CN113618724A

CN113618724A - Battery replacing device and battery replacing station

Info

Publication number: CN113618724A
Application number: CN202110875463.2A
Authority: CN
Inventors: 宁子超; 孟得建; 李蒙福
Original assignee: Sany Heavy Industry Co Ltd
Current assignee: Sany Heavy Industry Co Ltd
Priority date: 2021-07-30
Filing date: 2021-07-30
Publication date: 2021-11-09

Abstract

The invention provides a battery replacing device and a battery replacing station, wherein the battery replacing device comprises a manipulator and a grabbing mechanism, the manipulator comprises a rotary base and an arm joint assembly rotationally connected with at least two arm joints, a first end of the arm joint assembly is rotationally connected with the rotary base, the grabbing mechanism is rotationally connected with a second end of the arm joint assembly, and a rotating axis of the first end of the arm joint assembly relative to the rotary base and a rotating axis of the grabbing mechanism relative to the second end of the arm joint assembly are parallel to each other and are both transversely arranged. The power exchanging system utilizes the manipulator to drive the grabbing mechanism to exchange power, and solves the problem that the parking position of a vehicle is high in requirement of a power exchanging station in the prior art.

Description

Battery replacing device and battery replacing station

Technical Field

The invention relates to the technical field of battery replacement, in particular to a battery replacement device and a battery replacement station.

Background

With the increasing demands for environmental protection and energy conservation, electric vehicles have become an important future development direction in the automobile industry. At present, a power battery pack is mostly installed on an electric automobile to provide power for the whole automobile. However, due to the limitation of the capacity of the power battery, the charging time of the whole vehicle is long, and therefore, the development of the battery replacement technology of the electric vehicle draws wide attention from all parties.

At present, a power station in the market generally adopts a travelling crane top hanging type and an RGV side grabbing type. A crane track is erected above the battery replacing station by the crane top-hung battery replacing station, and the crane top-hung battery replacing station is connected with the grabbing mechanism through a steel wire rope of a winch. The RGV side grabbing type battery replacing station drives the grabbing mechanism to replace the battery through the rail shuttle trolley. The arrangement of the rails limits the moving position of the grabbing mechanism, the precision requirement on the parking position of the battery replacing vehicle is high, the situation of repeatedly adjusting the position of the vehicle is easy to occur during parking, and time is wasted. In order to ensure the parking position of the vehicle, a positioning mechanism is required to be arranged on the parking platform, and the structure is complex.

Therefore, how to solve the problem that the parking position of the vehicle is required to be high by the power station in the prior art becomes an important technical problem to be solved by the technical personnel in the field.

Disclosure of Invention

The invention provides a battery replacing device and a battery replacing station, which are used for solving the defect that the requirement of the battery replacing station on the parking position of a vehicle is high in the prior art, reducing the requirement on the parking position of the vehicle and improving the battery replacing efficiency.

The invention provides a battery replacing device, which comprises a manipulator and a grabbing mechanism,

the manipulator includes that the axis of revolution is along the rotating base that vertical direction set up and rotate the arm festival subassembly of connecting by two at least arm festivals, the first end of arm festival subassembly with rotating base rotates to be connected, snatch the mechanism with the second end of arm festival subassembly rotates to be connected, the first end of arm festival subassembly for rotating base's axis of revolution with it for to snatch the mechanism the axis of revolution of the second end of arm festival subassembly is parallel to each other and all follows horizontal setting.

According to the battery replacing device provided by the invention, the grabbing mechanism comprises a top grabbing mechanism capable of grabbing the top of the battery pack and a side grabbing mechanism capable of grabbing the side surface of the battery pack, and any one of the top grabbing mechanism and the side grabbing mechanism can be detachably connected with the second end of the arm node assembly.

According to the battery replacing device provided by the invention, the top gripping mechanism and the side gripping mechanism respectively comprise a gripping assembly and a rotary support, one end of the rotary support is rotatably connected with the second end of the arm joint assembly, the other end of the rotary support is connected with the gripping assembly, and the rotary axis of the rotary support is perpendicular to the rotary axis of the gripping mechanism relative to the arm joint assembly.

According to the battery replacing device provided by the invention, the arm section assembly comprises a first arm section with a first end rotatably connected with the rotary base and a second arm section with a first end rotatably connected with a second end of the first arm section, the second end of the second arm section is rotatably connected with the grabbing mechanism,

the rotation axis of the second arm section relative to the first arm section is parallel to the rotation axis of the first arm section relative to the rotary base.

According to the battery replacement device provided by the invention, a first driving component for driving the first arm joint to rotate relative to the rotary base is arranged between the first arm joint and the rotary base,

a second driving component for driving the second arm section to rotate relative to the first arm section is arranged between the second arm section and the first arm section,

and a third driving assembly for driving the grabbing mechanism to rotate relative to the second arm section is arranged between the grabbing mechanism and the second arm section.

According to the power exchanging device provided by the invention, the first driving assembly, the second driving assembly and the third driving assembly comprise supports or tension lines with adjustable lengths.

According to the power switching device provided by the invention, the support piece is one of an electric cylinder, a hydraulic cylinder and an air cylinder.

According to the battery replacing device provided by the invention, the rotary base comprises a base, a rotary table rotationally connected with the base and a fourth driving assembly for driving the rotary table to rotate relative to the base, and the arm joint assembly is connected with the rotary table.

The invention further provides a battery replacing station which comprises a battery replacing device and a charging bin, wherein the battery replacing device is the battery replacing device, and the charging bin is arranged in a working area of the battery replacing device.

According to the power exchanging station provided by the invention, the plurality of charging bins are arranged, the plurality of charging bins are distributed along the circumferential direction of the power exchanging device to form a major arc shape, and the length direction of the charging bins is superposed with the extension line of the diameter of the major arc.

According to the power exchanging station provided by the invention, two groups of charging bins are arranged, the two groups of charging bins are symmetrically arranged on two sides of the power exchanging device, each group of charging bins are distributed along the circumferential direction of the power exchanging device to form a minor arc shape, the distances between the two groups of charging bins and the power exchanging device are equal, and the length direction of the charging bins is superposed with the extension line of the diameter of the minor arc.

The invention also provides a battery changing station, which comprises a battery changing device and a charging bin, wherein the battery changing device is the battery changing device, the charging bin is arranged in a working area of the battery changing device,

the charging device comprises a battery charging device and is characterized in that the charging bins are arranged in two groups, the charging bins are symmetrically arranged on two sides of the battery charging device, each group of the charging bins are distributed along a straight line, and the distribution directions of the two groups of the charging bins are parallel.

The battery replacing device provided by the invention comprises the manipulator and the grabbing mechanism, the battery replacing device at least has four degrees of freedom, and the manipulator can rotate around the rotary base along the circumferential direction while the execution end of the manipulator moves along the transverse direction and the vertical direction, so that the working area range of the execution end of the manipulator is enlarged. The manipulator can be used for driving the grabbing mechanism to move to a corresponding position to grab the battery pack for replacing the battery as long as the vehicle to be replaced stops in the working area range of the manipulator execution end, and the requirement on the parking position of the vehicle is lowered. The problem of trade among the prior art power station to the parking position of vehicle require highly is solved.

Further, the power swapping station provided by the present invention includes the power swapping device described above, and thus has various advantages as described above.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic structural view of a manipulator provided by the present invention when connected with a top gripping mechanism;

FIG. 2 is a schematic structural view of the manipulator provided by the present invention when connected with a side-gripping mechanism;

fig. 3 is a schematic view showing a distribution manner of the charging bins around the battery replacing device according to the present invention;

fig. 4 is a schematic diagram showing a distribution mode of the charging bins around the battery replacing device according to the present invention;

fig. 5 is a schematic diagram showing a distribution mode of the charging bins around the battery replacing device according to the present invention;

reference numerals:

1: a manipulator; 2: a rotating base; 3: a first arm section;

4: a second arm section; 5: a first drive assembly; 6: a second drive assembly;

7: a third drive assembly; 8: a top gripping mechanism; 9: a side grabbing mechanism;

10: a battery pack; 11: and (4) waiting for replacing the electric vehicle.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The battery swapping device of the present invention is described below with reference to fig. 1 to 2.

As shown in fig. 1 to 2, the battery swapping device provided in an embodiment of the present invention includes a manipulator 1 and a grasping mechanism, specifically, the manipulator 1 includes a rotating base 2 and an arm joint assembly, the arm joint assembly includes at least two arm joints that are rotatably connected, a first end of the arm joint assembly is rotatably connected to the rotating base 2, and the grasping mechanism is rotatably connected to a second end of the arm joint assembly, that is, the battery swapping device in an embodiment of the present invention has at least four degrees of freedom.

The first end of arm festival subassembly is parallel to each other and all sets up along transversely for the axis of rotation of rotating base 2 and the rotation axis of grabbing the mechanism for the second end of arm festival subassembly, can realize that 1 execution end of manipulator moves along transversely and along vertical removal. When the rotary base 2 of the manipulator 1 is arranged on the ground, the transverse direction is a horizontal direction, and the execution end of the manipulator 1 moves along the horizontal direction and a vertical direction. Meanwhile, the rotary axis of the rotary base 2 is arranged along the vertical direction, so that the arm joint assembly can rotate around the rotary base 2 in the horizontal plane, and the working area range of the execution end of the manipulator 1 is enlarged.

Snatch the mechanism through control and hold the rotation for the second of arm festival subassembly, avoid snatching the angular state of mechanism and receive the influence of the angular state of the terminal arm festival of arm festival subassembly, ensure to snatch the mechanism and keep the horizontality, guarantee to snatch the mechanism and can make battery package 10 with insert the smooth butt joint of electric interface, avoid because of battery package 10 produces the damage of the interface on inserting electric interface and the battery package 10 that the slope leads to under the drive of snatching the mechanism.

So set up, wait to trade electric vehicle 11 as long as stop in the work area within range of manipulator 1 execution end, can utilize manipulator 1 to order about to snatch the mechanism and remove to the relevant position and snatch battery package 10 and trade the electricity, reduced the requirement to the parking position of vehicle. The problem of trade among the prior art power station to the parking position of vehicle require highly is solved.

In addition, the rotary base 2 and each arm section of the manipulator 1 are of rigid structures, the grabbing mechanism is high in stability in the power exchanging process, and compared with a mode that a steel wire rope is connected with the grabbing mechanism in a travelling crane top-hung type power exchanging station, the difficulty that the grabbing mechanism grabs the battery pack 10 and aligns the battery pack 10 with the power inserting interface is reduced, and the power exchanging efficiency can be improved.

In the embodiment of the present invention, the grabbing mechanism includes a top grabbing mechanism 8 and a side grabbing mechanism 9, the top grabbing mechanism 8 can grab the top of the battery pack 10, and the side grabbing mechanism 9 can grab the side of the battery pack 10. Either of the top catch mechanism 8 and the side catch mechanism 9 described above can be removably connected to the second end of the arm segment assembly.

For the battery pack 10 needing to be grabbed from the top, the top grabbing mechanism 8 is arranged at the second end of the arm section assembly of the manipulator 1, the manipulator 1 is controlled to move the top grabbing mechanism 8 to the position above the battery pack 10 in an empty state on the vehicle 11 to be replaced or to the position above the battery pack 10 in a full state on the charging bin, and then the manipulator 1 is controlled to drive the top grabbing mechanism 8 to move downwards, so that the battery pack 10 can be grabbed from the top of the battery pack 10. After the action of grabbing the battery pack 10 is completed, the manipulator 1 is controlled to drive the top grabbing mechanism 8 to move upwards, and after the battery pack 10 is disconnected with the plug-in interface, the manipulator 1 is controlled to drive the top grabbing mechanism 8 to switch positions between the vehicle 11 to be changed and the charging bin. The action process of the manipulator 1 for controlling the top gripping mechanism 8 when the battery pack 10 is plugged into the plug-in interface is opposite to the action process of the manipulator 1 for controlling the top gripping mechanism 8 when the battery pack 10 is not plugged into the plug-in interface.

For the battery pack 10 which needs to be grabbed from the side face, the side grabbing mechanism 9 is arranged at the second end of the arm section assembly of the manipulator 1, the manipulator 1 is controlled to move the side grabbing mechanism 9 to the side face of the battery pack 10 in an empty state on the vehicle 11 to be replaced or to the side face of the battery pack 10 in a full state on the charging bin, and then the manipulator 1 is controlled to drive the side grabbing mechanism 9 to be close to the battery pack 10 in the horizontal direction, so that the battery pack 10 can be grabbed from the side face of the battery pack 10. After the action of grabbing the battery pack 10 is completed, the manipulator 1 is controlled to drive the side grabbing mechanism 9 to be far away from the battery pack 10 along the horizontal direction, and after the battery pack 10 is disconnected with the plug-in interface, the manipulator 1 is controlled to drive the side grabbing mechanism 9 to switch positions between the vehicle 11 to be changed and the charging bin. The action process of the manipulator 1 for controlling the side grabbing mechanism 9 when the battery pack 10 is plugged into the plug-in interface is opposite to the action process of the manipulator 1 for controlling the side grabbing mechanism 9 when the battery pack 10 is not plugged into the plug-in interface.

To sum up, different grabbing mechanisms are switched at the execution end of the manipulator 1, so that battery packs 10 with different structures can be grabbed.

When the demand for the top-gripping type power exchanging station is increased and the demand for the opposite-side gripping type power exchanging station is reduced, the side-gripping mechanism 9 on the manipulator 1 of the side-gripping type power exchanging station can be replaced by the top-gripping mechanism 8, a new top-gripping type power exchanging station does not need to be additionally established, and the side-gripping type power exchanging station is prevented from being idle. When the demand of the opposite-side grab type power exchanging station is increased and the demand of the opposite-side grab type power exchanging station is reduced, the top grab mechanism 8 on the manipulator 1 of the top grab type power exchanging station can be replaced by the side grab mechanism 9, a new side grab type power exchanging station does not need to be additionally established, and the situation that the top grab type power exchanging station is idle is avoided. Therefore, the management is convenient, and the cost is reduced.

It should be noted that, for the switching between the top gripping mechanism 8 and the side gripping mechanism 9 on the manipulator 1, an automatic replacing mechanism may be provided for replacement, or manual replacement may be performed.

In the embodiment of the invention, the top gripping mechanism 8 and the side gripping mechanism 9 both comprise a gripping assembly and a rotary support, one end of the rotary support is rotatably connected with the second end of the arm joint assembly of the manipulator 1, the other end of the rotary support is connected with the gripping assembly, and the rotary axis of the rotary support is perpendicular to the rotary axis of the gripping mechanism relative to the arm joint assembly. The grabbing component can be controlled to rotate relative to the arm joint component of the manipulator 1 through the rotary support. The grabbing mechanism is arranged along the horizontal direction relative to the rotation axis of the arm section assembly, and the grabbing mechanism is kept in the horizontal state, so that the rotation axis of the rotating support is arranged along the vertical direction.

And positioning structures can be arranged between the top gripping mechanism 8 and the side gripping mechanism 9 and the battery pack and used for positioning the gripping positions. The positioning structure comprises a positioning column and a positioning hole, wherein the positioning column is arranged on the rotary support and is positioned around the grabbing assembly. The positioning holes are provided on the battery pack 10, and the shape of the positioning holes may be determined according to the grasping process. In the grabbing action process of the grabbing assembly, if relative movement exists between the rotary support and the battery pack 10, the positioning hole needs to be set to be a waist-shaped hole, and the length direction of the waist-shaped hole is consistent with the relative movement direction between the rotary support and the battery pack 10.

When the grabbing mechanism grabs the battery pack 10 in the empty state and moves to the upper side of the empty charging bin, if the length direction of the battery pack 10 is inconsistent with the requirement of the empty charging bin on the length direction of the battery pack 10, the grabbing component can be controlled to rotate through the rotary support, the requirement of the length direction of the battery pack 10 on the length direction of the battery pack 10 is consistent with the requirement of the empty charging bin on the length direction of the battery pack 10, the battery pack 10 in the empty state grabbed by the grabbing mechanism can be smoothly placed in the empty charging bin, and the adaptability of the grabbing component to the position angle of the battery pack 10 is improved.

The slewing bearing comprises a first support, a second support and a driving piece, wherein the second support is rotatably connected with the first support, the driving piece is used for driving the second support to rotate relative to the first support, the first support is connected with the second end of the arm section assembly, the second support is connected with the grabbing assembly, and the rotary connection between the second support and the first support can be realized by utilizing the slewing bearing. The motor can be selected for use by the driving part, and the motor is in transmission connection with the second support through the gear transmission mechanism, so that the rotation of the second support can be realized by the motor operation.

It should be noted that, both the grabbing component of the top grabbing mechanism 8 and the grabbing component of the side grabbing mechanism 9 may be provided in the form of hooks, which can be implemented by those skilled in the art by using the prior art and conventional technical means, and therefore, the details are not described herein again.

In the embodiment of the present invention, the arm section assembly has two arm sections, specifically, the arm section assembly includes a first arm section 3 and a second arm section 4, wherein a first end of the first arm section 3 is rotatably connected to the rotating base 2, a first end of the second arm section 4 is rotatably connected to a second end of the first arm section 3, and the grabbing mechanism is rotatably connected to a second end of the second arm section 4. The rotation axis of the second arm section 4 relative to the first arm section 3 is parallel to the rotation axis of the first arm section 3 relative to the rotating base 2, and is perpendicular to the plane of the first arm section 3 and the second arm section 4.

It should be noted that the rotational connection between the first arm section 3 and the rotating base 2, the rotational connection between the second arm section 4 and the first arm section 3, and the rotational connection between the grabbing mechanism and the second arm section 4 may be implemented by using a hinge shaft in a hinged manner. The rotation axis of the first arm section 3 relative to the rotating base 2, the rotation axis of the second arm section 4 relative to the first arm section 3, and the rotation axis of the grabbing mechanism relative to the second arm section 4 are the axes of the hinge shafts at the three hinge positions, respectively. When the rotating base 2 is fixed on the ground, the rotating axis of the rotating base 2 is arranged along the vertical direction, and the articulated shafts at the three positions are arranged along the horizontal direction.

Through the turned angle of adjustment first arm festival 3 for rotating base 2 and the turned angle of second arm festival 4 for first arm festival 3, can adjust the horizontal distance and the vertical distance of second end for rotating base 2 of second arm festival 4 to the distance and the height of grabbing the mechanism and obtaining adjusting for rotating base 2.

A first driving component 5 is arranged between the first arm section 3 and the rotating base 2 and used for driving the first arm section 3 to rotate relative to the rotating base 2. A second drive assembly 6 is provided between the second arm section 4 and the first arm section 3 for urging the second arm section 4 relative to the first arm section 3. A third driving component 7 is arranged between the grabbing mechanism and the second arm section 4 and is used for driving the grabbing mechanism to rotate relative to the second arm section 4. The action of the manipulator 1 can be controlled through the first driving assembly 5 and the second driving assembly 6, so that the grabbing position of the grabbing mechanism is adjusted, and meanwhile, the third driving assembly 7 controls the relative rotation between the grabbing mechanism and the second arm section 4, so that the battery pack 10 grabbed by the grabbing mechanism is always in a horizontal state.

The first drive assembly 5, the second drive assembly 6 and the third drive assembly 7 are identical in structure principle and comprise supports or tension lines with adjustable lengths. The first driving assembly 5, the second driving assembly 6 and the third driving assembly 7 may adopt supporting members at the same time, or may adopt tension wires at one part of the positions and supporting members at the other part of the positions.

The tension wire is a flexible part and needs to be arranged on one side of the adjacent components which is subjected to tension. The tension line can be a steel wire rope, and the length of the tension line can be adjusted by a winch. As shown in fig. 1 and 2, a tension line may be disposed on the left side of the first arm section 3 and the second arm section 4, specifically, the winch may be fixed on the first arm section 3, one end of the steel wire rope is wound on the winch, and the other end of the steel wire rope is fixed on the second arm section 4, so that the steel wire rope, the first arm section 3 and the second arm section 4 form a triangle with variable side length, the length of the steel wire rope changes, and the included angle between the first arm section 3 and the second arm section 4 changes accordingly, thereby adjusting the relative position of the second arm section 4 and the first arm section 3.

The support member is a rigid member and can be disposed on either the side of the adjacent members that is under tension, as in the position of the second drive assembly 6 in fig. 1, or the side of the adjacent members that is under compression, as in the positions of the first drive assembly 5 and the third drive assembly 7 in fig. 1. The support member may be one of an electric cylinder, a hydraulic cylinder and a pneumatic cylinder, and may be driven by an electric circuit, a hydraulic system or a pneumatic system. The control processes of the telescopic actions of the electric cylinder, the hydraulic cylinder and the air cylinder are mature prior art and are not described again here.

The both ends of the support piece of first drive assembly 5 rotate with first arm festival 3 and rotating base 2 respectively and are connected, the both ends of the support piece of second drive assembly 6 rotate with first arm festival 3 and second arm festival 4 respectively and are connected, the both ends of the support piece of third drive assembly 7 rotate with second arm festival 4 and snatch the mechanism respectively and be connected, the axis of rotation of above-mentioned six positions all is parallel to each other, and is parallel for rotating axis of rotating base 2 with first arm festival 3, rotate the axis promptly and all set up along the horizontal direction.

In the following, reference is made to fig. 1, which illustrates an example in which a hydraulic cylinder is provided as a support between the second arm segment 4 and the top gripping mechanism 8. The pneumatic cylinder includes cylinder and the piston rod that can relative movement, and the one end of keeping away from the piston rod with the cylinder passes through the articulated shaft and articulates in the middle part of second arm festival 4, and the one end of keeping away from the cylinder with the piston rod passes through the articulated shaft and articulates on grabbing mechanism 8 on the top, and the horizontal direction setting is all followed to two articulated shafts. The relative movement between the piston rod and the cylinder barrel is controlled by a hydraulic system, so that the top gripping mechanism 8 can be driven to rotate around a horizontal axis.

It should be noted that the end of each supporting member is connected with the first arm section 3, the second arm section 4, the rotating base 2 and the grabbing mechanism in a rotating manner, and all the supporting members can be hinged by using a hinge shaft, and the axis of the hinge shaft is arranged along the horizontal direction.

In the embodiment of the present invention, the rotating base 2 includes a base, a turntable, and a fourth driving assembly, the first end of the first arm section 3 is rotatably connected to the turntable, and the turntable is rotatably connected to the base. The rotary connection between the turntable and the base can be realized by a slewing bearing. The slewing bearing comprises an inner ring and an outer ring which can rotate relatively, the inner ring is fixedly connected with the rotary table through the connecting shaft, the outer ring is fixedly connected with the base, the connecting shaft is driven to rotate through the fourth driving assembly, and therefore the rotary table can rotate relative to the base.

The fourth driving assembly can be set to be in a motor driving mode and specifically comprises a motor, a speed reducer and a transmission mechanism arranged between the speed reducer and the connecting shaft. The transmission mechanism can be a gear transmission mechanism, a belt transmission mechanism and the like. Use gear drive as drive mechanism to explain as an example, but the setting of dead axle pivoted of driving gear is on the base, but driven gear dead axle pivoted setting is on the revolving stage, and motor and speed reducer are fixed on the base, drive the driving gear through the motor and rotate to driven gear drives the revolving stage and rotates for the base, so, realizes the gyration of rotary base 2.

When the grabbing mechanism is the top grabbing mechanism 8, the operation process of the battery replacing device provided by the embodiment is as follows:

the electric vehicle 11 to be replaced stops within the working area range of the execution end of the manipulator 1;

controlling the rotary base 2 to rotate, and enabling the top gripping mechanism 8 to move towards the vehicle 11 to be replaced until the top gripping mechanism 8 moves to the position above the battery pack 10 in the empty state on the vehicle 11 to be replaced and the position corresponds to the position;

controlling the top grabbing mechanism 8 to grab the battery pack 10 in the empty state;

the first driving component 5 and the second driving component 6 drive the top gripping mechanism 8 to drive the battery pack 10 in the empty state to move upwards, and meanwhile, the third driving component 7 drives the top gripping mechanism 8 to rotate relative to the second arm section 4 so as to ensure that the battery pack 10 in the empty state is in a horizontal state;

after the battery pack 10 in the empty state is separated from the plug-in interface on the vehicle 11 to be powered, the rotary base 2 is controlled to drive the grabbing component to move to the empty charging bin until the battery pack 10 in the empty state is positioned above the empty charging bin and corresponds to the empty charging bin;

if the battery pack 10 in the empty state is not aligned with the charging bin in the empty state, the grabbing component can be driven to rotate by controlling the rotary support until the battery pack 10 in the empty state is aligned with the charging bin in the empty state;

the first driving component 5 and the second driving component 6 drive the top gripping mechanism 8 to drive the battery pack 10 in the empty state to move downwards, and meanwhile, the third driving component 7 drives the top gripping mechanism 8 to rotate relative to the second arm section 4 so as to ensure that the battery pack 10 in the empty state is in a horizontal state;

after the battery pack 10 in the empty state is plugged with the plug-in interface of the charging bin in the empty state, the top grabbing mechanism 8 is controlled to release the battery pack 10 in the empty state;

the first driving assembly 5, the second driving assembly 6 and the third driving assembly 7 are combined to control the rotary base 2, so that the grabbing assembly is driven to move towards the charging bin of the battery pack 10 in the full-charge state until the grabbing assembly moves to the position above the battery pack 10 in the full-charge state and the position of the grabbing assembly corresponds to that of the battery pack 10 in the full-charge state;

controlling the top grabbing mechanism 8 to grab the battery pack 10 in the full-power state;

the first driving component 5 and the second driving component 6 drive the top gripping mechanism 8 to drive the battery pack 10 in the full-charge state to move upwards, and simultaneously the third driving component 7 drives the top gripping mechanism 8 to rotate relative to the second arm section 4 so as to ensure that the battery pack 10 in the full-charge state is in a horizontal state;

after the battery pack 10 in the full charge state is separated from the plug-in interface on the vehicle 11 to be powered, the rotary base 2 is controlled to drive the grabbing component to move towards the vehicle 11 to be powered until the battery pack 10 in the full charge state moves to the position above the battery pack mounting position of the vehicle 11 to be powered and the position corresponds to the battery pack mounting position;

if the battery pack 10 in the full-charge state is not aligned with the battery pack mounting position, the grabbing assembly can be driven to rotate by controlling the rotary support until the battery pack 10 in the full-charge state is aligned with the battery pack mounting position;

the first driving component 5 and the second driving component 6 drive the top gripping mechanism 8 to drive the battery pack 10 in the full-charge state to move downwards, and simultaneously the third driving component 7 drives the top gripping mechanism 8 to rotate relative to the second arm section 4 so as to ensure that the battery pack 10 in the full-charge state is in a horizontal state;

the battery pack 10 in the full-charge state is inserted into the plug-in interface of the battery pack mounting position, and the top grabbing mechanism 8 is controlled to release the battery pack 10 in the full-charge state;

through the first driving assembly 5, the second driving assembly 6 and the third driving assembly 7 and by combining with the control of the rotary base 2, the grabbing assembly is driven to be far away from the vehicle 11 to be replaced, and the battery replacing process is completed.

When the grabbing mechanism is the side grabbing mechanism 9, except that the control process of the relative position of the grabbing component and the battery pack 10 or the charging bin is different, the other operation processes are basically consistent, and the detailed description is omitted here.

On the other hand, an embodiment of the present invention further provides a battery swapping station, which includes the battery swapping device and the charging bin in the foregoing embodiments, and the charging bin is disposed in a working area of the battery swapping device. The working area range of the battery replacing device is large, so long as the vehicle 11 to be replaced stops in the working area range of the execution end of the manipulator 1, the manipulator 1 can be used for driving the grabbing mechanism to move to the corresponding position to grab the battery pack 10 for replacing the battery, the requirement on the parking position of the vehicle is reduced, and the problem that the requirement on the parking position of the vehicle of a battery replacing station in the prior art is high is solved. The derivation process of the beneficial effect of the battery swapping station in the embodiment of the present invention is substantially similar to the derivation process of the beneficial effect of the battery swapping device, and therefore, details are not repeated here.

The power swapping station of the present invention is described below with reference to fig. 3 to 5.

The charging bin in the embodiment of the invention can be provided in plurality. The plurality of charging bins are arranged around the battery replacing device, are distributed along the circumferential direction of the battery replacing device to form a major arc shape, and the length direction of the charging bins is overlapped with the extension line of the diameter of the major arc. At this time, the vehicle 11 to be replaced may be parked on the side of the battery replacing device where the charging bin is not provided, as shown in fig. 3.

In the embodiment of the invention, when a plurality of charging bins are arranged, the charging bins can be divided into two groups, so that the two groups of charging bins are symmetrically arranged at two sides of the battery replacing device. Each group of charging bins are distributed along the circumferential direction of the battery replacing device to form a minor arc shape, the distance between the two groups of charging bins and the battery replacing device is equal, and the length direction of each charging bin is superposed with the extension line of the diameter of the minor arc. At this time, the vehicle 11 to be replaced is parked at the end parts of the two groups of charging chambers, and preferably, the battery pack 10 on the vehicle 11 to be replaced is positioned on the arc where the minor arc is positioned, as shown in fig. 4.

Among the above-mentioned two kinds of layout forms of arc type, when every group includes two storehouse of charging at least, can charge the corresponding tray of storehouse configuration to every group, be convenient for to the transport and the management in storehouse of charging.

Among the overall arrangement form of above-mentioned two kinds of arcs, because the distance between each battery package 10 and the rotating base 2 is the same, snatch the mechanism and place the battery package 10 back of empty electricity state in to the storehouse that charges, can directly make manipulator 1 drive through rotating base 2 and snatch the mechanism and remove to the position that corresponds with the storehouse that charges of battery package 10 that has full electricity state, need not to adjust the contained angle between first arm festival 3 and rotating base 2 and the contained angle between second arm festival 4 and the first arm festival 3, be favorable to improving and trade electric efficiency. In this case, the gripping mechanism may be the top gripping mechanism 8 or the side gripping mechanism 9. When selecting for use side to grab mechanism 9 and when grabbing the mechanism, can arrange at least two-layer about the storehouse that charges, under the condition that does not increase area, increase the quantity in storehouse that charges.

In the layout form of the two groups of charging bins, the distance between the charging bins and the battery replacing device can be reduced, so that the occupied area of the battery replacing station is reduced when the number of the charging bins of the battery replacing station is the same. At this time, the grabbing mechanism needs to be moved above the charging bin in the battery replacement process, and the top grabbing mechanism 8 is suitable to be used as the grabbing mechanism.

The grabbing mechanism can move in the area surrounded by the charging bin by increasing the distance between the charging bin and the battery replacing device, as shown in fig. 4, at the moment, the whole height of the manipulator 1 is relatively small due to the fact that the extending angles of all arm sections of the manipulator 1 are large, and the height of the battery replacing station is favorably reduced. In this case, it is preferable to select the side gripper 9 as the gripping mechanism.

The two layout forms can be selected according to the specific situation of a construction site.

In another aspect, an embodiment of the present invention further provides a battery replacement station, which includes the above battery replacement device with a rotating bracket and a charging bin, where the charging bin is disposed in a working area of the battery replacement device. The grabbing component of the battery replacing device is connected with the manipulator through the rotary support.

When a plurality of charging bins are arranged, the charging bins are divided into two groups, so that the two groups of charging bins are symmetrically arranged on two sides of the battery replacing device. Every group all distributes along the straight line to the distribution direction of two sets of storehouse that charges is parallel. At this time, the vehicle to be charged 11 may be parked at the ends of the two sets of charging bays, as shown in fig. 5. The charging cabinet is arranged between the two groups of charging bins, each charging cabinet corresponds to each charging bin, the rotary base 2 and the first arm section 3 of the battery replacing device are positioned between the two groups of charging bins, and the second arm section 4 and the grabbing mechanism move above the charging bins, so that the battery replacing device has the advantage of compact structure. In this case, it is preferable to select the top gripping mechanism 8 as the gripping mechanism.

In the battery replacing process, the grabbing component is controlled to rotate through the rotary support according to the difference of the relative angles of the battery pack 10 and the grabbing mechanism, and the position angle of the grabbing component is adjusted to accurately take and place the battery pack 10.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A battery replacement device is characterized by comprising a manipulator and a grabbing mechanism,

2. The battery swapping device of claim 1, wherein the gripping mechanism comprises a top gripping mechanism capable of performing a gripping action on a top of the battery pack and a side gripping mechanism capable of performing a gripping action on a side of the battery pack, and either of the top gripping mechanism and the side gripping mechanism is detachably connected to the second end of the arm segment assembly.

3. The battery swapping device as claimed in claim 2, wherein each of the top gripping mechanism and the side gripping mechanism comprises a gripping assembly and a rotating bracket, one end of the rotating bracket is rotatably connected with the second end of the arm joint assembly, the other end of the rotating bracket is connected with the gripping assembly, and a rotation axis of the rotating bracket is perpendicular to a rotation axis of the gripping mechanism relative to the arm joint assembly.

4. The battery swapping device of claim 1, wherein the arm segment assembly comprises a first arm segment having a first end rotatably connected to the swivel base and a second arm segment having a first end rotatably connected to a second end of the first arm segment, the second end of the second arm segment being rotatably connected to the grasping mechanism,

5. The battery swapping device as in claim 4, wherein a first driving assembly for driving the first arm joint to rotate relative to the rotating base is arranged between the first arm joint and the rotating base,

6. The swapping device of claim 5, wherein the first drive assembly, the second drive assembly, and the third drive assembly comprise a length-adjustable support or a tension wire.

7. The swapping device of claim 6, wherein the support is one of an electric cylinder, a hydraulic cylinder, and an air cylinder.

8. The battery swapping device as in claim 1, wherein the rotating base comprises a base, a turntable rotatably connected to the base, and a fourth driving assembly for driving the turntable to rotate relative to the base, and the arm joint assembly is connected to the turntable.

9. An electricity swapping station, characterized by comprising an electricity swapping device and a charging bin, wherein the electricity swapping device is the electricity swapping device as claimed in any one of claims 1 to 8, and the charging bin is arranged in a working area of the electricity swapping device.

10. The power exchanging station as claimed in claim 9, wherein the charging bin is provided in plurality, the plurality of charging bins are distributed along the circumferential direction of the power exchanging device in a major arc shape, and the length direction of the charging bin coincides with the extension line of the diameter of the major arc.

11. The power exchanging station according to claim 9, wherein the charging bins are arranged in two groups, the two groups of charging bins are symmetrically arranged on two sides of the power exchanging device, each group of charging bins are distributed along the circumferential direction of the power exchanging device in a minor arc shape, the distances between the two groups of charging bins and the power exchanging device are equal, and the length direction of the charging bins is coincident with the extension line of the diameter of the minor arc.

12. A battery replacing station, characterized by comprising a battery replacing device and a charging bin, wherein the battery replacing device is the battery replacing device as claimed in claim 3, the charging bin is arranged in the working area of the battery replacing device,