 along the first direction x. This causes the positioning mechanism 30 to float under the reaction force, thus adjusting the position of the battery swapping mechanism 20 and the mounting frame 300 along the first direction x, achieving positioning of the battery swapping mechanism 20 and the mounting frame 300 in the first direction x. For example, the mobile base 10 includes a chassis 11 and a floating platform 12. The floating platform 12 is movably disposed on the chassis 11 along the first direction x, and the battery swapping mechanism 20 and the positioning mechanism 30 are disposed on the floating platform 12. When the mobile base 10 moves to the swapping point, due to the navigation accuracy of the mobile base 10, the battery swapping mechanism 20 fails to complete positioning with the mounting frame 300. The positioning mechanism 30 operates by clamping the mounting frame 300 in the center from both sides along the first direction x. During the clamping process, the floating platform 12 brakes and floats due to the reaction force of the mounting frame 300. When the positioning mechanism 30 clamps the mounting frame 300, the positioning of the battery swapping mechanism 20 and the mounting frame 300 in the first direction x is completed.

[0086] Alternatively, it can be understood that the positioning mechanism 30 clamps the mounting frame 300 on both sides along the first direction x, and detects the offset between the mounting frame 300 and the positioning mechanism 30 along the first direction x based on both sides of the mounting frame 300. When the offset is within the allowable accuracy error range, the battery swapping mechanism 20 and the mounting frame 300 are positioned in the first direction x. For example, when the movable base 10 moves to the battery swapping point, the battery swapping mechanism 20 is just positioned with the mounting frame 300 along the first direction x. To determine whether the positioning is in place, the positioning mechanism 30 operates, clamping the mounting frame 300 from both sides along the first direction x. This clamping can be completed when the moving base 10 or the battery swapping mechanism 20 is not floating. Alternatively, the positioning mechanism 30 can detect the offset between the mounting frame 300 and the battery swapping mechanism 20 along the first direction x during the clamping process. When the offset is within the allowable accuracy error range, the positioning of the battery swapping mechanism 20 and the mounting frame 300 in the first direction x is achieved.

[0087] In some embodiments, the positioning mechanism 30 includes mechanical clamping arms, which include a pair of mechanical arms capable of clamping each other along a first direction x to center and clamp the mounting frame 300.

[0088] In some embodiments, the positioning mechanism 30 includes at least one pair of clamping components 31, with two clamping components 31 located on both sides of the battery swapping mechanism 20, and the two clamping components 31 together perform a centering clamping action to position the positioning mechanism 30 and the mounting frame 300 along the first direction x.

[0089] Optionally, the clamping assembly 31 may include a deflection structure, which achieves centering clamping by deflecting the two clamping assemblies 31 respectively. The deflection action can be understood as a rotation action or a flipping action.

[0090] Optionally, the clamping assembly 31 may include a translation structure, which uses a pair of clamping assemblies 31 to perform translational movements along the first direction x to achieve centering and clamping.

[0091] The above solution, through the positioning mechanism 30, clamps the mounting frame 300 along both sides of the first direction x, so that the battery swapping device 100 floats under the reaction force of the mounting frame 300 along the first direction x, thereby adjusting the position of the battery swapping mechanism 20 relative to the mounting frame 300. Alternatively, the relative positional relationship between the battery swapping mechanism 20 and the mounting frame 300 is determined by the mounting frame 300 along both sides of the first direction x, thereby quickly achieving the positioning of the battery swapping mechanism 20 and the mounting frame 300, and thus effectively improving the battery swapping efficiency of the battery swapping device 100.

[0092] According to some embodiments of this application, please refer to FIG4, the positioning mechanism 30 includes at least one pair of clamping components 31, and along the first direction x, two of the clamping components 31 in each pair are located on both sides of the battery swapping mechanism 20.

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

[0094] Each pair of clamping components 31 includes two clamping components 31, one being a first clamping component 310 and the other a second clamping component 311. Along the first direction x, the first clamping component 310 is located on one side of the battery swapping mechanism 20, and the second clamping component 311 is located on the other side of the battery swapping mechanism 20. Taking Figure 4 as an example, the first clamping component 310 is located on the left side of the battery swapping mechanism 20, and the second clamping component 311 is located on the right side of the battery swapping mechanism 20. During the positioning process with the mounting frame 300, the first clamping component 310 can move towards the left side of the mounting frame 300, and the second clamping component 311 can move towards the right side of the mounting frame 300. The first clamping component 310 and the second clamping component 311 work together to perform a centering clamping action, thereby placing the battery swapping mechanism 20 and the mounting frame 300 between the first clamping component 310 and the second clamping component 311, realizing the positioning of the battery swapping mechanism 20 and the mounting frame 300 along the first direction x.

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

[0096] The above solution, by setting two pairs of clamping components 31 on both sides of the battery swapping mechanism 20, can effectively clamp the mounting frame 300, thereby quickly positioning the battery swapping mechanism 20 and the mounting frame 300, and thus effectively improving the battery swapping efficiency of the battery swapping device 100.

[0097] Optionally, in some other embodiments, the positioning mechanism 30 may include a mechanical clamping arm, which may be disposed on the movable base 10. For example, the mechanical clamping arm may be located on the central axis of the battery swapping mechanism 20 perpendicular to the first direction x. The mechanical clamping arm includes a pair of mechanical arms, which are capable of performing a mutual clamping action along the first direction x to center and clamp the mounting frame 300.

[0098] According to some embodiments of this application, please refer to Figures 5 and 6. Figure 5 is a perspective view of the battery swapping device 100 when the clamping member 33 is in a non-working position according to some embodiments of this application, and Figure 6 is a perspective view of the battery swapping device 100 when the clamping member 33 is in a working position according to some embodiments of this application. The clamping assembly 31 includes a driving member 32 and a clamping member 33. The driving member 32 is used to drive the clamping member 33 to switch between a working position close to the mounting frame 300 and a non-working position far from the mounting frame 300.

[0099] In some embodiments, the drive member 32 is a power output structure that drives the clamping member 33 to move so that the clamping member 33 can switch between a working position and a non-working position.

[0100] The non-working position refers to the position where the clamping member 33 is away from the mounting frame 300 and is not positioned relative to the battery swapping mechanism 20 and the mounting frame 300. For example, when the clamping member 33 is in the non-working position, its height may be lower than the height of the mounting frame 300, allowing the movable base 10 to move freely below the mounting frame 300. Optionally, when the clamping member 33 is in the non-working position, it can be parallel to the horizontal direction. Optionally, a groove 13 is formed on the surface of the movable base 10, and when the clamping member 33 is in the non-working position, it can be located within the groove 13.

[0101] The working position refers to the position where the clamping member 33 is close to the mounting frame 300, positioning the battery swapping mechanism 20 and the mounting frame 300. "Clamping member 33 close to the mounting frame 300" can be understood as the clamping member 33 contacting the mounting frame 300 along the first direction x, or the clamping member 33 being close to the mounting frame 300 along the first direction x, with the distance between them along the first direction x within the allowable battery swapping error. For example, when the clamping member 33 is in the working position, its height can be higher than the height of the mounting frame 300, allowing the clamping member 33 to cooperate with the mounting frame 300 along the first direction x, thus achieving the positioning of the battery swapping mechanism 20 and the mounting frame 300 along the first direction x.

[0102] In some embodiments, the clamping member 33 may be a clamping arm, which can approach the mounting frame 300 under the drive of the driving member 32.

[0103] Optionally, please refer to Figures 7 and 8. Figure 7 is a schematic diagram of the drive member 32 and the clamping member 33 when the clamping member 33 is in a non-working position in some embodiments of this application, and Figure 8 is a schematic diagram of the drive member 32 and the clamping member 33 when the clamping member 33 is in a working position in some embodiments of this application. The drive member 32 can drive the clamping member 33 to rotate about a first axis, causing the clamping member 33 to rotate to move closer to or away from the mounting frame 300. The drive member 32 can be a power output structure or component capable of outputting torque. For example, the drive member 32 includes a combination of a linear push rod and a connecting rod structure, or the drive member 32 includes a motor that directly outputs torque.

[0104] Optionally, please refer to Figure 9, which is a schematic diagram of the drive member 32 and clamping member 33 in some other embodiments of this application. The drive member 32 can provide at least two actions, one of which includes a lifting action and the other includes a lateral movement action. The lifting action can adjust the height of the clamping member 33 relative to the mounting frame 300, and the lateral movement action can move the clamping member 33 closer to or further away from the mounting frame 300. The drive member 32 can be a power output structure capable of at least two actions. For example, the drive member 32 includes a two-axis robotic arm, or the drive member 32 is a combination of multiple linear output structures. Taking Figure 9 as an example, the drive member 32 includes a lifting drive member 320 and a linear pusher member 321. The telescopic rod of the lifting drive member 320 is connected to the linear pusher member 321, and the output rod of the linear pusher member 321 is connected to the clamping member 33.

[0105] The above solution enables the clamping member 33 to switch between working and non-working positions by driving the driving member 32, thereby allowing the battery swapping device 100 to move between the battery swapping station and the battery pick-and-place device 200 under the drive of the moving base 10, and to position the battery swapping mechanism 20 and the mounting frame 300 at the battery swapping station, thereby improving the battery swapping efficiency of the battery swapping device 100.

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

[0107] Please refer to Figures 6 and 7, which show a first axis s, which may be perpendicular to a first direction x and parallel to a second direction y.

[0108] The clamping member 33 is rotatably connected to the movable base 10 about a first axis, such that the rotation point of the clamping member 33 remains stationary relative to the movable base 10. Power provided by the driving member 32 causes the free end of the clamping member 33 to rotate relative to the movable base 10. For example, the clamping member 33 is mounted on one side of the battery swapping mechanism 20 along the first direction x via a hinge shaft. When the driving member 32 operates, the clamping member 33 rotates about the hinge shaft, moving towards the mounting frame 300 above the battery swapping mechanism 20, thereby approaching the mounting frame 300 on the side along the first direction x.

[0109] In the above scheme, the clamping member 33 is rotatably mounted on the movable base 10 around the first axis, which allows the clamping member 33 to rotate under the drive of the drive member 32. Thus, the two clamping members 33 arranged in pairs can quickly perform clamping or unclamping actions, efficiently realize the positioning of the battery swapping mechanism 20 and the mounting frame 300, so as to improve the battery swapping efficiency of the battery 400 device.

[0110] In some other embodiments, the clamping member 33 is connected to the driving member 32, which is disposed on the movable base 10. The driving member 32 drives the clamping member 33 to rotate about a first axis so that the clamping member 33 switches between a working position and a non-working position.

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

[0112] In some embodiments, along the length of the clamping member 33, one end of the clamping member 33 is rotatably connected to the movable base 10 about a first axis, and the other end of the clamping member 33 is a free end, used to approach or move away from the mounting frame 300.

[0113] In some embodiments, the plane containing the side of the mounting frame 300 along the first direction x is parallel to the gravity direction z. Referring to Figures 4 and 6, when the clamping member 33 is in the working position, the length direction of the clamping member 33 is parallel to the gravity direction z, such that the side of the clamping member 33 facing the mounting frame 300 is parallel to the side of the mounting frame 300 facing the clamping member 33, thereby allowing the clamping member 33 to contact the side of the mounting frame 300 along the first direction x, or to accurately detect the offset of the clamping member 33 from the mounting frame 300 along the first direction x.

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

[0115] Optionally, the clamping member 33 has two stops under the drive of the driving member 32, one stop being a working position and the other a non-working position. A stop can be understood as the maximum position of the clamping member 33 under the drive of the driving member 32. For example, when the driving member 32 is a combination of a linear push rod and a linkage structure, the rotational stop of the clamping member 33 is limited by defining the linear push stroke of the linear push rod.

[0116] In the above scheme, when the clamping member 33 is in the working position, it is parallel to the direction of gravity z, so that the clamping member 33 can be parallel to the side of the mounting frame 300, so as to effectively determine the relative positional relationship between the mounting frame 300 and the battery swapping mechanism 20 along the first direction x, and achieve high-precision positioning of the two; when the clamping member 33 is not in the working position, it is parallel to the direction of gravity z, that is, parallel to the horizontal direction, which can reduce the risk of interference between the battery swapping device 100 and other structural components when it moves.

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

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

[0119] Understandably, when K minus L is 0mm, both clamping parts 33 are in the working position, which can hold the mounting frame 300 tightly.

[0120] This can be understood as follows: when the value of K minus L is not 0mm, and the two clamping members 33 are driven to rotate by the driving member 32, at least the following situations exist: Situation 1: One of the clamping members 33 can contact the mounting frame 300, thereby causing the movable base 10 or the battery swapping mechanism 20 to float, thus achieving the positioning of the battery swapping mechanism 20 and the mounting frame 300. Situation 2: When both clamping members 33 are in the working position, neither is in contact with the mounting frame 300, but the offset of the battery swapping mechanism 20 and the mounting frame 300 along the first direction x is within the allowable battery swapping accuracy error. For example, the positioning pin 21 on the battery swapping mechanism 20 guides the pin hole on the battery 400 to achieve final positioning, and the guiding positioning error of the positioning pin 21 and the pin hole can be less than or equal to 10mm.

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

[0122] The above solution limits the difference between the distance K between the two clamping members 33 when they are both in the working position and the dimension L of the mounting frame 300 along the first direction x, so that when the positioning mechanism 30 performs the clamping action, the error value between the battery swapping mechanism 20 and the mounting frame 300 is within the allowable range, thereby achieving the positioning of the battery swapping mechanism 20 and the mounting frame 300, meeting the battery swapping accuracy requirements, and thus improving the battery swapping efficiency of the battery swapping device 100.

[0123] According to some embodiments of this application, please refer to FIG5, the upper surface of the movable base 10 has a groove 13, and in the non-working position, the clamping member 33 is accommodated in the groove 13.

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

[0125] For example, the movable base 10 includes a housing with a groove 13 on the upper surface of the housing, and a clamping assembly 31 disposed inside the housing.

[0126] The above solution provides a groove 13 on the upper surface of the movable base 10, so that the clamping member 33 can be accommodated in the groove 13 when it is in a non-working position, thereby reducing the risk of interference with other structural components due to the protrusion of the clamping member 33, which would affect the movement of the battery swapping device 100.

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

[0128] According to some embodiments of this application, please refer to Figures 7 and 8. The clamping assembly 31 also includes a guide rail 34, a slider 35 and a transmission member 36. The guide rail 34 is fixed to the movable base 10 and extends along the first direction x. The slider 35 is slidably engaged with the guide rail 34. The driving member 32 is connected to the slider 35. One end of the transmission member 36 is movably connected to the slider 35 and the other end is movably connected to the clamping member 33.

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

[0130] The slider 35 is slidably engaged with the guide rail 34, and the driving member 32 is connected to the slider 35, enabling the slider 35 to slide along the first direction x on the guide rail. In some embodiments, when there are multiple guide rails 34, the slider 35 is slidably engaged with multiple guide rails 34.

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

[0132] This can be understood as follows: by limiting the sliding stroke of the slider 35, the rotation angle of the clamping member 33 can be limited so that the clamping member 33 can only switch between the working position and the non-working position. For example, by limiting the sliding stroke of the slider 35, the rotation angle of the clamping member 33 can be 90°, thereby switching between the non-working position perpendicular to the direction of gravity z and the working position parallel to the direction of gravity z.

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

[0134] In the above scheme, the driving component 32 is connected to the clamping component 33 through the guide rail 34, the slider 35 and the transmission component 36, which can limit the rotation angle of the clamping component 33, thereby effectively enabling the clamping component 33 to switch between the working position and the non-working position, ensuring the alignment accuracy of the clamping component 33 with the mounting frame 300 to a certain extent, and thus ensuring the positioning accuracy between the battery swapping mechanism 20 and the mounting frame 300, which is conducive to improving the battery swapping efficiency of the battery swapping device 100.

[0135] According to some embodiments of this application, please refer to Figures 8 and 10. Figure 10 is a schematic diagram of the battery swapping device 100 and the mounting frame 300 in some embodiments of this application.

[0136] The clamping assembly 31 also includes a first detection element 37 for detecting the offset of the mounting frame 300 and the battery swapping mechanism 20 in the second direction y, where the first direction x, the second direction y, and the gravity direction z are mutually perpendicular. The movable base 10 is configured to adjust its position in response to the offset measured by the first detection element 37 to position the battery swapping mechanism 20 and the mounting frame 300 in the second direction y.

[0137] In some embodiments, the clamping assembly 31 further includes a first detection element 37, which is used to detect the offset of the mounting frame 300 and the battery swapping mechanism 20 in the second direction y. The moving base 10 responds to the offset measured by the first detection element 37 by moving itself to adjust the position of the battery swapping mechanism 20 along the second direction y, thereby realizing the positioning of the battery swapping mechanism 20 and the mounting frame 300 along the second direction y.

[0138] Optionally, the first detection element 37 is disposed on the clamping element 33. When the clamping element 33 is in the working position, the first detection element 37 can detect the offset of the mounting frame 300 and the clamping element 33 in the second direction y, thereby detecting the offset of the mounting frame 300 and the battery swapping mechanism 20 along the second direction y. For example, the first detection element 37 can detect the distance between the outer contour surface of the mounting frame 300 along the second direction y and the clamping element 33, which can be the offset of the mounting frame 300 and the battery swapping mechanism 20 along the second direction y.

[0139] Optionally, the first detection element 37 may be disposed at the free end of the clamping element 33 and located on the side of the clamping element 33 facing the mounting frame 300.

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

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

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

[0143] Optionally, the first detection element 37 may include sensors such as gratings, limit switches, and laser rangefinders.

[0144] The above solution, by setting the first detection element 37 to detect the offset of the mounting frame 300 and the battery swapping mechanism 20 in the second direction y, enables the moving base 10 to travel the corresponding distance in response to the offset, thereby positioning the battery swapping mechanism 20 and the mounting frame 300 in the second direction y, which in turn helps to improve the battery swapping efficiency of the battery swapping device 100.

[0145] In some other embodiments, the first detection element 37 may be disposed in other parts of the battery swapping device 100. For example, the first detection element 37 may be disposed on the movable base 10, or the first detection element 37 may be disposed on one side of the battery swapping mechanism 20 along the second direction y, or the first detection element 37 may be disposed on both sides of the battery swapping mechanism 20 along the second direction y.

[0146] According to some embodiments of this application, the first detection element 37 is disposed on the clamping element 33.

[0147] Please refer to Figure 8. The first detection element 37 is located on the side of the clamping element 33 facing the mounting frame 300.

[0148] Optionally, the clamping member 33 has a hinged end and a free end, the hinged end rotating about a first axis, and the first detection member 37 disposed at the free end.

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

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

[0151] The above solution, by setting the first detection element 37 on the clamping element 33, can position the battery swapping mechanism 20 and the mounting frame 300 along the second direction y when the clamping element 33 is in the working position, that is, after the positioning of the battery swapping mechanism 20 and the mounting frame 300 along the first direction x is completed, thereby improving the battery swapping accuracy of the battery swapping mechanism 20 and improving the battery swapping efficiency of the battery swapping device 100.

[0152] According to some embodiments of this application, the first detection element 37 includes a grating, a limit switch, or a laser rangefinder sensor.

[0153] In the above scheme, the first detection component 37 can select a variety of sensor solutions to adapt to different needs, such as meeting different accuracy requirements or cost requirements.

[0154] According to some embodiments of this application, the clamping assembly 31 further includes a second detection element 38 for detecting the offset of the mounting frame 300 and the battery swapping mechanism 20 in a first direction x. The battery swapping mechanism 20 is configured to lock the battery 400 to the mounting frame 300 or unlock the battery 400 from the mounting frame 300 in response to the offset measured by the second detection element 38; and / or, the drive element 32 is configured to adjust the output power in response to the offset measured by the second detection element 38.

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

[0156] Optionally, the battery swapping mechanism 20 can replace the battery 400 on the mounting frame 300 in response to an offset measured by the second detection element 38. For example, when the offset detected by the second detection element 38 is within the allowable accuracy error range of the battery swapping mechanism 20, the battery swapping mechanism 20 can begin operating to lock the battery 400 onto or unlock the battery 400 from the mounting frame 300. For instance, the battery swapping mechanism 20 begins operating when the offset measured by the second detection element 38 is less than 10 mm.

[0157] Optionally, the drive unit 32 can adjust its output power in response to the offset measured by the second detection unit 38. For example, as the clamping member 33 switches from a non-working position to a working position, the offset measured by the second detection unit 38 gradually decreases. When the clamping member 33 approaches the mounting frame 300, the output power of the drive unit 32 decreases to reduce the rotational speed of the clamping member 33, thereby reducing the impact force of the clamping member 33 on the mounting frame 300. For example, as the clamping member 33 switches from a non-working position to a working position, the offset measured by the second detection unit 38 gradually decreases, but before the clamping member 33 is in the working position, the output power of the drive unit 32 decreases, reducing the rotational speed of the clamping member 33, causing the clamping member 33 to continue rotating at a low speed until it contacts the mounting frame 300, and causing the movable base 10 or the battery swapping mechanism 20 to float.

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

[0159] Optionally, the second detection element 38 may be disposed at the free end of the clamping element 33 and located on the side of the clamping element 33 facing the mounting frame 300.

[0160] Optionally, a recess is provided on the free end of the clamping member 33 facing the mounting frame 300, and the second detection member 38 can be disposed in the recess.

[0161] According to some embodiments of this application, the second detection element 38 is disposed on the clamping element 33.

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

[0163] In the above scheme, by setting the second detection element 38 on the clamping element 33, the offset of the mounting frame 300 and the battery swapping mechanism 20 in the first direction x can be effectively detected, thereby improving the detection efficiency and facilitating the improvement of the battery swapping efficiency of the battery swapping device 100.

[0164] According to some embodiments of this application, the second detection element 38 includes a grating, a limit switch, or a laser rangefinder sensor.

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

[0166] According to some embodiments of this application, please refer to FIG6. The positioning mechanism 30 includes at least two pairs of clamping components 31. The at least two pairs of clamping components 31 are spaced apart along the second direction y, and the first direction x, the second direction y and the gravity direction z are perpendicular to each other.

[0167] In some embodiments, the positioning mechanism 30 includes multiple pairs of clamping components 31, which are spaced apart along a second direction y. For example, the positioning mechanism 30 includes two pairs of clamping components 31, which are spaced apart along the second direction y, with two clamping components 31 in each pair respectively disposed on both sides of the battery swapping mechanism 20 along a first direction x.

[0168] The above solution, by setting multiple pairs of clamping components 31 spaced apart along the second direction y, enables the battery swapping device 100 and the mounting frame 300 to be stably positioned in the plane constructed by the second direction y and the gravity direction z, thereby improving the positioning accuracy of the positioning mechanism 30 in the first direction x, and thus improving the battery swapping efficiency of the battery swapping device 100.

[0169] According to some other embodiments of this application, please refer to FIG11, which is a schematic diagram of the structure of the battery swapping device 100 in some other embodiments of this application.

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

[0171] The mobile base 10 includes a chassis 11 and a floating platform 12. The chassis 11 may include an Automated Guided Vehicle (AGV) or a Rail Guided Vehicle (RGV), and is used to move the entire battery swapping device 100. The floating platform 12 is a support structure floating on the chassis 11, and the battery swapping mechanism 20 and the positioning mechanism 30 are disposed on the floating platform 12. In some embodiments, the floating platform 12 may be movably disposed on the chassis 11 along a first direction x. When the positioning mechanism 30 and the battery swapping mechanism 20 are working, they can be moved relative to the chassis 11 along the first direction x by the floating platform 12, thereby quickly positioning with the mounting frame 300. Optionally, a floating structure, such as an elastic structure, may be provided between the floating platform 12 and the chassis 11 along the first direction x, thereby enabling the floating platform 12 and the chassis 11 to move relative to each other along the first direction x.

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

[0173] In the above scheme, the battery swapping mechanism 20 and the positioning mechanism 30 are set on the chassis 11 via the floating platform 12, so that when the positioning mechanism 30 clamps the mounting frame 300, it can drive the battery swapping mechanism 20 to float under the reaction force of the mounting frame 300, adjust the position of the battery swapping mechanism 20, and realize the positioning of the battery swapping mechanism 20 and the mounting frame 300.

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

[0175] The mobile base 10 may include an Automated Guided Vehicle (AGV).

[0176] The above solution, by setting the mobile base 10 as an automatically guided vehicle, enables the battery swapping device 100 to move freely, meeting different battery swapping conditions and improving battery swapping efficiency.

[0177] According to some embodiments of this application, please refer to FIG1, a battery swapping system 1000 is also provided. The battery swapping system 1000 includes a battery pick-and-place device 200 and a battery swapping device 100 provided in the first aspect. The battery pick-and-place device 200 is used to remove the battery 400 from the battery swapping device 100 or place the battery 400 on the battery swapping device 100.

[0178] The battery pick-and-place device 200 is used to store the battery 400 and charge the battery 400. The battery pick-and-place device 200 may be equipped with a robotic arm, which can be used to remove the depleted battery 400 from the battery swapping device 100 and put it into the battery 400 charging device for recycling, and remove the fully charged battery 400 from the battery 400 charging device and place it on the battery swapping device 100.

[0179] The battery swapping device 100 can exchange batteries 400 between the power-consuming device and the battery pick-and-place device 200, thereby replacing the battery 400 of the power-consuming device.

[0180] According to some embodiments of this application, a battery swapping device 100 is provided, as shown in Figures 2-10.

[0181] The battery swapping device 100 is used to replace the battery 400 of a vehicle, the vehicle including a mounting frame 300 for mounting the battery 400. The battery swapping device 100 includes a movable base 10, a battery swapping mechanism 20, and a positioning mechanism 30. The battery swapping mechanism 20 is disposed on the movable base 10 and is used to lock the battery 400 onto the mounting frame 300 or unlock the battery 400 from the mounting frame 300. The positioning mechanism 30 is disposed on the movable base 10 and is used to clamp the mounting frame 300 from both sides along a first direction x, thereby positioning the battery swapping mechanism 20 and the mounting frame 300 in the first direction x, which is perpendicular to the gravity direction z.

[0182] Optionally, the mobile base 10 includes an automated guided vehicle, the navigation accuracy of which can be 20mm.

[0183] Optionally, the positioning pin 21 on the battery swapping mechanism 20 can cooperate with the pin hole on the battery 400 for guiding positioning, so as to achieve the final positioning of the battery swapping mechanism 20 and the mounting frame 300. The positioning error allowed by this guiding positioning is less than or equal to 10mm.

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

[0185] The clamping assembly 31 includes a drive member 32, a guide rail 34, a slider 35, a transmission member 36, and a clamping member 33. The guide rail 34 is fixed to the movable base 10 and extends along a first direction x. The slider 35 is slidably engaged with the guide rail 34. The drive member 32 is connected to the slider 35. One end of the transmission member 36 is movably connected to the slider 35, and the other end is movably connected to the middle of the clamping member 33. One end of the clamping member 33 is rotatably connected to the movable base 10 about a first axis, and the other end of the clamping member 33 is used to engage with the mounting frame 300. The first axis, the first direction x, and the gravity direction z are all perpendicular to each other. The drive member 32 can be a telescopic electric cylinder used to push the slider 35 to slide along the first direction x, thereby causing the clamping member 33 to rotate about the first axis, so that the clamping member 33 can switch between a working position (see Figure 6) and a non-working position (see Figure 5). In the working position, the length direction of the clamping member 33 is parallel to the gravity direction z. In the non-working position, the length direction of the clamping member 33 is perpendicular to the gravity direction z.

[0186] Understandably, when the battery swapping device 100 is performing a battery swapping operation, it navigates to the bottom of the vehicle's battery 400 via the movable base 10, and then performs precise positioning via the positioning mechanism 30, so that the positions of the battery swapping mechanism 20 and the battery 400 are within the allowable range (the allowable error range of the positioning pin 21). Subsequently, it performs precise positioning by using the positioning pin 21 on the battery swapping mechanism 20 and the pin hole on the battery 400. Then, the battery swapping mechanism 20 locks the battery 400 to the mounting frame 300 or unlocks the battery 400 from the mounting frame 300.

[0187] Understandably, when the battery swapping device 100 enters the bottom of the vehicle's battery 400, the height of the battery swapping device 100 should be lower than the lowest position of the battery 400. When the positioning mechanism 30 is performing positioning operations, and the clamping member 33 is in the working position, the height of the battery swapping device 100 should be between the highest and lowest positions of the mounting frame 300, so that the clamping member 33 can act on the mounting frame 300.

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

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

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

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

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

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

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

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

[0196] Location complete.

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

Claims

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

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

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

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

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

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

7. The battery swapping device according to any one of claims 4-6, wherein, The upper surface of the movable base has a groove, and in the non-working position, the clamping member is accommodated in the groove.

8. The battery swapping device according to any one of claims 4-7, wherein, The clamping assembly further includes a guide rail, a slider, and a transmission component. The guide rail is fixed to the movable base and extends along the first direction. The slider is slidably engaged with the guide rail. The driving component is connected to the slider. One end of the transmission component is movably connected to the slider, and the other end is movably connected to the clamping component.

9. The battery swapping device according to any one of claims 3-8, wherein, The clamping assembly further includes a first detection element, which is used to detect the offset of the mounting frame and the battery swapping mechanism in a second direction, wherein the first direction, the second direction, and the gravity direction are perpendicular to each other. The movable base is configured to adjust its position in response to an offset measured by the first detection element, so as to position the battery swapping mechanism and the mounting frame in the second direction.

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

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

12. The battery swapping device according to any one of claims 3-10, wherein, The clamping assembly further includes a second detection element, which is used to detect the offset of the mounting frame and the battery swapping mechanism in a first direction; The battery swapping mechanism is configured to lock the battery to the mounting frame or unlock the battery from the mounting frame in response to an offset measured by the second detection element. And / or, the drive is configured to adjust the output power in response to an offset measured by the second detector.

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

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

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

16. The battery swapping device according to any one of claims 1-15, wherein, The mobile base includes a chassis and a floating platform. The floating platform is movably disposed on the chassis along the first direction, and the battery swapping mechanism and the positioning mechanism are disposed on the floating platform.

17. The battery swapping device according to any one of claims 1-16, wherein, The mobile base includes an automated guided vehicle.

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

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