CN114274830A - Battery replacing device and battery replacing station - Google Patents
Battery replacing device and battery replacing station Download PDFInfo
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- CN114274830A CN114274830A CN202111481425.5A CN202111481425A CN114274830A CN 114274830 A CN114274830 A CN 114274830A CN 202111481425 A CN202111481425 A CN 202111481425A CN 114274830 A CN114274830 A CN 114274830A
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- 230000002950 deficient Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 3
- 230000003578 releasing effect Effects 0.000 description 3
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- 238000006243 chemical reaction Methods 0.000 description 2
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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Abstract
The invention provides a battery replacing device and a battery replacing station. The battery replacing device comprises a frame, a traveling mechanism, a translation mechanism, a first grabbing mechanism and a second grabbing mechanism. The traveling mechanism is arranged on the frame, the translation mechanism is movably arranged on the frame, the translation mechanism moves along the direction perpendicular to the extending direction of the first track, and the first grabbing mechanism and the second grabbing mechanism are connected with the translation mechanism. According to the battery replacing device provided by the invention, the first grabbing mechanism and the second grabbing mechanism are arranged on the same frame, and the battery replacing device can finish the transportation of full-charge batteries and insufficient-charge batteries through a reciprocating process, so that the scheduling program of the battery replacing device can be simplified, the waiting time of a vehicle can be shortened, and the battery replacing efficiency of a battery replacing station can be improved.
Description
Technical Field
The invention relates to the technical field of battery replacing equipment, in particular to a battery replacing device and a battery replacing station.
Background
With the development of battery technology, new energy heavy vehicles are being gradually popularized. Because the charging consumes long time, the charged battery needs to be replaced by a battery replacement station and a power-deficient battery on the vehicle, and how to rapidly replace the battery is a problem to be solved urgently at present.
At present, the heavy truck battery replacement adopts a trolley top replacement mode, has the characteristic of simple and reliable structure, and is adopted by a plurality of companies in the market. However, the trolleys which are replaced on the market are only provided with one battery replacing device, the trolleys need to be sent back to the charging bin after grabbing the insufficient-voltage batteries from the trolleys, and then grab a full-voltage battery from another bin and send the full-voltage battery to the trolleys for loading, and the efficiency is not high. The two battery replacing trolleys are adopted to improve the efficiency, but the control system is required to avoid the collision of the two trolleys, the two trolleys are controlled to smoothly grab and place batteries respectively, the control is complex, and the investment cost is increased due to the arrangement of two sets of drives.
Disclosure of Invention
The invention provides a battery replacing device and a battery replacing station, which are used for overcoming the defects of low battery replacing efficiency and complex control caused by grabbing a battery by using a trolley and replacing the battery in the prior art, realizing one-time battery replacing completion, improving the working efficiency and facilitating battery replacing control.
The invention provides a battery replacement device, comprising:
a frame;
the travelling mechanism is arranged on the frame so as to enable the frame to move along a first track;
the translation mechanism is movably arranged on the frame and moves along the extending direction vertical to the first rail;
the first grabbing mechanism is connected with the translation mechanism;
and the second grabbing mechanism is connected with the translation mechanism.
According to the battery replacing device provided by the invention, the first grabbing mechanism, the second grabbing mechanism and the translation mechanism are rotatably connected;
the battery replacement device further comprises:
the slewing mechanism is connected with the first grabbing mechanism and the second grabbing mechanism so as to enable the first grabbing mechanism and the second grabbing mechanism to rotate synchronously.
According to the battery replacing device provided by the invention, the slewing mechanism comprises a transmission gear, the transmission gear is positioned between the first grabbing mechanism and the second grabbing mechanism, the transmission gear is meshed with both the first grabbing mechanism and the second grabbing mechanism, and when the transmission gear rotates, the transmission gear drives the first grabbing mechanism and the second grabbing mechanism to synchronously rotate.
According to the battery replacement device provided by the invention, the first grabbing mechanism comprises a hanger bracket and a telescopic gripper, the telescopic gripper is connected with the hanger bracket, the telescopic bracket is positioned below the hanger bracket, the telescopic gripper can be stretched and contracted to be suitable for grabbing a battery, the hanger bracket is pivotally connected with the frame, and the hanger bracket is meshed with the transmission gear.
According to the battery replacing device provided by the invention, a slewing bearing is arranged between the lifting appliance support and the translation mechanism.
According to the power switching device provided by the invention, the number of the telescopic grippers is multiple, and the plurality of telescopic grippers are uniformly distributed below the hanger bracket.
According to the battery replacing device provided by the invention, the rotating mechanism comprises a push rod, one end of the push rod is rotatably connected with the first grabbing mechanism, the other end of the push rod is rotatably connected with the second grabbing mechanism, and when the first grabbing mechanism rotates, the push rod drives the second grabbing mechanism to synchronously rotate.
According to the battery replacement device provided by the invention, the structure of the first grabbing mechanism is the same as that of the second grabbing mechanism.
According to the battery replacing device provided by the invention, the walking mechanism comprises: a plurality of first wheels, each of the first wheels being disposed on the frame and adapted to roll along the first track; a first drive unit in driving connection with at least one of the plurality of first wheels.
According to the battery replacing device provided by the invention, the frame comprises:
the main frame is connected with the walking mechanism and moves along a first direction;
the second driving unit is used for driving the translation mechanism to move.
The invention also provides a power exchanging station, comprising:
a storage bin adapted to charge a battery;
a lane on which a vehicle is adapted to park;
the cross beam is connected with the upright post of the storage bin, at least part of the cross beam is positioned above the lane, and a first track is arranged on the cross beam;
the power exchanging device is the power exchanging device, a frame of the power exchanging device is suitable for moving along the first rail, and a first grabbing mechanism and a second grabbing mechanism of the power exchanging device are suitable for grabbing the battery in the storage bin or grabbing the battery parked on the vehicle on the lane.
According to the power swapping station provided by the invention, the power swapping station further comprises a moving device, the battery is suitable for being placed on the moving device, the storage bin comprises a storage area and an aisle area, the aisle area is located on one side of the storage area, when the power swapping device moves to the position above the storage bin, the aisle area is located right below the power swapping device, and the moving device moves between the storage area and the aisle area.
According to the swapping station provided by the invention, the storage area comprises two spaced storage areas, and the aisle area is positioned between the two storage areas.
According to the power conversion station provided by the invention, the number of the storage bins is two, and the lane is positioned between the two storage bins.
According to the power changing station provided by the invention, the moving device comprises a second rail, a charging base, a second wheel and a fourth driving unit, the second wheel rotates to move along the second rail, the second wheel rotates to be arranged at the bottom of the charging base, and the fourth driving unit is in driving connection with the second wheel.
According to the battery replacing device provided by the invention, the first grabbing mechanism and the second grabbing mechanism are arranged on the same frame, and the battery replacing device can finish the transportation of full-charge batteries and insufficient-charge batteries through a reciprocating process, so that the scheduling program of the battery replacing device can be simplified, the waiting time of a vehicle can be shortened, and the battery replacing efficiency of a battery replacing station can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for 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 those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a top view of a swapping station provided in the present invention;
fig. 2 is a partial structural schematic diagram of the swapping station in fig. 1;
FIG. 3 is a front view of the swapping station provided by the present invention;
FIG. 4 is a partial schematic structural diagram of the swapping station in FIG. 3;
FIG. 5 is a side view of the battery swapping device provided by the present invention;
FIG. 6 is a partial schematic structural diagram of the swapping station in FIG. 5;
fig. 7 is a perspective view of the swapping station provided by the present invention;
FIG. 8 is a perspective view of another perspective of the swapping station provided by the present invention;
fig. 9 is an enlarged view of a swapping device in the swapping station in fig. 8;
fig. 10 is a state diagram of the vehicle parked in the battery replacement station, wherein the vehicle is parked in the battery replacement station according to a standard state, that is, a center line of the vehicle in the front-rear direction is parallel to a center line of a lane, and the battery replacement operation can be completed without adjusting an angle by the battery replacement device;
fig. 11 is a schematic structural view of two hanger brackets and a transmission gear of the power exchanging device in fig. 10, wherein the center lines of the two hanger brackets are located on the same straight line;
fig. 12 is a schematic view of the two spreader brackets of the current swapping device of fig. 10 in cooperation with a push rod, wherein the push rod is connected between the two spreader brackets to define an angle of rotation of the two spreader brackets, wherein the center lines of the two spreader brackets are located on the same line;
fig. 13 is a state diagram of the vehicle parked in the battery replacement station, wherein the vehicle is not parked in the battery replacement station according to a standard state, a center line of the vehicle in the front-rear direction thereof has an included angle with a center line of a lane, and the battery replacement operation can be completed after the battery replacement device needs to adjust the angle;
fig. 14 is a schematic structural view of the two spreader brackets of the power exchanging device in fig. 13 being matched with the transmission gear, and the central lines of the two spreader brackets of the power exchanging device are not collinear;
fig. 15 is a schematic diagram of the two hanger brackets of the power exchanging device in fig. 13 being matched with a push rod, wherein the push rod is connected between the two hanger brackets, the two hanger brackets rotate synchronously under the limitation of the push rod, and the center lines of the two hanger brackets of the power exchanging device are not collinear;
reference numerals:
the battery replacement device 100 is provided with a battery replacement device,
a carriage 110, a main frame 111, a translation mechanism 112, a second driving unit 113,
the traveling mechanism 120, the first wheel 121, the first driving unit 122,
a first gripping mechanism 130, a spreader bracket 131, a telescoping gripper 132, a pivoting support 133,
the second grasping means 140 is provided at a position,
a swing mechanism 150, a transmission gear 151, a push rod 152, a third driving unit 153,
the power change station 200 is connected with the power supply unit,
the number of lanes 220 is such that,
the cross member 230, the first rail 231,
a moving device 240, a second rail 241, a charging base 242, a second wheel 243, a fourth driving unit 244,
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 power swapping device 100 and the power swapping station 200 according to the present invention are described below with reference to fig. 1 to 15. It should be noted that the power exchanging station 200 is an energy station for charging and replacing the battery 300 of the electric vehicle or the electric engineering vehicle. When the battery 300 is charged, the battery 300 is not mounted on the vehicle 400, but the charging is completed in the charging station 200. The battery replacement operation of the battery 300 means that the vehicle 400 enters the battery replacement station 200, and then the vehicle 400 is replaced with another full-charge battery 300 by removing the low-charge battery 300 of the vehicle 400. Or simply vehicle electrical separation.
Referring to fig. 1, the swapping station 200 according to an embodiment of the present invention includes a storage bin 210, a lane 220, a cross beam 230, and a swapping device 100. The battery replacement station 200 may replace a new energy passenger vehicle or an electric engineering vehicle (e.g., a heavy truck, an excavator, etc.), that is, the vehicle described below may be a new energy passenger vehicle or an electric engineering machine.
In particular, the storage bin 210 is adapted to charge the battery 300. It is understood that when the vehicle 400 is used in the power exchanging station 200 to exchange the battery 300, the battery 300 with a low power on the vehicle 400 can be taken out and put into the storage bin 210 for charging, and the battery 300 with a full power, which is already fully charged in the storage bin 210, can be put into the vehicle 400 to supply power to the vehicle 400.
Referring to fig. 3 and 5, the vehicle 400 is adapted to be parked on the lane 220. Of course, the vehicle 400 may be parked at a position of the lane 220 near the storage bin 210 to facilitate the battery replacement device 100 to replace the battery 300 for the vehicle 400. Referring to fig. 3 and 4, the cross member 230 is connected to the top of the storage bin 210, for example, the cross member 230 is connected to the upper end of the column of the storage bin 210. At least a portion of the cross-beam 230 is located above the roadway 220. The beam 230 is provided with a first rail 231, that is, the beam 230 can be used to support the first rail 231. The battery swapping device 100 is adapted to move along the first track 231 on the cross beam 230, that is, the first track 231 defines a movement track of the battery swapping device 100, so as to facilitate the movement of the battery swapping device 100 to a target position. For example, referring to fig. 2, the first rail 231 extends along the X direction, and the battery changer 100 can move along the X direction.
Further, as shown in fig. 7 to 9, the battery swapping device 100 may include a frame 110, a traveling mechanism 120, a translating mechanism 112, a first grabbing mechanism 130, and a second grabbing mechanism 140.
As shown in fig. 7 and 8, the traveling mechanism 120 is disposed on the frame 110 so that the frame 110 can move smoothly along the first rail 231. It should be noted that, when the vehicle frame moves along the first track, if the vehicle frame directly contacts with the first track, there is a large friction force between the vehicle frame and the first track, and there is a risk of movement disorder, and by providing the traveling mechanism 120, the traveling mechanism 120 may serve as an intermediate transmission component to reduce the friction force between the vehicle frame 110 and the first track 231, and meanwhile, the traveling mechanism 120 may also serve as a driving component to provide a power source for the movement of the vehicle frame 110. The first rail 231 extends in a first direction in which the carriage 110 can move.
As shown in fig. 7 and 9, the translation mechanism 112 is coupled to both the first gripper mechanism 130 and the second gripper mechanism 140. In some examples, frame 110 may include: a main frame 111, and a second driving unit 113. The main frame 111 is connected with the traveling mechanism 120, the main frame 111 moves along a first direction, the translation mechanism 112 is movably connected with the main frame 111, the translation mechanism 112 moves along a second direction, the first direction is perpendicular to the second direction, and the second driving unit 113 is used for driving the translation mechanism 112 to move.
It should be explained here that the translation mechanism 112 can move in two mutually perpendicular directions, that is, the translation mechanism 112 moves along a first direction under the driving of the main frame 111; the translation mechanism 112 moves in the second direction by the driving of the second driving unit 113. For example, referring to fig. 7, the first direction may be an X direction, and the second direction may be a Y direction, so that the first grasping mechanism 130 and the second grasping mechanism 140 can be aligned with a battery mounting position on the vehicle 400 or the moving device 240 through adjustment in two directions, thereby achieving precise access to the battery 300. Further, the translation mechanism 112 is horizontally fixed to the main frame 111, and the first grabbing mechanism 130 and the second grabbing mechanism 140 are disposed at the bottom of the translation mechanism 112.
The first and second grasping mechanisms 130, 140 each have a function of grasping the battery 300 and releasing the battery 300, and for example, the first and second grasping mechanisms 130, 140 are adapted to grasp a fully charged battery 300 within the storage bin 210 or grasp a insufficiently charged battery 300 on the vehicle 400 parked on the lane 220. The first grabbing mechanism 130 and the second grabbing mechanism 140 may be a mechanical arm or an electromagnetic chuck.
It should be further noted that when the first grabbing mechanism 130 and the second grabbing mechanism 140 are simultaneously disposed on the same power swapping device 100, and when the initial position of the power swapping device 100 is above the vehicle 400, the power swapping process may be:
firstly, the first grabbing mechanism 130 of the battery swapping device 100 takes out the insufficient battery 300 on the vehicle 400, at this time, the battery swapping device 100 can return to the storage bin 210 with the insufficient battery 300, the first grabbing mechanism 130 puts the insufficient battery 300 into the storage bin 210, and the storage bin 210 charges the insufficient battery 300; meanwhile, the second grabbing mechanism 140 of the battery swapping device 100 can grab the fully charged battery 300 in the storage bin 210;
in the second step, the battery swapping device 100 may move to the position of the vehicle 400 with the fully charged battery 300, and the second grabbing mechanism 140 may place the fully charged battery 300 onto the vehicle 400 to complete the battery swapping.
Of course, when the initial position of the power swapping device 100 is above the storage bin 210, the power swapping process may be:
firstly, after the first grabbing mechanism 130 of the battery swapping device 100 grabs the fully charged battery 300 from the storage bin 210, the battery swapping device 100 can drive the fully charged battery 300 to move to the upper side of the lane 220;
in a second step, the second grasping mechanism 140 of the battery replacing device 100 can take out the insufficient battery 300 on the vehicle 400, the first grasping mechanism 130 can mount the full-charge battery 300 on the vehicle 400, the battery replacing device 100 can return to the storage bin 210 with the insufficient battery 300, the second grasping mechanism 140 releases the insufficient battery 300 into the storage bin 210, and the storage bin 210 can charge the insufficient battery 300.
In this way, the battery swapping device 100 completes the transportation of the full-charge battery 300 and the insufficient-charge battery 300 through one reciprocating process, so that the scheduling program of the battery swapping device 100 can be simplified, the waiting time of the vehicle 400 can be shortened, and the battery swapping efficiency of the battery swapping station 200 can be improved.
When the driver of vehicle parks, the vehicle does not park in the lane according to standard status, and the central axis of vehicle deviates from the central axis of lane, also has the acute angle with the front side direction to the locomotive orientation, leads to the battery gesture of treating the change like this and first snatchs the mechanism, the second snatchs the angle of snatching of mechanism inequality, if do not adjust the angle of snatching of mechanism to first snatching the mechanism, the second snatchs the mechanism, first snatchs the mechanism, can't realize accurately snatching the battery.
To solve this problem, the first and second grasping mechanisms 130 and 140 are rotatably connected to the frame 110, so that the first and second grasping mechanisms 130 and 140 can adjust the angle of grasping the battery 300. It should be noted that, when the vehicle frame 110 moves along the first rail 231, the vehicle frame 110 may drive the first grabbing mechanism 130 and the second grabbing mechanism 140 to move, that is, the first grabbing mechanism 130 and the second grabbing mechanism 140 may move synchronously along the first rail 231, so that the first grabbing mechanism 130 and the second grabbing mechanism 140 are conveniently moved to the target position; meanwhile, the first grabbing mechanism 130 and the second grabbing mechanism 140 may rotate relative to the frame 110, so that when the target battery 300 is placed in an inclined position (or the battery 300 has a corner in the horizontal direction), the first grabbing mechanism 130 and the second grabbing mechanism 140 may be aligned with the battery 300 by adjusting the corners of the first grabbing mechanism 130 and the second grabbing mechanism 140, so as to achieve the purpose of accurate grabbing.
Referring to fig. 9, the replacing device 100 further includes a rotating mechanism 150, the rotating mechanism 150 is connected to the first grabbing mechanism 130 and the second grabbing mechanism 140, and the rotating mechanism 150 can rotate the first grabbing mechanism 130 and the second grabbing mechanism 140 synchronously. In one aspect, the swing mechanism 150 may drive the first and second grasping mechanisms 130 and 140 to rotate, so that the first and second grasping mechanisms 130 and 140 after rotating the angle adjustment can be aligned with the battery 300; on the other hand, the rotating mechanism 150 can also rotate the first grabbing mechanism 130 and the second grabbing mechanism 140 synchronously, that is, the rotating mechanism 150 can adjust the first grabbing mechanism 130 and the second grabbing mechanism 140 synchronously by performing one-time adjustment, so that the gesture adjusting process of the battery swapping device 100 can be shortened, and the battery swapping procedure is simplified.
For example, referring to fig. 13, when the driver of the vehicle 400 parks in the lane 220, the vehicle 400 does not park in the swapping station 200 according to the standard state, the central axis of the vehicle 400 deviates from the central axis of the lane 220, and when swapping the vehicle 400, taking the initial position of the swapping device 100 above the storage bin 210 as an example, the whole swapping process may be:
a battery replacement preparation stage: after the first grabbing mechanism 130 of the battery swapping device 100 grabs the fully charged battery 300 from the storage bin 210, the battery swapping device 100 may drive the fully charged battery 300 to move above the lane 220, and wait for the vehicle 400 to enter the lane 220;
taking the insufficient-power battery 300: when the vehicle 400 to be replaced enters the lane 220, the position of the second grabbing mechanism 140 is adjusted according to the actual position of the battery 300 of the vehicle 400 because the position of the vehicle 400 after being stopped is deviated from the ideal position. Here, the relative position of the power exchanging apparatus 100 on the first track 231 may be adjusted first; then, the rotation mechanism 150 is used to adjust the rotation angle of the second gripping mechanism 140, so as to achieve the purpose that the second gripping mechanism 140 is completely aligned with the insufficient battery 300, at this time, the second gripping mechanism 140 is driven to move, and the second gripping mechanism 140 can accurately grip the insufficient battery 300. After the second grasping mechanism 140 grasps the power-deficient battery 300, the battery 300 may be lifted.
And (3) ending: the battery replacement device 100 drives the insufficient battery 300 captured by the second capture mechanism 140 to move to the storage bin 210, and the second capture mechanism 140 returns the insufficient battery 300 to the storage bin 210, so that the insufficient battery 300 is charged.
Thus, the power swapping station 200 completes the power swapping.
Of course, when the driver of the vehicle 400 parks in the lane 220, the vehicle 400 parks in the power exchanging station 200 in the normal state, the central axis of the vehicle 400 extends in the same direction as the central axis of the lane 220, and when the vehicle 400 is exchanged, the rotation angles of the first grasping mechanism 130 and the second grasping mechanism 140 do not need to be adjusted. For example, referring to fig. 10, taking the initial position of the power swapping device 100 above the storage bin 210 as an example, the whole power swapping process may be:
a battery replacement preparation stage: after the first grabbing mechanism 130 of the battery swapping device 100 grabs the fully charged battery 300 from the storage bin 210, the battery swapping device 100 may drive the fully charged battery 300 to move above the lane 220, and wait for the vehicle 400 to enter the lane 220;
taking the insufficient-power battery 300: when the vehicle 400 to be replaced enters the lane 220, because the vehicle 400 is parked at the standard position, only the relative position between the power exchanging device 100 and the first rail 231 can be adjusted, that is, the first grabbing mechanism 130 or the second grabbing mechanism 140 is adjusted to be right above the battery installation position of the vehicle 400, and the rotation angles of the first grabbing mechanism 130 and the second grabbing mechanism 140 do not need to be adjusted. Specifically, the second grasping mechanism 140 is completely aligned with the power-deficient battery 300, and driving the second grasping mechanism 140 at this time can accurately grasp the power-deficient battery 300. After the second grasping mechanism 140 grasps the power-deficient battery 300, the battery 300 may be lifted.
And (3) ending: the battery replacement device 100 drives the insufficient battery 300 captured by the second capture mechanism 140 to move to the storage bin 210, and the second capture mechanism 140 returns the insufficient battery 300 to the storage bin 210, so that the insufficient battery 300 is charged.
Thus, the power swapping station 200 completes the power swapping.
By arranging the first grabbing mechanism 130 and the second grabbing mechanism 140 and arranging the rotating mechanism 150 between the first grabbing mechanism 130 and the second grabbing mechanism 140, the first grabbing mechanism 130 and the second grabbing mechanism 140 can rotate synchronously, so that not only the posture adjustment process of the battery replacing device 100 can be simplified, but also the battery replacing device 100 can finish the transportation of the full-charge battery 300 and the insufficient-charge battery 300 through a reciprocating process, thereby simplifying the dispatching program of the battery replacing device 100, shortening the waiting time of the vehicle 400 and improving the battery replacing efficiency of the battery replacing station 200.
In some embodiments, the power exchanging station 200 may further include a controller for controlling charging and discharging of the power exchanging apparatus 100 and the battery 300. Specifically, the controller is mainly used for controlling the working state of the power swapping station 200, which includes actions of the first gripping mechanism 130, the second gripping mechanism 140, and the swing mechanism 150, and operations of the driving units providing power, and the controller may be controlled by using PLC programming or the like.
According to some embodiments of the present invention, referring to fig. 4, the power exchanging station 200 may further include a mobile device 240, and the battery 300 is suitable for being placed on the mobile device 240. The moving device 240 may move within the storage bin 210, so that the moving device 240 may go directly under the first gripper mechanism 130 or the second gripper mechanism 140 for receiving the battery 300 laid down by the first gripper mechanism 130 or the second gripper mechanism 140 or for transporting the battery 300 for the first gripper mechanism 130 or the second gripper mechanism 140.
Further, the storage bin 210 includes a storage area 211 and an aisle area 212, the aisle area 212 is located at one side of the storage area 211, and when the swapping device 100 moves to above the storage bin 210, the aisle area 212 is located right below the swapping device 100. Mobile device 240 moves between storage area 211 and aisle area 212 to transport battery 300 between storage area 211 and aisle area 212. Thus, when it is required to provide the full-charge battery 300 for the power exchanging device 100, referring to fig. 4 and 6, the mobile device 240 equipped with the full-charge battery 300 can transport the full-charge battery 300 into the aisle area 212 for the power exchanging device 100 to grab; when the low-power battery 300 needs to be received, the empty mobile device 240 can be moved from the storage bin 210 to the aisle area 212, the power switching device 100 can place the low-power battery 300 on the mobile device 240, and after receiving the low-power battery 300, the mobile device 240 can move the low-power battery 300 to the storage area 211. When the mobile device 240 moves to a predetermined position in the storage area 211, the power-deficient battery 300 can be directly charged on the mobile device 240, and after being fully charged, the mobile device can be replaced as a fully charged battery 300 for the power conversion station 200.
Further, referring to fig. 4, the moving device 240 may include a second rail 241, a charging base 242, a second wheel 243, and a fourth driving unit 244. Wherein, the second wheel 243 rotates to move along the second track 241, the second wheel 243 rotates to be disposed at the bottom of the charging base 242, and the fourth driving unit 244 is in driving connection with the second wheel 243. It should be noted that the charging base 242 has a charging interface, and after the battery 300 is placed on the charging base 242, the battery changing station 200 can charge the battery 300 after the charging base 242 moves to the storage area 211. The second rail 241 may define a movement track of the charging base 242, which facilitates controlling the movement of the charging base 242.
In some embodiments, referring to fig. 1 and 7, storage areas 211 may include two spaced apart storage areas, with aisle areas 212 located between two storage areas 211. This can shorten the moving distance of the moving device 240 and increase the storage amount of the battery 300 in the storage 210. In order to further increase the battery 300 inventory of the bins 210, according to some embodiments of the invention, as shown in fig. 7 and 8, there are two bins 210 and the lane 220 is located between the two bins 210.
According to some embodiments of the present invention, as shown in fig. 9, the swing mechanism 150 includes a transmission gear 151, the transmission gear 151 is located between the first gripping mechanism 130 and the second gripping mechanism 140, and the transmission gear 151 is engaged with both the first gripping mechanism 130 and the second gripping mechanism 140, so that the swing of the first gripping mechanism 130 and the second gripping mechanism 140 is performed synchronously, and the angle adjustment can be ensured to be synchronous. When the transmission gear 151 rotates, the transmission gear 151 can drive the first grabbing mechanism 130 and the second grabbing mechanism 140 to rotate synchronously.
According to some embodiments of the present invention, referring to fig. 4, the swing mechanism 150 further includes a third driving unit 153, and the third driving unit 153 is connected to the first gripping mechanism 130 to drive the first gripping mechanism 130 to rotate. The third driving unit 153 serves as a power source for the rotation of the first grabbing mechanism 130 and the second grabbing mechanism 140, the third driving unit 153 may be directly connected to at least one of the first grabbing mechanism 130 and the second grabbing mechanism 140 in a driving manner, and of course, the third driving unit 153 may be indirectly connected to at least one of the first grabbing mechanism 130 and the second grabbing mechanism 140 in a driving manner.
It should be noted here that the third driving unit 153 may also directly drive the transmission gear 151 to rotate, so that the first grabbing mechanism 130 and the second grabbing mechanism 140 may also rotate synchronously.
According to some embodiments of the present invention, referring to fig. 9, the configuration of the first grasping mechanism 130 and the configuration of the second grasping mechanism 140 are the same. On one hand, the synchronous movement of the first grabbing mechanism 130 and the second grabbing mechanism 140 is convenient to control; on the other hand, the structure of the battery replacement device 100 can be simplified, the storage quantity of parts can be reduced, and the production cost can be reduced.
Referring to fig. 9, 11 and 12, according to some embodiments of the present invention, the first gripping mechanism 130 may include a hanger bracket 131 and a telescopic gripper 132, the telescopic gripper 132 is connected to the hanger bracket 131, the telescopic bracket is located below the hanger bracket 131, the telescopic gripper 132 is telescopic to be suitable for gripping the battery 300, the hanger bracket 131 is pivotally connected to the frame 110, and the hanger bracket 131 is engaged with the transmission gear 151. Further, the spreader bracket 131 may be pivotally connected with the translation mechanism 112.
Further, as shown in fig. 11, arc surfaces are formed on adjacent side walls of the hanger bracket 131 of the first grabbing mechanism 130 and the hanger bracket 131 of the second grabbing mechanism 140, a gear ring matched with the gear pattern of the transmission gear 151 is formed on the arc surfaces, and the third driving unit 153 is respectively connected with the two hanger brackets 131 through the transmission gear 151 in a driving manner.
Referring to fig. 12 and 15, according to other embodiments of the present invention, the swing mechanism 150 may include a push rod 152, one end of the push rod 152 may be rotatably connected to the first grasping mechanism 130, and the other end of the push rod 152 may be rotatably connected to the second grasping mechanism 140. Further, both ends of the push rod 152 may be rotatably connected with the corresponding hanger bracket 131. When the first grabbing mechanism 130 rotates, the push rod 152 drives the second grabbing mechanism 140 to rotate synchronously. At this time, the push rod 152 may limit the angular velocities of the first grabbing mechanism 130 and the second grabbing mechanism 140, so as to achieve the purpose of synchronously rotating the first grabbing mechanism 130 and the second grabbing mechanism 140. For example, the push rod 152 and the first grasping mechanism 130 may be connected by an articulated manner, and the push rod 152 and the second grasping mechanism 140 may also be connected by an articulated manner. In some examples, as shown in fig. 12 and 15, the push rod 152 may be a straight rod. Here, the third driving unit 153 may be connected to the first grasping mechanism 130 or the second grasping mechanism 140, so that the third driving unit 153 may satisfy the condition that the first grasping mechanism 130 or the second grasping mechanism 140 moves synchronously by driving one of the grasping mechanisms.
Further, as shown in fig. 9 and 12, a pivoting support 133 is provided between the hanger bracket 131 and the frame 110, so that the sensitivity of the hanger bracket 131 to pivot can be improved. One end of the push rod 152 is connected with the hanger bracket 131 at a position deviated from the rotation axis of the rotary bearing 133. In this way, it is convenient to define the rotation angle of the spreader bracket 131 using the push rod 152. Referring to fig. 11 and 14, the spreader bracket 131 is a flat plate. In order to improve the stability of the first gripping mechanism 130 and the second gripping mechanism 140, referring to fig. 9, the number of the telescopic gripper 132 may be multiple, and the plurality of telescopic gripper 132 is uniformly distributed below the spreader bracket 131. Through set up a plurality of flexible tongs 132 on hoist support 131, can guarantee that battery 300 picks the stationarity, avoid taking place to rock the phenomenon that leads to battery 300 to collide with at the mechanism removal in-process of grabbing.
The retractable grip 132 may be a mechanical grip, and includes two parts, i.e., a robot arm and a grip, the retractable grip 132 may perform height-wise retraction and gripping and releasing actions under the control of the controller, the retraction of the retractable grip 132 is performed by the extension of the robot arm, the gripping and releasing actions are performed by the grip, and the top of the battery 300 should be provided with a pull rod for gripping by the retractable grip 132. The working process of the telescopic gripper 132 is as follows: when the telescopic gripper 132 grips the battery 300, the battery 300 is gripped by extending downward; after grabbing, the device contracts upwards; when the battery 300 is placed by the telescoping hand grip 132, the battery 300 is extended downward and released.
According to some embodiments of the present invention, as shown in connection with FIG. 2, the travel mechanism 120 may include: a first drive unit 122 and a plurality of first wheels 121. Wherein each first wheel 121 is disposed on the frame 110, the first wheel 121 is adapted to roll along the first track 231, and the first driving unit 122 is drivingly connected to at least one of the first wheels 121. In the present embodiment, the first driving unit 122 provides a driving force to rotate the first wheel 121, so as to drive the frame 110 to travel along the first rail 231, and the battery 300 is transported to and fro above the storage bin 210 and the lane 220.
It should be understood that the first, third and fourth driving units 122, 153 and 244 described above may employ motors or other power devices; the second driving unit 113 may employ a telescopic cylinder or other power means. For example, one end of the telescopic oil cylinder is fixed on the inner wall of the frame, the other end of the telescopic oil cylinder is fixed on the side wall of the translation mechanism, and the translation mechanism is driven to move by the telescopic oil cylinder. The driving unit of the present invention is not limited to the above-described motor or cylinder.
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 (15)
1. A battery swapping device is characterized by comprising:
a frame;
the travelling mechanism is arranged on the frame so as to enable the frame to move along a first track;
the translation mechanism is movably arranged on the frame and moves along the extending direction vertical to the first rail;
the first grabbing mechanism is connected with the translation mechanism;
and the second grabbing mechanism is connected with the translation mechanism.
2. The battery swapping device of claim 1, wherein the first gripping mechanism, the second gripping mechanism and the translation mechanism are rotatably connected;
the battery replacement device further comprises:
the slewing mechanism is connected with the first grabbing mechanism and the second grabbing mechanism so as to enable the first grabbing mechanism and the second grabbing mechanism to rotate synchronously.
3. The battery swapping device as in claim 2, wherein the rotation mechanism comprises a transmission gear, the transmission gear is located between the first grabbing mechanism and the second grabbing mechanism, the transmission gear is engaged with both the first grabbing mechanism and the second grabbing mechanism, and when the transmission gear rotates, the transmission gear drives the first grabbing mechanism and the second grabbing mechanism to rotate synchronously.
4. The battery swapping device according to claim 3, wherein the first gripping mechanism comprises a hanger bracket and a telescopic gripper, the telescopic gripper is connected with the hanger bracket, the telescopic bracket is located below the hanger bracket, the telescopic gripper is telescopic and suitable for gripping a battery, the hanger bracket is pivotally connected with the frame, and the hanger bracket is meshed with the transmission gear.
5. The battery swapping device of claim 4, wherein a slewing bearing is disposed between the spreader bracket and the translation mechanism.
6. The battery replacement device according to claim 4, wherein the number of the telescopic grippers is multiple, and the plurality of telescopic grippers are uniformly distributed below the hanger bracket.
7. The battery swapping device as in claim 2, wherein the rotation mechanism comprises a push rod, one end of the push rod is rotatably connected to the first grabbing mechanism, the other end of the push rod is rotatably connected to the second grabbing mechanism,
when the first grabbing mechanism rotates, the push rod drives the second grabbing mechanism to rotate synchronously.
8. The battery swapping device of claim 1, wherein the configuration of the first gripping mechanism and the configuration of the second gripping mechanism are the same.
9. The battery swapping device of claim 1, wherein the traveling mechanism comprises:
a plurality of first wheels, each of the first wheels being disposed on the frame and adapted to roll along the first track;
a first drive unit in driving connection with at least one of the plurality of first wheels.
10. The battery swapping device of claim 1, wherein the frame comprises:
the main frame is connected with the walking mechanism and moves along a first direction;
the second driving unit is used for driving the translation mechanism to move.
11. A power swapping station, comprising:
a storage bin adapted to charge a battery;
a lane on which a vehicle is adapted to park;
the cross beam is connected with the upright post of the storage bin, at least part of the cross beam is positioned above the lane, and a first track is arranged on the cross beam;
the battery swapping device according to any one of claims 1 to 10, wherein the vehicle frame of the battery swapping device is adapted to move along the first rail, and the first and second gripping mechanisms of the battery swapping device are adapted to grip the battery in the storage bin or grip the battery on a vehicle parked on a lane.
12. The swapping station of claim 11, further comprising a mobile device on which the battery is adapted to be placed,
the storage bin comprises a storage area and an aisle area, the aisle area is located on one side of the storage area, when the battery replacement device moves to the position above the storage bin, the aisle area is located right below the battery replacement device, and the moving device moves between the storage area and the aisle area.
13. The swapping station of claim 12, wherein the storage area comprises two spaced apart storage areas, and the aisle area is located between the two storage areas.
14. The swapping station of claim 11, wherein there are two storage bins and the lane is located between the two storage bins.
15. The power exchanging station as recited in claim 11 wherein the moving means comprises a second track, a charging base, a second wheel rotatably disposed at a bottom of the charging base, and a fourth driving unit drivingly coupled to the second wheel.
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| CN202111481425.5A CN114274830B (en) | 2021-12-06 | 2021-12-06 | Battery replacing device and battery replacing station |
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| CN114274830B (en) | 2024-01-30 |
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Effective date of registration: 20230710 Address after: 410100 201, Floor 2, Zhongchuang Building, Sany Industrial City, No. 1, Sany Road, Changsha Economic Development Zone Block, Changsha Pilot Free Trade Zone (Hunan), Hunan Province Applicant after: Sany Lithium Energy Co.,Ltd. Address before: 102206 5th floor, building 6, 8 Beiqing Road, Changping District, Beijing Applicant before: SANY HEAVY INDUSTRY Co.,Ltd. |
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