WO2024061022A1 - Station d'échange de batterie - Google Patents

Station d'échange de batterie Download PDF

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Publication number
WO2024061022A1
WO2024061022A1 PCT/CN2023/117648 CN2023117648W WO2024061022A1 WO 2024061022 A1 WO2024061022 A1 WO 2024061022A1 CN 2023117648 W CN2023117648 W CN 2023117648W WO 2024061022 A1 WO2024061022 A1 WO 2024061022A1
Authority
WO
WIPO (PCT)
Prior art keywords
battery
battery module
power
component
assembly
Prior art date
Application number
PCT/CN2023/117648
Other languages
English (en)
Chinese (zh)
Inventor
洪翼鸿
黄巨明
Original Assignee
杭州海康机器人股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202222530255.1U external-priority patent/CN218112407U/zh
Priority claimed from CN202222530276.3U external-priority patent/CN218112408U/zh
Priority claimed from CN202222536994.1U external-priority patent/CN218112409U/zh
Application filed by 杭州海康机器人股份有限公司 filed Critical 杭州海康机器人股份有限公司
Publication of WO2024061022A1 publication Critical patent/WO2024061022A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries

Definitions

  • the present disclosure relates to the field of logistics and transportation technology, and in particular, to a power swap station.
  • AGV Automated Guided Vehicle
  • AGV automatic guided transport vehicle
  • It is a vehicle that can travel along a prescribed guidance path and has safety protection and various Transport vehicle with transfer function.
  • AGV usually uses its own battery to provide power. When the battery power is close to being exhausted, it needs to be replenished in time. Therefore, the system needs to be equipped with automatic power supply equipment for AGV.
  • the present disclosure provides a power swap station to solve at least part of the problems in related technologies.
  • a battery swap station comprising:
  • a carrying device used to carry an electric vehicle includes a vehicle body and a battery module arranged in the vehicle body;
  • a power swapping device includes a frame, a battery compartment and a power swapping mechanism arranged on the frame; the battery compartment is used to store one or more battery modules; the power swapping mechanism is used to transfer the battery module to be charged It is taken out from the side of the vehicle body and assembled in the battery compartment, and used to take out the charged battery module from the battery compartment and assembled in the side of the vehicle body.
  • the power exchange mechanism includes a mounting plate and a connection component provided on the installation plate;
  • the battery module includes a first side wall and a connection portion provided on the first side wall;
  • the connection component A connection can be established with the connection portion for pulling the battery module, and the connection can be released with the connection portion.
  • the connecting part includes a hole or a hook.
  • connection component includes a first driving member and a connecting member;
  • the connecting member includes a first state for establishing the connection with the connecting part and a first state for releasing the connection with the battery module.
  • Second state the first driving member is used to drive the connecting member to switch between the first state and the second state.
  • the first driving member switches between the first state and the second state by driving the connecting member to rotate, linearly move, or expand and collapse.
  • connection assembly further includes a connection seat connected between the first driving part and the connection part; the first driving part drives the connection seat to rotate, thereby driving the connection part to rotate.
  • the power exchange mechanism further includes a push-pull rod arranged on the connecting seat and a pushing member fixed on the push-pull rod; the connecting member is located at one end of the push-pull rod, and the pushing member is located between the connecting member and the connecting seat.
  • the power exchange mechanism further includes a buffer component; the buffer component is used to buffer the contact between the connection component and the battery module.
  • the buffer assembly includes a fixed sleeve fixedly installed on the push-pull rod and two first spring parts sleeved and installed on the push-pull rod; the two first spring parts are respectively located on the fixed On both sides of the sleeve; one end of the first spring member is connected to the fixed sleeve, and the other end is connected to the connecting seat.
  • connection component further includes a second sensor; the second sensor is used to determine whether the connection component is close to the battery module.
  • the power exchange mechanism further includes a mounting plate, an alignment component and a first track provided on the mounting plate; the first track is used for the battery module to slide; the alignment component is located on Between the carrying device and the first rail, it is used to enable the battery module to be aligned with the first rail.
  • the alignment assembly includes a first reset member and a second track for sliding the battery module; the second track is slidably installed on the mounting plate and includes a first track aligned with the first track. Initial position; when the second track deviates from the initial position, the first reset member is used to drive the second track back to the initial position.
  • the power exchange mechanism further includes a driving component; the driving component is at least partially installed on the mounting plate, and is used to drive the battery module between the vehicle body and the vehicle body by driving the connecting component. Move between battery compartments.
  • the driving assembly includes a second driving member provided on the mounting plate; the connecting assembly is slidably installed on the mounting plate; and the second driving member is used to drive the connecting assembly on the mounting plate.
  • the mounting plate moves back and forth, thereby driving the battery module to Take out the battery compartment or the vehicle body.
  • the driving assembly further includes a third driving member;
  • the mounting plate includes a third state in which the connecting assembly faces the carrying device and a fourth state in which the connecting assembly faces the battery compartment;
  • the third driving member is used to drive the mounting plate to switch between the third state and the fourth state;
  • the second driving member when the mounting plate is in the third state, the second driving member is used to drive the connection assembly to drive the battery module in and out of the vehicle body;
  • the second driving member is used to drive the connecting component to drive the battery module in and out of the battery compartment.
  • the power exchange mechanism further includes a mounting bracket movably mounted on the frame; the mounting plate is movably mounted on the mounting bracket; the driving assembly further includes a fourth driving member; the fourth driving The component is used to drive the mounting bracket to reciprocate longitudinally along the frame.
  • the carrying device includes a carrying platform for carrying the electric vehicle and a power supply mechanism provided on the carrying platform;
  • the power supply mechanism includes a base provided on the carrying platform and a power supply provided on the carrying platform.
  • a charging component on the base; the charging component can move along the intersecting plugging direction and sliding direction; the charging component is docked with the electric vehicle along the plugging direction to charge the electric vehicle; the charging component Slidingly installed on the base along the sliding direction.
  • the carrying device includes a carrying platform for carrying the electric vehicle and a positioning mechanism arranged on the carrying platform; the positioning mechanism is used to position and fix the electric vehicle so that the battery exchange device can disassemble and assemble the battery module from the side of the vehicle body.
  • the positioning mechanism includes a side thrust assembly and a limit assembly; the side thrust assembly and the limit assembly are respectively located on both sides of the supporting platform, and the limit assembly is close to the battery exchange device; the side thrust assembly is used to push the electric vehicle to move in a direction close to the battery exchange device until it abuts against the limit assembly.
  • the battery compartment includes an empty first workstation and a second workstation for storing the one or more battery modules;
  • the battery exchange mechanism is used to take out the battery module to be charged from the side of the vehicle body and assemble it at the first station; and to remove the charged battery module from the second
  • the work station is taken out and assembled on the side of the vehicle body.
  • the battery compartment includes a plurality of second workstations; the first workstation and the plurality of second workstations are sequentially distributed along the longitudinal direction or transverse direction of the frame.
  • the first workstation when the first workstation and the plurality of second workstations are sequentially distributed along the longitudinal direction of the frame, the first workstation is located at the bottom end of the frame;
  • the first workstation When the first workstation and the plurality of second workstations are sequentially distributed along the transverse direction of the frame, the first workstation is located at one end of the frame close to the carrying device.
  • the second station includes a charging structure for charging the battery module.
  • the second track includes a plurality of guide bearings spaced apart along the moving direction of the battery module.
  • the alignment assembly further includes a first support fixedly installed on the mounting plate and a first connecting shaft provided on the first support; the second track is sleeved on the first The connecting shaft is capable of sliding on the first connecting shaft.
  • the first return member includes at least two fifth spring members sleeved on the first connecting shaft; the at least two fifth spring members are respectively located on both sides of the second track; One end of the fifth spring member is fixed to the first support, and the other end of the fifth spring member is fixed to the second track.
  • the alignment assembly further includes a first guide rail and a first slide groove that are slidably matched; one of the first guide rail and the first slide groove is disposed on the second track, and the first guide rail and the other of the first chute is provided on the mounting plate.
  • the power exchange mechanism further includes a pulley set; the battery module includes a first bottom wall; and the pulley set is used to contact the first bottom wall to reduce sliding resistance of the battery module.
  • the side pushing assembly includes a side pushing driving member and a side pushing member; the side pushing driving member is used to drive the side pushing member to move in a direction closer to the limiting assembly to push the electric vehicle. Until it offsets the limiting component.
  • the side pushing member includes a first position and a second position; the side pushing driving member is used to drive the side pushing member to reciprocate between the first position and the second position; when When the side pushing member is in the first position, the side pushing member can cause the The electric vehicle offsets the limiting component.
  • the limiting assembly further includes a limiting driving member and a limiting member; the limiting member includes a third position and a fourth position; and the limiting driving member is used to drive the limiting member at the desired position. reciprocating movement between the third position and the fourth position; when the limiting member is located at the third position and the side pushing member is located at the first position, the limiting member and the The side push piece cooperates to position the electric vehicle.
  • the stroke of the limiting member between the third position and the fourth position is smaller than the stroke of the side push member between the first position and the second position.
  • the limiting driving member includes a motor; the positioning mechanism further includes a trapezoidal screw; the trapezoidal screw is connected and arranged between the limiting driving member and the limiting member.
  • the positioning mechanism further includes a first sensor; the first sensor is used to determine whether the electric vehicle is in contact with the limiting assembly.
  • the power supply mechanism further includes a second connecting shaft disposed on the base; the charging assembly is sleeved on the second connecting shaft and can slide on the second connecting shaft.
  • the power supply mechanism also includes a second reset member; the charging component also has a starting position; when the charging component deviates from the starting position, the second reset member is used to drive the charging component back to the starting position.
  • the second reset member includes at least two second spring members sleeved on the second connecting shaft; the at least two second spring members are located on both sides of the charging assembly; One end of the second spring member is connected to the charging component, and the other end of the second spring member is connected to the base.
  • the power supply mechanism further includes a second guide rail and a second slide groove that are slidably matched; one of the second guide rail and the second slide groove is provided on the charging assembly, and the second guide rail and the second slide groove are provided in the charging assembly.
  • the other of the two chute is provided on the base.
  • the charging assembly includes a charging base, an electrical connector, a guide column and a third spring member; the charging base is slidably installed on the base along the sliding direction; the electrical connector passes through the guide column The third spring member is slidably installed on the charging base along the plugging direction; the third spring member is sleeved on the guide column; the third spring member is disposed in contact between the electrical connector and the charging base.
  • the battery swapping device in the present disclosure can directly take out/assemble the battery module from the side of the vehicle body, and no longer requires a carrying device to lift the AGV, thus reducing the steps of battery swapping, improving battery swapping efficiency and saving battery swapping time. ; At the same time, since the bearing device no longer has a lifting function, the structure of the bearing device is also simplified and the manufacturing cost of the bearing device is reduced.
  • Figure 1 is a schematic diagram of a power swap station in an exemplary embodiment of the present disclosure
  • FIG2 is a second schematic diagram of a battery swap station in an exemplary embodiment of the present disclosure (housing omitted);
  • Figure 3 is a schematic diagram of the cooperation between a power swap station and an AGV in an exemplary embodiment of the present disclosure
  • Figure 4 is a schematic diagram of the cooperation between a carrying device, a power exchange mechanism and an AGV in an exemplary embodiment of the present disclosure
  • Figure 5 is a schematic diagram of a carrying device in an exemplary embodiment of the present disclosure.
  • Figure 6 is a schematic diagram of a side thrust assembly in an exemplary embodiment of the present disclosure.
  • Figure 7 is a schematic diagram of a limiting component in an exemplary embodiment of the present disclosure.
  • Figure 8 is a schematic diagram of a power supply mechanism in an exemplary embodiment of the present disclosure.
  • FIG9 is a schematic diagram of a power exchange mechanism in an exemplary embodiment of the present disclosure.
  • Figure 10 is a schematic diagram of the cooperation between a power exchange mechanism and a battery module in an exemplary embodiment of the present disclosure (the mounting bracket and some driving components are omitted);
  • Figure 11 is a schematic diagram of a connection component in an exemplary embodiment of the present disclosure (the connection member is in the second state);
  • Figure 12 is a schematic diagram two of a connection assembly in an exemplary embodiment of the present disclosure (the connection member is in a first state);
  • FIG13 is a schematic diagram of an alignment assembly in an exemplary embodiment of the present disclosure.
  • Figure 14 is a schematic diagram of the cooperation between a fourth driving member and the mounting bracket in an exemplary embodiment of the present disclosure
  • Figure 15 is a schematic diagram of a first workstation in an exemplary embodiment of the present disclosure.
  • Figure 16 is a schematic diagram of a first workstation cooperating with a battery module in an exemplary embodiment of the present disclosure
  • Figure 17 is a schematic diagram of a second workstation in an exemplary embodiment of the present disclosure.
  • Figure 18 is a schematic diagram of a first workstation cooperating with a battery module in an exemplary embodiment of the present disclosure.
  • an automatic charging device is generally used to charge the battery of the AGV.
  • this automatic charging device needs to keep the AGV as a whole in the charging device until the battery is fully charged. During the charging process, the AGV cannot work, so a lot of time will be wasted.
  • a battery replacement method and a battery replacement station for AGV are disclosed in the prior art; the method includes: placing an unoccupied first battery disassembly and assembly mechanism under the AGV; docking the old battery module on the AGV with the first battery disassembly and assembly mechanism and disconnecting the connection relationship with the AGV; separating the old battery module from the battery module assembly area of the AGV; placing the second battery disassembly and assembly mechanism docked with the new battery module under the AGV; relative movement of the new battery module and the AGV, so that the new battery module is placed in the battery module assembly area and establishes a connection relationship with the AGV.
  • the battery replacement station includes a hoist and a battery replacement device; the hoist includes a hoist frame and a hoist frame lifting mechanism; the battery replacement device includes a disassembly and assembly transfer mechanism and at least two battery disassembly and assembly mechanisms, and the two battery disassembly and assembly mechanisms are both arranged on the disassembly and assembly transfer mechanism.
  • This technology can quickly replace the battery module and reduce the time waste caused by AGV recharging.
  • the AGV since the battery module is located below the AGV, when replacing the battery module of the AGV, the AGV needs to be lifted first by a hoist, and then the battery disassembly and assembly mechanism is extended under the AGV to remove the battery module. take out.
  • the structure of the elevator is complex, and the battery swapping process in the battery swapping station is cumbersome, which affects the battery swapping efficiency.
  • the AGV since the AGV is parked on a hoist, and the hoist and the battery replacement device are two independent mechanisms, even if the two are aligned first, there will be assembly errors; and the battery replacement device needs to send the battery module to the battery compartment for charging.
  • the hoist clamps the AGV through the horizontal clamping assembly to position the AGV in a specific direction; however, the horizontal clamping assembly is only suitable for positioning AGVs with symmetrical sides. For AGVs with asymmetrical sides, the horizontal clamping assembly It may cause the AGV to deflect.
  • the electric vehicle includes a vehicle body 10 and a battery module 11 provided on the vehicle body 10 .
  • the electric vehicle in this disclosure refers to a vehicle that uses its own battery to provide power and needs to be replenished in time when the battery power is close to being exhausted. It can be either a human-driven vehicle or a two-wheel drive AGV1 as shown in Figures 3 and 4. Just the car The vehicle can unload/load the battery module 11 from the side.
  • the embodiments of this disclosure are explained by taking the AGV1 shown in Figures 3 and 4 as an example.
  • the AGV1 of the present disclosure is not limited to the two-wheel drive AGV1 shown in Figures 3 and 4. It can also be a four-wheel drive or bionic walking AGV1, which can walk/stop and operate in the form of automatic navigation.
  • the battery module 11 can be removed/loaded from the side of the AGV1.
  • the battery module 11 in the present disclosure can be a nickel-metal hydride rechargeable battery, a lithium battery, or a non-rechargeable battery. At the same time, it is not limited to a specific shape. It can be removed from the side of the AGV1 in conjunction with the power swap station of the present disclosure/ Just load it.
  • AGV1 do not include the upper and lower sides of AGV1. But it can include the left and right sides of AGV1, and it can also include the front and rear sides of AGV1.
  • the power exchange station includes a carrying device 2 and a power exchange device 3 .
  • the carrying device 2 is used to carry AGV1.
  • the battery swapping device 3 is used to take out the battery module 11 to be charged from the side of the vehicle body 10 and to assemble the charged battery module 11 to the side of the vehicle body 10 .
  • the power exchange device 3 in the present disclosure can directly take out or assemble the battery module 11 from the side of the vehicle body 10, and no longer needs the carrying device 2 to lift the AGV 1, thus reducing the steps of power exchange and improving the efficiency and savings of power exchange. It’s time to replace the battery. At the same time, since the bearing device 2 no longer has a lifting function, the structure of the bearing device 2 is also simplified, and the manufacturing cost of the bearing device 2 is reduced.
  • the carrying device 2 and the battery exchange device 3 are used in combination and form a battery exchange station. In other embodiments, the carrying device 2 and the battery exchange device 3 can also be used independently.
  • the carrying device 2 is first introduced in detail below.
  • the carrying device 2 shown in Figures 1-5 includes a carrying platform 20 for carrying the AGV 1 and a power supply mechanism 21 and a positioning mechanism 22 provided on the carrying platform 20.
  • a carrying platform 20 for carrying the AGV 1 and a power supply mechanism 21 and a positioning mechanism 22 provided on the carrying platform 20.
  • the load-bearing platform 20 cannot be close to the ground, so a slope 24 can be set in front of the load-bearing platform 20 to facilitate AGV1 to drive onto the load-bearing platform 20 .
  • the matching accuracy between the power exchange device 3 and the carrying device 2 is extremely important. If the matching accuracy is too low, the relative positions of the power changing device 3 and the carrying device 2 will be distorted. A large deviation causes the battery swap station to be unable to complete the setting action.
  • the length direction of AGV1 that is, the forward direction of AGV1 driving onto the carrying platform 20
  • the width direction of AGV1 is defined as the second direction B.
  • the positioning mechanism 22 achieves the overall positioning of AGV1 by respectively locating the precise position of AGV1 in the first direction A and the precise position in the second direction B to ensure that the battery swap station can complete the setting action.
  • the positioning mechanism 22 includes two positioning blocks 227 provided on the bearing platform 20 .
  • the positioning block 227 is installed on the bearing platform 20 along the first direction A.
  • the upper surface of the positioning block 227 is provided with a positioning groove along the second direction B.
  • the positioning groove can be set in a V-shape as shown in Figure 4 and Figure 5, so that the wheels of AGV1 can be automatically stuck in the V-shaped positioning groove.
  • the positioning mechanism 22 also includes a position sensor (not shown) for accurately positioning the AGV 1 in the first direction A.
  • the position sensor can be set on the carrying platform 20 or on the AGV1.
  • the position sensor can be any common sensor on the market that can sense position, and this disclosure does not limit this.
  • the position sensor can be a photoelectric sensor or a pressure sensor provided on the positioning block to sense whether the wheel of AGV1 reaches the positioning groove.
  • the position sensor can also be a camera with position sensing, and a corresponding QR code icon is provided on the power supply mechanism 21. Through the cooperation of the camera and the QR code icon, the AGV1 can be accurately positioned at the designated position in the first direction A. .
  • the positioning mechanism 22 also includes a side push assembly 220 and a limit assembly 221.
  • the side push assembly 220 and the limit assembly 221 are respectively located on both sides of the supporting platform 20.
  • the side push assembly 220 is used to push the AGV1 to move along the second direction B until it abuts against the limit assembly 221.
  • the AGV1 is pushed to abut against the limit assembly 221, it is equivalent to the AGV1 being in a specified position in the second direction B, thereby completing the positioning of the AGV1 in the second direction B.
  • the AGV1 is fixed between the side push assembly 220 and the limit assembly 221, so that when the battery exchange device 3 takes out or assembles the battery module 11, the vehicle body 10 will not shake, thereby ensuring that the battery exchange process of the battery exchange device 3 proceeds smoothly.
  • the battery module 11 of the AGV1 in the present disclosure is one of the slave components of the vehicle body 10 Take it out from the side, which means that the opposite sides of the car body 10 are not exactly the same; at this time, if the traditional centering clamping and positioning assembly is used to clamp both sides of the car body 10, due to the The two sides of the body 10 are asymmetrical, and the traditional centering clamping and positioning components are also asymmetrical with the stress points on both sides of the vehicle body 10. This may easily cause the vehicle body 10 to deflect, which in turn may cause the battery module 11 to be misaligned for battery replacement.
  • the device 3 cannot be taken out; secondly, after the vehicle body 10 in the present disclosure is positioned in the second direction B, it is closer to the power exchange device 3 than after the positioning is completed through the traditional centering clamping positioning assembly, thereby reducing the need for power exchange.
  • the limiting component 221 is located between the power exchange mechanism 32 and the vehicle body 10, that is, the limiting component 221 is disposed close to the side of the vehicle body 10 ; After the vehicle body 10 is positioned in the second direction B, the battery module 11 is taken out from the side of the vehicle body 10 ; in other words, if the traditional centering clamping positioning assembly is used at this time, the battery module 11 will inevitably There is a spatial position conflict with the traditional centering clamping and positioning assembly; due to the simple function of the limiting assembly 221 in the present disclosure, the overall structure of the limiting assembly 221 can be optimized and its volume or height can be reduced, so that the limiting assembly 221 only It contacts the chassis of AGV1 and is staggered in height from the battery module 11 , which does not affect the removal of the battery module 11 from the side of the vehicle body 10 .
  • the above positioning mechanism 22 can also be applied to the AGV 1 in which the battery module 11 is taken out from the bottom of the vehicle body.
  • the side pushing assembly 220 includes a side pushing driving part 222 and a side pushing part 223 .
  • the side pusher 223 includes a first position and a second position.
  • the side push driving member 222 is used to drive the side push member 223 to reciprocate along the second direction B between the first position and the second position.
  • the side pusher 223 can cause the AGV1 to offset the limiting component 221 .
  • the side thrust driving member 222 may include a pneumatic cylinder, a hydraulic cylinder or a motor. This disclosure does not limit this.
  • the side thrust driving member 222 includes a motor, so that compared to pneumatic drive or hydraulic drive, the side thrust assembly 220 has a wider application range, higher walking accuracy, and more convenient adjustment.
  • the side thrust assembly 220 also includes a side thrust frame 230 and a ball screw (not shown), a side thrust shaft 229, a synchronous belt 228 and a linear bearing provided on the side thrust frame 230.
  • the linear bearing is used to ensure that the side thrust member 223 slides more smoothly on the side thrust shaft 229 without jamming.
  • the side push driving member 222 drives the ball screw to rotate through the synchronous belt 228, so that the side push member 223 reciprocates along the side push shaft 229 between the first position and the second position.
  • the stroke of the side pushing member 223 between the first position and the second position is 0-50 mm.
  • the side pusher 223 can, on the one hand, satisfy the position deviation adjustment of the AGV 1 on the carrying platform 20 in the second direction B, and on the other hand, it can also make the structure of the side push assembly 220 more compact.
  • the limiting assembly 221 includes a limiting driving member 224 and a limiting member 225 .
  • the limiting member 225 includes a third position and a fourth position.
  • the limiting driving member 224 is used to drive the limiting member 225 to reciprocate along the second direction B between the third position and the fourth position.
  • the limit driving member 224 may include a cylinder, a hydraulic cylinder, and a motor. This disclosure does not limit this.
  • the limiting component 221 can also include only the limiting component 225; if the limiting component 225 is fixed at the third position, it can also cooperate with the side push component 220 to position the AGV1.
  • the main function of the limiting driving member 224 in this disclosure is to drive the limiting member 225 to retract to the fourth position, thereby forming a certain distance between the limiting member 225 and the AGV 1 to prevent the AGV 1 from moving along the first direction A. , the contact between the limiting member 225 and the vehicle body 10 causes scratches on the vehicle body 10 .
  • the stroke of the limit member 225 between the third position and the fourth position is 0-10mm; that is, the stroke of the limit member 225 between the third position and the fourth position is smaller than the stroke of the side thrust member 223 between the first position and the second position, which is mainly determined by the respective functions of the limit assembly 221 and the side thrust assembly 220.
  • the limit drive member 224 includes a motor, so that compared to air source drive or hydraulic drive, the side thrust assembly 220 has a wider applicable range, higher walking accuracy, and more convenient adjustment.
  • the limiting assembly 221 also includes a trapezoidal screw rod (not shown), a limiting rotating shaft 232 and a linear bearing.
  • the linear bearing is used to ensure that the limiting member 225 slides more smoothly on the limiting rotating shaft 232 without jamming.
  • the limiting member 225 is installed on the trapezoidal screw rod, and the limiting driving member 224 rotates through the trapezoidal screw rod, so that the limiting member 225 reciprocates along the limiting axis between the third position and the fourth position.
  • the trapezoidal screw rod has self-locking characteristics.
  • the side push assembly 220 and the battery module 11 are located on the same side of AGV1. Therefore, the side push assembly 220 is smaller overall and only contacts the chassis on both sides of the driving wheels of AGV1, without affecting the Remove the battery from the side.
  • the limiting component 221 further includes a first sensor 233 .
  • the first sensor 233 is used to determine whether the AGV1 offsets the limiting member 225 .
  • AGV1 is in position normally, that is, when it offsets the limiter 225, the battery swapping station continues the next action.
  • AGV1 is not in position normally, that is, when there is a certain distance from the limiting member 225, the battery swap station stops operating.
  • the power supply mechanism 21 in this disclosure supplies power to the AGV1 in order to prevent the AGV1 from powering off and restarting after removing the battery, thereby preventing the subsequent control of the AGV1 from being troubled by the powering off and restarting. Therefore, when the AGV1 travels to the carrying platform 20 and is positioned in the first direction A, it will be connected with the power supply mechanism 21, thereby charging the AGV1. From the above positioning It can be seen from the process that after AGV1 completes the positioning in the first direction A, it still needs to complete the positioning in the second direction B. During the positioning process in the second direction B, AGV1 will also be displaced in the second direction B. Therefore, the power supply mechanism 21 in the present disclosure also needs to have movement space in the second direction B.
  • the power supply mechanism 21 includes a base 214 and a charging component 210 provided on the base 214 .
  • the charging assembly 210 includes a charging base 211 and an electrical connector 212 provided on the charging base 211 .
  • the charging assembly 210 can move in the plugging direction C.
  • the charging base 211 is slidably installed on the base 214, and the sliding direction D of the charging base 211 intersects with the plugging direction C.
  • the electrical connector 212 can follow the charging base 211 and slide along its sliding direction D, so that when the AGV1 moves laterally, the electrical connector 212 can still follow the AGV1 and prevent the electrical connector 212 from being separated from the AGV1, causing the AGV1 to move laterally. Power outage.
  • the plugging direction C refers to the direction in which the electrical connector 212 is docked with the corresponding electrical connection structure on AGV1.
  • the electrical connector 212 is connected with the corresponding electrical connection structure on AGV1.
  • the connector 212 itself is stationary, and the AGV1 moves toward the electrical connector 212 to achieve docking.
  • the plugging direction C can also be understood as the movement direction of the electrical connector 212 relative to the AGV1.
  • the AGV 1 moves toward the power supply mechanism 21 along the first direction A
  • the plugging direction C is the first direction A.
  • the electrical connection structure on AGV1 may include a charging coil that can cooperate with the electrical connector 212, and may also include a plug that can electrically connect with the electrical connector 212 or other structures that can electrically connect and charge the AGV1.
  • a charging coil that can cooperate with the electrical connector 212
  • a plug that can electrically connect with the electrical connector 212 or other structures that can electrically connect and charge the AGV1.
  • the sliding direction D of the charging stand 211 is perpendicular to the plugging direction C. That is, the sliding direction D of the charging stand 211 is the second direction B.
  • Such an arrangement can prevent the electrical connector 212 itself from being displaced in the plugging direction C during the sliding process of the charging base 211, which affects the stability of the cooperation between the electrical connector 212 and AGV1.
  • the sliding direction D of the charging base 211 may not be perpendicular to the insertion direction C, as long as the electrical connector 212 itself can reciprocate along the insertion direction C, and the elastic member ensures that the electrical connector 212 is in the insertion direction C. It only needs to be connected to AGV1 within a certain range of travel.
  • the power supply mechanism 21 further includes a second connecting shaft 215 provided on the base 214 .
  • the charging base 211 is sleeved on the second connecting shaft 215 and can slide on the second connecting shaft 215 .
  • a linear bearing may be provided between the charging base 211 and the second connecting shaft 215.
  • a larger gap can be left between the charging base 211 and the second connecting shaft 215, and a matching structure of a guide rail and a slide groove can also be provided.
  • the power supply mechanism 21 further includes a second guide rail 217 and a second slide groove (not shown) that are slidably fitted.
  • One of the second guide rail 217 and the second slide groove is provided on the charging base 211
  • the other of the second guide rail 217 and the second slide groove is provided on the base 214 .
  • the charging base 211 is a U-shaped plate structure with a small volume and thickness
  • the second guide rail 217 is fixedly connected to the charging base 211
  • the second chute is provided on the base 214 .
  • the power supply mechanism 21 also includes a second reset member 213 .
  • the charging base 211 also has a starting position. When the charging base 211 is at the starting position, the power supply mechanism 21 can complete charging docking with the AGV1. When the charging base 211 deviates from the starting position, the second reset member 213 exerts force on the charging base 211 to drive the charging base 211 to return to the starting position.
  • the AGV1 drives out of the carrying platform 20, that is, the AGV1 is separated from the electrical connector 212, and the charging base 211 returns to the starting position under the action of the second reset member 213, thereby facilitating the docking of the next AGV1. .
  • the second return member 213 includes at least two second spring members sleeved on the second connecting shaft 215 . At least two second spring members are respectively located on both sides of the charging base 211 . One end of the second spring member is fixed to the charging base 211, and the other end of the second spring member is fixed to the base 214. With such an arrangement, no matter whether the charging base 211 deviates toward the second direction B or away from the second direction B, it can return to the starting position after the AGV 1 is separated from the electrical connector 212 .
  • the charging assembly 210 further includes a guide post 218 and a third spring member 216 sleeved on the guide post 218 .
  • the guide post 218 is slidably installed on the charging base 211 along the horizontal insertion direction C, that is, the first direction A.
  • the third spring member 216 is disposed in contact between the electrical connector 212 and the charging base 211 . In this way, on the one hand, it is ensured that the power supply mechanism 21 can adapt to the displacement of AGV1 in the first direction A during the power supply process.
  • the docking between the electrical connector 212 and the AGV1 is a flexible docking, and under the action of the third spring member 216, it can always remain docked with the electrical connection structure of the AGV1, thereby preventing the AGV1 from being powered off.
  • the positioning mechanism 22 and the power supply mechanism 21 in the carrying device 2 are used in conjunction with each other.
  • the positioning mechanism 22 and the power supply mechanism 21 can also be used independently.
  • the positioning mechanism 22 is not only suitable for positioning electric vehicles, but can also be suitable for positioning any other movable objects.
  • the power supply mechanism 21 is not only suitable for the battery module 11 located in The power supply for electric vehicles on the side can also be applied to the power supply for electric vehicles with the battery module 11 located at the bottom or the top, and can even be used for power supply for any other object with the battery module 11 . This disclosure does not impose any limitations on this.
  • the power exchange device 3 will be introduced in detail below.
  • the power exchange device 3 includes a housing 36 and a frame 30 located in the housing 36 , a battery compartment 31 and a power exchange mechanism 32 .
  • the power exchange mechanism 32 and the battery compartment 31 are both arranged on the frame 30 .
  • the battery compartment 31 is used to store the battery module 11 .
  • the battery replacement mechanism 32 is used to take out the battery module 11 to be charged from the side of the vehicle body 10 and assemble it in the battery compartment 31 , and to take out the charged battery module 11 from the battery compartment 31 and assemble it in the vehicle body 10 . side.
  • the battery swapping mechanism 32 can directly take out or assemble the battery module 11 from the side of the vehicle body 10 , thereby reducing the number of battery swapping steps, improving the battery swapping efficiency, and saving battery swapping time.
  • the power exchange mechanism 32 includes a mounting plate 320 and a connection component 321 provided on the mounting plate 320 .
  • the battery module 11 includes a first side wall 110 and a connecting portion 111 provided on the first side wall 110 .
  • the connecting component 321 can establish a connection with the connecting portion 111 for pulling the battery module 11 to take out the battery module 11 .
  • connection component 321 can be disconnected from the connection portion 111 , thereby facilitating the separation of the connection component 321 from the battery module 11 and preventing the connection component 321 from being pulled when it retracts.
  • Battery module 11 When the battery module 11 needs to be assembled into the vehicle body 10 or the battery compartment 31 , the connection component 321 can be disconnected from the connection portion 111 , thereby facilitating the separation of the connection component 321 from the battery module 11 and preventing the connection component 321 from being pulled when it retracts. Battery module 11.
  • connection assembly 321 includes a first driving member 322 and a connection member 323.
  • the connector 323 includes a first state for establishing connection with the connection part 111 and a second state for disconnecting with the battery module 11 .
  • the first driving member 322 is used to drive the connecting member 323 to switch between the first state and the second state.
  • the first driving member 322 can switch between the first state and the second state in a rotational manner, a linear motion manner, or an unfolding and retracting manner through the driving connecting piece 323. This disclosure does not limit this.
  • connection portion 111 may include holes, hooks, or other structures. This disclosure does not limit this.
  • the connecting portion 111 includes a hook provided on the first side wall 110 .
  • the first driving member 322 drives the connecting member 323 to move downward to hang on the hook, thereby switching the connecting member 323 from the second state to the first state.
  • the connecting member 323 has a plate-like structure, and the connecting portion 111 has a long hole structure that matches the connecting member 323 .
  • the connecting piece 323 is in the second vertically placed state. At this time, the connecting piece 323 can smoothly move into and out of the long hole structure.
  • the connecting member 323 rotates 90° to the first state under the action of the first driving member 322.
  • the connecting member 323 cannot move in and out of the long hole structure.
  • a connection is established with the connecting portion 111 , so that the battery module 11 can be pulled.
  • the connecting member 323 when the connecting member 323 extends into the elongated hole structure, it can also switch from the second state with a smaller area to the first state with a larger area.
  • connection assembly 321 further includes a connection seat 324 disposed between the first driving member 322 and the connection member 323 .
  • the first driving member 322 drives the connecting seat 324 to rotate, thereby driving the connecting member 323 to rotate.
  • the connection assembly 321 further includes at least one second gear member 345 , and the second gear member 345 is disposed between the first driving member 322 and the connection base 324 .
  • the first driving member 322 includes a motor. The first driving member 322 drives the connecting base 324 to rotate through the second gear member 345, thereby causing the connecting member 323 to switch between the first state and the second state.
  • the battery replacement mechanism 32 also includes a push-pull rod 325 arranged on the connecting seat 324 and a pusher 326 fixedly arranged on the push-pull rod 325.
  • the connector 323 is located at one end of the push-pull rod 325, and the pusher 326 is located between the connector 323 and the connecting seat 324.
  • the power exchange mechanism 32 further includes a buffer component 327 .
  • the buffer component 327 is used to buffer the contact between the connecting member 323 or the pushing member 326 and the battery module 11 . That is, the buffer component 327 can make the contact between the connecting member 323 or the pushing member 326 and the battery module 11 a flexible contact.
  • the buffer assembly 327 includes a fixed sleeve 328 fixedly installed on the push-pull rod 325 and two first spring members 329 sleeved and installed on the push-pull rod 325 . The two first spring members 329 are respectively located on the fixed sleeve 328. both sides.
  • One end of the first spring member 329 is connected to the fixed sleeve 328 , and the other end is connected to the connecting seat 324 .
  • connection component 321 also includes a second sensor.
  • the second sensor is used to determine whether the connection component 321 is close to the battery module 11 .
  • the second sensor may include a proximity sensor for sensing metal; the material of the battery module 11 in this disclosure includes iron; when the pushing member 326 or the connecting member 323 moves a fixed distance, the second sensor is theoretically close to the battery. Module 11;
  • the power exchange mechanism 32 continues the next action, that is, the power exchange mechanism 32 pulls the battery module 11 out of the vehicle body 10 or the battery compartment.
  • the power exchange mechanism 32 stops operating, that is, the connecting member 323 and the pushing member 326 no longer move, and an alarm is issued.
  • the AGV1 car is parked on the carrying device 2, and the carrying device 2 and the power exchange mechanism 32 are two independent mechanisms. Even if the two are aligned first, there will still be assembly errors.
  • the battery replacement mechanism 32 needs to send the battery module 11 to the battery compartment 31 for charging, which requires high accuracy. If position alignment is not performed, the battery module 11 cannot be sent to the battery compartment 31 or cannot be charged in the battery compartment 31 . Therefore, continuing to refer to FIGS. 9 and 10 , the power exchange mechanism 32 further includes an alignment component 331 provided on the mounting plate 320 and a first rail 344 for sliding the battery module 11 .
  • the alignment component 331 is located between the carrying device 2 and the first rail 344 and is used to enable the battery module 11 to be aligned with the first rail 344 .
  • the alignment assembly 331 is provided so that the battery module 11 is gradually aligned with the first rail 344 during the sliding process, thereby being able to enter the first rail 344 .
  • the first rail 344 and the battery compartment 31 are located in the same device, they can share the same reference, that is, the first rail 344 can be aligned with the battery compartment 31, and when the battery module 11 can enter the first rail 344, it can also enter. Battery compartment 31.
  • the alignment assembly 331 includes a first reset member 333 and a second track 334 for sliding the battery module 11 .
  • the second rail 334 is slidably mounted on the mounting plate 320 .
  • the second track 334 includes an initial position aligned with the first track 344 .
  • the first reset member 333 is used to drive the second rail 334 to return to the initial position. Due to assembly errors between the carrying device 2 and the power exchange device 3 , even if the AGV 1 is positioned on the carrying device 2 , it is only roughly positioned to ensure that the battery module 11 can enter the second track 334 .
  • a bell mouth may be provided at the entrance of the second rail 334, or the battery module 11 may be provided with a guide structure, such as chamfers or rounded corners.
  • the second rail 334 will be prompted to move laterally.
  • the second rail 334 will return to the initial position under the action of the first reset member 333 , so that the battery module 11 can be aligned with the first rail 344 .
  • the shape of the battery module 11 will be diverse.
  • the AGV 1 also includes a guide plate (not shown) installed on the first bottom wall 112 .
  • the guide plate is used to cooperate with the first rail 344 and the alignment assembly 331 .
  • different battery modules 11 can be equipped with the same guide plate, thereby ensuring local consistency and allowing the power exchange mechanism 32 to adapt to battery modules 11 of different shapes.
  • the guide plate is a rectangular plate, and four corners of the guide plate are chamfered or rounded to facilitate the guide plate to enter the first track 344 and the second track 334 .
  • the second track 334 includes a second bottom wall and second side walls disposed on both sides of the bottom wall.
  • the second bottom wall includes a sliding block
  • the second side wall includes a plurality of guide bearings 335 spaced apart along the extension direction of the second track 334 .
  • the slider forms the second bottom wall of the second track 334 .
  • a plurality of guide bearings 335 distributed on both sides of the slider form the second side wall of the second track 334 .
  • the alignment assembly 331 further includes a first support fixedly mounted on the mounting plate 320 and a first connecting shaft 336 disposed on the first support.
  • the second track 334 is sleeved on the first connecting shaft 336 and can slide on the first connecting shaft 336 .
  • a linear bearing may be provided between the slider of the second track 334 and the first connecting shaft 336 .
  • a larger gap can be left between the sliding block and the first connecting shaft 336, and a matching structure of the guide rail and the slide groove can be provided.
  • the alignment assembly 331 also includes a first guide rail 337 and a first slide groove 338 that are slidably matched.
  • One of the first guide rail 337 and the first slide groove 338 is disposed on the second track 334
  • the other of the first guide rail 337 and the first slide groove 338 is disposed on the mounting plate 320 .
  • the first return member 333 includes at least two fifth spring members sleeved on the first connecting shaft 336 . At least two fifth spring members are located on both sides of the second track 334 respectively. One end of the fifth spring member is fixed on the first support, and the other end of the fifth spring member is fixed on the second rail 334 . By being arranged in this way, no matter whether the second rail 334 deviates toward the first direction A or deviates away from the first direction A, the second rail 334 can return after the battery module 11 is completely separated from the vehicle body 10 . initial position.
  • the alignment assembly 331 in the present disclosure is not only suitable for taking out the battery module 11 from the side of the vehicle body 10, but also It is also suitable for taking out the battery module 11 from the bottom or the upper part of the vehicle body 10, and for any other objects that need to adjust their position during the sliding process.
  • the structure of the first track 344 is the same as the structure of the second track 334 .
  • the structure of the first rail 344 may not be the same as the structure of the second rail 334 , as long as it can have the function of sliding and guiding the battery module 11 . This disclosure does not limit this.
  • the power exchange mechanism 32 further includes first pulley groups 332 sequentially distributed along the sliding direction of the battery module 11 .
  • the battery module 11 includes a first bottom wall 112 .
  • the first pulley group 332 is used to contact the first bottom wall 112 to reduce the sliding resistance of the battery module 11 .
  • the power exchange mechanism 32 includes two sets of first pulley sets 332 . Two sets of first pulley sets 332 are respectively located on both sides of the alignment assembly 331 . With such an arrangement, the width of the mounting plate 320 in the first direction A is only slightly larger than the width of the battery module 11 in the first direction A, and the structure of the power exchange mechanism 32 is more compact.
  • the power exchange mechanism 32 further includes a driving component.
  • the driving assembly is at least partially installed on the mounting plate 320 and is used to drive the connecting assembly 321 to move between the vehicle body 10 and the battery compartment 31 .
  • the driving assembly includes a second driving member 340 disposed on the mounting plate 320 .
  • the connecting component 321 is slidably mounted on the mounting plate 320 .
  • the second driving member 340 is used to drive the connecting component 321 to reciprocate on the mounting plate 320, thereby driving the battery module 11 to move out and into the battery compartment 31 or the vehicle body 10.
  • the driving assembly also includes a linear module, and the second driving member 340 includes a motor. The second driving member 340 drives the connecting component 321 to reciprocate through the linear module.
  • the driving assembly further includes a third driving member 341 .
  • the mounting plate 320 includes a third state in which the connecting component 321 faces the carrying device 2 and a fourth state in which the connecting component 321 faces the battery compartment 31 .
  • the third driving member 341 is used to drive the mounting plate 320 to switch between the third state and the fourth state.
  • the second driving member 340 is used to drive the connection assembly 321 to drive the battery module 11 to move out and into the vehicle body 10 .
  • the second driving member 340 is used to drive the connection assembly 321 to drive the battery module 11 to move out and into the battery compartment 31 .
  • the driving assembly also includes a plurality of third gear members (not shown), the third driving member 341 includes a motor, and the third driving member 341 drives the mounting plate 320 to reciprocate through the plurality of third gear members to rotate in the third state and Switch between the fourth states.
  • the power exchange mechanism 32 also includes an installation bracket 343 movably installed on the rack 30 .
  • the third driving member 341 is provided on the mounting bracket 343 .
  • the drive assembly also includes a fourth drive member 342 .
  • the fourth driving member 342 is used to drive the mounting bracket 343 to reciprocate longitudinally along the frame 30 .
  • the drive assembly also includes a sprocket 346 and a chain 347 .
  • the chain 347 is connected between the mounting bracket 343 and the sprocket 346 .
  • the fourth driving member 342 includes a motor. The fourth driving member 342 rotates through the driving sprocket 346, thereby driving the mounting bracket 343 to reciprocate along the longitudinal direction of the frame 30 through the chain 347.
  • the battery replacement mechanism 32 can deliver the battery module 11 to any position on the rack 30, and the structure is simple and compact.
  • the battery compartment 31 includes an empty first workstation 310 and a second workstation 312 for storing the battery module 11 .
  • the battery swapping mechanism 32 is used to take out the battery module 11 to be charged from the side of the vehicle body 10 and assemble it in the first station 310 . and used to take out the charged battery module 11 from the second station 312 and assemble it on the side of the vehicle body 10 .
  • the replacement of the battery module 11 of the AGV1 can be completed very quickly.
  • the battery compartment 31 includes two rows of workstations arranged longitudinally to reduce the space occupied by the power replacement device 3 .
  • longitudinal arrangement refers to being arranged up and down along the frame 30 .
  • the power exchange mechanism 32 is located between the two rows of workstations.
  • One row of workstations includes a plurality of longitudinally arranged second workstations 312 and a first workstation 310 .
  • the first workstation 310 is located at the bottom end, that is, the position closest to the carrying device 2 or the vehicle body 10 .
  • Another row of workstations includes a plurality of second workstations 312 arranged longitudinally.
  • the battery module 11 can be stored in the first station 310 by simply completing the plane movement.
  • the connection component 321 in the battery module 32 The stroke is short and the movement trajectory is simple, thereby improving the replacement efficiency of the battery module 11 and reducing the replacement time of the battery module 11.
  • the battery compartment 31 may also include two rows of transversely arranged workstations.
  • the horizontal arrangement means that the first workstation and the plurality of second workstations are arranged sequentially along the second direction B.
  • the power exchange mechanism 32 is still located between the two rows of workstations.
  • One row of workstations includes a plurality of transversely arranged second workstations 312 and a first workstation 310 .
  • the first workstation 310 is located at one end close to the carrying device 2 or the vehicle body 10 .
  • Another row of workstations includes a plurality of second workstations 312 arranged laterally.
  • the structures of the first workstation 310 and the second workstation 312 are mostly the same. However, considering that the first workstation 310 is mainly used for temporarily storing the battery module 11 , the second workstation 312 is used for long-term storage and charging of the battery module 11 . Therefore, compared with the first workstation 310, the second workstation 312 is also provided with a charging structure. As shown in Figure 15-18.
  • the first workstation 310 and/or the second workstation 312 includes a base plate 319 and a third slide rail 315, a second pulley group 316, a limiting block 314 and a third sensor 313 provided on the base plate 319.
  • the charging structure is provided on the bottom plate 319 and includes a charging head 317 and a charger 318 .
  • the structure of the third slide rail 315 is the same as that of the second rail 334 .
  • the structure of the third slide rail 315 can also be different from the structure of the second rail 334, as long as it can have the function of sliding and guiding the battery module 11. Can. This disclosure does not limit this.
  • the function of the second pulley set 316 is the same as that of the first pulley set 332, and its basic structure is the same as that of the first pulley set 332. Only its arrangement is different from that of the first pulley set 332. No further details will be given here.
  • the limiting block 314 is used to limit the maximum moving distance of the battery module 11 to avoid damage to the battery module 11, the charging head 317 and the charger 318 due to the long moving distance of the battery module 11.
  • the third sensor 313 is mainly used to determine whether the battery module 11 reaches the designated position of the first work station 310 or the second work station 312 .
  • the third sensor 313 may include an optical sensor, a pressure sensor or a camera, which will not be described in detail here.
  • the power swap station for AGV1 provided in this embodiment has many advantages such as saving power swap time, improving the working efficiency of AGV1, fast battery module 11 replacement, high precision, and high degree of automation.
  • Another embodiment of the present disclosure also provides a method for replacing the battery module 11.
  • This method can be implemented by the above-mentioned battery replacement station of AGV1, or can also be implemented by other equipment.
  • the replacement method of the battery module 11 includes steps S10 to S50.
  • the power exchange mechanism 32 moves to the side of AGV1.
  • the power exchange mechanism 32 is connected to the battery module 11 to be charged on the AGV1.
  • the power replacement mechanism 32 places the charged battery module 11 on the side of the AGV1.
  • S50 Move the charged battery module 11 relative to the AGV 1 so that the charged battery module 11 is placed in the battery module 11 assembly area.
  • the original battery module 11 in a power-deficient state on the AGV1 can be removed, and a new fully-charged battery module 11 can be replaced in the AGV1, thus completing the entire replacement process of the battery module 11.
  • this method of replacing the battery can save a lot of time.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

La présente invention concerne une station d'échange de batterie comprenant un dispositif de transport (2) et un dispositif d'échange de batterie (3). Le dispositif de transport (2) est utilisé pour transporter un véhicule électrique (1) ; le véhicule électrique (1) comprend une carrosserie de véhicule (10) et un module de batterie (11) disposé sur la carrosserie de véhicule (10) ; le dispositif d'échange de batterie (3) comprend un bâti (30) et un compartiment de batterie (31) et un mécanisme d'échange de batterie (32) qui sont disposés sur le bâti ; le compartiment de batterie (31) comprend un premier poste de travail (310) et un ou plusieurs seconds postes de travail (312) et est utilisé pour stocker le module de batterie (11) ; et le mécanisme d'échange de batterie (32) est utilisé pour retirer, du côté de la carrosserie de véhicule (10), le module de batterie (11) à charger et pour l'assembler au compartiment de batterie (31), et est utilisé pour retirer le module de batterie chargé (11) du compartiment de batterie (31) et l'assembler au côté du corps de véhicule (10). Selon la station d'échange de batterie, le module de batterie (11) peut être directement retiré/assemblé sur le côté de la carrosserie de véhicule (10), et le véhicule électrique (1) n'a pas besoin d'être soulevé au moyen du dispositif de transport (2), de telle sorte que les étapes d'échange de batterie sont réduites, l'efficacité d'échange de batterie est améliorée, et le temps d'échange de batterie est économisé.
PCT/CN2023/117648 2022-09-23 2023-09-08 Station d'échange de batterie WO2024061022A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
CN202222530255.1U CN218112407U (zh) 2022-09-23 2022-09-23 定位机构、承载装置和换电站
CN202222536994.1 2022-09-23
CN202222530276.3 2022-09-23
CN202222530276.3U CN218112408U (zh) 2022-09-23 2022-09-23 换电机构、换电装置和换电站
CN202222530255.1 2022-09-23
CN202222536994.1U CN218112409U (zh) 2022-09-23 2022-09-23 换电站

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WO2024061022A1 true WO2024061022A1 (fr) 2024-03-28

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CN112208372A (zh) * 2019-07-10 2021-01-12 北京京东乾石科技有限公司 一种充电桩及其充电设备
CN112455275A (zh) * 2019-09-06 2021-03-09 杭州海康机器人技术有限公司 Agv的定位机构及定位方法
CN113665414A (zh) * 2020-05-15 2021-11-19 奥动新能源汽车科技有限公司 电池包取出控制方法和电池包安装控制方法
CN213753263U (zh) * 2020-09-15 2021-07-20 浙江华睿科技有限公司 自动充电对接机构及充电桩
CN215097114U (zh) * 2020-09-30 2021-12-10 湖南长峰重工科技有限公司 一种商用车与乘用车的两用换电站
CN214166224U (zh) * 2020-12-04 2021-09-10 东风专用设备科技有限公司 一种agv辊道对接校正装置
CN113199930A (zh) * 2021-05-25 2021-08-03 东风柳州汽车有限公司 一种锁止机构及电动汽车
CN217259664U (zh) * 2022-03-18 2022-08-23 青岛联合新能源汽车有限公司 电池仓及自动换电电动汽车
CN218112408U (zh) * 2022-09-23 2022-12-23 杭州海康机器人股份有限公司 换电机构、换电装置和换电站
CN218112409U (zh) * 2022-09-23 2022-12-23 杭州海康机器人股份有限公司 换电站
CN218112407U (zh) * 2022-09-23 2022-12-23 杭州海康机器人股份有限公司 定位机构、承载装置和换电站

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