CN114161985A

CN114161985A - Automatic battery replacement method for chassis of pure electric passenger car

Info

Publication number: CN114161985A
Application number: CN202111513195.6A
Authority: CN
Inventors: 陈广大; 谢志广
Original assignee: Smart Ride Dongguan Intelligent Technology Co ltd
Current assignee: Smart Ride Dongguan Intelligent Technology Co ltd
Priority date: 2021-12-12
Filing date: 2021-12-12
Publication date: 2022-03-11

Abstract

The invention provides a chassis battery replacing system of a pure electric passenger car, wherein a battery automatic extracting and conveying unit is used for automatically extracting and conveying batteries; the automatic switching positioning unit is used for three-dimensional positioning of the vehicle with the battery to be replaced; the unit for automatically unlocking, disassembling, installing and locking the battery of the electric vehicle also comprises the automatic unlocking, disassembling, installing and locking of the battery of the electric vehicle to be replaced; the insufficient battery and full battery exchange unit is used for realizing the exchange of the insufficient battery and the full battery with the unit for automatically unlocking, disassembling, installing and locking the battery of the electric vehicle and the automatic battery extracting and conveying unit; the battery pack storage and charging management unit is used for charging and storing the battery. The pure electric vehicle realizes the functions of quick automatic electricity taking, full-charge battery conveying, insufficient battery receiving and insufficient battery conveying.

Description

Automatic battery replacement method for chassis of pure electric passenger car

Technical Field

The invention belongs to the field of electric automobiles, and particularly relates to a method for automatically extracting, conveying and supplying full-charge batteries of vehicles and receiving, conveying and warehousing insufficient-charge batteries.

Background

With the large popularization of electric automobiles and the long consumption of the electric automobiles in the charging process; how to rapidly and effectively supply electric energy for the electric automobile becomes a problem which is urgently concerned by an owner. Thus, battery replacement is a concern.

The existing market for replacing batteries is basically one vehicle for one electricity and one electricity for one station, so that a large amount of resource waste is caused, and the development of the electricity replacement industry is seriously influenced. If the problem that the battery of multiple models can be replaced by one battery replacing station is solved.

The battery replacement scheme is usually performed in a special electric vehicle power exchange station. The power-shortage battery on the electric automobile is accurately dismounted by the power-replacement trolley in the power-replacement process, and the fully-charged battery is replaced on the electric automobile. In this process, the extraction, transport, supply and reception, transport and warehousing of the batteries are particularly important.

Disclosure of Invention

The invention provides a quick battery replacement method for a chassis of a pure electric passenger vehicle.

The technical scheme of the invention is as follows:

an automatic battery replacement method for a chassis of a pure electric passenger car comprises the following steps:

s1: three-dimensional positioning of the vehicle with the battery to be replaced by the automatic adjusting and positioning unit;

s2: a battery automatic extraction and transportation unit automatically extracts and transports the fully charged battery;

meanwhile, the unit for automatically unlocking, disassembling, installing and locking the battery of the electric vehicle automatically unlocks and disassembles the power-shortage battery of the vehicle to be replaced;

s3: the exchange step of the insufficient battery and the full battery is realized by the automatic unlocking, dismounting, mounting and locking unit of the insufficient battery and the full battery exchange unit and the automatic battery extracting and conveying unit of the electric vehicle;

s4: automatically conveying and warehousing the insufficient battery by a battery automatic extraction and conveying unit;

and simultaneously, automatically unlocking, disassembling, installing and locking the battery of the electric vehicle, and automatically installing and locking the full-charge battery of the unit to-be-replaced vehicle.

Further, the three-dimensional positioning step includes:

a1 the lifting platform moves up and down under the drive of the first lifting device to adjust and position the Z axis of the vehicle height;

a2 vehicle is provided with a vehicle transverse adjusting and positioning device and a vehicle longitudinal adjusting X-axis positioning step through a platform;

a3 vehicle side adjusting back-up roller and vehicle front and rear adjusting device, when adjusting the vehicle laterally, the vehicle tire moves on the roller to adjust the Y-axis positioning step.

Further, the automatic extraction and transportation step of the full-charge battery comprises the following steps:

b1 servo motor drives the worm reducer to rotate, drives the gear set to rotate, when the gear set rotates on the rack, drives the rack and the whole machine to do linear motion along the direction of the rack, and the step of the forward and reverse linear motion of the whole machine is realized by adjusting the forward and reverse rotation of the servo motor;

b2 control system controls the cell automatic pick-up and delivery unit to stop at the set storage vertical grid cell position of the cell, the steel ball type four-axis lifting screw rod rotates under the drive of the lifting transmission device, the lifting device is lifted and descended by adjusting the direction of the servo motor II, when the lifting device is lifted or descended to the set height, the lifting device stops, under the dual function of the brake device of the servo motor II and the self-locking function of the worm reducer, the precise positioning step of the whole machine is realized,

b3 two groups of parallel distributed manipulators move leftwards or rightwards under the drive of the third servo motor, stop at a set position, realize accurate positioning under the brake function of the third servo motor, ensure accurate battery placement while extracting the battery, the lifting transmission device drives the lifting screw to rotate so that the manipulators stop when rising to leave the battery bracket of the battery storage bin, and the manipulators stop when returning to the initial origin, and finish the electricity taking process.

Further, the automatic unlocking and disassembling steps include:

c1 unlocking step: a step of unlocking a locking slide bar in the battery locking frame on the vehicle by a locking pin ejector rod when the unlocking device is driven by a lifting device and moves upwards to a certain height,

c2 disassembling step: and the locking device shifting rod drives the locking slide bar in the battery locking frame on the vehicle to move towards the unlocking direction under the action of the locking device shifting rod driving the electric cylinder, so as to release the locking of the locking slide bar in the battery locking frame on the vehicle to the battery, at the moment, the unlocking device is driven by the lifting device to move downwards to drive the battery to leave the vehicle, and the battery is disassembled.

Further, the step of exchanging the insufficient battery with the full battery comprises:

the D1 control system controls the whole machine to stop when the automatic battery extracting and conveying unit extracts the batteries from the battery compartment and conveys the batteries to the positions of the insufficient battery and full battery exchanging unit, the two groups of manipulators distributed in parallel move towards the automatic battery extracting and conveying unit of the insufficient battery and full battery exchanging unit under the drive of the servo motor III and stop at the set positions,

d2 the exchange unit of the insufficient battery and the full battery is driven by the lifting device to move the battery automatic pick-up and transport unit to receive the battery, and stops when reaching the set height position, and the full battery receiving and transporting process is completed.

Further, the automatic exchange step of the insufficient-power battery comprises the following steps:

the E1 control system controls the automatic battery unlocking, detaching and installing, locking unit to stop when the underrun battery is removed from the vehicle and transported to the underrun battery and full battery exchange unit position,

e2 lifting transmission device I drives lifting screw rod I to rotate, so that the manipulator stops when rising to a set position, namely when the manipulator is slightly higher than the height of a power-deficient battery on the device for automatically unlocking, disassembling, installing and locking the battery of the electric vehicle;

and E3 stopping when the manipulator returns to the middle position of the automatic battery extracting and conveying unit under the drive of the servo motor III, and finishing the insufficient battery receiving process.

Further, the automatic exchange of the full-charge battery comprises the following steps:

f1 the exchange unit of the insufficient-charge battery and the full-charge battery moves downwards under the drive of the lifting device to position the full-charge battery on the unit position of the battery which is automatically unlocked, disassembled, installed and locked, and the exchange process of the full-charge battery is finished;

f2 and continues to descend to the set height position, i.e. the step is stopped while waiting to receive the battery height position.

Further, the automatic transporting and warehousing step of the insufficient battery comprises the following steps:

g1 conveying, namely, the servo motor II drives a worm gear reducer to rotate, the worm gear reducer drives a gear set to rotate, the gear set drives the rack and the whole machine to do linear motion along the direction of the rack when rotating on the rack, and the step of forward and reverse linear motion of the whole machine is realized by adjusting the forward and reverse rotation of the servo motor;

g2 warehousing step: the control system controls the whole machine to stop when the battery is set at the idle position of the battery storage bin, the two groups of manipulators distributed in parallel move towards the battery storage bin under the driving of the servo motor and stop at the set position, the lifting transmission device drives the lifting screw to rotate so that the manipulator stops when the insufficient-power battery is completely placed on the battery bracket of the battery storage bin, and meanwhile, the manipulator stops when returning to the initial origin, and the step of warehousing the insufficient-power battery is completed.

Further, the automatic installation and locking steps of the full-charge battery are as follows: comprises that

H1 resolidification step: the unlocking device of the full-charge battery is driven by the lifting device to move upwards to a certain height, the full-charge battery enters the battery locking frame on the vehicle, meanwhile, the ejector rod of the locking pin pushes the locking pin in the battery locking frame on the vehicle, the locking step of the locking pin on the locking slide bar in the battery locking frame on the vehicle is released,

and the H2 locking device pull rod drives the locking slide bar in the battery locking frame on the vehicle to move towards the locking direction under the action of the locking device pull rod driving electric cylinder, the locking slide bar in the battery locking frame on the vehicle locks the fully charged battery, at the moment, the unlocking device is driven by the lifting device to move downwards to leave the vehicle, and the battery installation and locking process is completed.

The invention has the beneficial effects that:

the vehicle is automatically aligned with the vehicle, so that the problem of automatic butt joint of the vehicle and a battery in the battery replacement process is solved; the automatic unlocking and dismounting solve the problem of automatic dismounting of the insufficient battery in the battery replacement process; the automatic installation and locking are realized, and the problem of automatic installation of a full-charge battery in the battery replacement process is solved; the lifting platform solves the problem of battery replacement of vehicles with different chassis heights;

the vehicle is provided with a vehicle transverse adjusting and positioning device and a vehicle longitudinal adjusting and positioning device through the platform, and the vehicle transverse adjusting and positioning device mainly solves the problem of automatic adjusting and positioning of vehicle positions with different wheel tracks and wheel bases; the lifting platform solves the problem of different chassis heights;

the manipulator is respectively matched with the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, the lifting transmission device and the control system, so that the functions of electricity taking, full-charge battery conveying, insufficient-charge battery receiving and insufficient-charge battery conveying are realized.

Drawings

Fig. 1 is a schematic structural diagram of a chassis battery replacement system of a pure electric passenger car according to the present invention;

FIG. 2 is a schematic structural diagram of an automatic battery extracting and transporting system based on battery replacement of an electric vehicle according to the present invention;

FIG. 3 is a schematic structural diagram of a four-column type rack of the automatic battery extracting and conveying device based on battery replacement of an electric vehicle;

FIG. 4 is a schematic structural diagram of a steel ball type four-column lifting screw of the automatic battery extracting and conveying device based on battery replacement of an electric vehicle;

FIG. 5 is a schematic structural diagram of a traveling device of the automatic battery extracting and conveying device based on battery replacement of an electric vehicle;

FIG. 6 is a schematic structural diagram of an automatic adjusting and positioning device based on electric vehicle battery replacement according to the present invention;

FIG. 7 is a schematic structural diagram of a lifting device of the automatic adjusting and positioning device based on electric vehicle battery replacement according to the present invention;

FIG. 8 is a schematic structural diagram of a vehicle passing platform transverse adjusting device of the automatic adjusting and positioning device based on electric vehicle battery replacement according to the present invention;

FIG. 9 is a schematic structural diagram of a vehicle transverse adjusting and positioning device of the automatic adjusting and positioning device based on electric vehicle battery replacement according to the present invention;

FIG. 10 is a schematic structural diagram of a vehicle passing platform of the automatic adjusting and positioning device based on electric vehicle battery replacement according to the present invention;

FIG. 11 is a schematic structural view of an adjusting roller set of the automatic adjusting and positioning device based on electric vehicle battery replacement according to the present invention;

FIG. 12 is a schematic structural diagram of a first vehicle longitudinal adjusting and positioning device of the automatic adjusting and positioning device based on electric vehicle battery replacement according to the present invention;

FIG. 13 is a schematic structural view of a second vehicle longitudinal adjusting and positioning device of the automatic adjusting and positioning device based on battery replacement of the electric vehicle;

FIG. 14 is a schematic structural diagram of an automatic adjusting and positioning device based on electric vehicle battery replacement according to the present invention;

FIG. 15 is a schematic structural view of an apparatus for automatically unlocking, removing, and installing and locking a battery of an electric vehicle according to the present invention;

FIG. 16 is a schematic structural view of the unlocking device of the present invention;

FIG. 17 is a schematic structural view of a second unlocking device of the present invention;

FIG. 18 is a schematic structural view of a second lifting device of the present invention;

FIG. 19 is a schematic view of the walking device of the present invention;

FIG. 20 is a schematic view of a battery locking assembly corresponding to the unlocking device of the present invention;

FIG. 21 is a schematic diagram of an automatic battery conversion unit according to the present invention;

FIG. 22 is a schematic diagram of a battery pack storage and charging management unit according to the present invention;

FIG. 23 is a schematic view of the flow chart of the automatic battery extracting and transporting system of the present invention;

wherein: 1-automatic battery extraction and transportation device; 2-automatic adjusting and positioning device; 3-device for automatically unlocking, disassembling, installing and locking the battery of the electric vehicle; 4-battery pack storage and charging management unit; 5-battery pack storage and charging management unit; 6-fire protection and safety control devices; 7-a charge control device; 8-a battery replacement control device;

11-four-column type frame; 12-a walking device; 13-steel ball type four-column lifting screw; 14-a robot arm; 15-top rail; 16-a lifting transmission device; 17-a control system;

1101-bottom stringer; 1102-bottom beam; 1103-upright post; 1104-top stringer; 1105-elevator mounting support; 1106-upper guide;

1201-lifting screw lower support bearing; 1202-lifting nut one; 1203-lifting the first screw rod; 1204-a manipulator; 1205-mechanical arm transmission (including servo motor three); 1206-screw wheel type lifting transmission device; 1207-bevel gear transmission and power distribution means; 1208-servo motor II;

1301-a rack; 1302-gear; 1303-mounting plate of running gear; 1304-a reducer; 1305-a servo motor I;

21-a lifting device; 22-a lifting platform; 23-vehicle lateral adjustment positioning means; 24-vehicle passing platform; 25-a guide roll device; 26-adjusting the roller set; 27-vehicle longitudinal adjustment positioning means; 28-vehicle transverse pass platform adjustment;

2101-servo motor; 2102-bevel gear box; 2103-shaft coupling; 2104-a drive shaft; 2105-upper support bearing; 2106-lifting screw; 2107-worm gear elevator;

2201-lifting connection plate; 2202-side adjustment device mounting guide rails; 2203-vehicle-passing platform mounting rail; 2204-lifting nut II; 2301-positioning device holder; 2302-regulating an electric cylinder; 2303-servo electric cylinder; 2304-linear bearing one; 2305-side top plate; 2401-vehicle discussion platform bottom plate;

2601-roller support; 2602-rolling; 2603-roller shaft;

2701-forward roller support plate; 2702-push roller wheel forward; 2703-lift swing arm; 2704-lower support; 2705-upper support; 2706-vehicle front and rear positioning electric cylinder; 2707-panel; 2708-lift electric cylinder support; 2709-lift electric cylinder; 2710-lift the swing arm link; 2711-vehicle fore-aft positioning device mount;

2801-vehicle cross platform regulation electric cylinder; 2802-rear support base of electric cylinder; 2803-front support base of electric cylinder; 2804-linear bearing two;

31-an unlocking device; 32-a second lifting device; 33-a running gear;

3101-unlocking device mounting plate; 3102-locking the device toggle; 3103-locking pin ejector pin; 3104-positioning the taper pin; 3105-the locking device drives the electric cylinder by pulling the rod;

3201-worm gear driven screw lifting device; 3202-drive shaft; 3203-coupling; 3204-toothed gearing; 3205-servo motor IV; 3206-a lifting device mounting plate;

3301-walking wheel; 3302-Rack; 3303-running gear mounting plate; 3304-gear; 3305-speed reducer; 3306-servo motor five;

3601-a locking pin; 3602-unlocking slide bar; 3603-positioning a taper pin support;

41-a bearing; 42-lower support plate; 43-lifting screw rod III; 44-lifting nut III; 45-transfer supporting plate; 46-an upper supporting plate; 47-worm wheel long descending machine; 48-servo motor six; 49-a commutator;

51-a column; 52-transverse corbel; 53-longitudinal corbel; 54-a battery tray; 55-a battery stopper; 56-transverse tension beam; 57-transverse tie beam coupling; 58-charging plug assembly.

Detailed Description

The invention will be further described with reference to the accompanying drawings in which:

the battery replacing steps in the prior art are as follows:

and 1, identifying different vehicles, different vehicle types and vehicles of different enterprises by vehicle and station authentication, searching and matching the vehicles to share the battery replacement station. Before entering the shared power station, the station end and the vehicle identify each other, and the whole process of mutual handshake is carried out.

2 after the vehicle positioning battery replacing vehicle enters the battery replacing station and is parked on the battery replacing platform, the position of the vehicle body and the position of the battery pack have different deviations, and the deviation is corrected and corrected through adjustment in the battery replacing station, namely the alignment device, and the vehicle positioning battery replacing vehicle can be adapted to vehicles with a certain wheelbase and a certain wheelbase range.

And 3, after the initial positioning of the battery pack unlocking vehicle is finished, the battery changing machine platform is accurately positioned to the position of the battery pack to be changed through the positioning device, the battery pack to be changed is separated from the vehicle in the Z direction through the locking and unlocking structure rotated by the motor, and the liquid cooling and electric quick-change connector is disconnected.

After 5 unblocks completions are transported to 4 group battery, insufficient voltage group battery transports the battery compartment through the transport platform and charges, then transports the motor ware platform of trading from the battery compartment with full electric group battery on, waits for full electric group battery installation and lock.

After the battery pack is locked and fully charged and is transferred to the battery changing machine platform, the battery changing machine platform is accurately positioned to the position of the battery pack to be changed through the positioning device, the battery pack to be changed is connected with the vehicle in the Z direction through the locking and unlocking structure rotated by the motor, and the liquid cooling and electric quick change connectors are butted.

6 vehicle self-checking is after the group battery locking is accomplished, and the vehicle should the state carry out the self-checking, and it is normal to confirm each item state, and the self-checking project mainly includes: connection device confirmation, electrical (liquid cooling) joint connection confirmation, high voltage and low voltage confirmation, and communication state confirmation; after the self-checking is finished, clear confirmation conclusion information is prompted to the user. And prompts are given to the next operation.

And 7, after the vehicle completes self-checking successfully, the system background can automatically settle accounts according to different settlement modes of the order, and the settlement result can be presented to the vehicle or the associated terminal of the user. And clearly showing the relevant conditions of the current order of the user.

Referring to fig. 1, a chassis battery replacement system for a pure electric passenger vehicle comprises a battery automatic extraction and transportation unit 1, an automatic adjusting and positioning unit 2, a device 3 for automatically unlocking, disassembling, installing and locking batteries of the electric vehicle, a power-shortage battery and full-charge battery exchange unit 4, a battery pack storage and charging management unit 5, a fire-fighting and safety control device 6, a charging control device 7 and a battery replacement control device 8.

The automatic battery extracting and conveying unit 1 based on electric vehicle battery replacement, the automatic unlocking, dismounting, mounting and locking device 3 of the electric vehicle battery, and the insufficient battery and full battery exchange unit 4 are arranged in the frame of the battery pack storage and charging management unit 5.

The battery pack storage and charging management unit 5 is mainly used for charging and storing batteries; the batteries to be charged are charged, each battery charging point is also a battery storage point, and the storage digits of the batteries can be matched according to the requirements of users.

The automatic battery extracting and conveying unit 1 is mainly used for a vehicle battery automatic extracting device, a lifting device of a battery extracting and conveying device and a running device of the battery extracting and conveying device;

namely 1 taking the battery: taking out the battery fully charged in the battery compartment by using a fork; 2, transmission: a fork is adopted to send the fully charged battery into a battery conversion device; 3, receiving a battery: receiving a battery taken down from a vehicle from a battery conversion device by using a pallet fork, and sending the battery into a bin designated by a battery bin for charging;

the four-screw lifting device is applied to vehicle battery replacement equipment, a servo motor is adopted for driving, the bevel gear distributes the power of the motor to each transmission point, and the servo motor can stop at any set position and can meet the battery replacement requirements of vehicles of different models;

the gear rack transmission is applied to the vehicle battery replacing device, the double-rack structure is adopted to walk on the inner track of the battery pack storage and charging management unit 5, the operation is stable, the servo motor is adopted to drive, the vehicle battery replacing device can stop at any set position, and the vehicle battery replacing device can meet the battery replacing requirements of vehicles of different vehicle types.

The device 3 for automatically unlocking, disassembling, installing and locking the battery of the electric vehicle mainly comprises the steps of taking down the battery to be charged in the vehicle by walking, automatically extracting the battery and the battery, conveying the unit 1, exchanging the insufficient-charge battery and the full-charge battery exchange unit 4, then placing the fully-charged battery on the device for disassembling and installing the battery by walking, and finishing the battery conversion process.

The insufficient-power battery and full-power battery exchange unit 4 mainly comprises:

1. receiving a battery: when the fork of the battery extracting and conveying device sends the battery into the receiving position of the automatic battery conversion device, the lifting device moves upwards to load the fully charged battery and lift the fully charged battery to a certain height, so that the battery is conveniently detached and the mounting device enters the battery automatic battery conversion device.

2. And (3) converting the battery: after the battery on the battery disassembling and assembling device is taken away by the battery extracting and conveying device, the battery conversion device is driven by the lifting device to move downwards, the fully charged battery is placed on the battery disassembling and assembling device, and the battery conversion process is completed.

3. Elevating gear of battery conversion equipment: the four-screw lifting device is applied to vehicle battery replacement equipment, the four-screw lifting device is driven by a servo motor, the bevel gear distributes the power of the motor to each transmission point, and the servo motor can stop at any set position and can meet the battery replacement requirements of vehicles of different models.

Namely, the battery automatic extracting and conveying unit 1 and the device 3 for automatically unlocking, disassembling, installing and locking the battery of the electric vehicle are matched to quickly realize the exchange of the fully charged battery and the insufficient battery.

The fire-fighting and safety control device 6, the charging control device 7 and the battery replacement control device 8 are arranged on the right side of the battery pack storage and charging management unit 5 in sequence;

the automatic adjusting and positioning unit 2 is used for solving the automatic adjusting and positioning of the vehicle positions with different wheel tracks and wheel bases and the positioning of the vehicles with different chassis heights. Make things convenient for automatic unblock of electric motor car vehicle battery, dismantle and install, the device 3 of locking to not enough electric batteries dismantles and not enough electric batteries dismantles and full electric batteries installation device will be full city electric batteries and install on the vehicle from the vehicle to not enough electric batteries installation device simultaneously.

The fire-fighting and safety control device 6 can be provided with a temperature sensor on a rechargeable battery for alarming.

Referring to fig. 2, the automatic battery extracting and conveying device (unit) based on electric vehicle battery replacement comprises a four-column type frame 11, a traveling device 12, a steel ball type four-column lifting screw 13, a manipulator 14, a top guide rail 15, a lifting transmission device 16 and a control system 17.

Wherein, the walking device 12, the manipulator 14, the top guiding device 15, the lifting transmission device 16 and the control system are all arranged on a four-column type frame 11, and the manipulator 14 is arranged on a steel ball type four-column lifting screw 13; the traveling device 12 is used for traveling on rails in the battery pack storage and charging management unit 5, and the top guide rail 15 is matched with the top rails of the battery pack storage and charging management unit 5;

the lifting transmission device 16 is arranged at the top of the steel ball type four-column lifting screw 13;

the walking device 12 is arranged at the rear lower end of the four-column type frame 11, and the steel ball type four-column lifting screw 13 is arranged in the frame of the four-column type frame 11.

Referring to fig. 3, a four-column frame is comprised of a bottom longitudinal beam 1101, a bottom cross beam 1102, a vertical column 1103, a top longitudinal beam 1104, an elevator mounting pedestal 1105, and an upper guide 1106;

the four-column type frame comprises two pairs of bottom longitudinal beams 1101 and two pairs of bottom cross beams 1102, wherein the bottom longitudinal beams 1101 can run on a track, four upright posts 1103 stand at four corners, two top longitudinal beams 1104 form a top, and upper guide devices 1106 are arranged on the two top longitudinal beams 1104;

the lifter installation support 1105 is composed of two lateral plates and a longitudinal plate, and is disposed on the upper portion of the four-column type frame 11.

Referring to fig. 4, the steel ball type four-column lifting screw 13 is composed of a lifting screw lower support bearing 1201, a lifting screw 1203, a lifting nut I1202, a mechanical arm 1204 and a mechanical arm transmission device 1205, wherein the four lifting screws 1202 are respectively installed on a bottom cross beam 1102 through the lifting screw lower support bearing 1201, and the two mechanical arms 1204 and the mechanical arm transmission device 1205 are installed on a longitudinal beam; the longitudinal beams are sleeved on the four lifting screws 1203,

the steel ball type four-column lifting screw 13 runs stably up and down, the lifting screw 1203 has good self-locking performance, the manipulator 1204 depends on the self-locking function of the screw when extracting the battery leftwards and rightwards, the manipulator cannot sink locally to one side, and the reliability is high.

the lifting transmission device 16 comprises a screw wheel type lifting transmission device 1206, a bevel gear transmission and power distribution device 1207 and a servo motor II 1208;

the screw wheel type lifting transmission device 1206 is arranged at the top of a lifting screw 1203 of the steel ball type four-column lifting screw 13,

the two servo motors 1208 drive three bevel gear boxes 1207 (transmission and power distribution devices), the bevel gear boxes 1207 distribute the power of the two servo motors 1208 to the four screw wheel type lifting transmission devices 1206, the four worm wheel type lifting devices 1207 (lifting devices of worm wheels) move up and down synchronously, and the two servo motors 1208 stop and position at set positions under the control of a PLC (programmable logic controller), so that the height adjustment and the positioning are realized.

Referring to fig. 5, the schematic structural diagram of the walking device is shown, and the walking device includes a rack 1301, a gear 1302, a walking device mounting plate 1303, a speed reducer 1304, and a first servo motor 1305;

the first servo motor 1305 drives the worm speed reducer 1304 to rotate, the worm speed reducer 1304 drives the gear set to rotate, the gear set drives the rack and the whole vehicle full-charge battery to automatically extract, convey and supply when rotating on the rack 1301, and the insufficient-charge battery receiving, conveying and warehousing device makes linear motion along the direction of the rack, and the forward and reverse linear motion of the whole vehicle is realized by adjusting the forward and reverse rotation of the first servo motor 1305.

The control system 17 controls the complete machine to stop at the set storage vertical grid battery position of the battery, and the complete machine is accurately positioned under the dual functions of the servo motor I1305 brake device and the worm gear speed reducer self-locking function.

Specifically, the first servo motor 1305 drives the worm speed reducer 1304 to rotate, the worm speed reducer 1304 drives the gear set to rotate, the gear set drives the rack and the whole machine to do linear motion along the rack direction when rotating on the rack 1301, and the forward and reverse linear motion of the whole machine is realized by adjusting the forward and reverse rotation of the first servo motor 1305.

The control system 17 controls the whole machine to stop at the set storage vertical grid battery position of the battery, the steel bead type four-shaft lifting screw 13 is driven by the lifting transmission device 16 to rotate, the lifting transmission device is lifted and descended by adjusting the steering direction of the servo motor II 1208, the lifting transmission device stops when the lifting transmission device is lifted or descended to the set height, the accurate positioning of the whole machine is realized under the dual functions of the servo motor II braking device and the self-locking function of the worm gear reducer, two groups of mechanical arms which are distributed in parallel can move leftwards and rightwards under the driving of the servo motor II and stop at the set position, the accurate positioning is realized under the braking function of the servo motor II, the accurate battery falling position is ensured while the battery is extracted, the lifting transmission device drives the lifting screw to rotate so that the mechanical arms stop when the mechanical arms are lifted to leave the battery bracket of the battery storage bin, and the mechanical arms stop when the mechanical arms return to the initial origin point, and finishing the electricity taking process.

The servo motor drives the worm gear reducer to rotate, the worm gear reducer drives the gear set to rotate, the gear set drives the rack and the whole machine to do linear motion along the direction of the rack when rotating on the rack, and the forward and reverse linear motion of the whole machine is realized by adjusting the forward and reverse rotation of the first servo motor. The control system controls the whole machine to stop when the battery is at a set transfer platform position, the two groups of manipulators distributed in parallel move towards the transfer platform under the driving of the servo motor I, the manipulator stops at the set position, the transfer platform receives the battery, and the full-charge battery conveying process is completed.

The lifting transmission device drives the lifting screw to rotate, so that the manipulator stops when descending to a set position, the insufficient-power battery is received, the manipulator stops when returning to the initial origin, and the insufficient-power battery receiving process is completed.

The servo motor drives the worm gear reducer to rotate, the worm gear reducer drives the gear set to rotate, the gear set drives the rack and the whole machine to do linear motion along the direction of the rack when rotating on the rack, and the forward and reverse linear motion of the whole machine is realized by adjusting the forward and reverse rotation of the first servo motor. The control system controls the whole machine to stop when the battery is set at the idle position of the battery storage bin, the two groups of manipulators distributed in parallel move towards the direction of the transfer platform under the driving of the servo motor I and stop at the set position, the lifting transmission rod drives the lifting screw rod to rotate so that the manipulators can be descended to the state that the power-lack battery is completely placed on the battery bracket of the battery storage bin and stop, meanwhile, the manipulators stop when returning to the initial origin, and the process of conveying and warehousing the power-lack battery is completed.

The invention belongs to the field of electric automobile battery replacement equipment, and particularly provides a vehicle three-dimensional position automatic adjusting machine which can adjust and position a vehicle X, Y, Z in three directions, is flexible in vehicle adjustment and accurate in positioning, is particularly suitable for a vehicle position automatic adjusting device of the electric automobile battery replacement equipment, and can accurately position and replace batteries of various vehicle types by one battery replacement equipment. The invention mainly solves the problem that the same battery replacement equipment replaces batteries of various vehicle types.

Referring to fig. 6, the automatic vehicle position adjusting and connecting machine adapted to different chassis heights, different wheel tracks and different wheel bases of the present invention includes a lifting device 21 (Z-axis adjusting and positioning) disposed on the vehicle lifting and adjusting device, a lifting platform 22 disposed on the lifting device 21, a vehicle transverse adjusting and positioning device 23 (Y-axis adjusting and positioning) disposed on the lifting platform 22, a vehicle passing platform 24 and a vehicle transverse adjusting and positioning device 23 disposed on the lifting platform 22, and a vehicle longitudinal adjusting and positioning device 27 (X-axis adjusting and positioning) disposed on the vehicle passing platform 24.

The lifting platform 22 is driven by the lifting device 21 to move up and down and can be accurately positioned, so that the Z axis of the vehicle can be adjusted and positioned;

the lifting platform 22 is provided with a vehicle transverse adjusting and positioning device 23 which can move longitudinally under the driving of a servo electric cylinder, so that the transverse adjusting device is aligned with the vehicle tires, and the Y axis of the vehicle can be adjusted and positioned by transversely adjusting and positioning the four tires of the vehicle;

the vehicle passing platform 24 is arranged on the lifting platform 22, the vehicle passing platform 24 and the vehicle transverse adjusting and positioning device 23 between the vehicle passing platform 24 and the lifting platform 22 can adjust the wheel track of the vehicle passing platform 24 and adapt to the electricity changing of vehicles with different wheel tracks, and the vehicle passing platform 24 is provided with a guide roller 25 which can guide the vehicle to run on the vehicle passing platform 24 in a given running direction without deviating from the direction;

the vehicle passes through the platform 24 and installs the adjusting roller set 26, when the vehicle is adjusted transversely, the vehicle tire moves on the roller, will not influence the adjustment precision because of the friction resistance of the vehicle tire;

the vehicle passing platform 24 is provided with a vehicle longitudinal adjusting and positioning device 27, so that the longitudinal positions of vehicles with different wheel bases can be adjusted, and the adjustment and positioning of the X axis of the vehicle with different wheel bases can be realized.

The problem of different chassis height, different wheel base, wheel base vehicle position automatically regulated location is solved, the efficiency of trading is improved greatly.

Referring to fig. 7, in the lifting device 21, one servo motor 2101 drives three bevel gears 2102 (transmission and power distribution device), the bevel gear 2102 distributes the power of the servo motor 2101 to four worm wheel lifters, the four worm wheel lifters 2107 (lifting devices of worm wheels) synchronously move up and down to drive the lifting platform to synchronously move up and down, and the servo motor stops and positions at a set position under the control of a PLC, that is, the vehicle height is adjusted and positioned.

The lift 2107 adopts four sets of worm gear transmissions and screw rod device to go up and down, and two kinds of mechanisms all possess self-locking function, and the band-type brake device of cooperation motor, machinery have triple safety guarantee, and the security is high, and the direction of height location is accurate.

Wherein the screw device is composed of an upper bearing 2105 and a lifting screw 2106.

The shaft coupling 2103 and the drive shaft 2104 respectively and are connected to the bevel gear box 2102.

Referring to fig. 8, the front and rear vehicles pass through the platform adjusting device 22 and are mainly used for supporting the automatic adjusting and positioning device; comprises a lifting connection plate 2201, a side adjusting device installation guide rail 2202, a vehicle passing platform installation guide rail 2203 and a second lifting nut 2204; the second lifting nut 2204 is used for driving the lifting connecting plate 801 to ascend. The second lifting nut 2204 is installed on the lifting platform 22, the lifting screw 2206 rotates to drive the second lifting nut 2204 to move up and down, and the second lifting nut 2204 drives the lifting platform 2 to move up and down.

Referring to fig. 9, the vehicle lateral adjustment positioning device 23 comprises a positioning device bracket 2301 for lateral adjustment, an adjustment electric cylinder 2302 for lateral adjustment of the front-rear position of the positioning device, a servo electric cylinder 2303 for lateral adjustment of positioning, and a linear bearing 1 2304 for lateral adjustment of the positioning device; the side top plate 2305 is mounted on the adjusting electric cylinder 2302;

the positioning device bracket 2301 is movably connected with a side adjusting device mounting guide rail 3202 on the lifting platform 32 through a linear bearing 2304, and the linear motion of a piston of the servo electric cylinder 2303 drives the transverse adjusting and positioning device 23 to longitudinally move relative to the lifting platform 22, so that the position of the transverse adjusting and positioning device 23 is adjusted, and the side top plate 2305 is opposite to a tire;

two groups of symmetrically distributed adjusting electric cylinders 2302 push side top plates 2305 to do transverse movement to transversely push front and rear tires of the vehicle respectively, so that transverse positioning of the vehicle is realized;

the two groups of symmetrically distributed servo electric cylinders 2303 are opposite in movement direction and are respectively driven by independent servo motors to be independently controlled, the servo electric cylinders 2303 push the positioning device bracket 2301 to move longitudinally, and the position of the vehicle transverse adjusting positioning device 23 is adjusted, so that the side top plate 2305 corresponds to the position of a vehicle tire; transversely adjusting and positioning the vehicles with different wheelbases; i.e., Y-axis adjustment positioning.

Referring to fig. 10, the vehicle passage platform 24 includes a vehicle passage platform floor 2401, vehicle-side adjustment backup rollers 25; a regulating roller group 26 and a vehicle front-rear adjusting device 27;

two sets of symmetrically distributed front and rear vehicle positioning electric cylinders 2706 respectively push the vehicles transversely through the platforms and adjust the distance between the vehicles on two sides through the platforms 24, so that the vehicles can adapt to vehicles with different wheel distances to pass through smoothly through the platforms 24.

The vehicle passes through the platform 24 and is installed with the guide roller 25, can guide the orbit of vehicle tire, controls the scope of operation of vehicle tire.

The vehicle is provided with an adjusting roller group 26 through a platform 24, and the adjusting roller group comprises a vehicle side adjusting supporting roller wheel 2402 and a vehicle front and back adjusting device 2403;

the adjusting roller set 26 can ensure that when the vehicle transverse adjusting and positioning device 23 works, tires roll on the rollers instead of sliding on a plane, so that the vehicle transverse adjusting is very labor-saving.

The vehicle passes through the platform 24 and is equipped with a vehicle longitudinal adjusting and positioning device 27, a vehicle longitudinal adjusting and positioning lifting device and a vehicle longitudinal pushing device.

Referring to fig. 11, the adjusting roller set 26 includes a roller bracket 2601, a roller 2602 and a roller axle 2603 on which the vehicle tire moves when the vehicle is laterally adjusted.

Referring to fig. 12 and 13, the four vehicle longitudinal adjusting and positioning devices 27 are mounted on the vehicle passing platform 24 in two groups, i.e., left and right, so that the longitudinal positions of the vehicles with different wheelbases can be adjusted, and the adjustment and positioning of the X-axis of the vehicles with different wheelbases can be realized.

The vehicle longitudinal adjustment positioning device 27 includes: a front push roller support plate 2701, a front push roller 2702, a lifting swing arm 2703, a lower bracket 2704, an upper bracket 2705, a vehicle front-rear positioning electric cylinder 2706, a panel 2707, a lifting electric cylinder bracket 2708, a lifting electric cylinder 2709, a lifting swing arm link 2710 and a vehicle front-rear positioning device bracket 2711;

the front and rear positioning electric cylinder 2706 of the vehicle drives the panel 2707 to move back and forth through the lifting swing arm 2703, the upper bracket 2705 and the lower bracket 2704;

the lifting electric cylinder 2709 drives the panel 2707 to move up and down through the lifting electric cylinder bracket 2708 and the lifting swing arm connecting rod 2710.

Referring to fig. 14, the vehicle passing platform lateral adjustment device 28 includes: the vehicle passes through a platform to adjust an electric cylinder 2801, an electric cylinder rear support 2802, an electric cylinder front support 2803 and a linear bearing II 2804, the electric cylinder rear support 2802 is arranged on a lifting platform 22, the electric cylinder front support 8203 is arranged on the vehicle passing platform 24, the vehicle passing platform 24 is movably connected with a guide rail 2203 on the lifting platform 22 through the linear bearing 2804, the vehicle passes through the platform to adjust the linear motion of a piston of the electric cylinder 2801, the vehicle passing platform 24 is driven to transversely move relative to the lifting platform 22, and the distance between the two vehicle passing platforms 24 is adjusted to adapt to the passing of vehicles with different wheel pitches

Referring to fig. 15, the device for automatically unlocking, detaching, installing and locking the battery of the electric vehicle comprises an unlocking device 31, a second lifting device 32 and a traveling device 33.

The unlocking device 31 is mounted on a screw flange of the worm gear driven screw lifting device 3201 of the second lifting device 32, and the second lifting device 32 is mounted on the walking device mounting plate 3303 of the walking device 33 through support angle steel.

The traveling device drives the whole machine to move back and forth to realize the transfer and exchange of the batteries.

The second lifting device 32 drives the unlocking device to move up and down, and battery receiving and exchanging are achieved.

The unlocking device unlocks and unlocks the vehicle power-lack battery and installs and locks the fully charged battery, so that the battery replacement process of the vehicle is realized.

Referring to fig. 16 and 17, the unlocking device includes an unlocking device mounting plate 3101, a locking device pulling rod 3102, a locking pin carrier rod 3103, a positioning taper pin 3104, a locking device pulling rod driving electric cylinder 3105, and the like.

When the unlocking device 31 moves upwards to a certain height under the driving of the second lifting device 32, the positioning taper pin 3104 corresponds to the positioning taper pin support 3603; the locking pin ejector rod 103 pushes the locking pin 3601 in the battery locking frame on the vehicle to unlock the locking slide bar 3602 in the battery locking frame on the vehicle, the locking device pull rod 3102 pushes the locking slide bar 3602 in the battery locking frame on the vehicle to move towards the unlocking direction under the action of the locking device pull rod driving electric cylinder 3105 to unlock the battery, at the moment, the unlocking device 31 is driven by the second lifting device 32 to move downwards to drive the battery to leave the vehicle, and the battery unlocking and dismounting process is completed.

Referring to fig. 20, when the unlocking device 31 with a fully charged battery is driven by the second lifting device 32 to move upward to a certain height, the battery enters a battery locking frame on the vehicle, meanwhile, the locking pin ejector 3103 pushes the locking pin 3601 in the battery locking frame on the vehicle, the locking of the locking pin 3601 on the locking slide strip 3602 in the battery locking frame on the vehicle is released, the locking device shift lever 3102 drives the locking cylinder 3105 to push the locking slide strip 3602 in the battery locking frame on the vehicle to move in the locking direction, the locking slide strip 3602 in the battery locking frame on the vehicle locks the battery, at the moment, the unlocking device moves downward under the driving of the lifting device to leave the vehicle, and the battery installation and locking process is completed.

Referring to fig. 18, the second lifting device 32 is composed of a worm gear-driven screw lifting device 3201, a transmission shaft 3202, a coupling 3203, a bevel gear transmission 3204, a servo motor 3205, a lifting device mounting plate 3206 and the like.

The second lifting device 32 is driven by a fourth servo motor 3205, so that multipoint accurate positioning can be realized; the power distribution is carried out through the three-cone-shaped gear transmission device 3204, so that one motor can simultaneously drive the four lifting devices II 32, the synchronization of the lifting devices can be further realized, and the control is also convenient; the worm gear transmission is adopted to drive the screw rod to lift, and because the worm gear transmission and the screw rod have a self-locking function at the same time, the servo motor has a braking function, and the height positioning is very reliable.

Referring to fig. 19, the walking device is composed of a walking wheel 3301, a rack 3302, a gear 3304, a walking device mounting plate 3303, a speed reducer 3305, and a servo motor with a brake five 3306. The five servo motors 3306 drive the worm gear speed reducer 3305 to rotate, the worm gear speed reducer 3305 drives the gear set to rotate, the gear set drives the whole machine to do linear motion between the vehicle and the transfer platform when rotating on the rack, and the forward and reverse linear motion of the whole machine is realized by adjusting the forward and reverse rotation of the five servo motors 3306. The control system controls the whole machine to stop at the set position of the battery, and the precise positioning of the whole machine is realized under the dual functions of the servo motor brake device and the self-locking function of the worm gear speed reducer.

Referring to fig. 21, the automatic battery switching unit 4 includes: the device comprises a bearing 41, a lower supporting plate 42, a lifting screw rod III 43, a lifting nut III 44, a transfer supporting plate 45, an upper supporting plate 46, a worm gear lifter 47, a servo motor VI 48 and a commutator 49.

The lower support plate 42, the upper support plate 46 and the upper cross member constitute a support part of the automatic battery converting unit,

the four lifting screw rods three 43 are respectively arranged on an upper supporting plate 46 and a lower supporting plate 42 through bearings 41, and the front and the rear transfer supporting plates 45 are respectively arranged on the front and the rear groups of lifting screw rods three 43; the operation principle of the worm wheel lifter 47 shown in the figure is the same as that of the four worm wheel lifters 2207 (worm wheel lifter) shown in fig. 7.

In particular, the working steps of the automatic battery conversion unit,

receiving a battery: when the fork of the battery extracting and conveying device conveys the battery into the receiving position of the automatic battery conversion device, the four-screw lifting device is composed of a lifting screw rod III 43 and a lifting nut III 44, the four-screw lifting device moves upwards to load the fully charged battery and lift the fully charged battery to a certain height, and the battery is conveniently detached and the installation device enters the battery.

And (3) converting the battery: after the battery on the battery disassembling and assembling device is taken away by the battery extracting and conveying device, the battery converting device is driven by the lifting nut 44 to move downwards, the fully charged battery is placed on the battery disassembling and assembling device, and the battery converting process is completed.

Elevating gear of battery conversion equipment: the four-screw lifting device is applied to vehicle battery replacement equipment, a servo motor six 48 is adopted for driving, the bevel gear distributes the power of the motor to each transmission point, and the servo motor six 48 can stop at any set position, so that the four-screw lifting device can meet the battery replacement requirements of vehicles of different vehicle types.

Referring to fig. 22, the battery pack storage and charging management unit 5 is mainly composed of a vertical column 51, a transverse support beam 52, a longitudinal support beam 53, a battery support plate 54, a battery limit block 55, a transverse tension beam 56, a transverse tension beam coupling member 57, a charging plug assembly 58, and the like.

The upright post, the transverse supporting beam, the longitudinal supporting beam, the battery supporting plate, the battery limiting block, the transverse tension beam connecting piece and the charging plug assembly are all in modular design of a standardized general structure; the storage quantity of the batteries and the installation mode can be combined at will according to actual requirements; the storage device is of a buckle type structure between the longitudinal support beam and the stand column, so that rapid connection between each group of structures is facilitated, the stand column and the transverse support beam, the stand column and the battery supporting plate, the battery supporting plate and the battery limiting block and the transverse tension beam connecting piece are connected through bolts and locked by the positioning pins, and modularization is realized on the basis of ensuring the installation accuracy, speed and strength.

The storage device is of a multilayer structure, so that the minimum floor area is realized, and the storage capacity of the battery is maximized.

Each battery storage position is matched with a group of charging plug assemblies, conversion between battery charging and storage is not needed, and the operation efficiency of the battery storage bin is improved to the maximum extent.

The following functions are mainly realized: 1. charging: charging a battery to be charged;

2. storing the battery: each battery charging point is a battery storage point, and can be matched with the storage number of the batteries according to the requirements of users.

The invention realizes automation, so that the full-charge battery can be automatically extracted, conveyed and supplied, and the insufficient-charge battery can be received, conveyed and warehoused very easily, and as the manipulator can slide left and right and can be randomly positioned at different positions and heights, the effective capacity of the battery storage and charging device can be greatly improved, and the battery changing speed can be greatly improved; the battery replacement efficiency is greatly improved.

Specifically, the automatic battery replacement method for the chassis of the pure electric passenger car comprises the following steps:

the three-dimensional positioning step comprises:

the automatic extraction and transportation steps of the full-charge battery comprise:

the automatic unlocking and disassembling steps comprise:

c1 unlocking step: the locking pin ejector rod pushes the locking pin in the battery locking frame on the vehicle when the unlocking device is driven by the lifting device to move upwards to a certain height, the locking step of the locking pin on the locking slide bar in the battery locking frame on the vehicle is released,

c2 disassembling step: and the locking device shifting rod drives the locking slide bar in the battery locking frame on the vehicle to move towards the unlocking direction under the action of the locking device shifting rod driving electric cylinder, so as to unlock the battery, and at the moment, the unlocking device is driven by the lifting device to move downwards to drive the battery to leave the vehicle, so that the battery is disassembled.

the step of exchanging the insufficient battery with the full battery comprises the following steps:

d2 insufficient-power battery and full-power battery exchange unit are driven by the lifting device to move the battery automatic extracting and conveying unit to receive the battery, and stop when reaching the set height position, and the full-power battery receiving and conveying process is completed.

The automatic exchange step of the insufficient-power battery comprises the following steps:

e2 lifting transmission device drives lifting screw rod to rotate to make the manipulator stop when lifting to the set position, namely when the height of the manipulator is slightly higher than the height of the insufficient battery on the device for automatically unlocking, disassembling, installing and locking the battery of the electric vehicle;

The automatic full-battery exchange step comprises the following steps:

f1 the insufficient battery and the full battery exchange unit are driven by the lifting device to move downwards to position the full battery on the unit position where the battery is automatically unlocked, disassembled, installed and locked, and the full battery exchange process is completed;

S4: the automatic battery extracting and conveying unit automatically conveys and warehouses the insufficient-power battery;

simultaneously, automatically installing and locking the full-charge battery of the unit to-be-replaced vehicle with the battery of the electric vehicle automatically unlocked, disassembled, installed and locked;

the automatic conveying and warehousing step of the insufficient battery comprises the following steps:

Automatic installation and locking of a full-charge battery: comprises that

H1 resolidification step: the unlocking device of the full-charge battery is driven by the lifting device to move upwards to a certain height, the full-charge battery enters a battery locking frame on the vehicle, meanwhile, a locking pin mandril pushes a locking pin in the battery locking frame on the vehicle to unlock a locking slide bar in the battery locking frame on the vehicle by the locking pin,

and the H2 locking device shifting rod drives the locking slide bar in the battery locking frame on the vehicle to move towards the locking direction under the action of the locking device shifting rod driving electric cylinder, the locking slide bar in the battery locking frame on the vehicle locks the fully charged battery, at the moment, the unlocking device is driven by the lifting device to move downwards to leave the vehicle, and the battery installation and locking process is completed.

The steps are intelligently controlled by a PLC, and the automation degree is high.

Claims

1. An automatic battery replacement method for a chassis of a pure electric passenger car is characterized by comprising the following steps:

s3: the exchange step of the insufficient battery and the full battery is realized by the insufficient battery and full battery exchange unit, the unit for automatically unlocking, disassembling, installing and locking the electric vehicle battery and the automatic battery extraction and conveying unit;

and simultaneously, automatically unlocking, disassembling, installing and locking the electric vehicle battery, and automatically installing and locking the full-charge battery of the unit to-be-replaced vehicle.

2. The automatic battery replacement method for the chassis of the pure electric passenger vehicle as claimed in claim 1, wherein the three-dimensional positioning step comprises:

3. The automatic battery replacement method for the chassis of the pure electric passenger vehicle as claimed in claim 1, wherein the automatic extraction and transportation step of the full-electric battery comprises the following steps:

4. The automatic battery replacement method for the chassis of the pure electric passenger vehicle as claimed in claim 1, wherein the automatic unlocking and disassembling steps include:

5. The automatic battery replacement method for the chassis of the pure electric passenger vehicle as claimed in claim 1, wherein the step of exchanging the insufficient battery with the full battery comprises:

6. The automatic battery replacement method for the chassis of the pure electric passenger vehicle as claimed in claim 1, wherein the automatic power-deficient battery replacement step comprises:

7. The automatic battery replacement method for the chassis of the pure electric passenger vehicle as claimed in claim 1, wherein the automatic full-electric battery replacement step comprises:

8. The automatic battery replacement method for the chassis of the pure electric passenger vehicle as claimed in claim 1, wherein the step of automatically transporting and warehousing the insufficient battery comprises:

9. The automatic battery replacement method for the chassis of the pure electric passenger vehicle as claimed in claim 1, wherein the automatic installation and locking steps of the full-electric battery are as follows: comprises that