CN205872015U - Get and trade electric dolly - Google Patents

Get and trade electric dolly Download PDF

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Publication number
CN205872015U
CN205872015U CN201620606820.XU CN201620606820U CN205872015U CN 205872015 U CN205872015 U CN 205872015U CN 201620606820 U CN201620606820 U CN 201620606820U CN 205872015 U CN205872015 U CN 205872015U
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CN
China
Prior art keywords
battery
changing trolley
take
electric
tripper
Prior art date
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Active
Application number
CN201620606820.XU
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Chinese (zh)
Inventor
林海岩
李楠
丁习坤
田小涛
朱浩
侯文洁
赵志凌
何旭
赖建文
沈斐
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NIO Anhui Holding Co Ltd
Original Assignee
NOI Ltd
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Publication date
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Priority to CN201620606820.XU priority Critical patent/CN205872015U/en
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Publication of CN205872015U publication Critical patent/CN205872015U/en
Active legal-status Critical Current
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Abstract

The utility model belongs to the technical field of electric automobile fills and trades, concretely relates to get and trade electric dolly. The utility model discloses aim at solving among the prior art and to trade electric in -process to electric automobile power battery, problem that degree of automation is low. Mesh for this reason, the utility model discloses a lifting mechanism that get and trade electric dolly includes the saddle, set up at the saddle top and set up and trade the level platform at the lifting mechanism top, trade the level bench and be provided with and decide the unlocking device that adds to the electric automobile from unblock on the electric automobile and with battery lock with the battery, its characterized in that, the bottom of saddle is provided with the gyro wheel, the gyro wheel can be followed the setting and rolled at battery compartment and the guide rail that trades between the electric storehouse, makes get and trade electric dolly can and trade the removal of shuttling back and forth at the battery compartment between the electric storehouse. This scheme can realize trading electric dolly at the battery compartment with trade that shuttling back and forth between the electric storehouse is moved and add the lock to the locking mechanism of battery or the unblock is operated simultaneously through servo motor.

Description

Take battery changing trolley
Technical field
This utility model belongs to electric automobile charging and conversion electric technical field, is specifically related to one and takes battery changing trolley.
Background technology
Along with the popularization of electric automobile, electric energy supply is provided to become for the electric automobile that electricity is not enough the most timely and effectively The problem all paid special attention to for manufacturer and car owner.On Vehicles Collected from Market, mainstream solution is to use charge mode, joins on parking stall Put AC trickle charge stake or DC fills stake soon.But trickle charge pattern needs to take a parking stall for a long time to be charged, and fast mold filling formula Charging current is big, is ten times even tens times of normal charge electric current, can reduce the cycle life of power battery pack, and charging one As be not up to fully charged state.And electrical changing station uses dynamic battery changing pattern, directly with fully charged battery replacing energy The set of cells exhausted, completes electric energy supply within the time of minute level, thus is the very efficient electric energy arbitrary way of one.
The application changing electric installation for electrical changing station is the most still in the starting stage, and still do not have maturation changes electric installation. Change the transhipment relating generally to the electrokinetic cell to electric automobile in electric process, the problem positioning and adding unblock.At present generally by Artificial electrokinetic cell is positioned and finds accurately add unlocked position, then use and tighten rifle the electrokinetic cell of electric automobile is carried out Add unblock, it is also desirable to the battery changed is shifted by corollary equipment.But, the mode being positioned manually adds manpower Cost, equipment cost, and labor intensity is big, longevity of service etc. causes inefficiency so that change electric process overall automatically Change degree is relatively low.
Therefore, this area needs a kind of new to change electric installation to solve the problems referred to above of the prior art.
Utility model content
In order to solve the problems referred to above of the prior art, it is in solution prior art electric automobile power battery is entered Row changes the problem that automaticity in electric process is low, and this utility model provides one and takes battery changing trolley.This takes battery changing trolley bag Include vehicle seat, be arranged on the lifting mechanism at vehicle seat top and be arranged on lifting mechanism top change level platform, described in change on level platform It is provided with being unlocked from electric automobile by battery and the battery in battery lock to electric automobile being added tripper, institute The bottom stating vehicle seat is provided with roller, and described roller can be along being arranged on battery compartment and the guide rail rolling changed between electricity storehouse so that The described battery changing trolley that takes can be shuttled back and forth movement between electricity storehouse at battery compartment and changing.
In the above-mentioned preferred implementation taking battery changing trolley, described in take battery changing trolley and also include being arranged on described vehicle seat Electric cylinder, described electricity cylinder is provided with the first alignment pin, the bottom of electric automobile is provided with mates with described first alignment pin First dowel hole, described electricity cylinder can drive described first alignment pin to be inserted in described first dowel hole.
In the above-mentioned preferred implementation taking battery changing trolley, described in change and on level platform, be provided with the second alignment pin, electronic The second dowel hole mated with described second alignment pin it is provided with on the electrokinetic cell of automobile.
In the above-mentioned preferred implementation taking battery changing trolley, it is ten that described battery adds the quantity of tripper, and Described ten batteries add tripper by driven by servomotor, the electrokinetic cell of electric automobile are locked or are unlocked simultaneously.
In the above-mentioned preferred implementation taking battery changing trolley, described electricity cylinder, the first alignment pin and the first dowel hole Quantity is four.
In the above-mentioned preferred implementation taking battery changing trolley, described in take and in battery changing trolley, be provided with driving means, described Driving means is used for driving described roller to move along described guide rail.
In the above-mentioned preferred implementation taking battery changing trolley, described battery adds and is provided with sensor on tripper, institute State sensor can detect battery add tripper to battery lock or unlock time torque value and rotational angle.
In the above-mentioned preferred implementation taking battery changing trolley, the torque value detected is sent to by described torque sensor Control system, according to described torque value, described control system can judge that described battery adds the degree of wear of tripper.
In the technical solution of the utility model, by battery compartment and change electricity storehouse between guide rail is set so that change electricity little Car and can change between electricity storehouse along this guide rail free shuttling in battery compartment.Additionally, when taking the battery changing trolley power to electric automobile Behind battery location, using servomotor as driving means, thus realize battery and add tripper multiple lockable mechanisms are entered simultaneously Row locks or solves latching operation.It addition, this takes battery changing trolley can also add tripper to battery by torque sensor detection Torque value when locking or unlock, control system can judge the abrasion journey of battery lock mechanism according to this torque value Degree.The technical program can solve electric automobile battery in changing electric process well and transport and to multiple battery lock mechanisms The problem synchronizing to carry out locking or unlocking, the overall development for charging and conversion electric station is laid a good foundation.
Accompanying drawing explanation
Fig. 1 is the structural representation taking battery changing trolley of the present utility model;
Fig. 2 is that the battery changing trolley that takes of the present utility model at battery compartment and changes schematic top plan view when moving between electricity storehouse, for Eliminate A end in figure for the sake of clear changes electricity storehouse;
Fig. 3 be of the present utility model take battery changing trolley change electricity flow chart.
Detailed description of the invention
Preferred implementation of the present utility model is described with reference to the accompanying drawings.Skilled artisan would appreciate that It is that these embodiments are used only for explaining know-why of the present utility model, it is not intended that limit protection of the present utility model Scope.
It should be noted that in description of the present utility model, term " " center ", " on ", D score, "left", "right", " perpendicular Directly ", " level ", " interior ", the orientation of the instruction such as " outward " or position relationship be based on orientation shown in the drawings or position relationship, be only Must have specific for the ease of describing this utility model and simplification description rather than instruction or the device of hint indication or element Orientation, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " the One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
In addition it is also necessary to explanation, in description of the present utility model, unless otherwise clearly defined and limited, art Language " is installed ", " being connected ", " connection " should broadly understood, and connects for example, it may be fixing, it is also possible to be to removably connect, or It is integrally connected;Can be to be mechanically connected, it is also possible to be electrical connection;Can be to be joined directly together, it is also possible to by between intermediary Connect connected, can be the connection of two element internals.To those skilled in the art, on can understanding as the case may be State term concrete meaning in this utility model.
This utility model provides one and takes battery changing trolley.As it is shown in figure 1, this takes battery changing trolley includes vehicle seat 11, roller 12, lifting mechanism 13, change level platform 14 and battery adds tripper (not shown).Wherein, roller 12 is arranged on vehicle seat 11 Bottom, and as the walking mechanism of battery changing trolley, enable battery changing trolley free shuttling to move.Lifting mechanism 12 is arranged on car The top of seat 11, changes level platform 14 and is arranged on the top of lifting mechanism 12, and lifting mechanism 12 can do lifting fortune at above-below direction Move, and band is moved level platform 14 and moved up and down.Specifically, lifting mechanism 12 can be by hydraulically powered scissors type elevating Machine, it is also possible to be that other are capable of the equipment of lifting function, describe the most in detail.Change level platform 14 electronic for carrying The battery of automobile, and battery adds tripper and is arranged on and changes on level platform 14, takes battery changing trolley and adds tripper by battery Battery can be unlocked from electric automobile and by battery lock to electric automobile.Specifically, battery is solid by lockable mechanism Being scheduled on electric automobile, battery adds the top of tripper and is provided with the lock part matched with battery lock mechanism, servo electricity Machine drives lock part lock battery or unlock.Also include matching with lock part more specifically, this battery adds tripper The power shaft closed, servomotor drives lock part, and then the electricity that lock part is to being fixed on electric automobile by driving power shaft Pond is unlocked or locks.It should be noted that when on self-contained battery to electric automobile, it usually needs multiple lockable mechanisms Battery is locked, therefore, changes the battery on level platform and add tripper and be also provided with multiple and with lockable mechanism quantity phase With.It is ten that battery in present embodiment adds the quantity of tripper and battery lock mechanism, and driving at servomotor Under Dong, ten batteries add tripper and can lock battery simultaneously or unlock.
Above-mentioned preferred embodiment in, this take be additionally provided with on the vehicle seat 11 of battery changing trolley electricity cylinder (figure does not shows Go out), electricity cylinder is provided with the first alignment pin, bottom electric automobile, is provided with the first dowel hole mated with the first alignment pin, Electricity cylinder can drive the first alignment pin to be inserted in the first dowel hole.Specifically, vehicle seat 11 selects suitable position Arranging electricity cylinder, this suitable position refers to that electricity cylinder will not be by changing the stop of level platform 14 when rising.In order to realize electronic Automobile batteries positions more accurately, can arrange multiple electricity cylinder on vehicle seat 11, electric automobile is again provided with and electricity cylinder Multiple first holes, location of the first alignment pin coupling.Electric cylinder, the first alignment pin and the number of the first dowel hole in the present embodiment Amount is four.
In a preferred embodiment, this takes changing of battery changing trolley and is additionally provided with the second alignment pin on level platform, electronic vapour The second dowel hole mated with the second alignment pin it is provided with on the electrokinetic cell of car.Specifically, when battery changing trolley is to electronic When automobile carries out power taking operation, after the first alignment pin is inserted into the first dowel hole, change level platform 14 driving at lifting mechanism 13 Dynamic lower rising, makes the second alignment pin be inserted in the second dowel hole, carries out second positioning so that battery changing trolley is to electrokinetic cell Location more accurate.
In a preferred embodiment, this battery taking battery changing trolley adds and is provided with such as torque sensing on tripper Device, this torque sensor can detect battery and add torque value when battery is locked or unlocks by tripper, and will detect Torque value send control system to.Preferably, this torque sensor (or other independent sensors) can detect electricity Pond adds rotational angle when tripper locks or unlocks, in order on the premise of ensureing moment of torsion, it is ensured that rotational angle is necessarily In the range of, will not be excessive or too small.Along with changing increasing of electricity number of times, the lockable mechanism meeting on fixing electrokinetic cell to electric automobile There is a certain degree of abrasion, make the power that electrokinetic cell is locked or unlocks by driven by servomotor battery locking device, i.e. The torque value of output can reduce, and therefore, control system can judge the degree of wear of battery lock mechanism according to this torque value.Control System processed is additionally operable to carry out electrical changing station unified monitoring, and this control system can be with cloud service system communication uploading in real time The state at charging and conversion electric station.Control system can also control to take battery changing trolley and is automatically performed the process changing electricity simultaneously, under normal circumstances, Guard without personnel when carrying out changing electrically operated.
Of the present utility model take the battery changing trolley electrical changing station for electric automobile.Electrical changing station includes battery compartment and changes electricity storehouse. Battery compartment and change and be provided with guide rail between electricity storehouse, takes that battery changing trolley is enough at battery compartment and changes shifting of shuttling back and forth between electricity storehouse along this guide rail Dynamic.After the electric automobile of electricity to be changed is parked in and changes electricity storehouse, electric automobile is given rise to certain height by the elevating mechanism changed in electricity storehouse Degree, taking battery changing trolley can take out full electricity battery from battery compartment and move along the rail below electric automobile.Specifically, reference Fig. 2, Fig. 2 are that the battery changing trolley that takes of the present utility model at battery compartment and changes schematic top plan view when moving between electricity storehouse, in order to clearly What Chu Qijian eliminated A end in figure changes electricity storehouse.Showing in Fig. 2 and take battery changing trolley 1, battery compartment 2 and guide rail 3, guide rail 3 is arranged on Battery compartment 2 and changing between electricity storehouse, is taken battery changing trolley 1 and is rolled along guide rail 3 by driving means driving rolls 12, and the A end of guide rail 3 is Change electricity storehouse, when taking after battery changing trolley moves to A end along guide rail 3, start electric automobile is taken electrically operated.The B end of guide rail 3 Dock with the charging rack in battery compartment, when taking after battery changing trolley moves to B end along guide rail 3, transported by the slide rail docked with guide rail 3 Move in the charging rack in battery compartment or elevator so that battery changing trolley can be shuttled back and forth in battery compartment, carry out picking and placeing electricity simultaneously The operation in pond.
In sum, the technical solution of the utility model is capable of taking battery changing trolley and at battery compartment and changes between electricity storehouse Shuttle back and forth movement, when battery being added solution latching operation, it is possible to multiple lockable mechanisms are added unblock simultaneously.Watch existing On the basis of taking motor device, in conjunction with high in the clouds data feedback and control, it is achieved that the battery of electric automobile to be carried out intelligence, safety Changing electricity, and old empty battery is returned to battery compartment be charged, new battery takes out and is automatically mounted into the merit on electric automobile Energy.
Fig. 3 be of the present utility model take battery changing trolley change electricity flow chart, take of the present utility model below in conjunction with Fig. 3 The electric current journey of changing of electricity dolly illustrates.First take battery changing trolley 1 and move to below electric automobile in place, then, the first location Selling and begin to ramp up with electricity cylinder, electric automobile declines simultaneously, keeps such as 10MM distance with the first alignment pin, then in the continuation of electricity cylinder Rising, make the first alignment pin insert in the first dowel hole, now electricity cylinder continues jacking one segment distance, makes the first alignment pin and first Dowel hole is firmly combined together.Then, lifting mechanism 13 band is moved level platform 14 and is begun to ramp up, and makes to change on level platform 14 The second alignment pin be inserted in the second dowel hole of battery, it is achieved change the level platform 14 location to battery.Now, level is changed Platform 14, battery and electric automobile are rigid contact and keep the lockable mechanism in level, and battery to add tripper with battery Lock part connect, battery adds tripper and is unlocked action under the driving of servomotor.Battery has unlocked, and battery adds Tripper resets, and low Electronic power batteries departs from electric automobile, declines with changing level platform 14, takes battery changing trolley along being arranged on battery compartment With the guide rail 3 changed between electricity storehouse moves to battery compartment 2 and low Electronic power batteries is put into battery compartment is charged, take out full electricity simultaneously Battery is also transported to below electric automobile in place.Now, the second alignment pin changed on level platform 14 has inserted second on battery In dowel hole, and the lockable mechanism of the battery lock part and battery that add tripper is connected.Then, electricity cylinder rises and makes the One alignment pin is inserted in the first dowel hole, by changing level platform jacking battery in electric automobile.Now, change level platform, Battery and electric automobile rigid contact also keep level, and battery adds tripper and carries out locking dynamic under driven by servomotor Make.After locking completes, battery adds tripper and resets, and then changes electricity platform reset, and the whole electric process that changes completes.
So far, describe the technical solution of the utility model already in connection with preferred implementation shown in the drawings, but, this Skilled person is it is easily understood that protection domain of the present utility model is expressly not limited to these detailed description of the invention.? On the premise of principle of the present utility model, correlation technique feature can be made the change of equivalent by those skilled in the art Or replace, within these changes or the technical scheme after replacing it fall within protection domain of the present utility model.

Claims (8)

1. take a battery changing trolley, the lifting mechanism that including vehicle seat, is arranged on vehicle seat top and be arranged on lifting mechanism top Change level platform, described in change and be provided with on level platform from electric automobile, unlock and by battery lock to electronic vapour battery Battery on car adds tripper,
It is characterized in that, the bottom of described vehicle seat is provided with roller, described roller can along be arranged on battery compartment and change electricity storehouse it Between guide rail roll so that described in take battery changing trolley and can shuttle back and forth movement between electricity storehouse at battery compartment and changing.
The most according to claim 1 take battery changing trolley, it is characterised in that described in take battery changing trolley and also include being arranged on described Electric cylinder on vehicle seat, described electricity cylinder is provided with the first alignment pin, and the bottom of electric automobile is provided with and described first alignment pin First dowel hole of coupling, described electricity cylinder can drive described first alignment pin to be inserted in described first dowel hole.
The most according to claim 2 take battery changing trolley, it is characterised in that described in change and on level platform, be provided with the second location Pin, the electrokinetic cell of electric automobile is provided with the second dowel hole mated with described second alignment pin.
The most according to claim 3 take battery changing trolley, it is characterised in that it is ten that described battery adds the quantity of tripper Individual, and described ten batteries add tripper by driven by servomotor, lock the electrokinetic cell of electric automobile simultaneously Or unlock.
The most according to claim 4 take battery changing trolley, it is characterised in that described electricity cylinder, the first alignment pin and the first location The quantity of pin-and-hole is four.
The most according to any one of claim 1 to 5 take battery changing trolley, it is characterised in that described in take and set in battery changing trolley Being equipped with driving means, described driving means is used for driving described roller to move along described guide rail.
The most according to claim 6 take battery changing trolley, it is characterised in that described battery adds and is provided with sensing on tripper Device, described sensor can detect battery and add torque value when battery is locked or unlocks by tripper and rotational angle.
The most according to claim 7 take battery changing trolley, it is characterised in that the torque value that described torque sensor will detect Send control system to, according to described torque value, described control system can judge that described battery adds the abrasion journey of tripper Degree.
CN201620606820.XU 2016-06-20 2016-06-20 Get and trade electric dolly Active CN205872015U (en)

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Cited By (19)

* Cited by examiner, † Cited by third party
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CN107097762A (en) * 2017-05-15 2017-08-29 上海蔚来汽车有限公司 Railway guidance type electricity changing robot, electric charging station and change method for electrically
CN107415903A (en) * 2017-03-13 2017-12-01 上海蔚来汽车有限公司 For electric automobile in multi-storied garage battery replacement device and change method for electrically
CN107959144A (en) * 2017-11-22 2018-04-24 蔚来汽车有限公司 Floating docking facilities, electricity changing robot and locking, unlock and plus unlocking method
CN108001263A (en) * 2017-11-23 2018-05-08 臻昊(北京)新能源科技有限公司 Dynamic battery changing system
CN108099859A (en) * 2017-12-20 2018-06-01 佛山市梦真营机电有限公司 One kind changes electric intelligent carriage
CN108128286A (en) * 2017-04-01 2018-06-08 上海电巴新能源科技有限公司 Battery changing trolley changes electric control system and its control method
CN108162928A (en) * 2017-12-20 2018-06-15 佛山市梦真营机电有限公司 A kind of Vehicular battery fixed system
CN108237935A (en) * 2017-12-08 2018-07-03 上海思致汽车工程技术有限公司 It is a kind of easily to replace high voltage electric storage cell system
CN108238018A (en) * 2017-12-15 2018-07-03 蔚来汽车有限公司 Detent mechanism and the electricity changing robot with the detent mechanism
CN108860093A (en) * 2018-08-03 2018-11-23 蔚来汽车有限公司 Bottom plate levelling mechanism, track and change electric installation
CN109484369A (en) * 2017-10-30 2019-03-19 蔚来汽车有限公司 Battery storage device, battery storage and exchange system
CN109483212A (en) * 2017-12-06 2019-03-19 蔚来汽车有限公司 Screwing tool and electric installation is changed including its automobile
CN109501745A (en) * 2017-10-30 2019-03-22 蔚来汽车有限公司 Change electric carrier
CN109507913A (en) * 2017-11-30 2019-03-22 蔚来汽车有限公司 Change electricity plus solution lock control system and control method
CN109501754A (en) * 2017-12-12 2019-03-22 蔚来汽车有限公司 Fastener adds unlocking mechanism and system and the electrically operated platform of replacing vehicle
WO2019114139A1 (en) * 2017-12-15 2019-06-20 蔚来汽车有限公司 Positioning mechanism and battery-replacing robot having same
CN109987173A (en) * 2019-04-08 2019-07-09 广东嘉腾机器人自动化有限公司 A kind of power supply automatic-exchanging system and method
CN111959338A (en) * 2020-07-15 2020-11-20 浙江吉智新能源汽车科技有限公司 Battery replacement method for electric vehicle
WO2021148035A1 (en) * 2020-01-23 2021-07-29 奥动新能源汽车科技有限公司 Shuttle vehicle and shuttle vehicle control method

Cited By (25)

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CN107415903A (en) * 2017-03-13 2017-12-01 上海蔚来汽车有限公司 For electric automobile in multi-storied garage battery replacement device and change method for electrically
CN108128286A (en) * 2017-04-01 2018-06-08 上海电巴新能源科技有限公司 Battery changing trolley changes electric control system and its control method
CN107097762A (en) * 2017-05-15 2017-08-29 上海蔚来汽车有限公司 Railway guidance type electricity changing robot, electric charging station and change method for electrically
WO2019085319A1 (en) * 2017-10-30 2019-05-09 蔚来汽车有限公司 Battery swapping transporting device
CN109484369A (en) * 2017-10-30 2019-03-19 蔚来汽车有限公司 Battery storage device, battery storage and exchange system
CN109501745A (en) * 2017-10-30 2019-03-22 蔚来汽车有限公司 Change electric carrier
TWI681588B (en) * 2017-11-22 2020-01-01 香港商蔚來汽車有限公司 Floating butt-joint device, battery swapping robot, locking method, unlocking method and locking and unlocking method
WO2019101028A1 (en) * 2017-11-22 2019-05-31 蔚来汽车有限公司 Drifting abutting connection device, battery replacing robot, and locking, unlocking and locking-unlocking methods
CN107959144A (en) * 2017-11-22 2018-04-24 蔚来汽车有限公司 Floating docking facilities, electricity changing robot and locking, unlock and plus unlocking method
CN108001263A (en) * 2017-11-23 2018-05-08 臻昊(北京)新能源科技有限公司 Dynamic battery changing system
CN109507913A (en) * 2017-11-30 2019-03-22 蔚来汽车有限公司 Change electricity plus solution lock control system and control method
CN109483212A (en) * 2017-12-06 2019-03-19 蔚来汽车有限公司 Screwing tool and electric installation is changed including its automobile
CN109483212B (en) * 2017-12-06 2021-01-29 蔚来(安徽)控股有限公司 Screwing tool and automobile battery replacing device comprising same
WO2019109501A1 (en) * 2017-12-06 2019-06-13 蔚来汽车有限公司 Twisting tool and automobile battery swap device comprising same
CN108237935A (en) * 2017-12-08 2018-07-03 上海思致汽车工程技术有限公司 It is a kind of easily to replace high voltage electric storage cell system
CN109501754A (en) * 2017-12-12 2019-03-22 蔚来汽车有限公司 Fastener adds unlocking mechanism and system and the electrically operated platform of replacing vehicle
CN108238018A (en) * 2017-12-15 2018-07-03 蔚来汽车有限公司 Detent mechanism and the electricity changing robot with the detent mechanism
WO2019114139A1 (en) * 2017-12-15 2019-06-20 蔚来汽车有限公司 Positioning mechanism and battery-replacing robot having same
CN108099859A (en) * 2017-12-20 2018-06-01 佛山市梦真营机电有限公司 One kind changes electric intelligent carriage
CN108162928A (en) * 2017-12-20 2018-06-15 佛山市梦真营机电有限公司 A kind of Vehicular battery fixed system
CN108860093A (en) * 2018-08-03 2018-11-23 蔚来汽车有限公司 Bottom plate levelling mechanism, track and change electric installation
CN109987173A (en) * 2019-04-08 2019-07-09 广东嘉腾机器人自动化有限公司 A kind of power supply automatic-exchanging system and method
CN109987173B (en) * 2019-04-08 2021-07-16 广东嘉腾机器人自动化有限公司 Automatic power supply replacement system and method
WO2021148035A1 (en) * 2020-01-23 2021-07-29 奥动新能源汽车科技有限公司 Shuttle vehicle and shuttle vehicle control method
CN111959338A (en) * 2020-07-15 2020-11-20 浙江吉智新能源汽车科技有限公司 Battery replacement method for electric vehicle

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