CN216761513U - Electricity-exchanging robot with leveling function and electricity-exchanging station comprising same - Google Patents

Abstract

The utility model provides a battery replacement robot with a leveling function, which comprises a shuttle car and a leveling device, wherein a battery replacement part is arranged on the shuttle car, the leveling device is arranged on the shuttle car and is adjacent to the battery replacement part, the top end of the leveling device is provided with a plurality of leveling planes, and the leveling planes can be attached to a vehicle chassis. This trade electric robot with levelling function and contain its trade power station through set up levelling device on the shuttle car, can make earlier the levelling plane laminate mutually with the vehicle chassis before trading the electricity to make the vehicle reach the levelling position, improved the success rate of trading the electricity.

Description

Motor changing robot with leveling function and power changing station comprising same

Technical Field

The utility model relates to a power exchanging robot with a leveling function and a power exchanging station comprising the same.

Background

The conventional battery box of the electric vehicle is generally arranged in a fixed type or a replaceable type, wherein the fixed type battery is generally fixed on the vehicle, and the vehicle is directly used as a charging object during charging. Replaceable battery packs are typically secured to the vehicle by removable mounting. The battery pack can be removed for individual replacement or recharging operations. And after the replaced battery pack is charged, the battery pack is installed on the vehicle again.

The existing chassis battery replacing equipment comprises a shuttle vehicle for replacing the battery, however, the shuttle vehicle cannot be flush with the chassis of the vehicle before the battery is replaced, so that errors possibly existing in multiple places in the battery replacing process often cause the problem of battery replacing success rate reduction and the like, and the development of the battery replacing technology is not facilitated.

Generally speaking, for the situation of battery replacement failure, the battery replacement equipment needs to be manually detected and adjusted to complete leveling between the vehicle and the battery replacement equipment, so that the efficiency is low and manual operation is needed. Therefore, a shuttle car with a leveling function is urgently needed to improve the work efficiency and the power replacing success rate of the power replacing equipment.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of low working efficiency and low power switching success rate of power switching equipment in the prior art, and provides a power switching robot with a leveling function and a power switching station comprising the same.

The utility model solves the technical problems through the following technical scheme:

the utility model provides a trade electric robot with levelling function, includes shuttle and levelling device, be provided with the portion of changing electricity on the shuttle, levelling device installs on the shuttle with the adjacent setting of portion of changing electricity, the levelling device top has a plurality of levelling planes, and is a plurality of levelling plane can laminate mutually with vehicle chassis.

In the scheme, the leveling device is arranged on the shuttle car, the leveling plane can be attached to the vehicle chassis before the battery replacement, so that the vehicle can reach the leveling position, and the success rate of battery replacement is improved. In addition, in the scheme, the leveling device is integrated on the shuttle car, leveling and lifting equipment is not required to be additionally arranged to level the vehicle, the leveling structure is simple, and the cost is saved. Meanwhile, the vehicle can be leveled directly by supporting the vehicle through the leveling device on the shuttle vehicle, other leveling reference objects are not needed, the leveling operation is simple, the leveling effect is good, and the leveling efficiency is high.

Preferably, a plane where each of the leveling planes is located is parallel to a plane where the battery swapping portion is located.

In this scheme, through the aforesaid setting, ensure that the plane at vehicle chassis/battery locking piece place is parallel with trading electric platform, guarantee to trade electric platform can accurately with the retaining member cooperation, avoid unblock or locking in-process to take place the card dead, improve and trade electric precision and efficiency.

Preferably, the power exchanging robot has an initial state and a power exchanging state, and in the initial state, the leveling plane is higher than the power exchanging portion.

In the scheme, the leveling plane is higher than the battery replacing part when the battery replacing robot is in the initial state, so that the battery replacing part can be prevented from interfering with the leveling part and being attached to a vehicle chassis, the battery replacing process is guaranteed to be carried out after the leveling process, the leveling efficiency is improved, and the battery replacing efficiency and the battery replacing success rate can be improved. Further, when the battery replacing robot is in a battery replacing state, the battery replacing part is not lower than the leveling plane, and the battery replacing part can be fully contacted with a locking piece on the battery pack, so that the unlocking or locking operation is stable and reliable.

Preferably, the leveling device comprises a plurality of leveling components fixed on the shuttle car, the leveling components are provided with the leveling planes, and the leveling planes are positioned on the same horizontal plane.

In the scheme, the leveling planes are positioned on the same horizontal plane, so that the leveling effect is better.

Preferably, the leveling members are leveling posts, the heights of the leveling posts are the same, and the top surfaces of the leveling posts form the leveling plane.

In the scheme, the top surfaces of the leveling upright columns form leveling planes, the height of each leveling upright column is the same, the leveling planes are ensured to be positioned in the same plane, and the leveling component is simple in structure and high in calibration precision.

Preferably, the plurality of leveling upright posts are respectively located on the peripheral outer edge of the shuttle car, and the power exchanging part is arranged on the inner side of the plurality of leveling devices.

In this scheme, install the leveling stand in shuttle outer fringe all around, the leveling stand is located the power changing portion outside, and the position alignment of power changing portion and battery, the battery can be avoided to the leveling stand, can effectively avoid leveling stand and battery to bump and interfere.

Preferably, the top end of the leveling upright post is provided with a cushion block, the cushion block is made of nylon materials, and the top surface of the cushion block is the leveling plane.

In this scheme, set up the cushion that the nylon material was made on levelling stand top, form the levelling plane by the cushion top surface, can enough level the vehicle, be difficult to again produce mechanical damage to the vehicle.

Preferably, the upper end of the leveling upright post is provided with a mounting plate, and the cushion block is mounted on the mounting plate through a fastener.

In this scheme, the cushion passes through the mounting panel to be installed at levelling stand top, evenly transmits the pressure that receives the cushion for levelling stand through the mounting panel, has reduced stress concentration on the cushion and the deformation that causes, and then makes the life of levelling cushion longer.

Preferably, the shuttle car includes a car body and a mounting base, the power exchanging portion is arranged on the car body, the mounting base is arranged on the car body at the periphery of the car body, and the leveling upright is arranged on the mounting base.

In this scheme, install on the automobile body of shuttle through the mounting base with the upright post of school level, realize directly installing the upright post of school level in the outer fringe all around of shuttle, can guarantee that both junctions have good stability, and need not to carry out other improvements to having current shuttle, the transformation cost is low, and can realize the modularization assembly, the dismouting and the maintenance of being convenient for.

Preferably, the shuttle car further comprises an adjusting part, the adjusting part is respectively connected with the car body and the mounting base, and the adjusting part is configured to drive the mounting base to move relative to the car body along the horizontal direction and/or the vertical direction.

The preferred strong point of the vehicle of different models is different, and in this scheme, adjust the position of mounting base through the regulating part, realize levelling the stand for the adjustment of the position of shuttle, can select the strong point of preferred according to the motorcycle type to can make compatible multiple motorcycle type of shuttle and battery package specification, can enough level the vehicle of different models, can protect the vehicle to maximize again, improve and trade the current equipment to all kinds of electric vehicle's universality.

Preferably, the adjusting part comprises a guide rail and a sliding block, the guide rail is mounted on the vehicle body, the sliding block is movably arranged on the guide rail, and the mounting base is connected with the sliding block; or the like, or, alternatively,

the adjusting part comprises a rotating assembly with a rotating shaft, the rotating assembly is arranged on the vehicle body, and the rotating shaft is connected with the mounting base.

Through the structure, two optional structural forms of the adjusting part which is convenient for adjusting the position of the leveling upright post are provided. The adjusting part comprises a guide rail and a sliding block, or the adjusting part adopts a rotating assembly, and the adjusting part is simple in structure and convenient to use. By adopting a guide rail and sliding block structure, the mounting base can be driven to slide on the guide rail by moving the sliding block so as to realize the position adjustment of the leveling upright post. By adopting a rotating assembly structure, the rotating shaft is rotated to drive the mounting base to move so as to realize the leveling of the position of the upright post.

Preferably, the adjusting portion further comprises a locking member, wherein the locking member is respectively connected with the guide rail and the slider, the locking member has a locking state and an unlocking state, and when the locking member is in the locking state, the locking member locks the slider on the guide rail; when the locking piece is in the unlocking state, the sliding block can slide on the guide rail; or the like, or, alternatively,

the locking piece is connected with the rotating assembly, the locking piece has a locking state and an unlocking state, and when the locking piece is in the locking state, the locking piece limits the rotating shaft to rotate; when the locking piece is in the unlocking state, the rotating shaft can normally rotate.

With the above structure, two optional locking members for fixing the adjusting portion are provided to restrict the adjusting portion from remaining locked in position during leveling.

Preferably, the adjusting portion further includes a power element, the power element is disposed on the vehicle body, and the power element is connected to the slider or the rotating shaft.

Through setting up power component, need not the manual work and adjust, reduced the manpower demand to the regulation efficiency and the regulation precision of trading the electric position have been improved to the regulation.

Preferably, the power element is one or more of a cylinder, a hydraulic cylinder or an electric motor.

The power output of the adjusting part is realized by one or more of power sources which can be replaced mutually, such as an air cylinder, a hydraulic cylinder or a motor.

Preferably, the battery replacement part comprises a battery replacement platform, a torque gun is arranged on the battery replacement platform and used for applying torque to a locking piece on the battery pack, so that the locking piece is unlocked or locked on the vehicle, and the battery pack and the vehicle are detached or mounted.

Utilize the moment of torsion rifle to apply the locking piece realization unblock or locking on the battery package of moment of torsion to realize the dismantlement or the installation between automobile-used battery package and the vehicle, unblock and locking are efficient, stability is high.

Preferably, the torque gun comprises a driving mechanism and a sleeve joint, wherein the driving mechanism is connected with the sleeve joint, and the driving mechanism drives the sleeve joint to generate torque.

In the utility model, the driving mechanism is used for driving the sleeve joint to generate torque, the sleeve joint generates torque to unlock or lock the locking piece, and the sleeve joint is butted with the locking piece, so that the sleeve joint can smoothly transmit the torque and has a certain adjusting space, the precision requirement of butting is reduced, and the success rate of battery replacement is improved. The driving mechanism drives the sleeve joint, so that the sleeve joint has enough torque to realize unlocking or locking, and the sleeve joint is convenient to control.

Preferably, a plurality of torque guns are arranged on the battery replacing platform, the plurality of torque guns are distributed on the battery replacing platform in an array mode, and the positions of the plurality of torque guns correspond to the plurality of locking pieces on the battery pack one to one respectively.

In the utility model, the torque gun arrangement mode which corresponds to the locking parts on the battery pack one by one is adopted, the plurality of torque guns can be simultaneously aligned to the plurality of locking parts on the battery pack respectively, and can be unlocked synchronously after being butted, so that the battery replacement efficiency is improved.

Preferably, the power exchanging part further comprises a lifting mechanism, the lifting mechanism is mounted on the shuttle car and connected with the power exchanging platform, and the lifting mechanism is used for lifting the power exchanging platform to a working height or lowering the power exchanging platform.

In the scheme, the battery replacement robot realizes the switching between the initial state and the battery replacement state through the lifting mechanism, and can avoid the battery replacement failure caused by position change due to the change of the state of the leveling upright column in the battery replacement process. Lifting the battery replacing platform to a working position through a lifting mechanism, so that the upper surface of the torque gun is not lower than the leveling plane, and switching the battery replacing robot from an initial state to a battery replacing state to perform battery replacing operation; after the torque gun completes unlocking or locking operation, the lifting mechanism descends to drive the battery replacing platform to descend, and the battery replacing robot recovers the initial state.

Preferably, the lifting mechanism comprises a driving element and a transmission piece, the driving element is arranged on the shuttle car, and the transmission piece is respectively connected with the driving element and the battery replacing platform.

The structural form of the lifting mechanism is provided, the lifting stability of the lifting mechanism is guaranteed, and meanwhile the structure is simplified as far as possible to ensure that the battery replacement operation of the battery replacement platform is not influenced.

Preferably, the driving element is a motor, the transmission part is a cam, the cam is driven by the motor, and when the protruding part of the cam jacks up the level-changing platform, the level-changing platform is located at a working height.

The specific structural form of the lifting mechanism with simple structure and good lifting effect is provided through the structure.

A power swapping station comprises the power swapping robot with the leveling function.

The battery replacement station provided with the battery replacement robot has higher battery replacement success rate.

The positive progress effects of the utility model are as follows: this trade electric robot with levelling function and contain its trade power station through set up levelling device on the shuttle car, can make earlier the levelling plane laminate mutually with the vehicle chassis before trading the electricity to make the vehicle reach the levelling position, improved the success rate of trading the electricity. In addition, in the scheme, the leveling device is integrated on the shuttle car, leveling and lifting equipment is not required to be additionally arranged to level the vehicle, the leveling structure is simple, and the cost is saved. Meanwhile, the vehicle can be leveled directly by supporting the vehicle through the leveling device on the shuttle vehicle, other leveling reference objects are not needed, the leveling operation is simple, the leveling effect is good, and the leveling efficiency is high.

Drawings

Fig. 1 is a schematic overall structure diagram of a battery replacement robot according to embodiment 1 of the present invention.

Fig. 2 is a side view of the electric replacing robot in embodiment 1 of the present invention.

Fig. 3 is a schematic structural view of a shuttle car of the electric swapping robot in embodiment 1 of the present invention.

Fig. 4 is a schematic view of a leveling component of the swapping robot according to embodiment 1 of the present invention.

Description of reference numerals:

battery replacement robot 100

Shuttle 101

Electricity-exchanging part 200

Tray body 210

Torque gun 220

Drive mechanism 221

Sleeve joint 222

Mounting seat 223

Leveling device 300

Leveling post 301

Spacer block 302

Leveling plane 303

Mounting plate 304

Detailed Description

The present invention will be more clearly and completely described below with reference to the accompanying drawings.

Example 1

As shown in fig. 1 to 4, the present embodiment provides a swapping robot 100 with a leveling function, which includes a shuttle 101 and a leveling device 300. The shuttle car 101 is provided with the power changing part 200, the leveling device 300 is arranged on the shuttle car 101 and is adjacent to the power changing part 200, the top end of the leveling device 300 is provided with a plurality of leveling planes 303, and the leveling planes 303 can be attached to a vehicle chassis. When the battery replacement robot 100 works, the shuttle 101 is located below the chassis of the vehicle. The vehicle is then lifted by the lift to a position where the chassis is close to the leveling plane 303. The leveling plane 303 is then adjusted to conform to the vehicle chassis by fine tuning.

Specifically, in the embodiment of the utility model, the leveling device 300 is arranged on the shuttle car 101, and the leveling plane 303 can be attached to the chassis of the vehicle before the battery replacement is performed, so that the vehicle reaches the leveling position, and the success rate of the battery replacement is improved. In addition, in the embodiment, the leveling device 300 is integrated on the shuttle 101, and the leveling and lifting equipment is not required to be additionally arranged to level the vehicle, so that the leveling structure is simple and the cost is saved. Meanwhile, the vehicle can be leveled directly by supporting the vehicle through the leveling device 300 on the shuttle car 101, other leveling reference objects are not needed, the leveling operation is simple, the leveling effect is good, and the leveling efficiency is high.

Specifically, the plane of each leveling plane 303 is parallel to the plane of the power swapping unit 200. In this embodiment, through above-mentioned setting, ensure that the plane at vehicle chassis/battery locking piece place is parallel with trading electric platform, guarantee to trade electric platform and can accurately cooperate with the retaining member, avoid unblock or locking in-process to take place the card dead, improve and trade electric precision and efficiency.

In the present embodiment, the battery replacement robot 100 has an initial state and a battery replacement state. When in the initial state, the leveling plane 303 is higher than the power exchanging portion 200. When the battery replacement process starts, the leveling device 300 with a higher position is used for leveling the vehicle, and then the battery replacement operation is performed by the battery replacement part 200, so that the battery replacement success rate leveling efficiency is improved, and further the battery replacement efficiency and the battery replacement success rate can be improved. Further, when the battery replacing robot 100 is in the battery replacing state, the battery replacing part 200 is not lower than the leveling plane, and the battery replacing part 200 can be ensured to be fully contacted with the locking piece on the battery pack, so as to ensure that the unlocking or locking operation is stable and reliable. In other embodiments of the present invention, a lifting mechanism or the like may be adopted, so that the position relationship between the leveling device 300 and the battery replacement part 200 can be adjusted at any time, so as to facilitate the battery replacement operation.

Specifically, the leveling device 300 in this embodiment includes a plurality of leveling members, which are leveling posts 301, secured to the shuttle 101. The leveling upright posts 301 have leveling planes 303, the heights of the leveling upright posts 301 are the same, the top surfaces of the leveling upright posts 301 form the leveling planes 303, and the leveling planes 303 on the leveling upright posts 301 are located on the same horizontal plane. In this embodiment, the top surfaces of the leveling upright posts 301 form leveling planes 303, the heights of the leveling upright posts 301 are the same, the leveling planes 303 are ensured to be located in the same plane, and the leveling component has a simple structure and high calibration precision.

Additionally, the top end of the leveling post 301 has a pad 302 made of nylon material, and the top surface of the pad 302 is machined to be horizontal. The top surfaces of all the spacer blocks 302 in this embodiment are located on the same horizontal plane and serve as a leveling plane 303 when in use. By means of the cushion blocks 302 made of nylon material, the wear resistance of the leveling plane 303 can be improved, and meanwhile, the chassis of the vehicle cannot be damaged.

Further, the upper end of the leveling upright 301 is provided with a mounting plate 304, and the cushion block 302 is mounted on the mounting plate 304 through a fastener. In this embodiment, the cushion block 302 is mounted on the top of the leveling upright 301 through the mounting plate 304, so that the pressure applied on the cushion block 302 is uniformly transmitted to the leveling upright 301, thereby reducing the deformation caused by the stress concentration on the cushion block 302, and further prolonging the service life of the cushion block 302.

Further, the plurality of leveling posts 301 are respectively located on the outer edge of the periphery of the shuttle 101, and the battery replacement unit 200 is disposed inside the plurality of leveling devices 300. In the battery replacement process, the position of the battery replacement part 200 is aligned with that of the battery, the leveling upright column 301 can avoid the battery, and collision interference between the leveling upright column 301 and the battery can be effectively avoided. In other embodiments of the present invention, the battery swapping unit 200 should be set back from the position of the battery pack and the movement track thereof to avoid interference.

Shuttle 101 includes automobile body and mounting base, and the portion of changing electricity 200 sets up on the automobile body, and the mounting base is installed on the automobile body in the outer fringe all around of automobile body, and leveling upright 301 sets up on the mounting base. In this embodiment, the leveling posts 301 are fixedly connected to the mounting base by welding or riveting, which can provide the leveling device 300 with better stability. In addition, other improvements on the existing shuttle 101 are not needed, the transformation cost is low, the modular assembly can be realized, and the disassembly, the assembly and the maintenance are convenient.

In the present embodiment, the leveling device 300 of the swapping robot 100 can be adapted to a part of vehicle models. However, other embodiments of the present invention provide corresponding solutions for vehicle models having different chassis sizes.

Specifically, in other embodiments of the present invention, the shuttle 101 further includes an adjusting portion, the adjusting portion is respectively connected to the vehicle body and the mounting base, and the adjusting portion is configured as a horizontal adjusting portion capable of driving the mounting base to move relative to the vehicle body along a horizontal direction. Since the preferable support points of different models of vehicles are different, in the present embodiment, the adjustment of the position of the leveling upright 301 relative to the shuttle 101 is realized by adjusting the position of the mounting base by the adjusting portion, and the preferable support points can be selected according to the vehicle type. Therefore, the shuttle car 101 can be compatible with various car models and battery pack specifications, can level vehicles of different models, can protect the vehicles to the maximum extent, and improves the universality of the battery replacement equipment on various electric vehicles.

Specifically, horizontal adjustment portion includes guide rail and slider, and the guide rail is installed on automobile body, and the slider movably sets up on the guide rail, and the mounting base is connected with the slider. The horizontal adjusting part also comprises a locking piece, wherein the locking piece is respectively connected with the guide rail and the sliding block, the locking piece has a locking state and an unlocking state, and when the locking piece is in the locking state, the sliding block is locked on the guide rail by the locking piece; when the locking piece is in an unlocking state, the sliding block can slide on the guide rail. Further, the locking member is a bolt fastener. Correspondingly, hole positions are arranged on the guide rail and the sliding block so that the horizontal adjusting part can be locked by installing bolt fasteners.

It will be appreciated by those skilled in the art that the latch member may also be in the form of a spring snap. The hole positions on the guide rail and the slide block are aligned with the spring buckle, and then the spring buckle is clamped tightly, so that the locking of the horizontal adjusting part is realized. The position can be adjusted by pressing the buckle when the adjustment is needed. In the present invention, other structures that are not described but can also achieve locking should also fall within the scope of the present invention.

The horizontal regulating part in the utility model can also be another form: horizontal adjustment portion is including the runner assembly who has the axis of rotation, and the runner assembly sets up on automobile body, and the axis of rotation is connected with the mounting base. The locking piece is connected with the rotating assembly, the locking piece has a locking state and an unlocking state, and when the locking piece is in the locking state, the locking piece limits the rotating shaft to rotate; when the locking piece is in the unlocking state, the rotating shaft can normally rotate. The embodiment provides a chassis size and layout capable of being adjusted in a stepless mode so as to adapt to various vehicle types. In this embodiment, the horizontal adjustment part can be adjusted back and forth within a certain range, and the locking piece is used for locking after the horizontal adjustment part is in place.

Further, the adjusting portion further includes a power element that is provided on the vehicle body, and the driving force element is connected with the slider or the rotating shaft. Through setting up power component, need not the manual work and adjust, reduced the manpower demand to the regulation efficiency and the regulation precision of trading the electric position have been improved to the regulation.

Specifically, in the present embodiment, the power element is a cylinder. In other embodiments, one or more of a common air cylinder, hydraulic cylinder or electric motor may be selected by those skilled in the art to be used as the power element in the present invention.

With the aid of the power element described above, a person skilled in the art can also provide a corresponding start/stop switch to effect control of the power element. In the actual use process, considering the battery replacement efficiency and feasibility, the possibility that an operator manually adjusts the adjusting part in the battery replacement robot 100 is very low, so that the introduction of a switch for controlling a power element to rapidly adjust the leveling upright 301 is a feasible method for improving the battery replacement efficiency.

Further, the adjusting part in the present invention includes a vertical adjusting part in addition to the horizontal adjusting part. The vertical adjustment portion is used to adjust the vertical height of the leveling upright 301. In order to adapt to different vehicle models, different combinations of battery packs, it is necessary in some cases to adjust the height of the leveling upright 301 in the vertical direction. Thus, in embodiments of the present invention, a vertical adjustment portion is provided on the leveling device 300 alone, as well as a lockout member that cooperates with the vertical adjustment portion. The structure composition, the working form and the working principle are substantially the same as those of the horizontal adjusting part, and are not described herein again.

The battery replacing part 200 in this embodiment includes the battery replacing platform, specifically, the battery replacing platform includes tray body 210 and a plurality of torque guns 220 that are located on tray body 210, a plurality of torque guns 220 are array distribution on tray body 210, the position of a plurality of torque guns 220 and a plurality of locking pieces on the automobile-used battery package are respectively one-to-one, torque guns 220 are used for applying moment of torsion to the locking piece for a plurality of locking pieces unblock or lock in the vehicle, realize the dismantlement or the installation between automobile-used battery package and the vehicle.

Since the battery pack on the vehicle is mounted to the vehicle chassis via the lock, the lock must first be unlocked or locked if the battery pack needs to be removed or installed. Meanwhile, the arrangement of the locking members is actually related to various factors such as the shape of the battery pack, the weight distribution, etc., and thus has been designed to have a specific arrangement rule at the time of design. The device that is used for unblock or locking piece in this embodiment, that is torque gun 220, its rule of arranging is the same with the rule of arranging of locking piece, and a plurality of torque guns 220's position and a plurality of locking pieces on the automobile-used battery package are the one-to-one respectively. Set up a plurality of torque guns 220 corresponding with the locking piece position respectively on tray body 210, a plurality of torque guns 220 can carry out unblock or locking to a plurality of locking pieces simultaneously to realize the dismantlement or the installation between automobile-used battery package and the vehicle, improved the efficiency and the stability of unblock by a wide margin.

Further, the torque gun 220 includes a driving mechanism 221 and a socket joint 222, the driving mechanism 221 is connected to the socket joint 222, and the driving mechanism 221 drives the socket joint 222 to generate torque.

In the present invention, the driving mechanism 221 is used for driving the socket joint 222 to generate a torque, and the socket joint 222 generates the torque to unlock or lock the locking piece. The socket joint 222 is driven by the driving mechanism 221 so that it has enough torque to unlock or lock, facilitating control of the socket joint 222.

Specifically, the plurality of driving mechanisms 221 are provided in one-to-one correspondence with the plurality of socket joints 222. In the present embodiment, the driving mechanism 221 includes a motor and a speed reducer connected to the motor. The operation of all the socket joints 222 in the battery pack attaching and detaching mechanism is realized by correspondingly controlling one socket joint 222 by one driving mechanism 221, and the unlocking accuracy can be improved.

In other embodiments of the utility model, the battery pack removal mechanism further comprises a transmission mechanism. The transmission mechanism is connected to the driving mechanism 221 and the plurality of torque guns 220, respectively, to achieve transmission between the driving mechanism 221 and the plurality of torque guns 220. The transmission between the driving mechanism 221 and the sleeve joints 222 is realized through the transmission mechanism, and a plurality of sleeve joints 222 can be driven simultaneously by only one driving mechanism 221, so that the number of parts is reduced, and the cost is saved.

In this embodiment, the torque gun 220 includes a torque gun mount, in addition to the drive mechanism and the collet, disposed on the pallet body 210. Specifically, the torque gun mounting seat and the driving mechanism 221 are respectively disposed on two sides of the tray body 210, the torque gun mounting seat is cylindrical as a whole, a speed reducer is accommodated in a cavity of the torque gun mounting seat, an input end of the speed reducer is connected with an output shaft of the driving mechanism 221, an output end of the speed reducer is connected with one end of the sleeve joint 222, and the other end of the sleeve joint 222 extends out of the torque gun mounting seat. The speed reducer is preferably a harmonic speed reducer that converts the power of the drive mechanism 221 to a low rotational speed and high torque, which allows the socket joint 222 to be driven to rotate and the lock member to be locked or unlocked by the high torque. Further, in this embodiment, the torque gun 220 further includes a pre-pressing spring, the pre-pressing spring is sleeved on the outer side of the output shaft of the speed reducer and is partially sleeved with the sleeve joint 222, and the pre-pressing spring is provided to facilitate providing an even upward thrust.

Specifically, the end of the socket joint 222 is shaped to match the shape of the locking member, and the end of the socket joint 222 is further provided with a guide surface for the end of the socket joint 222 to mate with the locking member. The outer peripheral surface of the end of the sleeve joint 222 is also provided with a limiting table for limiting the depth of the end of the sleeve joint 222 matched with the locking piece and avoiding too deep insertion.

Further, the torque gun 220 further includes an elastic restoring member, and the elastic restoring member is sleeved on the outer circumferential surface of the sleeve joint 222 and is used for restoring the sleeve joint 222. Since the sleeve joint 222 can swing with respect to the axial direction thereof, the movable range of the sleeve joint 222 can be increased, and even if an error occurs in the relative positioning of the sleeve joint 222 and the locking member, the locking member can be caught by the swinging sleeve joint 222. At this time, the elastic reset member can drive the sleeve joint 222 to reset, thereby realizing the twisting of the locking member. Preferably, the elastic restoring member may be, but is not limited to, a square spring, a wave spring, or a rubber boot.

Further, the power exchanging part 200 further comprises a lifting mechanism, the lifting mechanism is installed on the shuttle car 101, and the lifting mechanism is connected with the power exchanging platform, and the lifting mechanism is used for lifting the power exchanging platform to a working height or lowering the power exchanging platform. The battery replacement robot 100 in this embodiment lifts the battery replacement platform to a working position through the lifting mechanism, so that a battery replacement failure caused by position change due to a change in the state of the leveling upright column 301 in the battery replacement process is avoided, and the battery replacement success rate is improved.

In this embodiment, the battery replacement robot 100 realizes switching between the initial state and the battery replacement state through the lifting mechanism, and can avoid a battery replacement failure caused by a position change due to a change in the state of the leveling upright 301 in the battery replacement process. Lifting the battery replacing platform to a working position through the lifting mechanism, so that the upper surface of the torque gun 220 is not lower than the leveling plane 303, and switching the battery replacing robot 100 from an initial state to a battery replacing state to perform a battery replacing operation; after the torque gun 220 completes unlocking or locking operation, the lifting mechanism descends to drive the battery replacement platform to descend, and the battery replacement robot 100 recovers the initial state.

Specifically, in this embodiment, the lifting mechanism includes a driving element and a transmission member, the driving element is disposed on the shuttle 101, and the transmission member is connected to the driving element and the battery replacing platform, respectively. The driving element in this embodiment is a motor, the transmission member is a cam, the cam is driven by the motor, and when the protruding portion of the cam jacks up the power switching platform, the power switching platform is located at a working height.

The above structure of this embodiment provides a simple and lift effectual elevation structure's concrete form. In other embodiments, the power exchanging platform can be lifted up and down by using a telescopic ejector rod or the like.

The embodiment also provides a swapping station, which includes the swapping robot 100 with the leveling function. The battery replacement station of the embodiment has a higher battery replacement success rate by applying the battery replacement robot 100 with the leveling function.

Specifically, when the battery replacing robot 100 performs an operation of detaching a vehicle battery pack, the battery replacing robot 100 first moves to a position right below the vehicle battery pack, and then a vehicle lifting platform in the battery replacing station drives the vehicle to descend, so that the leveling device 300 supports the vehicle, and accurate positioning between the vehicle and the battery replacing part 200 on the shuttle car 101 is realized, and then the lifting mechanism of the battery replacing part 200 lifts the battery replacing platform. At this point, the torque gun 220 on the power conversion platform interfaces with the lock on the vehicle through the socket joint 222. Further, the driving mechanism 221 of the torque gun 220 outputs torque and transmits the torque to the lock member on the vehicle through the socket joint 222, the lock member on the vehicle is removed, and the vehicle battery pack naturally falls down. The vehicle battery pack is carried by the power exchanging portion 200 at this time. Then the lifting mechanism integrally lowers the battery replacing platform, the vehicle lifting platform lifts the vehicle, and the battery replacing robot 100 moves out of the working position to finish the disassembling process of the vehicle battery pack. Further, the battery replacement robot 100 moves to the battery transfer apparatus. Specifically, the battery transfer device in this embodiment is a stacker crane. And then, the taken-down insufficient battery pack is transferred to a charging frame by the battery transferring equipment to be charged.

When the battery replacing robot 100 executes the operation of installing the vehicle battery pack, the battery replacing robot 100 loaded with the vehicle battery pack moves to the position right below the vehicle battery pack, then, a vehicle lifting platform in the battery replacing station drives the vehicle to descend, so that the leveling device 300 supports the vehicle, the vehicle and the power replacing part 200 on the shuttle car 101 are accurately positioned, and then, the lifting mechanism lifts the battery replacing part 200 loaded with the vehicle battery pack. At this time, the torque gun 220 on the power exchanging part 200 is butted with the locking piece on the vehicle through the sleeve joint 222. Further, the driving mechanism 221 of the torque gun 220 outputs torque and transmits the torque to the locking member on the vehicle through the sleeve joint 222, the locking member on the vehicle is locked, and the vehicle battery pack is fixed on the vehicle, thereby completing the installation of the vehicle battery pack. Then, the lifting mechanism integrally lowers the battery replacing platform, the vehicle lifting platform lifts the vehicle, and the battery replacing robot 100 moves out of the working position. Further, the vehicle lifting platform drives the vehicle to descend and fall back to the ground, and the vehicle drives out of the vehicle lifting platform to finish power exchange.

While specific embodiments of the utility model have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the utility model is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the utility model, and these changes and modifications are within the scope of the utility model.

Claims (21)

1. The utility model provides a trade electric robot with levelling function which characterized in that, includes shuttle and leveling device, be provided with the portion of changing electricity on the shuttle, leveling device installs on the shuttle with the portion of changing electricity is adjacent to be set up, the leveling device top has a plurality of levelling planes, and is a plurality of the levelling plane can laminate mutually with vehicle chassis.

2. The swapping robot with a leveling function of claim 1, wherein the plane of each leveling plane is parallel to the plane of the swapping part.

3. The swapping robot with a leveling function of claim 1, wherein the swapping robot has an initial state and a swapping state, and wherein the leveling plane is higher than the swapping section in the initial state.

4. The swapping robot with leveling capability of claim 1 wherein the leveling device comprises a plurality of leveling members affixed to the shuttle, the leveling members having the leveling planes, the plurality of leveling planes being located on the same horizontal plane.

5. The swapping robot of claim 4, wherein the leveling component is a leveling post, wherein the leveling posts are of the same height, and wherein the top surfaces of the leveling posts form the leveling plane.

6. The swapping robot with a leveling function as in claim 5, wherein a plurality of leveling columns are respectively located at the peripheral outer edge of the shuttle car, and the swapping portion is arranged inside a plurality of leveling devices.

7. The swapping robot with a leveling function as in claim 6, wherein the leveling post has a block at a top end, the block is made of nylon, and a top surface of the block is the leveling plane.

8. The swapping robot with a leveling function of claim 7 wherein the leveling post has a mounting plate at an upper end, and the spacer is mounted to the mounting plate by fasteners.

9. The swapping robot with the leveling function of claim 5, wherein the shuttle car comprises a car body and a mounting base, the swapping portion is arranged on the car body, the mounting base is mounted on the car body at the peripheral outer edge of the car body, and the leveling upright is arranged on the mounting base.

10. The swapping robot with a leveling function of claim 9, wherein the shuttle car further comprises an adjustment portion connected to the car body and the mounting base respectively, the adjustment portion being configured to enable the mounting base to move relative to the car body in a horizontal direction and/or a vertical direction.

11. The robot cleaner of claim 10, wherein the adjustment unit comprises a guide rail and a slider, the guide rail is mounted on the body, the slider is movably disposed on the guide rail, and the mounting base is connected to the slider; or the like, or, alternatively,

the adjusting portion comprises a rotating assembly with a rotating shaft, the rotating assembly is arranged on the automobile body, and the rotating shaft is connected with the mounting base.

12. The swapping robot of claim 11 with leveling capability wherein the adjustment section further comprises a lock, wherein,

the locking piece is respectively connected with the guide rail and the sliding block, the locking piece has a locking state and an unlocking state, and when the locking piece is in the locking state, the sliding block is locked on the guide rail by the locking piece; when the locking piece is in the unlocking state, the sliding block can slide on the guide rail; or the like, or a combination thereof,

the locking piece is connected with the rotating assembly, the locking piece has a locking state and an unlocking state, and when the locking piece is in the locking state, the locking piece limits the rotating shaft to rotate; when the locking piece is in the unlocking state, the rotating shaft can normally rotate.

13. The swapping robot with a leveling function of claim 11, wherein the adjustment part further comprises a power element, the power element is arranged on the body and is connected with the sliding block or the rotating shaft.

14. The swapping robot of claim 13 with a leveling capability wherein the powered element is one or more of a pneumatic cylinder, a hydraulic cylinder, or an electric motor.

15. The swapping robot with the leveling function of claim 1, wherein the swapping part comprises a swapping platform, a torque gun is arranged on the swapping platform, and the torque gun is used for applying torque to a locking piece on a battery pack so that the locking piece is unlocked or locked on a vehicle, and the battery pack and the vehicle are detached or installed.

16. The swapping robot for leveling of a workpiece as recited in claim 15 wherein the torque gun comprises a drive mechanism and a collet, the drive mechanism coupled to the collet, the drive mechanism driving the collet to produce torque.

17. The swapping robot with a leveling function of claim 15, wherein a plurality of torque guns are arranged on the swapping platform, the plurality of torque guns are distributed on the swapping platform in an array, and the positions of the plurality of torque guns correspond to the plurality of locking pieces on the battery pack one to one respectively.

18. The swapping robot with a leveling function as in claim 15, wherein the swapping part further comprises a lifting mechanism, the lifting mechanism is mounted on the shuttle car and connected with the swapping platform, and the lifting mechanism is used for lifting the swapping platform to a working height or lowering the swapping platform.

19. The swapping robot for leveling as recited in claim 18 wherein the lifting mechanism comprises a drive element disposed on the shuttle and a transmission coupled to the drive element and the swapping platform, respectively.

20. The swapping robot for leveling as recited in claim 19 wherein the drive element is a motor and the transmission member is a cam, the cam being driven by the motor, the swapping platform being at a working height when the cam projection abuts the swapping platform.

21. A swapping station, characterized in that the swapping station comprises a swapping robot with a leveling function as claimed in any one of claims 1-20.

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