CN221250735U - Leveling system for vehicle power exchange - Google Patents

Abstract

The utility model discloses a leveling system for vehicle power changing, which comprises a V-shaped groove, a battery detaching mechanism, a rear wheel roller and a rear wheel centering lifting mechanism. The V-shaped groove is used for placing the front wheel of the vehicle, the battery disassembling mechanism is used for disassembling and assembling a battery pack of the vehicle above the battery disassembling mechanism, the rear wheel roller is used for placing the rear wheel of the vehicle, and the rear wheel centering lifting mechanism is used for adjusting the position of the rear wheel. Based on the above, when the vehicle is powered on, the lifting mode is controlled by the rear wheel centering lifting mechanism, so that the height of the rear wheel part of the vehicle is adjusted, and the height difference between the first end of the battery pack and the second end of the battery pack meets the power on condition. Compared with the related art, the vehicle body is not required to be lifted, is compatible with various vehicles, has higher compatibility and expansibility, and is beneficial to improving the utilization rate of the power exchange station resources. Meanwhile, the lifting of the rear wheel part of the vehicle is controlled, so that the leveling is simpler, and the leveling efficiency is improved.

Description

A leveling system for vehicle battery replacement

Technical Field

The utility model relates to the technical field of vehicle battery replacement, in particular to a leveling system for vehicle battery replacement.

Background technique

With the development of new energy vehicle battery replacement technology, more and more vehicles are equipped with battery packs. The battery packs can provide power for the vehicles to meet the power requirements of the vehicles.

In actual applications, the battery pack has a limited service life, so the battery pack needs to be replaced, repaired, etc. Usually, the battery is replaced at a vehicle swap station. In order to facilitate the disassembly and assembly of the vehicle's battery pack, the vehicle needs to be leveled to ensure the accuracy of the positioning of the disassembly device. How to effectively and quickly level the vehicle body has become a common concern of battery swap equipment manufacturers. At present, battery swap stations on the market generally use body lifting devices to achieve the purpose of leveling the vehicle body by lifting or leveling the vehicle body. Such lifting devices are not user-friendly. On the one hand, there are safety risks caused by lifting failure. On the other hand, such lifting devices are not easy to maintain, and the production and operation costs are generally high. When leveling the vehicle body by lifting or leveling, there must be corresponding lifting points under the vehicle body, so the lifting body solution cannot meet the battery replacement needs of non-load-bearing vehicles. For different lifting positions of different load-bearing vehicles, the compatibility and scalability of the lifting body solution are poor, and it is difficult to update and iterate, which easily leads to waste of resources in the swap station.

It can be seen that how to improve the leveling efficiency during vehicle battery replacement is of great significance.

Utility Model Content

In order to solve the above technical problems, the utility model provides a leveling system for vehicle battery replacement, which can improve the leveling efficiency during vehicle battery replacement.

The utility model embodiment discloses the following technical solution:

On the one hand, an embodiment of the utility model provides a vehicle battery replacement leveling system, the system comprising:

V-shaped grooves for placing the front wheels of the vehicle;

A battery disassembly mechanism, used for disassembling and assembling a battery pack of the vehicle located above the battery disassembly mechanism;

a rear wheel roller for placing the rear wheels of the vehicle;

A rear wheel centering lifting mechanism, used for adjusting the position of the rear wheel;

Among them, the first end of the battery removal mechanism is adjacent to the V-shaped groove, and the second end of the battery removal mechanism is adjacent to the rear wheel centering lifting mechanism. In the process of adjusting the position of the rear wheel, the rear wheel centering lifting mechanism controls the lifting to drive the rear wheel roller to lift and lower, so that the height difference between the first end of the battery pack and the second end of the battery pack meets the battery replacement conditions, and the first end of the battery pack is located above the first end of the battery removal mechanism, and the second end of the battery pack is located above the second end of the battery removal mechanism.

It can be seen from the above scheme that the leveling system for vehicle battery replacement may include a V-groove, a battery removal mechanism, a rear wheel roller, and a rear wheel centering lifting mechanism. Specifically, the V-groove can be used to place the front wheel of the vehicle, the battery removal mechanism can be used to disassemble and assemble the battery pack of the vehicle located above the battery removal mechanism, the rear wheel roller can be used to place the rear wheel of the vehicle, and the rear wheel centering lifting mechanism can be used to adjust the position of the rear wheel. Among them, the first end of the battery removal mechanism is adjacent to the V-groove, and the second end of the battery removal mechanism is adjacent to the rear wheel centering lifting mechanism. In the process of adjusting the position of the rear wheel, the rear wheel centering lifting mechanism controls the lifting to drive the rear wheel roller to lift and lower, so that the height difference between the first end of the battery pack and the second end of the battery pack meets the battery replacement conditions, and the first end of the battery pack is located above the first end of the battery removal mechanism, and the second end of the battery pack is located above the second end of the battery removal mechanism. Based on this, when the vehicle is replaced with a battery, it is only necessary to place the front wheels of the vehicle in the V-groove, the rear wheels of the vehicle on the rear wheel rollers, and the battery pack of the vehicle on top of the battery removal mechanism. The height of the rear wheel part of the vehicle is adjusted by controlling the lifting and lowering through the rear wheel centering lifting mechanism. Finally, the height difference between the two ends of the battery pack meets the battery replacement conditions. When the battery replacement conditions are met, the battery pack can be disassembled and assembled. Compared with related technologies, it is no longer necessary to lift the entire vehicle body, and it is compatible with various vehicles. It has higher compatibility and scalability, which is conducive to improving the utilization rate of battery replacement station resources. At the same time, by controlling the lifting and lowering of the rear wheel part of the vehicle, leveling is simpler, which is conducive to improving leveling efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

FIG1 is a top view of a vehicle battery replacement leveling system provided by an embodiment of the utility model;

FIG2 is a first side view of a rear wheel centering lifting mechanism provided by an embodiment of the utility model;

FIG3 is a second side view of a rear wheel centering lifting mechanism provided by an embodiment of the utility model.

The reference numerals in Figures 1 to 3 are described as follows:

In Figure 1, 1-1 is a battery exchange channel, 1-2 is a V-shaped slot, 1-3 is a first distance measurement point, 1-4 is a battery removal mechanism, 1-5 is a second distance measurement point, 1-6 is a rear wheel roller, and 1-7 is a rear wheel centering lifting mechanism;

In Fig. 2, 2-1 is a rear wheel centering mechanism, and 2-2 is a rear wheel lifting mechanism;

In Figure 3, 3-1 is the centering motor, 3-2 is the anti-fall column, 3-3 is the lifting motor, 3-4 is the lifting screw transmission assembly, 3-5 is the lifting ramp assembly, 3-6 is the ramp roller assembly, 3-7 is the fixing plate, 3-8 is the lifting scissors fork assembly, and 3-9 is the centering push rod assembly.

Detailed ways

In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

The specific examples are as follows:

The present utility model provides a vehicle battery replacement leveling system, which may include a V-shaped groove, a battery removal mechanism, a rear wheel roller, and a rear wheel centering lifting mechanism. For details, please refer to FIG. 1, which is a top view of a vehicle battery replacement leveling system provided by the present utility model embodiment, specifically:

V-shaped grooves can be used to place the front wheels of the vehicle;

A battery removal mechanism, which can be used to remove and install a battery pack of a vehicle located above the battery removal mechanism;

Rear wheel rollers, which can be used to place the rear wheels of the vehicle;

The rear wheel centering lifting mechanism can be used to adjust the position of the rear wheels.

Among them, the first end of the battery removal mechanism is adjacent to the V-groove, and the second end of the battery removal mechanism is adjacent to the rear wheel centering lifting mechanism. In the process of adjusting the position of the rear wheel, the rear wheel centering lifting mechanism controls the lifting to drive the rear wheel roller to lift and lower, so that the height difference between the first end of the battery pack and the second end of the battery pack meets the battery replacement conditions, and the first end of the battery pack is located above the first end of the battery removal mechanism, and the second end of the battery pack is located above the second end of the battery removal mechanism.

In actual applications, the battery replacement condition is used to indicate the height difference threshold when the battery pack can be disassembled and assembled. It can be set according to actual conditions. For example, it can be set to a height difference less than or equal to 0.5mm, which means that the height difference meets the battery replacement condition.

That is, when the vehicle needs to be replaced, after the vehicle enters the battery replacement station, the vehicle can be controlled to move above the system, specifically, the front wheels can be placed in the V-shaped groove, the rear wheels can be placed on the rear wheel rollers, and the two ends of the battery pack are respectively located above the two ends of the battery removal mechanism. In order to facilitate the disassembly and assembly of the battery pack, leveling is required.

In actual applications, different vehicles may have different corresponding wheelbases, where the wheelbase may refer to the distance between the front and rear wheels of the vehicle, and the distance between the two front wheels and the distance between the two rear wheels may also be different for different vehicles. In addition, in some scenarios, the position of the battery pack in the vehicle may also be different. For example, the wheelbase of two vehicles is the same, but the front and rear positions of their battery packs may be different. These distances and differences will affect whether the vehicle's battery pack is located above the battery removal mechanism, thereby affecting the disassembly and assembly of the battery pack. Therefore, leveling during battery replacement can be performed in three directions, specifically:

The aforementioned V-groove can also be used to adjust the position of the front wheel in the first direction, wherein the first direction is the direction in which the rear wheel centering lifting mechanism points to the V-groove. For example, the first direction can refer to the Y direction in the example of Figure 1. In this way, the structure of the V-groove can be used to realize the leveling system to adapt to the wheelbase of the vehicle, which is more compatible. In specific implementation, the V-groove adjusts its position in the Y direction to adapt to the wheelbase of the corresponding vehicle. Corresponding to the aforementioned situation where the wheelbase is the same but the front and rear positions of the battery pack on the vehicle body may be different, it can also be adjusted in the Y direction based on the structure of the V-groove so that the battery pack is located above the battery removal mechanism.

In order to adapt to the distance between the two front wheels of the vehicle and ensure the stability of the vehicle body during battery replacement, in one possible implementation, the system may also include a front wheel centering mechanism, which can be used to clamp the front wheels to adjust the position of the front wheels in the second direction. The second direction is perpendicular to the first direction. For example, the second direction can refer to the X direction in the example of Figure 1. Based on this, the distance between the front wheels of the vehicle is adapted, and the stability of the vehicle body during battery replacement is ensured by clamping the front wheels.

Similarly, the distance between the rear wheels of the vehicle can be adapted and clamped. Specifically, the aforementioned rear wheel centering and lifting mechanism may include a rear wheel centering mechanism and a rear wheel lifting mechanism, wherein the rear wheel centering mechanism can be used to clamp the rear wheel to adjust the position of the rear wheel in the second direction. Based on this, the distance between the rear wheels of the vehicle can be adapted, and the stability of the vehicle body during battery replacement can be ensured by clamping the rear wheels.

And, the rear wheel lifting mechanism, located below the rear wheel centering mechanism, can be used to control the lifting and lowering, so as to adjust the position of the rear wheel in the third direction so that the height difference meets the battery replacement conditions. Among them, the third direction is perpendicular to the plane where the first direction and the second direction are located. For example, the third direction can be recorded as the Z direction. Usually, the front and rear of the car body may be uneven. For example, due to the design of the V-groove, different tire pressure, etc., the whole car body tilts forward, resulting in the second end of the battery pack (i.e., the tail end of the battery pack) being higher than the first end of the battery pack (i.e., the front end of the battery pack) in the third direction (i.e., the Z direction). Therefore, leveling in the third direction is required, which can be specifically achieved by adopting the rear wheel lifting mechanism provided by the utility model.

Based on this, leveling in the first direction (i.e., Y direction) is achieved through the V-shaped groove, leveling in the second direction (i.e., X direction) is achieved through the centering mechanism (including the front and rear wheel centering mechanism), and leveling in the third direction (i.e., Z direction) is achieved through the rear wheel lifting mechanism, so that the battery pack is located above the battery removal mechanism and the height difference between the two ends of the battery pack meets the battery replacement conditions.

For better understanding, the embodiment of the utility model also provides a first side view of a rear wheel centering and lifting mechanism, which can be seen in Figure 2. As shown in Figure 2, the upper structure is the rear wheel centering mechanism, and the lower structure is the rear wheel lifting mechanism, that is, the rear wheel lifting mechanism can be located below the rear wheel centering mechanism. In actual applications, the aforementioned rear wheel roller can be located on the rear wheel centering mechanism, so that in the process of the rear wheel lifting mechanism controlling the lifting, the rear wheel centering mechanism can be lifted up and down, driving the rear wheel roller to be lifted up and down, so that the rear wheel part of the vehicle can be lifted up and down, thereby realizing the adjustment of the height difference between the two ends of the battery pack to meet the battery replacement conditions.

For better understanding, the embodiment of the utility model also provides a second side view of a rear wheel centering lifting mechanism, which can be seen in Figure 3. First, in order to better understand the centering mechanism, the rear wheel centering mechanism is taken as an example for explanation, and the example in Figure 3 is explained as follows:

The aforementioned rear wheel centering mechanism may include a centering motor and a centering push rod assembly, as shown in the example of FIG3. The centering motor may be used to provide a centering driving force, and the centering push rod assembly may clamp the rear wheel located on the rear wheel roller under the action of the centering driving force. In practical applications, since the vehicle has two rear wheels, two centering motors may be assembled, and two centering push rod assemblies may also be assembled. In the example of FIG3, only one centering motor and a centering push rod assembly on one side are marked, and the centering motor and the centering push rod assembly on the other side are symmetrical with the marked centering motor and the centering push rod assembly in FIG3. In specific implementation, the rear wheel centering mechanism may be controlled to rotate synchronously by the centering motors (such as servo motors) on both sides, and the transmission is transmitted by the main transmission mechanism such as the screw rod, and the slide rail slider assists in guiding, driving the centering push rod assemblies on both sides of the roller to clamp in the middle. During the clamping work, the clamping torque is mainly used, and the clamping position range is supplemented to determine whether the clamping work is completed.

It should be noted that the viewing angles of the side views of Figures 2 and 3 can be the aforementioned first direction, that is, the Y direction in the example of Figure 1, the viewing angle from front to back and the viewing angle from back to front, which correspond to the two side views in Figures 2 and 3 respectively.

For better understanding, the embodiment of the present utility model still takes FIG. 3 as an example to illustrate the rear wheel lifting mechanism, specifically:

The aforementioned rear wheel lifting mechanism may include a lifting scissors fork assembly, a lifting motor, a lifting transmission assembly and a fixed plate. Among them, the lifting scissors fork assembly is located between the rear wheel centering mechanism and the fixed plate, one side of the lifting scissors fork assembly is connected to the rear wheel centering mechanism, and the other side of the lifting scissors fork assembly is connected to the fixed plate. The lifting motor can be used to provide a lifting driving force. The lifting transmission assembly can drive the lifting scissors fork assembly to move under the action of the lifting driving force, so that the height between the rear wheel centering mechanism and the fixed plate changes. The fixed plate can be used to support the lifting motor and the lifting transmission assembly. Based on this, the lifting and lowering can be controlled.

In a possible implementation, the aforementioned lifting transmission assembly may include a lifting screw transmission assembly, a lifting ramp assembly and a ramp roller assembly, as shown in FIG3. In a specific implementation, the rear wheel lifting mechanism outputs the lifting driving force through a lifting motor (such as a servo motor), and is matched with the main transmission structures such as the lifting screw transmission assembly screw, the lifting ramp assembly and the ramp roller assembly as the lifting transmission mode to achieve the lifting and lowering of the lifting scissor fork assembly. At the same time, a slide rail slider can be used to assist in the horizontal motion guidance, and the use of the lifting scissor fork assembly can increase the load in the third direction (i.e., the Z direction) and the stability during lifting and lowering.

In actual applications, the front and rear of the vehicle body may be uneven. For example, due to the design of the V-groove and different tire pressures, the vehicle body tilts forward as a whole, resulting in the second end of the battery pack (i.e., the rear end of the battery pack) being higher than the first end of the battery pack (i.e., the front end of the battery pack) in the third direction (i.e., the Z direction). In the present utility model, leveling is achieved by using a rear wheel lifting mechanism. When leveling, since the rear end is higher than the front end, leveling can be achieved by controlling the downward descent in the third direction, without having to overcome gravity to do work under load, which is conducive to improving the efficiency of leveling.

In order to ensure the safety during battery replacement, in a possible implementation, the system may further include an anti-fall column, wherein the first end of the anti-fall column is connected to the fixing plate, and the second end of the anti-fall column points to the direction of the first end of the anti-fall column as a third direction. For details, please refer to FIG3. In this way, when the lifting scissor fork assembly fails, the second end of the anti-fall column can receive the rear wheel centering mechanism to ensure safety.

In order to determine when it is necessary to control the lifting and lowering to level the third direction and when to end the lifting and lowering, in a possible implementation, the system may also include a distance measuring mechanism, wherein the distance measuring mechanism may be located on the battery removal mechanism to determine the height difference. In this way, the height difference can be determined by the distance measuring mechanism, so that when the height difference does not meet the battery replacement condition, the lifting and lowering can be controlled. After a round of leveling is completed, the new height difference can be determined again by the distance measuring mechanism until the height difference meets the battery replacement condition, and then the control of the lifting and lowering is ended. In actual applications, when the vehicle is centered, the distance measuring mechanism may have started working, that is, measuring the height difference in the third direction. The determined height difference can be used to guide the control of the lifting and lowering, such as the value of the height difference can guide the determination of the height of the lifting and lowering. It should be noted that the utility model does not make any limitation on the setting of the distance measuring mechanism. For example, the distance measuring mechanism can be a distance measuring device, a visual recognition device, etc.

In practical applications, the height difference refers to the height difference between the two ends of the battery pack, so in one possible implementation, the aforementioned distance measuring mechanism may include a first distance measuring sensor and a second distance measuring sensor. Among them, the first distance measuring sensor, located at the first distance measuring point, can be used to measure the first distance between the first end of the battery pack and the first distance measuring point, and the second distance measuring sensor, located at the second distance measuring point, can be used to measure the second distance between the second end of the battery pack and the second distance measuring point. Among them, the first distance and the second distance are used to determine the height difference. For example, the absolute value of the difference between the first distance and the second distance is the aforementioned height difference. For a better understanding, the first distance measuring point and the second distance measuring point can refer to the example of Figure 1.

The present invention does not impose any limitation on the selection of the distance measuring sensor. For ease of understanding, the present invention provides the following methods as examples:

In a possible implementation, both the first distance measuring sensor and the second distance measuring sensor are laser sensors, which is beneficial to improving the measurement accuracy of the first distance and the second distance.

It should be noted that the example in FIG. 1 and the above embodiments are illustrated by using two sensors as examples, and no limitation is made. It is understandable that multiple distance measurement points can be arranged according to actual distance measurement needs, and multiple laser sensors can be used for multi-point sampling distance measurement to determine the first distance and the second distance, which is conducive to improving the accuracy of the first distance and the second distance, thereby improving the accuracy of the height difference.

It can be seen from the above technical scheme that the leveling system for vehicle battery replacement may include a V-groove, a battery removal mechanism, a rear wheel roller, and a rear wheel centering lifting mechanism. Specifically, the V-groove can be used to place the front wheel of the vehicle, the battery removal mechanism can be used to disassemble and assemble the battery pack of the vehicle located above the battery removal mechanism, the rear wheel roller can be used to place the rear wheel of the vehicle, and the rear wheel centering lifting mechanism can be used to adjust the position of the rear wheel. Among them, the first end of the battery removal mechanism is adjacent to the V-groove, and the second end of the battery removal mechanism is adjacent to the rear wheel centering lifting mechanism. In the process of adjusting the position of the rear wheel, the rear wheel centering lifting mechanism controls the lifting to drive the rear wheel roller to lift and lower, so that the height difference between the first end of the battery pack and the second end of the battery pack meets the battery replacement conditions, and the first end of the battery pack is located above the first end of the battery removal mechanism, and the second end of the battery pack is located above the second end of the battery removal mechanism. Based on this, when the vehicle is replaced with a battery, it is only necessary to place the front wheels of the vehicle in the V-groove, the rear wheels of the vehicle on the rear wheel rollers, and the battery pack of the vehicle on top of the battery removal mechanism. The height of the rear wheel part of the vehicle is adjusted by controlling the lifting and lowering through the rear wheel centering lifting mechanism. Finally, the height difference between the two ends of the battery pack meets the battery replacement conditions. When the battery replacement conditions are met, the battery pack can be disassembled and assembled. Compared with related technologies, it is no longer necessary to lift the entire vehicle body, and it is compatible with various vehicles. It has higher compatibility and scalability, which is conducive to improving the utilization rate of battery replacement station resources. At the same time, by controlling the lifting and lowering of the rear wheel part of the vehicle, leveling is simpler, which is conducive to improving leveling efficiency.

Compared with the vehicle body lifting method used in related technologies, the leveling system provided by the utility model levels the vehicle body by lifting the rear wheel centering lifting mechanism as a whole, without considering the position of the vehicle body lifting point, greatly improving the compatibility of multiple models, and saving the action of lifting the vehicle, so as to reduce the overall battery replacement time. In addition, the rear wheel lifting mechanism is integrated under the rear wheel centering mechanism, releasing the space in the battery replacement channel, reducing the spatial constraints of other battery replacement mechanisms, and can be more flexibly compatible with other battery replacement mechanisms of different designs, which is conducive to improving the horizontal space utilization of the battery replacement station. Among them, the battery replacement channel can be seen in the example of Figure 1.

It should be noted that, in this article, relational terms such as "first" and "second", etc. (if any) are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, article or device. In the absence of further restrictions, the elements defined by the sentence "including a ..." do not exclude the existence of other identical elements in the process, article or device including the elements.

The above is a detailed introduction to a vehicle battery replacement leveling system provided by an embodiment of the utility model. This article uses specific examples to illustrate the principle and implementation of the utility model. The description of the above embodiments is only used to help understand the utility model. At the same time, for general technicians in this field, according to the utility model, there will be changes in the specific implementation method and application scope.

In summary, the contents of this specification should not be construed as limiting the present invention. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present invention should be covered within the protection scope of the present invention. Moreover, based on the implementations provided in the above aspects, the present invention can also be further combined to provide more implementations.

Claims (10)

1. A vehicle battery replacement leveling system, characterized in that the system comprises: V-shaped grooves for placing the front wheels of the vehicle; A battery disassembly mechanism, used for disassembling and assembling a battery pack of the vehicle located above the battery disassembly mechanism; a rear wheel roller for placing the rear wheels of the vehicle; A rear wheel centering lifting mechanism, used for adjusting the position of the rear wheel; Among them, the first end of the battery removal mechanism is adjacent to the V-shaped groove, and the second end of the battery removal mechanism is adjacent to the rear wheel centering lifting mechanism. In the process of adjusting the position of the rear wheel, the rear wheel centering lifting mechanism controls the lifting to drive the rear wheel roller to lift and lower, so that the height difference between the first end of the battery pack and the second end of the battery pack meets the battery replacement conditions, and the first end of the battery pack is located above the first end of the battery removal mechanism, and the second end of the battery pack is located above the second end of the battery removal mechanism. 2. The system according to claim 1, wherein the V-shaped groove is further used for: The position of the front wheel in a first direction is adjusted; the first direction is the direction in which the rear wheel centering lifting mechanism points to the V-shaped groove. 3. The system according to claim 2, characterized in that the system further comprises: The front wheel centering mechanism is used to clamp the front wheel to adjust the position of the front wheel in a second direction; the second direction is perpendicular to the first direction. 4. The system according to claim 3, characterized in that the rear wheel centering lifting mechanism comprises: A rear wheel centering mechanism, used for clamping the rear wheel to adjust the position of the rear wheel in the second direction; The rear wheel lifting mechanism is located below the rear wheel centering mechanism and is used to control the lifting and lowering to adjust the position of the rear wheel in a third direction so that the height difference meets the battery replacement condition; the third direction is perpendicular to the plane where the first direction and the second direction are located. 5. The system according to claim 4, characterized in that the rear wheel centering mechanism comprises: A centering motor, used to provide a centering driving force; The centering push rod assembly clamps the rear wheel on the rear wheel roller under the action of the centering driving force. 6. The system according to claim 4, wherein the rear wheel lifting mechanism comprises: A lifting scissor fork assembly is located between the rear wheel centering mechanism and the fixed plate, one side of the lifting scissor fork assembly is connected to the rear wheel centering mechanism, and the other side of the lifting scissor fork assembly is connected to the fixed plate; A lifting motor, used to provide a lifting driving force; A lifting transmission assembly, which drives the lifting scissor fork assembly to move under the action of the lifting driving force, so that the height between the rear wheel centering mechanism and the fixing plate changes; The fixing plate is used to support the lifting motor and the lifting transmission assembly. 7. The system according to claim 6, characterized in that the system further comprises: An anti-fall column, wherein the first end of the anti-fall column is connected to the fixing plate, and the direction in which the second end of the anti-fall column points to the first end of the anti-fall column is the third direction. 8. The system according to any one of claims 1 to 7, characterized in that the system further comprises: The distance measuring mechanism is located on the battery removal mechanism and is used to determine the height difference. 9. The system according to claim 8, characterized in that the distance measuring mechanism comprises: A first distance measuring sensor, located at a first distance measuring point, used to measure a first distance between the first end of the battery pack and the first distance measuring point; A second distance measuring sensor, located at a second distance measuring point, for measuring a second distance between the second end of the battery pack and the second distance measuring point; The absolute value of the difference between the first distance and the second distance is the height difference. 10 . The system according to claim 9 , wherein the first distance measuring sensor and the second distance measuring sensor are both laser sensors.