WO2022134626A1

WO2022134626A1 - Push-pull device for disassembling and assembling of batteries and battery disassembling and assembling system

Info

Publication number: WO2022134626A1
Application number: PCT/CN2021/113347
Authority: WO
Inventors: 黄巨明
Original assignee: 杭州海康机器人技术有限公司
Priority date: 2020-12-23
Filing date: 2021-08-18
Publication date: 2022-06-30
Also published as: CN112659962B; CN112659962A

Abstract

The present application relates to the technical field of AGV. Disclosed is a push-pull device for disassembling and assembling of batteries. The push-pull device for disassembling and assembling of batteries comprises a horizontal moving assembly, a push-pull assembly and an auxiliary moving assembly, wherein the horizontal moving assembly is connected to the push-pull assembly and is configured to drive the push-pull assembly to move in a first horizontal direction; the push-pull assembly is adapted to be connected to a battery device and is configured to push or pull, in the first horizontal direction under driving of the horizontal moving assembly, the battery device into a vehicle to be subjected to battery replacement or out of a battery storage device; and the auxiliary moving assembly comprises a moving support plate adapted to be supported under the battery device when the battery device moves. According to the battery disassembling and assembling device provided in the present application, the battery replacement efficiency of a vehicle to be subjected to battery replacement is improved.

Description

Battery disassembly push-pull device and battery disassembly system

This application claims the priority of the Chinese patent application with application number 202011545961.2 filed on December 23, 2020 and the invention title is “battery disassembly and assembly push-pull device and battery disassembly and assembly system”, the entire contents of which are incorporated into this application by reference middle.

technical field

The present application relates to the technical field of AGV, in particular to a battery disassembly and assembly push-pull device, a disassembly and assembly power exchange mechanism, a disassembly and assembly transfer mechanism, and a battery disassembly and assembly system.

Background technique

Automated Guided Vehicle (AGV) refers to a transport vehicle that is equipped with automatic guidance devices such as electromagnetic or optical, can travel along a prescribed guidance path, and has safety protection and various transfer functions.

In related technologies, battery replacement technology is mostly used to enable AGV to quickly obtain power, that is, move the AGV to the power exchange station, remove the battery of the vehicle through the power exchange device in the power exchange station, and hand it over to the transfer device to transport it to the battery storage device for transfer. The device can obtain a set of fully charged batteries stored in the storage device and hand it over to the power exchange device, and the power exchange device can replace the fully charged batteries on the AGV.

The existing transfer device can only transfer the battery between the power exchange device and the storage device, but cannot obtain the battery independently. The battery needs to be disassembled manually and placed on the transfer device, resulting in low power exchange efficiency.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a battery disassembly and assembly push-pull device, a disassembly and assembly power exchange mechanism, a disassembly and assembly transfer mechanism, and a battery assembly and disassembly system, which can improve the power exchange efficiency of the vehicle to be exchanged. The technical solution is as follows:

In a first aspect, an embodiment of the present application provides a battery disassembly and assembly push-pull device, the disassembly and assembly push-pull device includes a horizontal moving assembly, a push-pull assembly, and a moving support plate;

The horizontal moving assembly is connected to the push-pull assembly, and the horizontal moving assembly is configured to move the push-pull assembly along a first horizontal direction;

The push-pull assembly is adapted to be connected with a battery device, and the push-pull assembly is configured to push or pull the battery device into or out of the vehicle to be swapped or the battery storage along the first horizontal direction driven by the horizontal movement assembly device;

The moving support plate is adapted to be supported under the battery device when the battery device is moved.

Optionally, the push-pull assembly includes a clamp;

The clamp is adapted to be connected with a pull button in the battery device, and the clamp is configured to clamp the battery device and pull the battery device to move in the first horizontal direction.

Optionally, the dismounting and assembling push-pull device has two push-pull assemblies arranged opposite to each other along the first horizontal direction, and each push-pull assembly further includes a push rod extending away from the other push-pull assembly. ;

The extension direction of the push rod and the clamp in the same push-pull assembly is the same;

The push rod is adapted to abut against a battery carrier plate in the battery device, and the push rod is configured to push the battery device to move in the first horizontal direction.

Optionally, at least one of the push-pull assemblies further includes an unlocking jack;

The unlocking jack is adapted to abut and push an unlocking member in the battery device, and the unlocking jack is configured to unlock the battery device from the vehicle to be replaced or the battery storage device.

Optionally, the horizontal movement assembly includes a first transmission belt, a sliding bracket and a first guide rail;

The sliding bracket is respectively connected with the first transmission belt and the push-pull assembly, the sliding bracket is slidably matched with the first guide rail, and the first guide rail and the first transmission belt extend along the first horizontal direction ;

The first transmission belt is configured to drive the push-pull assembly to move along the first guide rail through the sliding bracket.

Optionally, the moving support plate is provided with a guide roller and a support roller;

The guide roller is located on the upper end surface of the moving support plate and is close to the outer side of the moving support plate, and the guide roller can rotate in the horizontal direction;

The support roller is close to the inner side of the moving support plate relative to the guide roller, and the support roller can rotate in the vertical direction.

Optionally, the detachable push-pull device further includes a level adjustment assembly configured to adjust the position of the push-pull assembly in a second horizontal direction, the second horizontal direction being the same as the first horizontal direction. vertical direction;

The level adjustment assembly includes a second guide rail, a sliding base and a crank connecting rod;

The second guide rail is located on the upper end surface of the sliding bracket in the horizontal movement assembly, and the second guide rail is slidably matched with the sliding base;

The upper end of the sliding base is connected to the crank connecting rod, and the lower end of the sliding base is connected to the push-pull assembly;

The crank connecting rod is configured to drive the push-pull assembly to move along the second horizontal direction through the sliding base.

Optionally, the dismounting and assembling push-pull device further comprises a rotating lifting assembly, the rotating lifting assembly is configured to rotate the battery device horizontally and turn around;

The rotating lifting assembly includes a fixed bracket, a lifting cylinder and a rotary disk;

the fixed bracket is located below the moving support plate;

The lifting cylinder is respectively connected with the fixed bracket and the moving support plate, and the lifting cylinder is configured to drive the battery device to move in a vertical direction through the moving support plate;

The turntable is connected to the moving support plate, and the turntable is configured to drive the battery device to rotate through the moving support plate.

Optionally, the moving support plate includes a support plate;

The support plate is respectively connected with the lift cylinder and the rotary disc, the support disc is driven by the lift cylinder to move in the vertical direction, and is driven to rotate by the rotary disc.

Optionally, a positioning pin is further provided on the support plate, and the positioning pin is adapted to cooperate with a positioning hole on the battery device to limit the position of the battery device.

Optionally, the rotating lifting assembly further includes a slewing support, a lifting guide shaft and a guide bushing;

the slewing support is connected with the fixed bracket and the slewing disc;

the guide bush is connected with the rotary disc;

The lifting guide shaft is connected with the moving support plate, and extends through the guide bushing and the rotary disk along the vertical direction.

In a second aspect, an embodiment of the present application further provides a dismounting and assembling and replacing mechanism, including the above-mentioned disassembling and assembling push-pull device, wherein the disassembling and assembling and exchanging mechanism is configured to obtain the battery from the vehicle to be replaced. The device is handed over to the disassembly and transfer mechanism, and another battery device is obtained from the disassembly and transfer mechanism and installed in the vehicle to be swapped;

The disassembly and replacement mechanism further includes a camera, the camera is connected to the disassembly push-pull device, and the camera is configured to obtain a position image of the vehicle to be replaced relative to the disassembly push-pull device, so that the The detachable push-pull device is aligned with the battery device in the vehicle to be replaced.

Optionally, the detachable power exchange mechanism further includes a vertical adjustment device, and the vertical adjustment device is configured to adjust the position of the detachable push-pull device in the vertical direction according to the position image;

the vertical adjustment device includes a second transmission belt extending along the vertical direction;

The second transmission belt is connected to the detachable push-pull device, and the second transmission belt is configured to drive the detachable push-pull device to move along the vertical direction.

Optionally, the vertical adjustment device includes two sets of the second transmission belts arranged opposite to each other along a second horizontal direction, and also includes a transmission shaft and a fourth transmission belt, and the second horizontal direction is perpendicular to the first horizontal direction. ;

Both ends of the transmission shaft are respectively connected with two sets of the second transmission belts;

The fourth transmission belt is in driving connection with one of the second transmission belts, and the fourth transmission belt is configured to drive the transmission shaft and the two sets of the second transmission belts to rotate.

In a third aspect, an embodiment of the present application further provides a disassembly and assembly transfer mechanism, including the disassembly and assembly push-pull device as described above, and the disassembly and assembly transfer mechanism is configured to place the battery device obtained from the disassembly and assembly power exchange mechanism. to the battery storage device, and hand over the other battery device obtained from the battery storage device to the disassembly and replacement mechanism;

The disassembly and transfer mechanism also includes a vertical lifting device and a horizontal moving device;

the vertical lifting device is connected to the dismounting push-pull device, and the vertical lifting device is configured to move the dismountable push-pull device in a vertical direction;

The horizontal moving device is connected to the lower end of the vertical lifting device, the horizontal moving device is configured to move the dismounting push-pull device and the vertical lifting device along a second horizontal direction, the first horizontal direction perpendicular to the second horizontal direction.

Optionally, the vertical lifting device includes a third transmission belt and a lifting support plate;

The lifting support plate is respectively connected with the third transmission belt and the disassembly push-pull device;

The third transmission belt extends along the vertical direction, and the third transmission belt is configured to drive the dismounting push-pull device to move along the vertical direction through the lifting support plate.

Optionally, the horizontal moving device includes a third guide rail, a sliding support plate, a gear and a rack;

the third guide rail and the rack are arranged in parallel along the second horizontal direction;

The sliding support plate is slidably matched with the third guide rail, and the sliding support plate is connected to the lower end of the vertical lifting device;

The gear is engaged with the rack, and the gear is configured to drive the sliding support plate and the vertical lifting device to move on the third guide rail.

In a fourth aspect, an embodiment of the present application further provides a battery disassembly and assembly system, the system including the above-mentioned disassembly and assembly and power exchange mechanism, the above-mentioned disassembly and assembly transfer mechanism, and the battery device;

The battery device includes a battery pack, a battery carrier, a pull button and an unlocking member;

The battery carrier plate includes a first side plate arranged horizontally and a second side plate arranged vertically;

the battery pack is mounted on the first side panel;

the pull buckle is connected with the first side plate and protrudes toward the second side plate;

The unlocking member is connected to the side of the second side plate facing the battery pack.

The beneficial effects of the technical solutions provided by the embodiments of the present application include at least:

The battery disassembly push-pull device provided in the embodiment of the present application can move the battery device along the first horizontal direction, so as to push or pull the battery device to a suitable position in the vehicle to be replaced or the battery storage device, so as to be more reliable. The disassembly and assembly of the battery device is realized, and the power exchange efficiency of the vehicle to be exchanged is improved.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

FIG. 1 shows a schematic structural diagram of a disassembly push-pull device provided by an embodiment of the present application;

FIG. 2 shows a schematic structural diagram of a push-pull assembly provided by an embodiment of the present application;

3 shows a schematic structural diagram of another disassembly push-pull device provided by an embodiment of the present application;

FIG. 4 shows a schematic structural diagram of a battery provided by an embodiment of the present application;

FIG. 5 shows a schematic structural diagram of the battery carrier plate in FIG. 3;

FIG. 6 shows a schematic structural diagram of a rotary lifting assembly provided by an embodiment of the present application;

FIG. 7 shows a schematic structural diagram of a disassembly and assembly of a power exchange mechanism provided by an embodiment of the present application;

8 shows a schematic structural diagram of a disassembly and assembly transfer mechanism provided by an embodiment of the present application;

FIG. 9 shows a schematic structural diagram of a locking member in an unlocked state provided by an embodiment of the present application;

FIG. 10 shows a schematic structural diagram of an unlocking member provided by an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Some embodiments are claimed, but not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

As shown in FIG. 1 , the disassembly and assembly push-pull device for a battery provided by the embodiment of the present application includes a horizontal moving assembly 11 , a push-pull assembly 12 , and a moving support plate 141 . The horizontal moving assembly 11 is connected to the push-pull assembly 12, and the horizontal moving assembly 11 is configured to move the push-pull assembly 12 along the first horizontal direction. The push-pull assembly 12 is adapted to be connected with the battery device 6 (not shown in the figure), and the push-pull assembly 12 is configured to push the battery device 6 in or out of the vehicle to be swapped along the first horizontal direction driven by the horizontal movement assembly 11 or battery storage devices. The moving support plate 141 is adapted to be supported under the battery device 6 when the battery device 6 is moved.

In the embodiment of the present application, the first horizontal direction is the movement direction of the battery device 6 on the detachable push-pull device 1 . When the removable push-pull device 1 is docked with the battery storage device or the vehicle to be replaced, the first horizontal direction may also refer to the moving direction of the battery device 6 on the battery storage device or the vehicle to be replaced.

The battery disassembly push-pull device provided in the embodiment of the present application can move the battery device 6 along the first horizontal direction, so as to push or pull the battery device 6 to a suitable position in the vehicle to be replaced or the battery storage device, so as to improve the The disassembly and assembly of the battery device 6 is reliably realized, and the power exchange efficiency of the vehicle to be exchanged is improved.

In the embodiment of the present application, optionally, as shown in FIG. 1 , the horizontal moving assembly 11 may include a first transmission belt 113 , a sliding bracket 114 and a first guide rail 115 . Wherein, the first transmission belt 113 may be wound between the first driving pulley 111 and the first driven pulley 112, and the first driving pulley 111 and the first driven pulley 112 may be arranged side by side along the first horizontal direction, so that the first transmission belt 113 along the A horizontal extension. In some embodiments of the present application, the combination of the driving wheel, the driven wheel and the transmission belt may be referred to as a transmission group, and the driving wheel in the transmission group may be driven by a power device (such as a motor, or a combination of a motor and a reducer) to rotate, In order to drive the movement of the transmission belt and the driven wheel. The transmission group can use belt drive or chain drive. The horizontal moving assembly 11 may include two groups of the above-mentioned transmission groups, and the two groups of transmission groups may be symmetrically arranged along the second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction. And the driving wheels of the two sets of transmission groups can be connected by a transmission shaft, so that one set of power devices can drive the two sets of transmission groups.

The sliding bracket 114 can be connected with the first transmission belt 113 and the push-pull assembly 12 respectively, the sliding bracket 114 can be slidably matched with the first guide rail 115, and the first guide rail 115 can extend along the first horizontal direction. In some embodiments of the present application, the sliding bracket 114 can be a portal bracket, and two ends of the sliding bracket 114 can be respectively connected to two sets of transmission groups symmetrically arranged along the second horizontal direction in the horizontal moving assembly 11 . The sliding bracket 114 may have a sliding groove, and the sliding groove can realize sliding cooperation with the first guide rail 115 .

The connection between the sliding bracket 114 and the first transmission belt 113 can be realized in various forms. Exemplarily, there may be an L-shaped connecting piece between the sliding bracket 114 and the first transmission belt 113, one end of the L-shaped connecting piece may be connected to the first transmission belt 113, and the other end may be connected to the lower end of the sliding bracket 114, so that the first The movement of a transmission belt 113 can drive the sliding bracket 114 and the push-pull assembly 12 connected with the sliding bracket 114 to move. In other words, the first transmission belt 113 may be configured to drive the push-pull assembly 12 to move along the first guide rail 115 through the sliding bracket 114 .

Optionally, as shown in FIG. 2 , the push-pull assembly 12 may include a clamp 121 , the clamp 121 may be connected to the pull button 64 in the battery device 6 and configured to clamp the battery device 6 and pull the battery device 6 along the The first horizontal movement.

As shown in FIG. 1 and FIG. 2 , the clamp 121 may include two clamp arms, and the two clamp arms are symmetrically arranged along the second horizontal direction, and the clamp 121 may be driven by a cylinder to open and close.

The structure of the two gripper arms can be the same, for example, one end of each gripper arm away from the cylinder can be set as a tapered segment, and the top of the tapered segment is chamfered to form a smooth bulge to reduce the size of the gripper 121 in the battery device 6 , while avoiding scratching the battery carrier plate 63 and the pull button 64 when the clamp 121 clamps the pull button 64 . Each clamp arm can also be provided with a semi-circular concave portion, and the concave portion is located on the side of the protruding portion close to the cylinder. When the clamp 121 is driven to close, the recesses on the two clamp arms can form a through hole, and the pull tab 64 can be fixed in the through hole.

As shown in FIG. 4 , the pull button 64 may include an L-shaped plate and a U-shaped ring, wherein one side plate of the L-shaped plate extends horizontally and is connected to the battery carrier plate 63 , and the other side plate extends vertically upward and is connected with the battery carrier plate 63 . U-ring connected. Two ends of the U-shaped ring can be disposed opposite to each other in the vertical direction, so that the end of the U-shaped ring on the side away from the L-shaped plate can be clamped into the through hole of the fixture 121 . The clamp 121 clamps the U-shaped ring and moves in a direction away from the L-shaped plate, that is, the direction of the L-shaped plate toward the end of the U-shaped ring is the direction of the battery device 6 . In order to make the push-pull assembly 12 move the battery device 6 stably, the push-pull assembly 12 and the pull button 64 can be correspondingly provided in two groups along the second horizontal direction. It can be understood that the clamp 121 can also drive the battery device 6 to move back and forth along the first horizontal direction through the pull button 64 .

In some embodiments of the present application, as shown in FIG. 3 , the clamp 121 can extend perpendicular to the first horizontal direction, and can clamp the pull button 64 in the battery device 6 . The pull button 64 can protrude a certain length relative to the battery carrier plate 63 , so that the clamp 121 can easily clamp the battery device 6 and move from one end of the moving support plate 141 to the other end. When there are two detachable push-pull devices 1 butted against each other, the clamp 121 in one of the detachable push-pull devices 1 can conveniently hold the pull button 64 of the battery device 6 located at the edge of the other detachable push-pull device 1 . It can be understood that, the arrangement of the clamp 121 and the pull buckle 64 is matched, so as to facilitate the clamp 121 to hold the pull buckle 64 . For example, the two clamp arms can also be arranged symmetrically in the vertical direction, and the two ends of the U-shaped ring in the buckle 64 can also be arranged opposite to each other in the horizontal direction.

Optionally, as shown in FIG. 1 and FIG. 2 , in some embodiments of the present application, the dismounting and assembling push-pull device 1 may have two push-pull assemblies 12 (for convenience of distinction, the push-pull assembly 12 may be arranged opposite to each other along the first horizontal direction) (respectively referred to as the first push-pull assembly and the second push-pull assembly), each push-pull assembly 12 may further include a push rod 123 extending away from the other push-pull assembly 12; The exit direction is the same. The push rod 123 can abut against the battery carrier plate 63 in the battery device 6 and can be configured to push the battery device 6 to move in the first horizontal direction. As shown in FIG. 4 , the battery carrier plate 63 may include a first side plate 631 arranged in a horizontal direction and a second side plate 632 arranged in a vertical direction, wherein the pull button 64 may be arranged on the first side plate 631 to push The rod 123 can be used for abutting against the second side plate 632, so as to push the battery device 6 to move in the first horizontal direction. It can be understood that, in the same push-pull assembly 12 , the movement direction of the clamp 121 for pulling the battery device 6 is opposite to the direction in which the push rod 123 pushes the battery device 6 to move.

In some embodiments of the present application, when the two dismountable push-pull devices 1 are butted to realize the transfer of the battery device 6 from one dismountable push-pull device 1 to another dismountable push-pull device 1, since the clamp 121 itself is at the first level There is a certain protruding length in the direction, so it is difficult for the clamp 121 in one of the disassembly and assembly of the push-pull device 1 to directly pull the battery device 6 from one end of the moving support plate 141 to the other end for the other disassembly and assembly of the push-pull device 1. The jig 121 clamps. Therefore, when the two dismountable push-pull devices 1 are docked, the clamp 121 in the first push-pull assembly in one of the dismountable push-pull devices 1 (which may be referred to as the first dismountable push-pull device) can pull the battery device 6 to the moving support plate 141 On the other hand, the first push-pull assembly is close to the vehicle to be replaced or the battery storage device. When the battery device 6 is pulled to a fixed position by the clamp 121, the battery device 6 is rotated horizontally and turned around, so as to continue to push the battery device 6 to move in the same direction with the push rod 123 in the second push-pull assembly disposed away from it. To be close to another removable push-pull device 1 (may be referred to as the second removable push-pull device). The specific implementation of turning the battery device 6 horizontally to turn around will be described below, and will not be repeated here.

Optionally, as shown in FIG. 2 , at least one push-pull assembly 12 may further include an unlocking top rod 122 that can abut against and push the unlocking member 65 in the battery device 6 , and can be configured to remove from the to-be-replaced Unlock the battery unit 6 in an electric vehicle or a battery storage unit. The protruding direction of the unlocking top rod 122 may match the setting direction of the unlocking member 65 . Exemplarily, as shown in FIG. 2 , the unlocking top rod 122 may be in the same protruding direction as the clamp 121 in the same push-pull assembly 12 .

In some embodiments of the present application, the unlocking top rod 122 may only be disposed in the push-pull assembly 12 near the vehicle to be replaced or the battery storage device, so as to facilitate unlocking the battery device 6 . In other embodiments of the present application, each push-pull assembly 12 may be provided with an unlocking top rod 122 .

As shown in FIG. 2 , the unlocking top rod 122 and the push rod 123 may both be rod structures, and the diameter of the push rod 123 may be larger than the diameter of the unlocking top rod 122 . The unlocking top rod 122 and the push rod 123 can be fixedly connected to the sliding bracket 114 to move together with the sliding support 114 , or the unlocking top rod 122 and the pushing rod 123 can be driven by cylinders to expand and contract respectively. The air compressor that powers the aforementioned cylinders may be located on the battery storage device.

In some embodiments of the present application, as shown in FIG. 1 , in order to prevent the battery device 6 from being deflected during movement, the dismounting push-pull device 1 may include four push-pull assemblies 12 , and each two push-pull assemblies 12 may be a set , each group of push-pull assemblies 12 are arranged opposite to each other on one side of the sliding bracket 114 (that is, the extension directions of the clamps 121 , the unlocking top rods 122 and the push rods 123 in different push-pull assemblies 12 are opposite to each other), and the push-pull assemblies 12 of different groups are respectively Opposite sides of the sliding bracket 114 are oppositely disposed along a second horizontal direction, wherein the second horizontal direction is perpendicular to the first horizontal direction. In other embodiments of the present application, the detachable push-pull device may also include only one push-pull assembly, and in this case, the pull button in the battery device may be set in a middle position to avoid deflection of the battery device during movement.

Optionally, as shown in FIG. 1 , the moving support plate 141 may have guide rollers 142 and support rollers 143 . In the embodiment of the present application, the combination of the moving support plate 141 , the guide rollers 142 and the support rollers 143 may be referred to as the auxiliary moving assembly 14 . The moving support plate 141 may be located between the two first guide rails 115 disposed opposite to each other along the second horizontal direction. The guide roller 142 may be located on the upper end surface of the moving support plate 141 and close to the outside of the moving support plate 141 (that is, the guide roller 142 is located at the outer edge of the moving support plate 141, and the outside of the moving support plate 141 is the side close to the first guide rail 115 ) , the guide roller 142 can rotate in the horizontal direction. The support roller 143 can be close to the inner side of the moving support plate 141 relative to the guide roller 142 , that is, the guide roller 142 can be located between the support roller 143 and the first guide rail 115 , and the support roller 143 can rotate in the vertical direction.

In some embodiments of the present application, the height of the guide roller 142 in the vertical direction may be greater than the height of the support roller 143 in the vertical direction. Exemplarily, two opposite sides of the moving support plate 141 adjacent to one of the first guide rails 115 may be provided with raised portions, so that the guide rollers 142 are arranged on the raised portions. When the battery device 6 is placed on the moving support plate 141 , the lower end surface of the battery carrier plate 63 can abut against the support roller 143 , so that the battery device 6 can move on the support roller 143 . The side end surface of the first side plate 631 of the battery carrier plate 63 can be in contact with the guide roller 142 , and the rotation of the guide roller 142 reduces the friction force of the battery device 6 moving on the moving support plate 141 . In other embodiments of the present application, the support roller can also be a support ball, including a support base and a ball, wherein the support base can be set on the moving support plate, and the ball can be set in the support base and can rotate in various directions.

In some embodiments of the present application, the moving support plate 141 and the first guide rail 115 may be located on both sides of the transmission group, respectively, and are connected to the first driving wheel 111 and the first driven wheel 112, so that the disassembly and assembly of the push-pull device 1 is integral. Can be moved stably in the vertical direction. Further, the first guide rail 115 is arranged on the outer side of the transmission group, which can increase the movable space of the battery device 6 , thereby reducing the volume of the disassembly and assembly of the push-pull device 1 .

Optionally, as shown in FIG. 1 , the dismounting and assembling push-pull device 1 may further include a level adjustment assembly 13, and the level adjustment assembly 13 may be configured to adjust the position of the push-pull assembly 12 in a second horizontal direction, the second horizontal direction perpendicular to the first horizontal direction. The leveling assembly 13 may include a second guide rail 131 , a sliding base 132 and a crank link 133 . The second guide rail 131 can be located on the upper end surface of the sliding bracket 114 and can be slidably matched with the sliding base 132 . The upper end of the sliding base 132 can be connected to the crank connecting rod 133 , and the lower end of the sliding base 132 can be connected to the push-pull assembly 12 . In some embodiments of the present application, the sliding bracket 114 can pass through the part between the upper end and the lower end of the sliding base 132 to penetrate the sliding base 132 , so that the sliding bracket 114 can drive the push-pull assembly 12 to move in the first horizontal direction through the sliding base 132 .

In some embodiments of the present application, the crank connecting rod 133 may be disposed on the upper end surface of the sliding bracket 114, and may include a crank plate 1331 and two connecting rods 1332 disposed opposite to each other. One end of the two connecting rods 1332 can be connected to the crank plate 1331 respectively, and the other end can be connected to the sliding bases 132 on both sides respectively. The crank plate 1331 can be driven by the motor to rotate, so as to drive the end of the connecting rod 1332 connected with the crank plate 1331 to rotate. When the relative distance between the two connecting rods 1332 in the second horizontal direction decreases, one end of the connecting rod 1332 connected to the sliding base 132 can drive the sliding base 132 to move closer to each other along the second guide rail 131 . The lower end of the sliding base 132 may have a mounting platform on which the clamp 121, the unlocking top rod 122, and the optional push rod 123 may be arranged, so that the movement of the sliding base 132 can drive the clamp 121, the unlocking top rod 122 and the The push rod 123 moves to easily unlock the battery device 6 through the unlocking jack 122 , and pushes and pulls the battery device 6 through the clamp 121 and the push rod 123 . In other words, the crank connecting rod 133 may be configured to drive the push-pull assembly 12 to move in the second horizontal direction through the sliding base 132 .

Optionally, as shown in FIGS. 1 , 3 and 6 , the detachable push-pull device 1 may further include a rotary lift assembly 15 , which may be configured to rotate the battery device 6 horizontally to turn around. The rotary lift assembly 15 may include a fixed bracket 151 , a lift cylinder 152 and a rotary disk 153 . The fixed bracket 151 may be located below the moving support plate 141 and may be located between the two first guide rails 115 disposed opposite to each other along the second horizontal direction. In some embodiments of the present application, the fixing bracket 151 can have a groove 1511 and extension parts 1512 located on both sides of the groove 1511 , and the extension parts 1512 can be connected with the lifting support in the vertical lifting device 2 described below. The plate 24 or the vertical adjusting device 4 is connected and located below the lifting support plate 24, so that the vertical lifting device 2 can drive the rotating lifting assembly 15 to move in the vertical direction.

The lifting cylinder 152 can be connected with the fixed bracket 151 and the moving support plate 141 respectively, and can drive the battery device 6 to move in the vertical direction through the moving support plate 141 . The rotary disk 153 can be connected with the moving support plate 141 , and can drive the battery device 6 to rotate through the moving support plate 141 .

In the embodiment of the present application, as shown in FIG. 3 , the rotary lift assembly 15 can move the moving support plate 141 in the vertical direction as a whole through the lift cylinder 152, so that the moving support plate 141 is separated from the lift support plate 24, and can be moved through the return The turntable 153 rotates the moving support plate 141 as a whole to drive the battery device 6 to move and rotate. Further, in order to prevent the structure around the moving support plate 141 from affecting the rotation of the moving support plate 141, the moving support plate 141 can be set in a circular shape, or the corners of the moving support plate 141 can be rounded.

Alternatively, as shown in FIG. 1 , the moving support plate 41 may include a support plate 1411, which may be connected with the lift cylinder 152 and the rotary disc 153, respectively, and may be driven by the lift cylinder 152 to move in the vertical direction, and is driven by the lift cylinder 152. The turntable 153 is driven to rotate. Specifically, as shown in FIG. 1 , the moving support plate 141 may include a movable support plate 1411 and a fixed plate 1412 that is fixedly installed. The middle portion of the fixing plate 1412 may have an opening matched with the support plate 1411, and the support plate 1411 may move in a vertical direction through the opening. When the lifting cylinder 152 is inactive, the upper end surface of the support plate 1411 can be flush with the upper end surface of the fixing plate 1412 .

In some embodiments of the present application, as shown in FIG. 1 , FIG. 3 and FIG. 6 , the lifting cylinder 152 and the rotating disc 153 may be located in the groove 1511 of the fixing bracket 151 . The lift cylinder 152 can be connected to the middle of the moving support plate 141 (specifically, the support plate 1411 ) after passing through the through hole in the middle of the rotary disk 153 . The lifting cylinder 3152 can also be driven by an air compressor on the battery storage device, so that the lifting and lowering of the piston rod of the lifting cylinder 152 can drive the moving support plate 141 to move in the vertical direction. The lift cylinder 152 and the moving support plate 141 can be hingedly connected to avoid affecting the rotation of the moving support plate 141 .

In other embodiments of the present application, the rotary disk 153 and the moving support plate 141 can be fixedly connected by a support rod. When the rotary disk 153 is driven to rotate by a power device (eg, a rotating motor), the moving support plate 141 is driven to rotate. When the moving support plate 141 is driven by the lift cylinder 152 to move in the vertical direction, it can drive the rotary disk 153 to move in the vertical direction together, and the connection between the rotary disk 153 and the power device is not disengaged.

In the embodiment of the present application, optionally, as shown in FIG. 6 , the rotary lifting assembly 15 may further include a slewing support 155 , a lifting guide shaft 156 and a guide bushing 157 . The slewing support 155 can be connected with the fixed bracket 151 and the slewing disk 153 . In some embodiments of the present application, the swivel support 155 can be connected to the lower end surface of the swivel disk 153 and can be located in the groove 1511 of the fixing bracket 151 . The slewing support 155 can also be provided with a worm gear structure connected with the slewing disc 153 , and the worm gear and worm structure can be driven by a power device to realize the rotation of the slewing disc 153 .

The guide bushing 157 can be connected with the rotary disc 153 , the lifting guide shaft 156 can be connected with the moving support plate 141 , and can extend through the guide bushing 157 and the rotary disc 153 in the vertical direction. In some embodiments of the present application, one end of the lifting guide shaft 156 may be connected to the lower end surface of the moving support plate 141 (specifically, the support plate 1411 ), and the other end may extend downward through the guide bush 157 and the rotary disk 153 . into the slewing support 155. The guide bushing 157 may be located on the upper end surface of the rotary disk 153 . The lifting guide shaft 156 and the guide bushing 157 can prevent the moving support plate 141 from tilting in the process of rotating and lifting, and can realize the rotation of the rotating disk 153 to drive the moving support plate 141 to rotate.

Optionally, as shown in FIG. 6 , the support plate 1411 may further have positioning pins 154 , and the positioning pins 154 are adapted to cooperate with the positioning holes 61 on the battery device 6 as shown in FIG. 5 , so as to limit the battery device 6 position to prevent the battery device 6 from moving relative to the supporting plate 1411 with a smaller area or slipping off the supporting plate 1411 during the reverse rotation of the battery device 6 by the rotating lifting assembly 15 . The top of the positioning pin 154 may be lower than the vertical height of the top of the supporting roller 143 , so that when the lifting cylinder 152 is inactive, the positioning pin 154 will not affect the movement of the battery device 6 on the moving support plate 141 .

The embodiment of the present application also provides a disassembly and assembly of a power exchange mechanism, including the disassembly and assembly push-pull device 1 as described above. The detachable power exchange mechanism may be configured to obtain the battery device 6 from the vehicle to be swapped and hand it over to the detachable transfer mechanism, and to obtain another battery device 6 from the detachable transfer mechanism and install it into the vehicle to be swapped. The disassembly and assembly transfer mechanism will be described below, and will not be repeated here.

As shown in FIG. 7 , the dismounting and replacing mechanism may further include a camera 5 , wherein the camera 5 can be connected to the dismounting push-pull device 1 and can be configured to obtain a position image of the vehicle to be replaced relative to the dismountable push-pull device 1 , so that the removable push-pull device 1 is aligned with the battery device 6 in the vehicle to be replaced.

In some embodiments of the present application, the camera 5 may be disposed on the side of the moving support plate 141 of the dismounting and assembling push-pull device 1 close to the vehicle to be swapped, so as to conveniently obtain a position image of the vehicle to be swapped, especially the vehicle to be swapped Image of the position of the battery unit 6 in the middle. Alternatively, the cameras 5 can be respectively disposed on opposite sides of the moving support plate 141, wherein the camera 5 on one side can be used to obtain the position image of the vehicle to be replaced, and the camera 5 on the other side can be used to align the disassembly and transfer mechanism The position of the battery unit 6 in .

Optionally, as shown in FIG. 7 , the detachable power exchange mechanism may further include a vertical adjustment device 4, and the vertical adjustment device 4 may be configured to adjust the vertical direction of the detachable push-pull device 1 according to the position image. Location. Thus, the vertical position of the push-pull assembly 12 in the removable push-pull device 1 can be adjusted. The position of the push-pull assembly 12 in the horizontal direction can be adjusted by the above-mentioned horizontal adjustment assembly 13 .

The dismounting and replacing mechanism may further include a control system, which can process the position image obtained by the camera 5 and calculate the deviation data of the dismounting push-pull device 1 relative to the vehicle to be replaced (or the designated charging compartment) according to the position image. , by controlling the movement of the power device in the vertical adjustment device 4 and the horizontal adjustment assembly 13, to adjust the position of the push-pull assembly 12 in the disassembly and assembly push-pull device 1, until the push-pull assembly 12 and the vehicle to be replaced (or designated charging compartment) The position between them meets the requirements of docking accuracy. It should be noted that the control system can also control the following disassembly and transfer mechanism.

Optionally, as shown in FIG. 7 , the vertical adjustment device 4 may include a second transmission belt 43 extending in the vertical direction. The second transmission belt 43 can be wound between the second driving pulley 41 and the second driven pulley 42, and the second driving pulley 41 and the second driven pulley 42 are arranged side by side in the vertical direction. The second transmission belt 43 can be connected with the disassembly push-pull device 1 , and the second transmission belt 43 can be configured to drive the disassembly push-pull device 1 to move in the vertical direction. The second driving wheel 41 , the second driven wheel 42 and the second transmission belt 43 can be a transmission group, which can also be a belt drive or a chain drive.

In some embodiments of the present application, the second transmission belt 43 may be disposed on the frame-shaped bracket in the vertical direction, and two sets of the second transmission belt 43 may be disposed opposite to each other in the second horizontal direction, along the frame-shaped bracket respectively. Set on opposite sides in the vertical direction. The frame-shaped bracket can be a frame with a fixed position, and the detachable push-pull device 1 can be accommodated in the fixed frame.

The vertical adjustment device 4 may further include a transmission shaft 44 and a fourth transmission belt 45 . The two ends of the transmission shaft 44 can be respectively connected with two sets of second transmission belts 43 . Specifically, both ends of the transmission shaft 44 can be respectively connected to the second driving wheels 41 in the two transmission groups, and the transmission shaft 44 can rotate synchronously with the third driving wheels 41 .

The fourth transmission belt 45 can be drivingly connected with one of the second transmission belts 43 . Specifically, the fourth transmission belt 45 can be connected with a third driving wheel 41 in the two transmission groups, and the fourth transmission belt 45 can be driven to rotate by the power device, thereby driving the third driving wheel 41 connected to it to rotate, and The other third driving wheel 41 is driven to rotate by the transmission shaft 44 . That is, the fourth transmission belt 45 can be configured to drive the transmission shaft 44 and the two sets of second transmission belts 43 to rotate, thereby saving a set of power devices.

In some embodiments of the present application, as shown in FIG. 7 , the second transmission belt 43 can be connected to the moving support plate 141 in the dismounting push-pull device 1 , and the moving support plate 141 is driven to move to adjust the vertical position of the dismountable push-pull device 1 . position in the straight direction.

Specifically, the second transmission belt 43 can be connected to the middle of the opposite sides of the moving support plate 141, and the moving support plate 141 and the four vertical edges of the frame-shaped bracket extending in the vertical direction are slidably fitted, so that the moving support plate 141 can be moved The support plate 141 can maintain balance during the movement. In some embodiments of the present application, the vertical adjustment device 4 may further include a bearing plate located below the moving support plate 141 , and the bearing plate may be used to carry the disassembly and assembly push-pull device 1 . The second transmission belt 43 can be connected with the carrying plate, and the dismounting push-pull device 1 can be moved as a whole conveniently through the cooperation between the carrying plate and the frame-shaped bracket.

The embodiment of the present application also provides a disassembly and assembly transfer mechanism, including the disassembly and assembly push-pull device 1 as described above. The detachable transfer mechanism may be configured to place the battery device obtained from the detachable power exchange mechanism to the battery storage device, and to hand over another battery device obtained from the battery storage device to the detachable power exchange mechanism.

As shown in FIG. 8 , the battery dismounting device may further include a vertical lifting device 2 and a horizontal moving device 3 . Wherein, the vertical lifting device 2 can be connected with the detachable push-pull device 1 , and the vertical lifting device 2 can be configured to move the detachable push-pull device 1 along the vertical direction. The horizontal moving device 3 can be connected with the lower end of the vertical lifting device 2, and the horizontal moving device 3 is configured to move the dismounting push-pull device 1 and the vertical lifting device 2 along a second horizontal direction, the first horizontal direction and the second horizontal direction vertical.

In some embodiments of the present application, the vehicle to be replaced can be parked in a predetermined parking area when the battery is replaced, the disassembly and replacement mechanism can be located on one side of the predetermined parking area to be close to the vehicle to be replaced, and the disassembly and transfer mechanism can be located in the disassembly and assembly transfer mechanism. The installation and replacement mechanism is far from the side of the vehicle to be replaced, and the removal and installation transfer mechanism can be located between the two charging racks of the battery storage device, so that the removable push-pull device 1 docked with the battery storage device can be removed from both sides. Obtaining the battery device 6 effectively improves the power exchange efficiency.

It can be understood that the disassembling and assembling push-pull device 1 moves and installs the battery device 6 that has been discharged into the first designated position in the battery storage device (for example, in the battery storage device) through the vertical lifting device 2 and the horizontal moving device 3. The designated charging compartment location without the battery device 6 stored), and the fully charged battery device 6 is obtained from the second designated location in the battery storage device (eg, the battery storage device has a designated charging compartment location stored in the battery device 6). In order to further improve the power exchange efficiency and the capacity of the battery storage device. In some embodiments of the present application, each dismounting push-pull unit 1 docked with the vehicle to be swapped may correspond to two or more dismountable push-pull devices 1 docked with the battery storage device, so that the vehicle to be swapped can be removed from the vehicle at the same time. The battery device 6 is disassembled and installed in the battery storage device, so that the first designated position and the second designated position can be the same position in the battery storage device.

Similarly, the dismounting push-pull device 1 in the dismounting and transferring mechanism can also be provided with a camera, and the camera can obtain the position image of the position of the charging compartment relative to the dismounting push-pull device 1, so that the dismounting push-pull device 1 can be paired with Precisely designate the location of the charging compartment to improve the accuracy of pushing or pulling the battery unit 6 from the battery storage unit. The cameras may also be provided on opposite sides of the moving support plate 141 .

Optionally, as shown in FIG. 8 , the vertical lifting device 2 may include a third transmission belt 23 and a lifting support plate 24 . The third transmission belt 23 can be wound between the third driving pulley 21 and the third driven pulley 22, and the third driving pulley 21 and the third driven pulley 22 can be arranged side by side in the vertical direction, so that the third transmission belt 23 can be vertically arranged direction extension. The third transmission belt 23 can be configured to drive the dismounting push-pull device 1 to move in the vertical direction by lifting the support plate 24 .

The third driving wheel 21 , the third driven wheel 22 and the third transmission belt 23 can be a transmission group, which can also be a belt drive or a chain drive. In some embodiments of the present application, the transmission group may be arranged on the frame-shaped support along the vertical direction, and the transmission group may be arranged in four groups, which are respectively arranged along four edges of the frame-shaped support extending in the vertical direction. In other embodiments of the present application, the vertical lifting device 2 may be similar to the implementation of the vertical adjusting device 4 . The vertical lifting device 2 can be used to realize a large movement in the vertical direction during the disassembly and assembly of the push-pull device 1, and the vertical adjustment device 4 can be used to realize a small amplitude position adjustment in the vertical direction during the disassembly and assembly of the push-pull device 1. The size of the frame-shaped brackets used by the straight lifting device 2 and the vertical adjusting device 4 may be different.

The lifting support plate 24 can be connected with the third transmission belt 23 and the dismounting push-pull device 1 respectively. Exemplarily, as shown in FIG. 1 , the lifting support plate 24 can be connected with the lower end surface of the moving support plate 141 in the auxiliary moving assembly 14 , and the lower end surface of the lifting support plate 24 can be connected with the fixed rotating lifting assembly 15 . The brackets 151 are connected.

In some embodiments of the present application, as shown in FIGS. 1 and 8 , the lifting support plate 24 and the third transmission belt 23 may be further connected by a connecting plate 25 . Exemplarily, the connecting plate 25 can be an L-shaped connecting plate, and the L-shaped connecting plate is attached to the edge of the frame-shaped bracket in the vertical direction, and can move along the edge. There are four connecting parts 241 extending upward along the vertical direction on the lifting support plate 24, the connecting parts 241 can be connected with one side plate of the connecting plate 25, and the other side plate of the connecting plate 25 can be provided with vertical connecting parts 241. For the two fixing ears that are arranged side by side in a straight direction, the cut ends of the third transmission belt 23 can be respectively fixed on the two fixing ears.

The third driving pulley 21 can be driven to drive the third transmission belt 23 and the lifting support plate 24 to move in the vertical direction. In other words, the third driving wheel 21 may be configured to drive the lifting support plate 24 and the dismounting push-pull device 1 to move in the vertical direction when the third driving wheel 21 is driven to drive the third transmission belt 23 to move.

Optionally, as shown in FIG. 8 , the horizontal moving device 3 may include a third guide rail 31 , a sliding support plate 32 , a gear (not shown in the figure) and a rack 33 . The third guide rail 31 and the rack 33 may be arranged in parallel along the second horizontal direction. In some embodiments of the present application, two third guide rails 31 may be provided, and only one rack 33 may be provided. The third guide rail 31 and the rack 33 of any length can be butted together.

The sliding support plate 32 can be slidably matched with the third guide rail 31 , and the sliding support plate 32 is connected with the lower end of the vertical lifting device 2 . In some embodiments of the present application, a sliding groove may be provided on the sliding support plate 32 , and the sliding groove may be slidably matched with the third guide rail 31 . The horizontal moving device 3 may include two sliding support plates 32 arranged in parallel, and opposite sides of the lower end of the vertical lifting device 2 may be located on the two sliding support plates 32 respectively.

The gear can be meshed with the rack 33 , and the gear can be driven to move along the rack 33 , and the gear can be configured to drive the sliding support plate 32 and the vertical lifting device 2 to move on the third guide rail 31 . In some embodiments of the present application, the sliding support plate 32 can be connected with a gear, and the gear can be driven by a driving device to rotate and advance on the rack 33 .

The following describes the battery swapping process of the vehicle to be swapped in combination with the above-mentioned structures of the disassembly and assembly of the power exchange mechanism and the disassembly and assembly of the transfer mechanism.

The control system communicates with the vehicle dispatching system to confirm that the vehicle to be replaced has reached the specified switching potential and has completed the preparations for battery replacement, and instructs the camera 5 in the disassembly and replacement mechanism to obtain the position image of the vehicle to be replaced. The position image instructs the horizontal adjustment assembly 13 and the vertical adjustment device 4 in the disassembly and replacement mechanism to act to adjust the position of the push-pull assembly 12 until the position between the push-pull assembly 12 and the vehicle to be exchanged meets the requirements of docking accuracy.

The push-pull assembly 12 unlocks the battery device 6 on the vehicle to be swapped and pulls the battery device 6 out of the vehicle to be swapped until the battery device 6 is pulled onto the moving support plate 141 , and the battery device 6 is connected to the vehicle to be swapped. Electric vehicle disengages. The first disassembly push-pull device in the disassembly and replacement mechanism is docked with the second disassembly push-pull device in the disassembly and transfer mechanism, and the battery device 6 disassembled from the vehicle to be replaced is transferred to the disassembly and transfer mechanism. The second disassembly push-pull device.

The control system determines whether the battery device 6 needs to be rotated according to the number or position of the provided designated charging bin; when no rotation is required, the vertical lifting device 2 and the horizontal moving device 3 in the disassembly and transport mechanism directly transport the battery device 6 to the designated location. At the charging compartment, the battery device 6 is pushed to the designated charging compartment for locking and charging through the push-pull assembly 12 in the second disassembly push-pull device. When it needs to be rotated, the rotating lifting assembly 15 in the second disassembling and assembling push-pull device can lift the battery device 6 to a set height, then rotate a certain angle (eg 180°) and lower it to the original position again, and then the push-pull assembly 12 can lift the battery device 6 to the original position. 6Push it to the designated charging compartment for locking and charging.

The control system selects the battery device 6 with the highest power in the battery storage device, and unlocks the battery device 6 from the charging compartment by the push-pull assembly 12 in the second disassembly and assembly push-pull device and pulls it out to the moving support plate 141 , and then passes through the vertical lifting device 2 and The horizontal moving device 3 transfers the battery device 6 removed from the battery storage device to the vehicle to be replaced. The second disassembly and assembly push-pull device in the disassembly and assembly transfer mechanism is docked with the first disassembly and assembly push-pull device in the disassembly and assembly power exchange mechanism, so as to transfer the battery device 6 disassembled from the battery storage device to the disassembly and assembly power exchange mechanism. The first disassembly and assembly of the push-pull device. The first removable push-pull device is docked with the vehicle to be replaced, and the push-pull assembly 12 in the first removable push-pull device pushes the battery device 6 with the highest power into the vehicle to be replaced, locks it, and then resets.

The control system communicates with the vehicle dispatching system to inform the vehicle to be replaced that the battery replacement is completed and that it can leave. After confirming that the battery device 6 has been replaced and the self-check is normal, the vehicle dispatching system accepts the task assigned by the dispatching system, plans a route, and leaves according to the route.

The embodiment of the present application also provides a battery disassembly and assembly system, including the disassembly and assembly power exchange mechanism, the disassembly and assembly transfer mechanism, and the battery device 6 as described above. Wherein, as shown in FIG. 4 , the battery device 6 includes a battery pack 62 , a battery carrier plate 63 , a pull button 64 and an unlocking member 65 . The battery carrier plate 63 includes a horizontally arranged first side plate 631 and a vertically arranged second side plate 632; the battery pack 62 is mounted on the first side plate 631; the pull button 64 is connected to the first side plate 631 and faces the first side plate 631. The two side plates 632 protrude in the direction; the unlocking member 65 is connected to the side of the second side plate 632 facing the battery pack 62 .

Optionally, as shown in FIG. 5 , the battery device 6 may further include a positioning hole 61 , and the positioning hole 61 may be located in the middle of the first side plate 631 , so that the battery device can be fixed through the positioning hole 61 when the push-pull device 1 is disassembled and assembled. 6. Exemplarily, the positioning holes 61 may be provided with two.

Optionally, as shown in FIG. 4 , the battery device 6 may further include a female charging connector 66 , and the female charging connector 66 may be located at an end of the first side plate 631 opposite to the second side plate 632 . The female end charging connector 66 can cooperate with the male end charging connector in the battery storage device to charge the battery pack 62 . It can be understood that the female end charging connector 66 can also cooperate with the male end charging connector in the vehicle to be swapped, so as to provide electric energy for the vehicle.

Optionally, as shown in FIG. 4 , the battery device 6 may further include a battery fixing lock 67 connected to the side of the second side plate 632 facing the battery pack 62 and located below the unlocking member 65 . The battery fixing lock 67 can cooperate with the locking member 7 on the battery storage device or the vehicle to be replaced to realize the locking of the battery device 6 .

Specifically, the battery fixing lock 67 can be a U-shaped lock hook, two ends of the lock hook can be connected to the second side plate 632, and the end of the lock hook can protrude toward one side of the battery pack 62 to connect with the lock hook. The stopper 7 is snapped.

As shown in FIG. 9 , the locking member 7 may include a locking handle 71 , a hook 72 , a housing 73 , a first rotating shaft 74 and a second rotating shaft 75 . The restraining end of the lock handle 71 can rotate around the first shaft 74 , and the free end of the lock handle 71 can extend to the first side of the housing 73 . The binding end of the hook 72 can rotate around the second shaft 75 , the free end of the hook 72 can have a first recess 721 , and the end of the battery fixing lock 67 can be snapped into the first recess 721 . Two sides of the first concave portion 721 may form a protruding end 722 and an abutting end 723 , wherein the length of the protruding end 722 may be greater than the length of the abutting end 723 .

In the unlocked state, the free end of the lock handle 71 can be away from the first side of the housing 73 , and at least a part of the free end of the hook 72 can protrude to the second side of the housing 73 , and the second side is opposite to the first side. During the locking process, the end of the battery fixing lock 67 can be snapped into the first concave portion 721 and abutted with the abutting end 723 to drive the hook 72 to rotate toward the interior of the housing 73 . As shown in FIG. 9 , the middle portion of the first side of the housing 73 may have a second recessed portion 731 , and the battery fixing lock 67 may extend into the second recessed portion 731 .

During the rotation of the hook 72 , the protruding end 722 can protrude into the battery fixing lock 67 , and the abutting end 723 can contact the restraining end of the lock handle 71 and drive the lock handle 71 to rotate, making the lock handle The free end of 71 is turned toward the housing 73 .

One side of the restraining end of the lock handle 71 may have a limit portion 711 and a snap portion 712 , the limit portion 711 may extend to the first side of the housing 73 , and the snap portion 712 is located inside the housing 73 and is close to the Hook 72.

When the locking handle 71 is rotated until the limiting portion 711 contacts the housing wall on the first side of the housing 73 , the locking handle 71 stops rotating, and the abutting end 723 of the hook 72 can continue to rotate under the action of the battery fixing lock 67 . And swipe the engaging portion 712 , so that the engaging portion 712 can prevent the abutting end 723 from moving to the first side of the housing 73 to achieve locking. As shown in FIG. 10 , the limiting portion 711 and the engaging portion 712 may be protruding structures formed on the restraining end of the lock handle 71 , and the limiting portion 711 may be located on the first side of the first rotating shaft 74 and the housing 73 In between, the engaging portion 712 may be located between the first rotating shaft 74 and the second side of the housing 73 .

As shown in FIG. 10 , the unlocking member 65 may include a hollow housing 651 , a moving rod 652 and a first elastic member 653 . One end of the moving rod 652 close to the second side plate 632 can be abutted and pushed by the unlocking top rod 122 , so that the moving rod 652 moves inside the housing 651 . One end of the moving rod 652 away from the second side plate 632 can protrude to the outside of the housing 651 and is suitable for abutting with the free end of the lock handle 71 . The first elastic member 653 is sleeved on the rod body of the moving rod 652 . When the moving rod 652 is separated from the unlocking top rod 122 , the first elastic member can restore the moving rod 652 to the initial position. The first elastic member 653 can be a coil spring.

There may be a second elastic member (not shown in the figure) between the restraining end of the hook 72 and the second rotating shaft 75 , and the second elastic member may actuate when the free end of the hook 72 rotates toward the interior of the housing 73 . The restoring force of the hook 72 rotating toward the first side of the housing 73 (clockwise in the figure). The second elastic member can be a torsion spring.

When the moving rod 652 pushes the free end of the lock handle 71 to rotate in a direction away from the second side of the casing 73 under the action of the unlocking top rod 122 , the engaging portion 712 rotates in a direction close to the second side of the casing 73 , and gradually rotates with the second side of the casing 73 . The abutting ends 723 are separated. The free end of the hook 72 rotates toward the first side of the housing 73 under the action of the restoring force of the second elastic member, thereby realizing unlocking.

The battery disassembly and assembly system provided in the embodiment of the present application can conveniently and quickly realize the locking and unlocking of the battery device 6, and can move the battery device 6 along the first horizontal direction to push or pull the battery device 6 to the vehicle to be replaced. Or a suitable position in the battery storage device, so as to realize the disassembly and assembly of the battery device 6 more reliably, and improve the power exchange efficiency of the vehicle to be exchanged.

In this application, the terms "first" and "second" are used for descriptive purposes only, and should not be construed to indicate or imply relative importance. The term "plurality" refers to two or more, unless expressly limited otherwise.

The above are only preferred embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection of the present application. within the range.

Claims

A push-pull device for disassembly and assembly of a battery, wherein the push-pull device for disassembly and assembly (1) comprises a horizontal moving assembly (11), a push-pull assembly (12) and a moving support plate (141);

The horizontal moving assembly (11) is connected to the push-pull assembly (12), and the horizontal moving assembly (11) is configured to move the push-pull assembly (12) along a first horizontal direction;

The push-pull assembly (12) is adapted to be connected with the battery device (6), and the push-pull assembly (12) is configured to move the battery along the first horizontal direction driven by the horizontal movement assembly (11). The device (6) pushes or pulls out the vehicle to be swapped or the battery storage device;

The moving support plate (141) is adapted to be supported under the battery device (6) when the battery device (6) moves.
The device of claim 1, wherein the push-pull assembly (12) comprises a clamp (121);

The clamp (121) is adapted to be connected with a pull button (64) in the battery device (6), and the clamp (121) is configured to clamp the battery device (6) and pull the battery device (6) moving in the first horizontal direction.
The device according to claim 2, wherein the detachable push-pull device (1) has two push-pull assemblies (12) arranged opposite to each other along the first horizontal direction, and each push-pull assembly ( 12) further comprising a push rod (123) extending away from the other push-pull assembly (12);

The push rod (123) and the clamp (121) in the same push-pull assembly (12) extend in the same direction;

The push rod (123) is adapted to abut against a battery carrier plate (63) in the battery device (6), and the push rod (123) is configured to push the battery device (6) along the first Move horizontally.
The device according to any one of claims 2 or 3, wherein at least one of the push-pull assemblies (12) further comprises an unlocking plunger (122);

The unlocking top rod (122) is adapted to abut against and push the unlocking member (65) in the battery device (6) to unlock the battery device (65) from the vehicle to be replaced or the battery storage device ( 6).
The device according to claim 1, wherein the horizontal movement assembly (11) comprises a first transmission belt (113), a sliding bracket (114) and a first guide rail (115);

The sliding bracket (114) is respectively connected with the first transmission belt (113) and the push-pull assembly (12), the sliding bracket (114) is slidably matched with the first guide rail (115), and the first the guide rail (115) and the first transmission belt (113) extend along the first horizontal direction;

The first transmission belt (113) is configured to drive the push-pull assembly (12) to move along the first guide rail (115) through the sliding bracket (114).
The device according to claim 1, wherein the moving support plate (141) is provided with a guide roller (142) and a support roller (143);

The guide roller (142) is located on the upper end surface of the moving support plate (141) and is close to the outer side of the moving support plate (141), and the guide roller (142) can rotate in a horizontal direction;

The support roller (143) is close to the inner side of the moving support plate (141) relative to the guide roller (142), and the support roller (143) can rotate in a vertical direction.
The device according to claim 1, wherein the detachable push-pull device (1) further comprises a level adjustment assembly (13), the level adjustment assembly (13) being configured to adjust the push-pull assembly (12) in the first two positions in the horizontal direction, the second horizontal direction is perpendicular to the first horizontal direction;

The level adjustment assembly (13) comprises a second guide rail (131), a sliding base (132) and a crank connecting rod (133);

The second guide rail (131) is located on the upper end surface of the sliding bracket (114) in the horizontal movement assembly (11), and the second guide rail (131) is slidingly matched with the sliding base (132);

The upper end of the sliding base (132) is connected to the crank connecting rod (133), and the lower end of the sliding base (132) is connected to the push-pull assembly (12);

The crank connecting rod (133) is configured to drive the push-pull assembly (12) to move along the second horizontal direction through the sliding base (132).
The device according to claim 1, wherein the detachable push-pull device (1) further comprises a rotary lifting assembly (15) configured to horizontally rotate the battery device (6) and turn around;

The rotating lifting assembly (15) includes a fixing bracket (151), a lifting cylinder (152) and a rotary disk (153);

the fixed bracket (151) is located below the moving support plate (141);

The lift cylinder (152) is respectively connected with the fixed bracket (151) and the moving support plate (141), and the lift cylinder (152) is configured to drive the battery through the moving support plate (141). The device (6) moves in the vertical direction;

The turntable (153) is connected with the moving support plate (141), and the turntable (153) is configured to drive the battery device (6) to rotate through the moving support plate (141).
The device of claim 8, wherein the mobile support plate (141) comprises a support plate (1411);

The support plate (1411) is respectively connected with the lift cylinder (152) and the rotary disc (153), and the support plate (1411) is driven by the lift cylinder (152) to move in the vertical direction, and is driven to rotate by the rotary disk (153).
The device according to claim 9, wherein a positioning pin (154) is further provided on the support plate (1411), and the positioning pin (154) is adapted to align with the positioning hole (61) on the battery device (6). ) cooperate to limit the position of the battery device (6).
The device according to any one of claims 8-10, wherein the rotating lifting assembly (15) further comprises a slewing support (155), a lifting guide shaft (156) and a guide bushing (157);

The slewing support (155) is connected with the fixing bracket (151) and the slewing plate (153);

The guide bushing (157) is connected with the rotary disk (153);

The lift guide shaft (156) is connected to the moving support plate (141), and extends along the vertical direction through the guide shaft sleeve (157) and the rotary disk (153).
A detachable and detachable power exchange mechanism, comprising the detachable and detachable push-pull device (1) according to any one of claims 1-11, wherein the detachable and detachable power exchange mechanism is configured to be obtained from the vehicle to be replaced The battery device (6) is handed over to the disassembly and transfer mechanism, and another battery device (6) is obtained from the disassembly and transfer mechanism and installed in the vehicle to be swapped;

The disassembly and power exchange mechanism further comprises a camera (5), the camera (5) is connected to the disassembly push-pull device (1), and the camera (5) is configured to obtain the relative relationship between the vehicle to be power exchanged. A position image of the removable push-pull device (1), so that the removable push-pull device (1) is aligned with the battery device (6) in the vehicle to be swapped.
The mechanism according to claim 12, wherein the detachable power exchange mechanism further comprises a vertical adjustment device (4), the vertical adjustment device (4) being configured to adjust the detachment according to the position image the position of the push-pull device (1) in the vertical direction;

The vertical adjustment device (4) comprises a second transmission belt (43) extending along the vertical direction;

The second transmission belt (43) is connected to the dismounting push-pull device (1), and the second transmission belt (43) is configured to drive the dismountable push-pull device (1) to move in the vertical direction.
The mechanism according to claim 13, wherein the vertical adjustment device (4) comprises two sets of the second transmission belts (43) oppositely arranged along the second horizontal direction, and further comprises a transmission shaft (44) and a fourth a transmission belt (45), the second horizontal direction is perpendicular to the first horizontal direction;

Both ends of the transmission shaft (44) are respectively connected with two sets of the second transmission belts (43);

The fourth transmission belt (45) is in driving connection with one of the second transmission belts (43), and the fourth transmission belt (45) is configured to drive the transmission shaft (44) and two sets of the second transmission belts ( 43) Turn.
A dismounting transfer mechanism, comprising the dismounting push-pull device (1) according to any one of claims 1-11, the dismounting transfer mechanism being configured to obtain the The battery device (6) is placed in the battery storage device, and the other battery device (6) obtained from the battery storage device is handed over to the disassembly and replacement mechanism;

The disassembly and transfer mechanism further comprises a vertical lifting device (2) and a horizontal moving device (3);

The vertical lifting device (2) is connected to the dismounting push-pull device (1), and the vertical lifting device (2) is configured to move the dismounting push-pull device (1) in a vertical direction;

The horizontal moving device (3) is connected with the lower end of the vertical lifting device (2), and the horizontal moving device (3) is configured to move the dismounting push-pull device (1) and all the components along the second horizontal direction. In the vertical lifting device (2), the first horizontal direction is perpendicular to the second horizontal direction.
The mechanism according to claim 15, wherein the vertical lifting device (2) comprises a third transmission belt (23) and a lifting support plate (24);

The lifting support plate (24) is respectively connected with the third transmission belt (23) and the disassembly push-pull device (1);

The third transmission belt (23) extends along the vertical direction, and the third transmission belt (23) is configured to drive the dismounting push-pull device (1) along the vertical direction through the lifting support plate (24). Move straight.
The mechanism according to claim 15, wherein the horizontal moving device (3) comprises a third guide rail (31), a sliding support plate (32), a gear and a rack (33);

The third guide rail (31) and the rack (33) are arranged in parallel along the second horizontal direction;

The sliding support plate (32) is slidably matched with the third guide rail (31), and the sliding support plate (32) is connected to the lower end of the vertical lifting device (2);

The gear is engaged with the rack (33), and the gear is configured to drive the sliding support plate (32) and the vertical lifting device (2) to move on the third guide rail (31).
A battery disassembly and assembly system, wherein the system includes the disassembly and assembly and replacement mechanism according to any one of claims 12-14, the disassembly and assembly transfer mechanism according to any one of claims 15-17, and the the battery device (6);

The battery device (6) comprises a battery pack (62), a battery carrier plate (63), a pull button (64) and an unlocking member (65);

The battery carrier plate (63) includes a first side plate (631) arranged horizontally and a second side plate (632) arranged vertically;

the battery pack (62) is mounted on the first side plate (631);

The pull button (64) is connected to the first side plate (631) and protrudes toward the second side plate (632);

The unlocking member (65) is connected to the side of the second side plate (632) facing the battery pack (62).