CN215436079U

CN215436079U - Self-tracing lifting device for battery replacement of electric automobile

Info

Publication number: CN215436079U
Application number: CN202121448324.3U
Authority: CN
Inventors: 陈维加
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-06-28
Filing date: 2021-06-28
Publication date: 2022-01-07
Anticipated expiration: 2031-06-28

Abstract

The utility model discloses a self-tracing lifting device for replacing a battery of an electric automobile, which comprises lifting unit devices for synchronously lifting four wheels of the electric automobile, and is characterized in that each lifting unit device comprises a travelling mechanism and a lifting mechanism, wherein the travelling mechanism comprises an AGV trolley; the lifting driving device is connected with an automatic controller in the AGV to drive the lifting block to lift; wherein: the support frame is arranged on the AGV trolley body in a floating manner, or is rigidly fixed or integrally arranged on the trolley body, and the travelling wheels are arranged at the bottom of the trolley body in a floating manner; when the lifting unit device does not lift, the bottom of the support frame is suspended, and when the lifting unit device lifts, the bottom of the support frame lands to provide support for lifting of the lifting block. The device can be put in a place where the electric automobile needs to be charged at any time and any place, automatically lifts the automobile, is flexible and convenient to use, and is stable and reliable in bearing and high in efficiency.

Description

Self-tracing lifting device for battery replacement of electric automobile

Technical Field

The utility model relates to a self-tracing lifting device for battery replacement of an electric automobile.

Background

With the popularization of electric vehicles, in order to solve the problem of changing oil into electricity of the electric vehicles, the current solution is to adopt a mode of replacing batteries. A plurality of battery replacing vehicle types are released by part of existing vehicle enterprises, batteries of the battery replacing vehicle types are usually installed on a bottom frame of a vehicle, and therefore operation needs to be carried out from the bottom of the vehicle when replacing the batteries, namely, the vehicle is lifted through facilities, the bottom frame is suspended, and then mechanical arms or operation trolleys are sent to the lower portion of the frame to load and unload the batteries.

At present, the power station for replacing the battery of the electric automobile is available on the market, and the internal facilities for operating at the bottom of the automobile are mainly divided into two types, namely a trench and a fixed lifting frame, as same as the original facilities for maintaining and repairing the common automobile, although the two types of facilities are technically mature, the two types of facilities still have the following defects:

1. the dependence on the field is too strong, the occupied area is large, and the use is not flexible; the trench or the fixed lifting frame is a ground fixed facility, so that battery charging and storage and transportation facilities matched with the power station can be integrally built and bound with each other, and a relatively open place is required, and the trench or the fixed lifting frame is not suitable for being built in a city center with crowded traffic and short land or a relatively narrow underground garage and other areas.

2. Known fixed lifting frame often comprises a series of complicated and accurate mechanisms, cooperates together to accomplish a series of actions such as counterpoint, locking and lifting to electric automobile, and overall structure is complicated, in case install on the spot accomplish just difficult dismantlement again shift, needs professional to install, debug, and the price is expensive, and the equipment maintenance cost is high. Moreover, one set of mechanism only serves one electric automobile with a single specification, the application range is very limited, and the investment of the power station integrating part of automobiles and enterprises is huge, so that high-density layout cannot be realized.

3. The inside only corresponds a motorcycle type usually of current power station of trading, does not have wheel base and wheel base problem when consequently the lifting counterpoint, if the demand of trading of all vehicles of will adapting to, the lifting device must increase a set of complicated mechanical structure and adapt to wheel base and wheel base, even if so still propose the accurate fixed station that can only stop into to the driver of fairly high driving technical requirement. For some drivers who are not skilled in driving technology, certain inconvenience is brought, so that the power changing fields need to be configured with professionals or adopt full-automatic parking systems, and consequently, the power changing efficiency is reduced.

The AGV dolly is the comparatively ripe haulage equipment that bears of present industry occasion application, and it has can remove by oneself and the characteristics of small and exquisite structure, carries on the lift drive arrangement who installs the high accuracy on the AGV dolly in the present trade, and the lifting is implemented to whole immigration electric automobile bottom. However, the lifting device is limited to lifting and moving of the vehicle, and cannot be used for replacing the battery or repairing the bottom of the electric vehicle, and the following disadvantages are also existed:

1. the AGV dolly of present lifting device need remove to the frame bottom to the vehicle lifting operation, and itself and the lift drive device on it just occupied the activity space of the operation dolly that is used for next trading electricity and arm, leads to unable trading electricity.

2. If design according to present fork truck structure and trade the AGV dolly for electric, then AGV dolly self must bear the weight of car, and the AGV dolly is after holding up the vehicle simultaneously, and its bottom walking wheel also difficult avoid producing unstable removal, consequently need dispose the AGV dolly of very big load.

3. Because the forces in all directions of the bottom of the vehicle need to be borne and balanced, a supporting and balancing and stabilizing mechanism needs to be additionally arranged on the AGV trolley to provide stable supporting force, so that the whole mechanism of the lifting device is complex, the operation is inconvenient, and the manufacturing cost and the maintenance cost are relatively high.

Therefore, at present, no application precedent that the AGV trolley is used as a vehicle lifting tool exists in the field of battery replacement of electric vehicles.

Disclosure of Invention

The utility model aims to: the utility model provides a from seeking mark lifting device for electric automobile trades electricity, it can be put in at anytime and anywhere and implement the place that trades the electricity to electric automobile, carries out the lifting to the vehicle automatically, and it is nimble convenient to use, bears reliable and stable, and work efficiency is high.

The technical scheme of the utility model is as follows: a self-tracing lifting device for replacing batteries of electric automobiles comprises lifting unit devices for synchronously lifting four wheels of an electric automobile, and is characterized in that each lifting unit device comprises a travelling mechanism and a lifting mechanism, and the travelling mechanism comprises an AGV (automatic guided vehicle); the lifting mechanism comprises a support frame and a lifting block connected to the support frame through a lifting driving device, two wheel support rods used for supporting wheels are fixed on the lifting block, and the lifting driving device is connected with an automatic controller in the AGV and used for driving the lifting block to lift relative to the support frame; wherein:

the supporting frame is arranged on the body of the AGV trolley in a floating mode, the bottom of the supporting frame is suspended when the lifting unit device does not lift, and the bottom of the supporting frame lands when the lifting unit device lifts to provide support for lifting of the lifting block;

or the support frame is rigidly fixed or integrally arranged on the AGV trolley body, the walking wheels are arranged at the bottom of the AGV trolley body in a floating mode, the bottom of the support frame is suspended when the lifting unit device does not lift, and the bottom of the support frame lands when the lifting unit device lifts, so that support is provided for lifting of the lifting block.

Furthermore, a plurality of damping springs which are connected with and support the support frame are arranged on the AGV body, so that the support frame is arranged on the AGV body in a floating manner;

when the lifting unit device does not lift, the support frame is supported and lifted through the damping spring, so that the bottom of the support frame is suspended, and when the lifting unit device lifts, the weight of the electric automobile compresses the damping spring, so that the bottom of the support frame lands, and support is provided for lifting of the lifting block;

the walking wheels are arranged at the bottom of the vehicle body in a floating mode, namely, wheel shafts of the walking wheels or wheel shaft supporting frames are connected through damping springs and support the vehicle body;

when the lifting unit device does not lift, the vehicle body and the support frame on the vehicle body are supported and supported through the damping springs, so that the bottom of the support frame is suspended, and when the lifting unit device lifts, the weight of the electric vehicle compresses the damping springs, so that the bottom of the support frame lands, and support is provided for lifting of the lifting block.

Further, the traveling wheel is preferably a Mecanum wheel in the utility model.

Furthermore, a guide mechanism which guides and limits the lifting block to only lift relative to the support frame is arranged between the lifting block and the support frame.

Furthermore, the support frame is provided with a plurality of vertical guide rods, the lifting block is provided with a plurality of guide sleeves matched with the guide rods, and the guide rods and the guide sleeves jointly form the guide mechanism; or the support frame is provided with vertical guide grooves symmetrically positioned at two sides of the lifting block, two rows of guide rollers are arranged on the lifting block corresponding to the vertical guide grooves at each side, the two rows of guide rollers are respectively abutted against two vertical opposite sides in the corresponding vertical guide grooves, and the vertical guide grooves and the guide rollers form the guide mechanism. Of course, the guiding mechanism is not exhaustive, and may be any other known guiding and limiting mechanism.

Further, the lifting driving device is an electric lead screw, a telescopic motor, an air cylinder or an oil cylinder.

Furthermore, the lifting driving device is fixed on the lifting block or integrated with the lifting block, and the movable end of the lifting driving device is connected with the support frame; when the lifting driving device works, the lifting driving device is driven to lift together with the lifting block relative to the supporting frame through the reaction force applied to the supporting frame by the movable end. The lifting mode can make full use of the support frame to provide stable support and provide larger lifting force.

Furthermore, the AGV trolley is in the prior art, and can be a microwave guided AGV trolley or a visual guided AGV trolley which is mature in the prior art.

If the microwave guided AGV trolley is adopted, a microwave transceiver is installed on the AGV trolley, the automatic controller in the AGV trolley calculates the current position and the movement direction of a vehicle by receiving a microwave signal fed back by the environment, and the position is corrected by comparing the position with the built-in vehicle and environment information, so that the automatic movement is realized, the position of the vehicle to be maintained or changed is finally reached, and the vehicle is stopped at the position of a wheel to be lifted, and the next lifting operation is implemented.

The vision guiding type AGV is provided with a CCD camera and a sensor, and an automatic controller in the AGV is provided with an image database of the surrounding environment of the path to be driven of the AGV. In the running process of the AGV trolley, the CCD camera dynamically acquires information of the vehicle and image information of the surrounding environment and compares the information with the image database, so that the current position is determined, a decision is made for the next step of running, the current position finally reaches the position where the vehicle to be maintained or powered up is located, and the vehicle stops at the position of the wheel to be lifted, and therefore the next lifting operation can be carried out.

Furthermore, the support frame is provided with extending support legs corresponding to each wheel support rod in the same direction as the wheel support rods, the extending support legs and the wheel support rods extend into the bottoms of the wheels together, and when the wheel support rods drive the wheels to be lifted by the lifting blocks, the extending support legs are supported on the ground.

The lifting driving devices in the four lifting unit devices can give control signals to the AGV through manual operation or an AI controller, and the AGV and the lifting driving devices are driven to synchronously work to lift the automobile. Certainly, further, a synchronous controller for controlling the lifting driving devices in the four lifting unit devices to synchronously work can be designed, the synchronous controller is connected with the automatic controllers in the four AGV trolleys in a wired or wireless mode and is used for receiving the positioning signals sent by the four AGV trolleys, and after all the positioning signals are received, the lifting signals are sent to drive the four lifting driving devices to synchronously work to lift the electric automobile. The synchronization controller may be a PLC controller.

The utility model has the following advantages:

1. the utility model has free and flexible integral use, is not limited by sites and spaces, and can be put nearby near matched battery charging and storage and transportation facilities for matched use when being applied to the field of electric automobile battery replacement, so that the quick battery replacement station can be assembled in the city center with crowded traffic and short land or underground garage and other areas, the application area of the quick battery replacement station is greatly widened, the high-density layout is more convenient, and the popularization of the electric automobile is further promoted.

2. When the lifting device is used, the position of the wheels of the battery replacing vehicle is searched in the alignment mode through the AGV trolley of the lifting unit device instead of the battery replacing vehicle; compared with the existing trench or fixed lifting frame, the rigid fixed station for the battery replacing vehicle to drive in does not exist, the driving technical requirement of a driver does not need to be too high, and the operating efficiency during battery replacing can be effectively improved.

3. According to the utility model, the AGV trolley of the lifting unit device is used for finding the position of the wheel of the battery replacing vehicle in a contraposition manner, so that the wheel base and the wheel base of the battery replacing vehicle are automatically adapted, and the lifting requirement when batteries of various vehicle types are replaced is widely adapted. Compared with a mechanical alignment mechanism which is complex to manufacture to adapt to the wheel base and the wheel base, the wheel base and the wheel base are obviously simpler in structure and more flexible and convenient to use.

4. According to the utility model, four wheels of the electric automobile are synchronously lifted by adopting the four lifting unit devices, so that the whole automobile is lifted. When the lifting block is designed, the special support frame is arranged to provide support for lifting of the lifting block, the walking wheels at the bottom of the AGV trolley are not used for bearing the weight of the automobile completely during lifting, the unstable movement of the walking wheels at the bottom of the AGV trolley is avoided, and the bearing is more stable and reliable; meanwhile, a single AGV does not need to be configured under a large load, so that the structure can be simplified, and the cost is saved.

5. When the automatic power changing station works, the two wheel support rods at the front part of the lifting block directly extend into the bottoms of the wheels to fork the wheels so as to lift the vehicle, and the AGV trolley does not need to move to the bottom of the vehicle, so that a gap area at the bottom of the vehicle can be completely left, a subsequent mechanical arm and an operation trolley can conveniently enter power changing, interference with the mechanical arm and the operation trolley can be avoided, and the automatic power changing station is particularly suitable for being applied to quick power changing stations to implement matched power changing.

6. The lifting device is integrally composed of four lifting unit devices, and a single lifting unit device is simple in structure and convenient to operate, so that the manufacturing and maintenance costs are low.

Drawings

The utility model is further described with reference to the following figures and examples:

FIG. 1 is a schematic view (top view) illustrating the overall operation of embodiment 1 of the present invention;

FIG. 2 is a front view of a single lift unit apparatus of the present invention (in an un-lifted operational state);

FIG. 3 is a left side view of the lift unit apparatus of FIG. 2;

FIG. 4 is a schematic perspective view of the lifting unit apparatus of FIG. 2;

FIG. 5 is a schematic illustration of an isolated perspective view of the AGV cart and the common support rack (of one piece design) of the lift unit of FIG. 2;

FIG. 6 is a front view of FIG. 1 in an initial state of lifting;

FIG. 7 is a left side view of FIG. 1 in an initial state of lifting;

FIG. 8 is a front view of FIG. 1 in a raised, finished condition;

FIG. 9 is a left side view of FIG. 1 at the conclusion of lifting;

FIG. 10 is a schematic diagram showing the state change of a single lifting unit device in the process of lifting wheels in the embodiment 1;

FIG. 11 is a front view of a single lifting unit device in embodiment 2 of the present invention (in an un-lifted state);

FIG. 12 is a left side view of the lift unit assembly of FIG. 11;

FIG. 13 is a schematic perspective view of the lifting unit apparatus of FIG. 11;

FIG. 14 is a schematic view of an AGV cart and support rack assembly of the lift unit arrangement of FIG. 11;

fig. 15 is a schematic diagram of the state change of a single lifting unit device in the process of lifting wheels in the embodiment 2.

As shown in the figure: 1. an AGV trolley; 1a, a vehicle body; 1b, a traveling wheel; 2. a support frame; 3. a lift drive; 4. lifting the block; 5. a wheel carrier bar; 6. an electric vehicle; 7. a wheel; 8. a damping spring; 9. a vertical guide groove; 10. a guide roller; 11. an extension leg; 12. a top plate; 13. erecting a rod; 14. a transverse stiffener; 15. a T-shaped block; 16. a bottom side link; 17. a bottom transverse connecting rod; 18. a bottom pallet.

Detailed Description

Example 1: an embodiment of the self-tracking lifting device for battery replacement of an electric vehicle according to the present invention is described with reference to fig. 1 to 10 as follows:

as shown in fig. 1, the self-tracking lifting device for replacing the battery of the electric vehicle provided in this embodiment is formed by a lifting unit device for synchronously lifting four wheels 7 of the electric vehicle 6 and a synchronous controller (omitted in the figure) for controlling the four lifting unit devices to synchronously operate.

As shown in fig. 2 to 4, each lifting unit device is composed of a traveling mechanism and a lifting mechanism, the traveling mechanism is an AGV trolley 1, the lifting mechanism is composed of a support frame 2, a lifting driving device 3, a lifting block 4 and two wheel support rods 5 fixed to the front portion of the lifting block 4, and the two wheel support rods 5 are arranged in parallel and horizontally and used for extending to the bottoms of wheels 7 of an electric vehicle 6 to lift the wheels 7.

AGV dolly 1 comprises flat automobile body 1a and four walking wheels 1b of installing in automobile body 1a bottom, and a characteristics of this embodiment in the design lie in: AGV dolly 1 adopts integrative design with support frame 2, and four walking wheels 1b of automobile body 1a bottom all adopt floating installation simultaneously. In addition, the walking wheels 1b in the embodiment are all the existing Mecanum wheels, so that universal movement is facilitated.

Specifically, as shown in fig. 5, the supporting frame 2 in this embodiment is a rectangular parallelepiped frame, and a main body of the supporting frame is composed of a top plate 12, four vertical rods 13 fixed to the bottom of the top plate 12 and distributed in a rectangular shape, a transverse reinforcing rod 14, and two T-shaped blocks 15. The four upright posts 13 are divided into a left pair and a right pair, the bottoms of the two upright posts 13 in each pair are connected and fixed through the corresponding T-shaped blocks 15, and the middle parts of the two upright posts 13 in the front part of the rectangular frame are connected and fixed through the transverse reinforcing rods 14. The two T-shaped blocks 15 are symmetrically arranged on two sides of the body 1a of the AGV trolley 1 and are integrally formed with the body 1 a. In this embodiment, two walking wheels 1b are installed at the bottom of each T-shaped block 15. As shown in fig. 2 to 5, an axle support frame (not shown) is provided corresponding to the axle of each road wheel 1b for supporting the axle, and the axle support frame is connected to the bottom of the corresponding T-shaped block 15 through a damping spring 8, so as to support the vehicle body 1a in a floating manner. When the lifting unit device does not perform lifting operation and the AGV trolley 1 can freely walk, the bottoms of the four upright posts 13 of the support frame 2 are suspended and do not contact the ground, as shown in fig. 2.

Referring to fig. 2 to 4, the lifting block 4 is located inside the rectangular frame. In this embodiment, each wheel support rod 5 extending from the bottom of the rectangular parallelepiped frame corresponding to the lifting block 4 is formed with an extending leg 11 in the same direction as the wheel support rod 5.

In this embodiment, the lifting driving device 3 is a telescopic motor, and is fixed on the inner side of the lifting block 4, and shares a housing with the lifting block 4, and the telescopic rod of the telescopic motor, namely the movable end, extends out of the top of the housing of the lifting block 4, and is riveted with the top plate 12 of the support frame 2, so that the connection with the support frame 2 is realized.

Referring to fig. 2 to 4, in this embodiment, a guide mechanism is installed between the lifting block 4 and the supporting frame 2 to guide and limit the lifting block 4 to be lifted relative to the supporting frame 2. The guide mechanism is specifically as follows:

support frame 2 adopts the cuboid frame as above-mentioned in this embodiment, all forms perpendicular guide way 9 between every pair of two pole settings 13 about it, and corresponds every side perpendicular guide way 9 on the shell of lifting piece 4 and all installs two rows of guide rollers 10, and these two rows of guide rollers 10 offset with two pole settings 13 of corresponding perpendicular guide way 9, and every row of guide rollers 10's quantity is two.

The telescopic motor is connected with an automatic controller inside the AGV trolley 1 and used for driving the lifting block 4 to lift relative to the support frame 2, and the support frame 2 supports on the ground to provide support for the lifting block 4 to lift. When the telescopic motor works, the self-body lifting block 4 of the telescopic motor is integrally and simultaneously lifted or lowered by the counterforce applied to the support frame 2 through the movable end.

In this embodiment, the synchronous controller (omitted from the figure) is a PLC controller, and is wirelessly connected to the automatic controllers in the four AGV carts 1, and is configured to receive signals sent by the four AGV carts 1 in place, and send out lifting signals after all the signals in place are received, so as to drive the four lifting driving devices 3 to synchronously work to lift the electric vehicle 6.

As shown in fig. 6 to 10, when the present invention is specifically applied to the field of electric vehicle battery replacement, when an electric vehicle 6 runs into a battery replacement stopping area in a battery replacement station, a traveling mechanism of four lifting unit devices, that is, an AGV 1 starts to translate, in this embodiment, the AGV 1 adopts a known visual guidance AGV, a CCD camera and a sensor are mounted on the AGV, and an automatic controller in the AGV 1 is provided with an image database of an environment around a path to be traveled by the AGV. In the running process of the AGV trolley 1, the CCD camera dynamically acquires vehicle information and surrounding environment image information and compares the vehicle information and the surrounding environment image information with an image database, so that the current position is determined, a decision is made on the next step of running, and finally the position where the battery replacing vehicle is located is reached and the vehicle is stopped at the position of a wheel 7 which needs to be lifted respectively.

As shown in fig. 7 and 10, the AGV cart 1 of each lift unit is then advanced by the internal automation controller in the direction of the wheels 7 until the two wheel brackets 5 at its front end are inserted under the wheels 7 to complete the positioning. The two extending supporting legs 11 and the wheel supporting rod 5 extend into the bottom of the wheel 7 together.

At this time, the whole lifting device is in an initial lifting state, the lifting blocks 4 of the four lifting unit devices are still positioned at the bottom, and the support frame 2 is supported by the damping springs 8 on the travelling wheels 1b and is separated from the ground, as shown in fig. 6, 7 and 10.

After the AGV trolleys 1 are in place, the AGV trolleys send out in-place signals to the synchronous controller, when the synchronous controller receives in-place signals sent by all four AGV trolleys 1, the synchronous controller sends out lifting signals to the automatic controller of each AGV trolley 1, and four telescopic motors are driven to synchronously work to lift the electric automobile 6.

The telescopic motor runs under the driving of the internal automatic controller, so that the lifting block 4 is lifted relative to the support frame 2, the corresponding wheel 7 is lifted, the support frame 2 is lowered until the bottom of the support frame supports against the ground due to the fact that the weight of the electric automobile 6 compresses the damping spring 8 in the lifting process, meanwhile, the extension supporting leg 11 also supports against the ground, and as shown in the combined drawings of 8-10, stable and reliable support is provided for lifting. Under the combined action of the four lifting unit devices, the vehicle is lifted to a certain height integrally. When the lifting device is in a lifting finish state, the lifting blocks 4 of the four lifting unit devices all reach the upper part of the support frame 2, as shown in fig. 8-10.

After the electric automobile 6 trades the electricity and finishes, the flexible motor work of four lifting unit devices for lifting piece 4 is relative support frame 2 and is fallen, and after lifting piece 4 dropped to the bottom, AGV dolly 1 retreats, takes out wheel die-pin 5 from wheel 7 bottom, owing to remove electric automobile 6's gravity, 2 bottoms of support frame are unsettled once more.

Of course, the present embodiment can also be applied to a lifting vehicle for repairing and maintaining an automobile, except for replacing the battery of the automobile.

Example 2: referring to fig. 11 to 15, another embodiment of the present invention is shown, and the whole is the same as in example 1, and is also composed of a lifting unit device for synchronously lifting four wheels 7 of an electric vehicle 6 and a synchronous controller for controlling the four lifting unit devices to synchronously operate. Each lifting unit device is composed of a travelling mechanism and a lifting mechanism, the travelling mechanism is an AGV trolley 1, the lifting mechanism is composed of a support frame 2, a lifting driving device 3, a lifting block 4 and two wheel support rods 5 fixed to the front portion of the lifting block 4, and the two wheel support rods 5 are arranged in parallel and horizontally and used for extending to the bottom of a wheel 7 of an electric automobile 6 to lift the wheel 7.

AGV dolly 1 comprises flat automobile body 1a and a plurality of walking wheels 1b of installing in automobile body 1a bottom, and the design of this embodiment is different from embodiment 1's a characteristics and lies in: the AGV trolley 1 and the support frame 2 adopt a split design, and the support frame 2 is arranged on the body 1a of the AGV trolley 1 in a floating manner.

Specifically, as shown in fig. 11 to 14, the supporting frame 2 in this embodiment is also a rectangular frame, and a main body of the supporting frame is composed of a top plate 12, four vertical rods 13 fixed to the bottom of the top plate 12 and distributed in a rectangular shape, a transverse reinforcing rod 14, a bottom side connecting rod 16, a bottom transverse connecting rod 17, and two bottom surface supporting plates 18. The four upright posts 13 are divided into a left pair and a right pair, the bottoms of the two upright posts 13 in each pair are fixedly connected through the corresponding side connecting rods 16 at the bottom, the middle parts of the two upright posts 13 at the front part of the rectangular frame are fixedly connected through the transverse reinforcing rods 14, and the bottoms of the two upright posts 13 at the rear part are fixedly connected through the transverse connecting rods 17 at the bottom.

As shown in fig. 14, two bottom pallets 18 are connected and fixed between the two bottom side links 16. In the present embodiment, a total of four damping springs 8 are disposed on the top of the body 1a of the AGV 1, and are respectively and correspondingly connected to and supported by two bottom side connecting rods 16 and two bottom surface supporting plates 18, so as to ensure that the body 1a of the AGV 1 floatingly supports the entire supporting frame 2.

And as shown in fig. 15, when the lifting unit device does not perform lifting operation and the AGV trolley 1 can freely walk, the bottoms of the four uprights 13 of the supporting frame 2 are suspended and do not contact the ground. When the lifting unit device carries out lifting operation and the wheel 7 is lifted by the wheel support rod 5, the support frame 2 is pressed down due to the weight of the electric automobile 6, so that the bottoms of the four upright rods 13 are supported on the ground.

As shown in fig. 11 to 14, the lifting block 4 is still located inside the rectangular parallelepiped frame in this embodiment. And the bottom of the cuboid frame is provided with an extension leg 11 which is in the same direction with each wheel support rod 5 extending from the corresponding lifting block 4.

In this embodiment, the lifting driving device 3 is a telescopic motor, and is fixed on the inner side of the lifting block 4, and shares a housing with the lifting block 4, and the telescopic rod of the telescopic motor, namely the movable end, extends out of the top of the housing of the lifting block 4, and is riveted with the top plate 12 of the support frame 2, so that the connection with the support frame 2 is realized. And a guide mechanism which guides and limits the lifting block 4 to only lift relative to the support frame 2 is arranged between the lifting block 4 and the support frame 2. The guide mechanism is specifically as follows:

The specific working principle of the four lifting unit devices in the embodiment for synchronously lifting the electric vehicle 6 can be described in embodiment 1, and is not described in detail here.

It should be understood that the above-mentioned embodiments are only illustrative of the technical concepts and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All modifications made according to the spirit of the main technical scheme of the utility model are covered in the protection scope of the utility model.

Claims

1. A self-tracing lifting device for replacing batteries of electric automobiles comprises lifting unit devices for synchronously lifting four wheels (7) of an electric automobile (6), and is characterized in that each lifting unit device comprises a travelling mechanism and a lifting mechanism, and the travelling mechanism comprises an AGV trolley (1); the lifting mechanism comprises a support frame (2) and a lifting block (4) connected onto the support frame (2) through a lifting driving device (3), two wheel support rods (5) used for supporting wheels (7) are fixed on the lifting block (4), and the lifting driving device (3) is connected with an automatic controller inside the AGV trolley (1) and used for driving the lifting block (4) to lift relative to the support frame (2); wherein:

the supporting frame (2) is arranged on a vehicle body (1 a) of the AGV trolley (1) in a floating mode, the bottom of the supporting frame (2) is suspended when the lifting unit device does not lift, and the bottom of the supporting frame (2) lands when the lifting unit device lifts to provide support for lifting of the lifting block (4);

or, the support frame (2) is rigidly fixed or integrally arranged on the body (1 a) of the AGV trolley (1), the bottom of the body (1 a) is provided with the walking wheels (1 b) in a floating mode, the bottom of the support frame (2) is suspended when the lifting unit device does not lift, and the bottom of the support frame (2) is grounded when the lifting unit device lifts, so that support is provided for lifting of the lifting block (4).

2. The self-tracking lifting device for battery replacement of the electric automobile according to claim 1, characterized in that a plurality of shock absorption springs (8) connected with and supporting the support frame (2) are arranged on the body (1 a) of the AGV trolley (1), so that the support frame (2) is floatingly mounted on the body (1 a) of the AGV trolley (1);

when the lifting unit device does not lift, the support frame (2) is supported and lifted through the damping spring (8), so that the bottom of the support frame (2) is suspended, and when the lifting unit device lifts, the weight of the electric automobile (6) compresses the damping spring (8), so that the bottom of the support frame (2) lands, and support is provided for lifting of the lifting block (4);

the walking wheels (1 b) are arranged at the bottom of the vehicle body (1 a) in a floating mode, namely, wheel shafts or wheel shaft supporting frames of the walking wheels (1 b) are connected with and support the vehicle body (1 a) through damping springs (8);

and when the lifting unit device does not lift, the vehicle body (1 a) and the support frame (2) on the vehicle body are supported and supported through the damping springs (8), so that the bottom of the support frame (2) is suspended, and when the lifting unit device lifts, the weight of the electric vehicle (6) compresses the damping springs (8), so that the bottom of the support frame (2) lands, and support is provided for lifting of the lifting block (4).

3. The self-tracking lifting device for electric vehicle battery replacement according to claim 1, characterized in that the traveling wheels (1 b) are Mecanum wheels.

4. The self-tracking lifting device for replacing batteries of electric vehicles according to claim 1, characterized in that a guide mechanism is installed between the lifting block (4) and the supporting frame (2) for guiding and limiting the lifting block (4) to lift only relative to the supporting frame (2).

5. The self-tracking lifting device for battery replacement of electric vehicles as claimed in claim 4, wherein the supporting frame (2) is provided with a plurality of vertical guide rods, and the lifting block (4) is provided with a plurality of guide sleeves cooperating with the guide rods, the guide rods and the guide sleeves together forming the guiding mechanism; or, the supporting frame (2) is provided with vertical guide grooves (9) symmetrically positioned at two sides of the lifting block (4), two rows of guide rollers (10) are arranged on the lifting block (4) corresponding to the vertical guide grooves (9) at each side, the two rows of guide rollers (10) are respectively abutted against two vertical opposite sides in the corresponding vertical guide grooves (9), and the vertical guide grooves (9) and the guide rollers (10) form the guide mechanism.

6. The self-tracking lifting device for replacing batteries of electric vehicles according to claim 1, wherein the lifting driving device (3) is an electric lead screw, a telescopic motor, an air cylinder or an oil cylinder.

7. The self-tracking lifting device for replacing batteries of electric vehicles according to claim 1 or 6, characterized in that the lifting driving device (3) is fixed on the lifting block (4) or integrated with the lifting block (4), and the movable end of the lifting driving device is connected with the supporting frame (2); when the lifting driving device (3) works, the lifting driving device (3) is lifted relative to the supporting frame (2) together with the lifting block (4) through the reaction force applied to the supporting frame (2) by the movable end.

8. The self-tracking lifting device for battery replacement of electric vehicles according to claim 1, characterized in that the AGV cart (1) is a microwave guided AGV cart or a visual guided AGV cart.

9. The self-tracing lifting device for replacing batteries of electric vehicles according to claim 1, wherein the support frame (2) is formed with extension legs (11) corresponding to each wheel supporting rod (5) and in the same direction as the wheel supporting rods (5), the extension legs (11) and the wheel supporting rods (5) extend into the bottoms of the wheels (7), and when the wheel supporting rods (5) are driven by the lifting block (4) to lift the wheels (7), the extension legs (11) are supported against the ground.

10. The self-tracking lifting device for replacing the power supply of the electric automobile according to claim 1, characterized by further comprising a synchronous controller for controlling the lifting driving devices in the four lifting unit devices to work synchronously, wherein the synchronous controller is connected with the automatic controllers in the four AGV trolleys (1) in a wired or wireless manner, and is used for receiving the positioning signals sent by the four AGV trolleys (1), and sending out the lifting signals after the positioning signals are all received, so as to drive the four lifting driving devices (3) to work synchronously to lift the electric automobile (6).