CN218112408U

CN218112408U - Trade electric mechanism, trade electric device and trade power station

Info

Publication number: CN218112408U
Application number: CN202222530276.3U
Authority: CN
Inventors: 洪翼鸿; 黄巨明
Original assignee: Hangzhou Hikrobot Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2022-09-23
Filing date: 2022-09-23
Publication date: 2022-12-23
Anticipated expiration: 2032-09-23

Abstract

The disclosure relates to a power switching mechanism, a power switching device and a power switching station. The battery replacement mechanism comprises a mounting plate, an alignment assembly arranged on the mounting plate and a first rail used for moving the battery module. The alignment assemblies and the first rails are sequentially distributed in the moving direction of the battery module. The alignment assembly is used to enable the battery module to be aligned with the first rail during movement. According to the battery module alignment assembly, the battery module is gradually aligned to the first rail in the moving process through the alignment assembly, so that the battery module can enter the first rail. In particular, since the first rail and the battery compartment are located in the same device, the same reference can be shared, i.e., the first rail can be aligned with the battery compartment, and thus when the battery module can enter the first rail, the battery compartment can also be accessed.

Description

Trade electric mechanism, trade electric device and trade power station

Technical Field

The utility model relates to a commodity circulation transportation technical field especially relates to a trade electric mechanism, trade electric installation and trade the power station.

Background

With the development of society, logistics systems are increasingly automated and intelligent. In current logistics sorting and transportation operations, AGVs (acronyms of automated guided vehicles) are widely used, namely, an "automated guided vehicle", which is a transportation vehicle capable of traveling along a predetermined guide path and having safety protection and various transfer functions. The AGV generally uses a battery carried by the AGV to provide power, and the power of the battery needs to be timely supplemented when the power is almost exhausted, so that automatic power supply equipment for the AGV needs to be matched in the system.

In the related art, an automatic charging device is generally used to charge a battery of an AGV. However, such an automatic charging device needs to keep the entirety of the AGV in the charging facility until the battery is fully charged when the AGV is charged. The AGV cannot operate during charging, and thus a lot of time is wasted. Therefore, the prior art discloses a method for replacing a battery of an AGV and a battery replacement station; the method comprises the following steps: placing an empty first battery disassembling and assembling mechanism below the AGV; butting an old battery module on the AGV with a first battery disassembling and assembling mechanism and removing the connection relation with the AGV; separating the old battery module from the battery module assembling area of the AGV; placing a second battery disassembling and assembling mechanism butted with a new battery module below the AGV; and relatively moving the new battery module and the AGV to enable the new battery module to be arranged in the battery module assembling area and to be connected with the AGV. The battery replacement station comprises a hoister and a battery replacement device; the hoister comprises a hoisting frame and a hoisting frame lifting mechanism; the battery replacing device comprises a dismounting transfer mechanism and at least two battery dismounting mechanisms, and the two battery dismounting mechanisms are arranged on the dismounting transfer mechanism. The technology can rapidly replace the battery module, and time waste caused by power supplement of the AGV is reduced.

However, in the above technical solution, the AGV cart is parked on the hoist, and the hoist and the battery replacing device are two independent mechanisms; even if the two are aligned in advance, assembly errors also exist; the battery replacing device needs to send the battery module to the battery bin for charging, so that the precision requirement is high; if the battery module is not aligned, the battery module cannot be conveyed to the battery compartment or cannot be charged in the battery compartment.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides a battery swapping mechanism, a battery swapping device, and a battery swapping station to solve at least some problems in the related art.

According to a first aspect of the present disclosure, a battery replacing mechanism is provided, which includes a mounting plate, an alignment assembly disposed on the mounting plate, and a first rail for moving a battery module; the alignment assemblies and the first rails are sequentially distributed along the moving direction of the battery module; the alignment assembly is used for enabling the battery module to be aligned with the first rail during moving.

Optionally, the alignment assembly includes a first reset member and a second rail for moving the battery module; the second rail is slidably mounted to the mounting plate and includes an initial position aligned with the first rail; when the first track deviates from the initial position, the first resetting piece is used for driving the first track to return to the initial position.

Optionally, the second rail includes a plurality of guide bearings spaced apart in a moving direction of the battery module.

Optionally, the alignment assembly further includes a first support fixedly mounted on the mounting plate and a first connecting shaft disposed on the first support; the second track is sleeved on the first connecting shaft and can slide on the first connecting shaft.

Optionally, the first resetting element includes at least two first spring elements sleeved on the first connecting shaft; the at least two first spring pieces are respectively positioned at two sides of the second track; one end of the first spring part is fixed on the first support, and the other end of the first spring part is fixed on the second track.

Optionally, the alignment assembly further comprises a first guide rail and a first sliding groove which are in sliding fit; one of the first guide rail and the first sliding groove is disposed on the second rail, and the other of the first guide rail and the first sliding groove is disposed on the mounting plate.

Optionally, the battery replacement mechanism further comprises a pulley block; the battery module includes a first bottom wall; the pulley block is used for contacting with the first bottom wall so as to reduce the sliding resistance of the battery module.

According to a second aspect of the present disclosure, a battery replacing device is provided, which includes a rack, a battery compartment disposed on the rack, and the battery replacing mechanism; the battery replacing mechanism is used for taking the battery module to be charged out of the electric vehicle and assembling the battery module to be charged in the battery bin, and is used for taking the charged battery module out of the battery bin and assembling the battery module to the electric vehicle.

Optionally, the battery replacement mechanism is configured to take out the battery module to be charged from a side of the electric vehicle or mount the charged battery module to a side of the electric vehicle.

According to a third aspect of the present disclosure, a power swapping station is provided, which includes a carrying device and the power swapping device as described above; the carrying device is used for carrying the electric vehicle.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

according to the battery module alignment assembly, the battery module is gradually aligned to the first rail in the moving process through the alignment assembly, so that the battery module can enter the first rail. In particular, since the first rail and the battery compartment are located in the same device, the same reference can be shared, i.e., the first rail can be aligned with the battery compartment, and thus when the battery module can enter the first rail, the battery compartment can also be accessed.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a first schematic diagram of a swapping station in an exemplary embodiment of the present disclosure;

fig. 2 is a second schematic diagram (with the housing omitted) of a swapping station in an exemplary embodiment of the disclosure;

FIG. 3 is a schematic diagram of a swapping station in cooperation with an AGV according to an exemplary embodiment of the present disclosure;

FIG. 4 is a schematic illustration of a carrier, swapping mechanism, and AGV mating in an exemplary embodiment of the present disclosure;

FIG. 5 is a schematic view of a carrier in an exemplary embodiment of the present disclosure;

FIG. 6 is a schematic view of a side push assembly in an exemplary embodiment of the present disclosure;

FIG. 7 is a schematic view of a spacing assembly in an exemplary embodiment of the present disclosure;

FIG. 8 is a schematic view of a power supply mechanism in an exemplary embodiment of the present disclosure;

FIG. 9 is a schematic view of a charging mechanism in an exemplary embodiment of the present disclosure;

fig. 10 is a schematic diagram of a mating of a swapping mechanism with a battery module (with a mounting bracket and a portion of a drive assembly omitted) in an exemplary embodiment of the disclosure;

FIG. 11 is a first schematic view of a coupling assembly (the coupling member in a second state) in an exemplary embodiment of the present disclosure;

FIG. 12 is a second schematic view of a coupling assembly (the coupling member in a first state) in an exemplary embodiment of the present disclosure;

FIG. 13 is a schematic view of an alignment assembly in an exemplary embodiment of the present disclosure;

FIG. 14 is a schematic view of a fourth driver engaged with a mounting bracket in an exemplary embodiment of the present disclosure;

FIG. 15 is a schematic illustration of a first station in an exemplary embodiment of the present disclosure;

fig. 16 is a schematic illustration of a first station mated with a battery module in an exemplary embodiment of the present disclosure;

FIG. 17 is a first schematic illustration of a second station in an exemplary embodiment of the present disclosure;

fig. 18 is a schematic illustration of a first station mated with a battery module in an exemplary embodiment of the present disclosure.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the disclosure, as detailed in the appended claims.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in the description and claims does not indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of two. "plurality" or "a number" means two or more. Unless otherwise indicated, "front", "rear", "lower" and/or "upper" and the like are for convenience of description and are not limited to one position or one spatial orientation. The word "comprising" or "comprises", and the like, means that the element or item listed after "comprises" or "comprising" is inclusive of the element or item listed after "comprising" or "comprises", and the equivalent thereof, and does not exclude additional elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

The terminology used in the disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

As shown in fig. 1-3, an embodiment of the present disclosure provides a swapping station. The battery replacement station is applied to an electric vehicle. The electric vehicle includes a vehicle body 10 and a battery module 11 provided in the vehicle body 10.

The electric vehicle in the present disclosure is a vehicle that supplies electric power using a battery carried by the vehicle and needs to be replenished in time when the electric power of the battery is about to be exhausted. Either a human-driven vehicle or a two-wheel-driven AGV1 as shown in fig. 3 and 4. It is only necessary that the vehicle be able to remove/load the battery module 11 from the side.

The disclosed embodiments are described by taking the AGV1 shown in fig. 3 and 4 as an example. However, the AGV1 according to the present disclosure is not limited to the two-wheel-drive AGV1 shown in fig. 3 and 4, and may be an AGV1 that is four-wheel-drive or bionic-travel, and may travel and stop in an automatic navigation manner, and the battery module 11 may be removed from and loaded on the side of the AGV1.

The battery module 11 in the present disclosure may be a nickel-hydrogen rechargeable battery, a lithium battery, or a non-rechargeable battery, and is not limited to a specific shape, and may be detached from and loaded onto the lateral side of the AGV1 in cooperation with the battery replacement station of the present disclosure.

Note that the lateral sides of the AGV1 referred to in the present disclosure do not include the upper side and the lower side of the AGV1. But may include the left and right sides of the AGV1 and may also include the front and rear sides of the AGV1.

In some embodiments, the swapping station includes a carrying device 2 and a swapping device 3. The carrier 2 is used to carry the AGV1. The battery replacement device 3 is used for taking out the battery module 11 to be charged from the side of the vehicle body 10, and for fitting the charged battery module 11 to the side of the vehicle body 10.

The battery replacing device 3 in the present disclosure can directly take out/assemble the battery module 11 from the side of the vehicle body 10, and the load bearing device 2 is no longer needed to lift the AGV1, so that the battery replacing steps are reduced, the battery replacing efficiency is improved, and the battery replacing time is saved. Meanwhile, as the carrying device 2 does not have the lifting function any more, the structure of the carrying device 2 is simplified, and the manufacturing cost of the carrying device 2 is reduced.

In the above embodiment, the carrying device 2 and the battery replacement device 3 are used in combination to form a battery replacement station. In other embodiments, the carrying device 2 and the battery replacement device 3 may also be used independently.

The carrier device 2 will first be described in detail below.

The load carrier 2, as shown in FIG. 5, includes a load platform 20 for carrying the AGV1, and a power supply mechanism 21 and a positioning mechanism 22 disposed on the load platform 20. The load platform 20 is not normally flush against the ground, so a ramp 24 may be provided in front of the load platform 20 to facilitate the AGV1 riding on the load platform 20.

When the battery module 11 is taken out or assembled, the matching precision between the battery replacing device 3 and the bearing device 2 is very important, and if the matching precision is too low, a large deviation occurs in the relative positions of the battery replacing device 3 and the bearing device 2, so that the battery replacing station cannot complete the setting action. As shown in fig. 3 to 5, for convenience of description, the longitudinal direction of the AGV1, i.e., the forward direction in which the AGV1 travels on the load platform 20, is defined as a first direction a. The width direction of the AGV1 is defined as a second direction B. The positioning mechanism 22 is used for respectively positioning the AGV1 at the accurate position in the first direction a and the accurate position in the second direction B, so that the AGV1 is integrally positioned, and the power exchanging station can complete the setting action.

As shown in fig. 4 and 5, the positioning mechanism 22 includes two positioning blocks 227 disposed on the carrying platform 20. The positioning block 227 is mounted on the carrying platform 20 in a swinging manner along the first direction a. The positioning slot along the second direction B is disposed on the upper surface of the positioning block 227. The constant head tank can be like the V font that sets up as shown in fig. 4 and 5, and AGV 1's wheel can block in the constant head tank of V font automatically like this, of course, also can consider setting up the constant head tank into the rectangle, the trapezoidal, semi-circular or other shapes that hold AGV 1's wheel just, can sink into the constant head tank downwards when AGV 19's wheel passes through the constant head tank and fixed by it can, like this, through the wheel of location AGV1, realized the location to AGV1 on first direction A promptly.

As an alternative embodiment, the positioning mechanism 22 also includes a position sensor (not shown) for precisely positioning the AGV1 in the first direction A. The position sensors may be located on the load platform 20 or on the AGV1. The position sensor may be any commercially available sensor capable of sensing position, and the disclosure is not limited thereto. For example, the position sensor may be a photoelectric sensor or a pressure sensor disposed on the positioning block, so as to sense whether the wheels of the AGV1 reach the positioning slot.

The position sensor can also be a camera with position sensing, a corresponding two-dimensional code icon is arranged on the power supply mechanism 21, and the AGV1 can be accurately located at the specified position in the first direction A through the cooperation of the camera and the two-dimensional code icon.

With continued reference to fig. 4 and 5, the positioning mechanism 22 further includes a lateral pushing assembly 220 and a stop assembly 221. The side pushing assembly 220 and the limiting assembly 221 are respectively located at two sides of the bearing platform 20. The side push assembly 220 is used to push the AGV1 in the second direction until it abuts against the stop assembly 221. When the AGV1 is pushed against the limiting member 221, it is equivalent to the AGV1 being at the designated position in the second direction B, so that the positioning of the AGV1 in the second direction B is completed. Meanwhile, the AGV1 is fixed between the side pushing component 220 and the limiting component 221, so that the vehicle body 10 does not shake when the battery module 11 is taken out/assembled by the battery replacing device 3, and the battery replacing process of the battery replacing device 3 is ensured to be smoothly performed.

The engagement of the side thrust assembly 220 and the stop assembly 221 in the present disclosure has the following advantages over the conventional centering clamping positioning assembly: first, the battery module 11 of the AGV1 in the present disclosure is taken out from one side of the car body 10, which is equivalent to that the two opposite sides of the car body 10 are not identical; at this time, if the two sides of the vehicle body 10 are clamped by the conventional centering clamping and positioning assembly, because the two sides of the vehicle body 10 are asymmetric, the stress points of the conventional centering clamping and positioning assembly and the two sides of the vehicle body 10 are not symmetric, the deflection phenomenon of the vehicle body 10 is easy to occur, and the battery module 11 cannot be taken out because the battery module is not aligned with the battery changing device 3; secondly, after the positioning in the second direction B is completed, the vehicle body 10 is closer to the battery replacing device 3 than the vehicle body is positioned by the conventional centering clamping positioning assembly, so that the battery replacing stroke is reduced, and the battery replacing efficiency is improved; finally, as shown in fig. 4, the limit component 221 is located between the battery replacing mechanism 32 and the vehicle body 10, that is, the limit component 221 is disposed close to the side of the vehicle body 10; after the positioning of the vehicle body 10 in the second direction B is completed, the battery module 11 is taken out from the side of the vehicle body 10; in other words, if the conventional centering, clamping and positioning assembly is adopted, the battery module 11 will inevitably conflict with the conventional centering, clamping and positioning assembly in spatial position; the limiting assembly 221 in the present disclosure can optimize the overall structure of the limiting assembly 221 and reduce the volume or height thereof due to simple functions, so that the limiting assembly 221 is only in contact with the chassis of the AGV1, and is further staggered from the battery module 11 in height, and the battery module 11 is not affected to be detached from the side of the vehicle body 10.

The positioning mechanism 22 can be applied to an AGV1 in which the battery module 11 is taken out from the bottom of the vehicle body.

As shown in fig. 6, the side pushing assembly 220 includes a side pushing driver 222 and a side pushing member 223. The side push 223 includes a first position and a second position. The side push driving member 222 is used for driving the side push member 223 to reciprocate between the first position and the second position along the second direction. When the side push 223 is located at the first position, the side push 223 can make the AGV1 abut against the limiting component 221. The side push drive 222 may include an air cylinder, hydraulic ram, or motor. The present disclosure is not so limited.

In some embodiments, the side-push driving component 222 is a motor, so that the side-push component 220 has a wider application range, higher walking precision and more convenient adjustment compared with air source driving or hydraulic driving. Specifically, the side push assembly 220 further includes a side push frame 230, and a ball screw (not shown) provided on the side push frame 230, a side push shaft 229, a timing belt 228, and a linear bearing. The linear bearing is used to ensure that the side pushing member 223 slides more smoothly on the side pushing shaft 229 without jamming. The side pushing driving member 222 drives the ball screw to rotate through the transmission of the timing belt 228, so that the side pushing member 223 reciprocates between a first position and a second position along the side pushing shaft 229.

As an alternative embodiment, the stroke of the side pushing member 223 between the first position and the second position is 0-50mm. In this range of travel, the side pushing member 223 can satisfy the adjustment of the positional deviation of the AGV1 in the second direction B of the loading platform 20, and can make the structure of the side pushing assembly 220 more compact.

As shown in fig. 7, the position limiting assembly 221 includes a position limiting driving member 224 and a position limiting member 225. The limiting member 225 includes a third position and a fourth position. The limiting driving member 224 is used for driving the limiting member 225 to move back and forth between the third position and the fourth position along the second direction B. When the limiting member 225 is located at the third position and the side pushing member 223 is located at the first position, the limiting member 225 and the side pushing member 223 cooperate to position the AGV1. The limit drive 224 may be an air cylinder, hydraulic ram, and motor. The present disclosure is not so limited.

In other embodiments, the limiting component 221 can further include only the limiting member 225; if the limiting member 225 is fixed at the third position, it can also cooperate with the side pushing assembly 220 to position the AGV1. The main function of the limiting driving member 224 in the present disclosure is to retract to the fourth position by driving the limiting member 225, so that a certain distance is formed between the limiting member 225 and the AGV1, and the limiting member 225 and the vehicle body 10 are prevented from being scratched when the AGV1 moves along the first direction a and thus the vehicle body 10 is contacted with each other.

As an alternative embodiment, the travel of the limiting member 225 between the third position and the fourth position is 0-10mm; that is, the travel of the limiting member 225 between the third position and the fourth position is smaller than the travel of the side pushing member 223 between the first position and the second position, which is determined by the respective actions of the limiting member 221 and the side pushing member 220.

In some embodiments, the limit driving member 224 is a motor, so that the application range of the side pushing assembly 220 is wider, the walking precision is higher, and the adjustment is more convenient compared with air source driving or hydraulic driving. Specifically, the limiting component 221 further comprises a trapezoidal screw (not shown), a limiting rotating shaft 232 and a linear bearing. The linear bearing is used for ensuring that the side pushing piece 223 slides more smoothly on the limiting rotating shaft 232 and is not blocked. The limiting member 225 is mounted on the trapezoidal screw, and the limiting driving member 224 rotates through the trapezoidal screw, so that the limiting member 225 reciprocates between a third position and a fourth position along the limiting shaft. The trapezoidal screw rod has a self-locking characteristic, and when the lateral pushing assembly 220 pushes the AGV1, the limiting member 225 can form a stop, so that the position where the AGV1 stops at each time is unique.

It should be noted that, as can be seen from fig. 4, the limiting component 221 and the battery module 11 are located on the same side of the AGV1, so that the limiting component 221 is small as a whole, and only contacts with the chassis on both sides of the driving wheel of the AGV1, and the battery is not affected to be detached from the side.

As an alternative embodiment, the position limiting assembly 221 further comprises a first sensor 233. The first sensor 233 is used to determine whether the AGV1 abuts against the stopper 225. When the AGV1 is normally in place, i.e. abuts against the limiting member 225, the power exchanging station continues to perform the next action. When the AGV1 is not in the normal position, that is, a certain distance exists between the AGV1 and the limiting piece 225, the power exchanging station stops operating.

It should be noted that the power supply mechanism 21 in the present disclosure supplies power to the AGV1, so as to prevent the AGV1 from being restarted after power failure after the battery is removed, and further prevent the subsequent control of the AGV1 from being disturbed due to power failure restart. Therefore, when the AGV1 travels to the supporting platform 20 and is positioned in the first direction a, the AGV1 is docked with the power supply mechanism 21, so as to charge the AGV1. As can be seen from the above positioning process, after the AGV1 completes the positioning in the first direction a, the positioning in the second direction B is also completed. During positioning in the second direction B, there is also a displacement of the AGV1 in the second direction B. Therefore, the power supply mechanism 21 in the present disclosure needs to have an active space in the second direction B.

As shown in fig. 8, the power supply mechanism 21 includes a base 214 and a charging assembly 210 provided to the base 214. The charging assembly 210 includes a charging base 211 and an electrical connector 212 disposed on the charging base 211. The charging assembly 210 is provided with a plug-in orientation. The charging seat 211 is slidably mounted on the base 214, and a sliding direction D of the charging seat 211 intersects with the plugging direction C. Through so setting up, electric connector 212 can follow charging seat 211 and slide along its slip direction D, and then makes when AGV1 sideslip, and electric connector 212 still can follow AGV1 sideslip, avoids electric connector 212 and AGV1 to break away from, causes the power failure of AGV1.

It should be noted that the plugging direction C refers to a direction in which the electrical connector 212 is butted against the corresponding electrical connection structure on the AGV1, and in general, during the process of butting the electrical connector 212 against the corresponding electrical connection structure on the AGV1, the electrical connector 212 itself is stationary, and the AGV1 moves toward the electrical connector 212 to realize the butting. In other words, the plugging direction C can also be understood as the direction of movement of the electrical connector 212 relative to the AGV1. Specifically, in the present disclosure, as shown in fig. 3, the AGV1 moves toward the power supply mechanism 21 in a first direction a, and the plugging direction C is opposite to the first direction a. The electrical connection structure may include a charging coil capable of cooperating with the electrical connector 212, and may also include a plug capable of electrically connecting with the electrical connector or other structures capable of electrically connecting and charging the electrical connector, which are not described herein again.

In some embodiments, the sliding direction D of the charging stand 211 is perpendicular to the plugging direction C. That is, the sliding direction D of the charging stand 211 is the second direction B. So set up and can avoid charging seat 211 in the slip in-process, electric connector 212 self still has the displacement of grafting direction C, influences electric connector 212 and AGV1 complex stability. Of course, in other embodiments, the sliding direction D of the charging seat 211 may not be perpendicular to the plugging direction C, and only the electrical connector 212 itself may reciprocate along the plugging direction C, and the elastic member ensures that the electrical connector 212 is always docked with the AGV1 within a certain range of travel.

In some embodiments, the power supply mechanism 21 further includes a second connecting shaft 215 disposed on the base 214. The charging seat 211 is sleeved on the second connecting shaft 215 and can slide on the second connecting shaft 215. Wherein, the card-pause may be formed only by the fitting of the charging seat 211 and the second connecting shaft 215 to slide on the second connecting shaft 215. Therefore, a linear bearing may be provided between the charging stand 211 and the second connection shaft 215. Of course, a larger gap may be left between the charging seat 211 and the second connecting shaft 215, and a matching structure of the guide rail and the sliding groove may be additionally provided.

As an alternative embodiment, the power supply mechanism 21 further includes a second guide rail 217 and a second sliding groove (not shown) which are slidably fitted. One of the second guide rail 217 and the second sliding groove is disposed on the charging seat 211, and the other of the second guide rail 217 and the second sliding groove is disposed on the base 214. As shown in fig. 8, since the charging seat 211 is a U-shaped plate structure with small volume and thickness, the second guide rail 217 is fixedly connected to the charging seat 211, and the second sliding slot is disposed on the base 214.

It is contemplated that the AGV1 will complete its interface with the power supply 21 during its travel to the load bearing platform 20. Therefore, the power supply mechanism 21 further includes a second reset member 213. The cradle 211 also includes a start position. When the charging dock 211 is in the start position, the power mechanism 21 can complete the charging dock with the AGV1. When the charging seat 211 deviates from the starting position, the second resetting element 213 exerts a force on the charging seat 211 to drive the charging seat 211 to return to the starting position. And after the AGV1 finishes replacing the battery module 11, the AGV1 exits the carrying platform 20, i.e. the AGV1 disengages from the electrical connector 212, and the charging seat 211 returns to the starting position under the action of the second reset piece 213, so as to facilitate the next AGV1 to dock.

In an alternative embodiment, the second restoring member 213 includes at least two second spring members sleeved on the second connecting shaft 215. At least two second spring members are respectively located at two sides of the charging seat 211. One end of the second spring element is fixed on the charging seat 211, and the other end of the second spring element is fixed on the base 214. With this arrangement, the charging stand 211 can return to the start position after the AGV1 is separated from the electrical connector 212, regardless of whether the charging stand is displaced in the direction toward the second direction B or in the direction away from the second direction B.

Since the AGV1 needs to move to the position closest to the power supply mechanism 21 during the positioning process in the first direction a, and then move back a certain distance to reach the designated position in the first direction a. Therefore, the charging assembly 210 further includes a guiding post and a third spring member 216 sleeved on the guiding post. The guiding column is slidably mounted on the charging seat 211 along a horizontal plugging direction C, i.e., a first direction a. The third spring member 216 is disposed between the electrical connector 212 and the charging seat 211. In this way it is ensured on the one hand that the power supply mechanism 21 can accommodate the displacement of the AGV1 in the first direction a during power supply. On the other hand, the electric connector 212 is flexibly butted against the AGV1, and under the action of the third spring member 216, the electric connector can be always butted against the electric connection structure of the AGV1, so that the power failure of the AGV1 is avoided.

It should be noted that the positioning mechanism 22 and the power supply mechanism 21 in the carrying device 2 are used in a matching manner, and in the specific implementation process, the positioning mechanism 22 and the power supply mechanism 21 may also be used independently. For example, the positioning mechanism 22 is not only suitable for positioning an electric vehicle, but also for positioning any other movable object. And the power supply mechanism 21 is not only suitable for supplying power to an electric vehicle in which the battery module 11 is located on the side, but also suitable for supplying power to an electric vehicle in which the battery module 11 is located on the bottom or upper portion, and even to any other object with the battery module 11. The present disclosure is not intended to be limiting in any way.

The power exchanging device 3 will be described in detail below.

As shown in fig. 1-2, the battery replacing device 3 includes a housing 36, and a rack 30, a battery compartment 31 and a battery replacing mechanism 32 located in the housing 36. The battery replacing mechanism 32 and the battery compartment 31 are both arranged on the frame 30. The battery compartment 31 is used to store the battery module 11. The battery replacement mechanism 32 is used to take out and mount the battery module 11 to be charged from the side of the vehicle body 10 to the battery compartment 31, and is used to take out and mount the charged battery module 11 from the battery compartment 31 to the side of the vehicle body 10. With such an arrangement, the battery replacing mechanism 32 can directly take out/assemble the battery module 11 from the side of the vehicle body 10, thereby reducing the battery replacing steps, improving the battery replacing efficiency and saving the battery replacing time.

As shown in fig. 9-12, the switching mechanism 32 includes a mounting plate 320 and a connecting assembly 321 disposed on the mounting plate 320. The battery module 11 includes a first sidewall 110 and a connection part 111 provided to the first sidewall 110.

When it is necessary to take out the battery module 11 from the vehicle body 10 or the battery compartment 31, the connection member 321 can establish connection with the connection portion 111 for pulling the battery module 11, thereby taking out the battery module 11.

When the battery module 11 needs to be assembled on the vehicle body 10 or the battery compartment 31, the connecting assembly 321 can be disconnected from the connecting portion 111, so that the connecting assembly 321 is conveniently separated from the battery module 11, and the battery module 11 is still pulled when the connecting assembly 321 is retracted.

In some embodiments, the connection assembly 321 includes a first driver 322 and a connector 323. The connection member 323 includes a first state for establishing connection with the connection part 111 and a second state for releasing connection with the battery module 11. The first driving member 322 is used to drive the coupling member 323 between the first state and the second state. The first driving member 322 can be switched between the first state and the second state by the driving connecting member 323 in a rotating manner, a linear movement manner or an unfolding and folding manner. The present disclosure is not so limited.

The connection portion 111 may include holes, hooks, or other structures. The present disclosure is not so limited.

As an alternative embodiment, the connection portion 111 includes a hook provided to the first sidewall 110. When the connecting member 323 moves above the hook, the first driving member 322 drives the connecting member 323 to move downward to be abutted on the hook, so that the connecting member 323 is switched from the second state to the first state.

As an alternative embodiment, as shown in fig. 10 to 12, the connecting member 323 has a plate-like structure, and the connecting portion 111 has a long hole structure matched with the connecting member 323. The coupling members 323 can be smoothly inserted into the coupling parts 111 for convenience, and the position of the battery module 11 is adjusted in consideration of the following. Therefore, a certain gap is required to be kept between the long hole structure and the connecting piece 323. As shown in fig. 11, the link 323 is in a second state of being vertically placed, and at this time, the link 323 can smoothly move in and out of the long hole structure. As shown in fig. 12, the connecting member 323 is rotated by 90 ° to the first state by the first driving member 322, and at this time, the connecting member 323 cannot move in and out of the long hole structure. In other words, when the connection member 323 is switched to the first state after being inserted into the long hole structure, the connection with the connection part 111 is established, so that the battery module 11 can be pulled. In other embodiments, after the connecting member 323 extends into the slot structure, the second state with a smaller area can be switched to the first state with a larger area.

With continued reference to fig. 11 and 12, the connecting assembly 321 further includes a connecting seat 324 disposed between the first driving member 322 and the connecting member 323. The first driving member 322 drives the connecting seat 324 to rotate, thereby driving the connecting member 323 to rotate. Wherein, the connecting assembly 321 further comprises at least one second gear 345, and the second gear 345 is disposed between the first driving member 322 and the connecting base 324 in a transmission manner. The first driving member 322 is a motor. The first driving member 322 rotates the connecting base 324 via the second gear member 345, so that the connecting member 323 is switched between the first state and the second state.

Theoretically, when the connection member 323 is in the first state, and the connection member 323 does not protrude into the battery module 11. When the coupling member 323 moves toward the battery module 11, the coupling member 323 can also push the battery module 11 to move. However, considering that in this case, the stroke of the connecting component 321 is not consistent when the battery module 11 is taken out and assembled, and the connecting component 323 needs to be in a different state, this may increase the difficulty and complexity of the automatic battery replacement of the battery replacement mechanism 32. Therefore, in some embodiments, the battery swapping mechanism 32 further includes a push-pull rod 325 disposed on the connection base 324 and a pushing member 326 fixedly disposed on the push-pull rod 325. The connecting member 323 is located at one end of the push-pull rod 325, and the pushing member 326 is located between the connecting member 323 and the connecting seat 324. Through such arrangement, no matter the battery replacing mechanism 32 is taken out or in the step of assembling the battery module 11, the strokes of the connecting components 321 are consistent, and the states of the connecting components 323 are consistent, which is more beneficial to the automation of the battery replacing mechanism 32.

In some embodiments, the battery swapping mechanism 32 further includes a buffer assembly 327. The buffer assembly 327 serves to buffer the contact of the link 323 or the pusher 326 with the battery module 11. I.e., the buffer assembly 327 enables the contact of the connector 323 or the pusher 326 with the battery module 11 to be a flexible contact. As an alternative embodiment, the damping assembly 327 includes a fixing sleeve 328 fixedly mounted to the push-pull rod 325 and two first spring members sleeved on the push-pull rod 325. Two first spring members are located on either side of the retaining sleeve 328. One end of the first spring member is connected to the fixing sleeve 328, and the other end is connected to the connecting seat 324. By so doing, the buffer assembly 327 has a buffering effect to prevent damage to the battery module 11, whether the connecting member 323 pulls the battery module 11 or the pushing member 326 pushes the battery module 11.

In some embodiments, the connection assembly 321 further comprises a second sensor. The second sensor is used to determine whether the connection member 321 is close to the battery module 11. The second sensor may be a proximity sensor, primarily for sensing metals; the material of the battery module 11 in the present disclosure includes iron; when the pusher 326 or the link 323 moves a fixed stroke, i.e. the second sensor is theoretically close to the battery module 11; at this time, when the second sensor determines that the connection assembly 321 is close to the battery module 11, the battery replacement mechanism 32 continues the next operation, that is, the battery replacement mechanism 32 pulls out the battery module 11 from the vehicle body 10 or the battery compartment. When the second sensor determines that the connecting member 321 does not approach the battery module 11, the battery replacing mechanism 32 stops, i.e., the connecting member 323 and the pushing member 326 do not move any more, and an alarm is issued.

The AGV1 trolley is parked on the bearing device 2, and the bearing device 2 and the battery replacing mechanism 32 are two independent mechanisms. Even if the two are aligned in advance, there is an assembly error. The battery replacing mechanism 32 needs to send the battery module 11 to the battery compartment 31 for charging, and the requirement on accuracy is high. If the battery module 11 is not aligned, the battery module may not be transported to the battery compartment 31 or the battery compartment 31 may not be charged. Therefore, with continued reference to fig. 9 and 10, the battery swapping mechanism 32 further includes an alignment component 331 disposed on the mounting plate 320 and a first rail 344 for sliding the battery module 11. The alignment assembly 331 is located between the carrier 2 and the first rail 344 and serves to enable the battery module 11 to be aligned with the first rail 344. The alignment assembly 331 is provided in the present disclosure so that the battery module 11 is gradually aligned with the first rail 344 during the sliding process, thereby being able to enter the first rail 344. In particular, since the first rail 344 and the battery compartment 31 are located in the same device, the same reference can be shared, i.e., the first rail 344 can be aligned with the battery compartment 31, and thus the battery compartment 31 can be accessed when the battery module 11 can access the first rail 344.

In some embodiments, as shown in fig. 13, the alignment assembly 331 includes a first restoring member 333 and a second rail 334 for sliding the battery module 11. Second rail 334 is slidably mounted to mounting plate 320. The second rail 334 includes an initial position aligned with the first rail 344. The first restoring member 333 is used to drive the second rail 334 to return to the initial position when the second rail 334 deviates from the initial position. Due to assembly errors and the like between the carrier 2 and the battery changer 3, even if the AGV1 is positioned on the carrier 2, it is only roughly positioned to ensure that the battery module 11 can enter the second rail 334. In addition, in order to make the battery module 11 enter the second rail 334 more smoothly, a bell mouth may be provided at the entrance of the second rail 334, or a guide structure, such as a chamfer or a fillet, may be provided on the battery module 11. Thus, during the entering of the battery module 11, since the battery module 11 is partially still located in the mounting cavity of the vehicle body 10 and cannot move laterally (move in the first direction a), the second rail 334 is caused to move laterally. When the battery module 11 is completely detached from the mounting cavity of the vehicle body 10, the second rail 334 returns to the initial position by the first restoring member 333, so that the battery module 11 can be aligned with the first rail 344.

The shape of the battery module 11 may be varied in consideration of the AGV1 having different models and subsequent generations. In order to allow the swapping mechanism 32 to accommodate battery modules 11 of different shapes, the AGV1 further includes a guide plate (not shown) mounted to the first bottom wall 112 as an alternative embodiment. The guide plate is adapted to cooperate with the first track 344 and the alignment assembly 331. Through so setting up, different battery module 11 all can be equipped with the same deflector to guarantee local uniformity, make and trade electric mechanism 32 can adapt to the battery module 11 of different shapes. Wherein, the deflector is the rectangular plate, and four angles of deflector are all chamfer setting or fillet setting to make things convenient for the deflector to get into first track 344 and second track 334.

With continued reference to fig. 13, in some embodiments, the second track 334 includes a second bottom wall and second side walls disposed on either side of the bottom wall. Wherein the second bottom wall comprises the slider and the second side wall comprises a plurality of guide bearings 335 spaced apart along the extension of the second rail 334. In other words, the floating block forms a second bottom wall of the second rail 334. A plurality of guide bearings 335 distributed on either side of the slider form a second side wall of the second track 334. By providing the guide bearing 335, the friction between the guide plate and the second rail 334 can be effectively reduced, and the noise can be reduced.

In some embodiments, the alignment assembly 331 further includes a first support fixedly mounted to the mounting plate 320 and a first connecting shaft 336 disposed at the first support. The second rail 334 is sleeved on the first connecting shaft 336 and can slide on the first connecting shaft 336. Wherein jamming may occur simply by virtue of the slider in the second track 334 sliding with the first coupling shaft 336 in engagement with the first coupling shaft 336. Thus, a linear bearing may be provided between the slider and the first coupling shaft 336. It is of course also possible to leave a large clearance between the slider and the first connecting shaft 336 and to provide additional rail and runner engagement.

In view of the compact structure of the alignment assembly 331, as an alternative embodiment, the alignment assembly 331 further includes a first guide rail 337 and a first sliding groove 338 which are slidably engaged. One of the first guide rail 337 and the first chute 338 is provided to the second rail 334, and the other of the first guide rail 337 and the first chute 338 is provided to the mounting plate 320.

As an alternative embodiment, the first restoring member 333 includes at least two first spring members sleeved on the first connecting shaft 336. At least two first spring members are positioned on either side of the second rail 334. One end of the first spring member is fixed to the first support, and the other end of the first spring member is fixed to the second rail 334. By such an arrangement, the second rail 334 can return to the initial position after the battery module 11 is completely detached from the vehicle body 10, regardless of whether the second rail 334 is deviated in the direction toward the first direction a or deviated in the direction away from the first direction a.

It should be noted that the alignment assembly 331 of the present disclosure is not only suitable for the battery module 11 to be taken out from the side of the vehicle body 10, but also suitable for the battery module 11 to be taken out from the bottom or the upper part of the vehicle body 10, and suitable for any other object requiring position adjustment during sliding.

With continued reference to fig. 9 and 10, in some embodiments, the structure of the first track 344 is the same as the structure of the second track 334. Of course, in other embodiments, the structure of the first rail 344 may not be the same as that of the second rail 334, and only needs to have the function of sliding and guiding the battery module 11. The present disclosure is not so limited.

In some embodiments, the battery swapping mechanism 32 further includes first pulley blocks 332 sequentially distributed along the sliding direction of the battery module 11. The battery module 11 includes a first bottom wall 112. The first pulley blocks 332 are adapted to contact the first bottom wall 112 to reduce the sliding resistance of the battery module 11. As an alternative embodiment, the battery replacement mechanism 32 includes two sets of first pulley assemblies 332. The two sets of first pulley blocks 332 are respectively located at two sides of the alignment component 331. By so arranging, the width of the mounting plate 320 in the first direction a only needs to be slightly larger than the width of the battery module 11 in the first direction a, and the structure of the battery replacing mechanism 32 is more compact.

With continued reference to fig. 9, 10, and 14, in some embodiments, the swapping mechanism 32 further includes a drive assembly. The driving assembly is at least partially mounted to the mounting plate 320 and is used to drive the connecting assembly 321 to move between the vehicle body 10 and the battery compartment 31.

As an alternative embodiment, the driving assembly includes a second driving member 340 disposed on the mounting plate 320. The connection assembly 321 is slidably mounted to the mounting plate 320. The second driving member 340 is used for driving the connecting assembly 321 to reciprocate on the mounting plate 320, so as to drive the battery module 11 to move out of and into the battery compartment 31 or the vehicle body 10. Wherein the driving assembly further comprises a linear module, and the second driving member 340 comprises a motor. The second driving member 340 drives the connecting member 321 to reciprocate through the linear module.

As an alternative embodiment, the drive assembly further comprises a third driver 341. The mounting plate 320 includes a third state in which the connecting member 321 faces the carrier 2 and a fourth state in which the connecting member 321 faces the battery compartment 31. The third driving member 341 is used for driving the mounting plate 320 to switch between the third state and the fourth state. When the mounting plate 320 is in the third state, the second driving member 340 is used to drive the connecting assembly 321 to move the battery module 11 out of the vehicle body 10. When the mounting plate 320 is in the fourth state, the second driving element 340 is used to drive the connecting assembly 321 to move the battery module 11 out of the battery compartment 31. Wherein the driving assembly further comprises a plurality of third gear members (not shown), the third driving member 341 is a motor, and the third driving member 341 is configured to switch between the third state and the fourth state by driving the mounting plate 320 to rotate back and forth through the plurality of third gear members.

As shown in fig. 14, as an alternative embodiment, the battery replacing mechanism 32 further includes a mounting bracket 343 movably mounted on the frame 30. The third driving member 341 is disposed on the mounting frame 343. The drive assembly further includes a fourth drive member 342. The fourth driving member 342 is used for driving the mounting frame 343 to reciprocate along the longitudinal direction of the frame 30. The driving force required is large in view of the longitudinal lifting of the mounting bracket 343 and the mounting plate 320. Thus, the drive assembly also includes a sprocket 346 and a chain 347. A chain 347 is connectively disposed between the mounting bracket 343 and the sprocket 346. The fourth driving member 342 is a motor. The fourth driving member 342 is rotated by the driving sprocket 346, so that the mounting frame 343 is moved back and forth along the longitudinal direction of the frame 30 by the chain 347.

In this way, the second driving member 340, the third driving member 341 and the fourth driving member 342 are engaged, so that the battery replacing mechanism 32 can deliver the battery module 11 to any position on the rack 30, and the structure is simple and compact.

In some embodiments, battery compartment 31 includes a first station 310 that is empty and a second station 312 for storing battery modules 11. The battery replacement mechanism 32 is used to take out the battery module 11 to be charged from the side of the vehicle body 10 and mount the battery module at the first station 310. And a second station 312 for taking out the charged battery module 11 and mounting it on the side of the vehicle body 10. The replacement of the battery module 11 of the AGV1 can be accomplished very quickly by the cooperation of the first and

second stations

310, 312.

As shown in fig. 2, the battery compartment 31 includes two rows of stations arranged longitudinally to reduce the floor space of the battery replacement device 3. The longitudinal arrangement means that the frame 30 is arranged up and down. The battery replacement mechanism 32 is located between the two rows of stations. One of the columns includes a plurality of longitudinally arranged second stations 312 and a first station 310. The first station 310 is located at the lowermost end, i.e., the position closest to the carrier 2 or the truck body 10. The other series of stations includes a plurality of longitudinally arranged second stations 312. Through such setting, trade electric mechanism 32 and take out the back with battery module 11 from car body 10, only need accomplish the plane motion, can deposit battery module 11 to first station 310 in, trade the stroke of coupling assembling 321 among electric mechanism 32 short and the orbit is simple to battery module 11's change efficiency has been improved, battery module 11's change time has been reduced.

Of course, in other embodiments, battery compartment 31 may also include two rows of laterally arranged stations. The transverse arrangement refers to that the first station and the plurality of second stations are sequentially arranged along the second direction B. The battery replacement mechanism 32 is still located between two rows of stations. One row of stations includes a plurality of second stations 312 arranged in a transverse direction and a first station 310. The first station 310 is located near one end of the carrier 2 or truck body 10. The other row of stations includes a plurality of second stations 312 arranged in a transverse direction.

The first and

second stations

310, 312 are largely identical in construction. However, it is considered that the first station 310 is mainly used for temporarily storing the battery modules 11, and the second station 312 is used for storing the battery modules 11 for a long time and charging the battery modules 11. Thus, the second station 312 is also provided with a charging structure as compared to the first station 310. As shown in fig. 15-18. The first station 310/the second station 312 includes a bottom plate 319, and a third slide rail 315, a second pulley block 316, a limiting block 314, and a third sensor 313 disposed on the bottom plate 319. The charging structure is disposed on the base plate 319, and includes a charging head 317 and a charger 318.

The structure of the third sliding rail 315 is the same as that of the second rail 334. Of course, in other embodiments, the structure of the third slide rail 315 may not be the same as that of the second rail 334, and only needs to have the function of sliding and guiding the battery module 11. The present disclosure is not so limited.

The second pulley block 316 has the same function as the first pulley block 332, and has the same basic composition structure as the first pulley block 332, and only the arrangement mode is different from that of the first pulley block 332. And will not be described in detail herein.

The stopper 314 is used to limit the farthest moving distance of the battery module 11, so as to prevent the battery module 11, the charging head 317 and the charger 318 from being damaged due to the long moving distance of the battery module 11.

The third sensor 313 is mainly used to determine whether the battery module 11 reaches the designated position of the first station 310/second station 312. The third sensor 313 may be an optical sensor, a pressure sensor, or a camera, which will not be described in detail herein.

In conclusion, the AGV1 power exchanging station provided by the embodiment has the advantages of saving power exchanging time, improving the working efficiency of the AGV1, and being high in replacement speed, high in precision, high in automation degree and the like of the battery modules 11.

Another embodiment of the present disclosure further provides a method for replacing the battery module 11, which may be implemented by the above-mentioned AGV1 power swapping station, or may be implemented by other devices.

Specifically, the replacement method of the battery module 11 includes the steps of:

s10, the battery replacement mechanism 32 moves to the side of the AGV1.

And S20, butting the battery replacing mechanism 32 with the battery module 11 to be charged on the AGV1.

And S30, relatively moving the battery module 11 to be charged and the AGV1 so that the battery module 11 to be charged is separated from the assembly area of the battery module 11 of the AGV1.

S40, the battery replacement mechanism 32 places the charged battery module 11 on the side of the AGV1.

S50, the charged battery module 11 and the AGV1 are relatively moved to place the charged battery module 11 in the battery module 11 mounting area.

Through the five steps, the original battery module 11 in the power shortage state on the AGV1 can be removed, and the new battery module 11 in the full power state is replaced into the AGV1, so that the whole replacement process of the battery module 11 is completed. This method of replacing the battery saves a lot of time compared to waiting for charging. It should be noted that, in the foregoing S10 to S50, except for the case that the implementation of a certain step needs to depend on the result of another step, other steps may not have a strict sequence, and any two or even more of the steps may be executed simultaneously according to the structure of the adopted device and the difference of the control program, or when a step is advanced to a certain stage, another step is started to be executed, and the step executed later may also be ended before the step executed earlier. It is only necessary to complete all the five steps to update the battery module 11 of the AGV1.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. The battery replacing mechanism is characterized by comprising a mounting plate, an alignment assembly arranged on the mounting plate and a first rail used for moving a battery module; the alignment assemblies and the first rails are sequentially distributed along the moving direction of the battery module; the alignment assembly is used for enabling the battery module to be aligned with the first rail during movement.

2. The swapping mechanism of claim 1, wherein the alignment assembly comprises a first reset member and a second track for movement of the battery module; the second rail is slidably mounted to the mounting plate and includes an initial position aligned with the first rail; when the first track deviates from the initial position, the first resetting piece is used for driving the first track to return to the initial position.

3. The battery swapping mechanism of claim 2, wherein the second track comprises a plurality of guide bearings spaced along the direction of movement of the battery module.

4. The swapping mechanism of claim 2, wherein the alignment assembly further comprises a first mount fixedly mounted to the mounting plate and a first connecting shaft disposed at the first mount; the second track is sleeved on the first connecting shaft and can slide on the first connecting shaft.

5. The battery replacement mechanism as claimed in claim 4, wherein the first reset member comprises at least two first spring members sleeved on the first connecting shaft; the at least two first spring pieces are respectively positioned at two sides of the second track; one end of the first spring part is fixed on the first support, and the other end of the first spring part is fixed on the second track.

6. The swapping mechanism of claim 2, wherein the alignment assembly further comprises a first sliding track and a first sliding slot that are in sliding engagement; one of the first guide rail and the first sliding groove is disposed on the second rail, and the other of the first guide rail and the first sliding groove is disposed on the mounting plate.

7. The battery replacement mechanism as recited in claim 1, further comprising a pulley block; the battery module includes a first bottom wall; the pulley block is used for contacting with the first bottom wall so as to reduce the sliding resistance of the battery module.

8. The battery replacing device is characterized by comprising a rack, a battery bin arranged on the rack and a battery replacing mechanism as claimed in any one of claims 1 to 7; the battery replacing mechanism is used for taking the battery module to be charged out of the electric vehicle and assembling the battery module to be charged in the battery bin, and is used for taking the charged battery module out of the battery bin and assembling the battery module to the electric vehicle.

9. The battery swapping device according to claim 8, wherein the swapping mechanism is configured to take out the battery module to be charged from a side of the electric vehicle or mount the charged battery module to a side of the electric vehicle.

10. A battery swapping station, comprising a carrying device and a battery swapping device as claimed in any one of claims 8-9; the carrying device is used for carrying the electric vehicle.