WO2025103136A1 - 车辆换电装置及换电系统 - Google Patents

车辆换电装置及换电系统 Download PDF

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Publication number
WO2025103136A1
WO2025103136A1 PCT/CN2024/128115 CN2024128115W WO2025103136A1 WO 2025103136 A1 WO2025103136 A1 WO 2025103136A1 CN 2024128115 W CN2024128115 W CN 2024128115W WO 2025103136 A1 WO2025103136 A1 WO 2025103136A1
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WO
WIPO (PCT)
Prior art keywords
lifting
locking
support platform
support
battery replacement
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
PCT/CN2024/128115
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English (en)
French (fr)
Inventor
吴凯
产利兵
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Contemporary Amperex Technology Co Ltd
Original Assignee
Contemporary Amperex Technology Co Ltd
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Filing date
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Application filed by Contemporary Amperex Technology Co Ltd filed Critical Contemporary Amperex Technology Co Ltd
Publication of WO2025103136A1 publication Critical patent/WO2025103136A1/zh
Anticipated expiration legal-status Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the present disclosure relates to the field of vehicle battery replacement, and in particular to a vehicle battery replacement device and a battery replacement system.
  • Secondary batteries especially lithium-ion batteries, have the advantages of high voltage, high specific energy, long cycle life, green and pollution-free, wide operating temperature range and low self-discharge. They are widely used in the power equipment of new energy electric vehicles and are of great significance to solving human environmental pollution and energy crisis.
  • a vehicle battery replacement device for replacing a battery assembly of a vehicle, comprising: a frame; a support platform, arranged on the frame and configured to support a battery assembly to be installed or removed; a lifting mechanism, arranged on the frame and operably connected to the support platform, configured to drive the support platform to rise and fall; and a plurality of locking and unlocking mechanisms, arranged on the support platform, for achieving locking or unlocking of the battery assembly relative to the vehicle; wherein the plurality of locking and unlocking mechanisms are arranged at intervals on the supporting surface of the support platform, and the plurality of locking and unlocking mechanisms include at least two groups of locking and unlocking mechanisms, and the control of each group of locking and unlocking mechanisms is independent of each other.
  • a plurality of locking and unlocking mechanisms are arranged on a support platform driven by a lifting mechanism, and the plurality of locking and unlocking mechanisms are arranged at intervals on the support platform, and the plurality of locking and unlocking mechanisms include at least two groups that are independent of each other in control.
  • some or all of the at least two sets of locking and unlocking mechanisms have a locking and unlocking mechanism. mechanism.
  • each group of locking and unlocking mechanisms By making part or all of each group of locking and unlocking mechanisms have one locking and unlocking mechanism, more locking and unlocking mechanisms can be controlled independently, which can improve the adaptability of locking and unlocking operations for battery assemblies in different combinations.
  • the support platform includes at least two support plates
  • the lifting mechanism includes at least two groups of lifting components.
  • the at least two groups of lifting components correspond one-to-one to the at least two support plates and are operably connected, and the control of each group of lifting components is linked or independent of each other.
  • the distance between each support plate and the site can be adjusted according to the inclination angle between the chassis of the vehicle to be replaced and the site or the installation height of each battery assembly to achieve normal replacement of the battery.
  • it can also be applied to the battery replacement needs of some vehicles that use multiple battery assemblies arranged at different installation heights or battery assemblies arranged at an angle.
  • the at least two support plates are arranged along a first direction, and a part and another part of each group of lifting components are respectively located on the outer sides of the support plates corresponding to the lifting components at opposite ends in a second direction, and the first direction is perpendicular to the second direction, and the first direction and the second direction are both perpendicular to the lifting direction of the support platform.
  • the support plates can be arranged more compactly, reducing the space occupied and mutual interference between the lifting assembly and the support plates in the first direction, and facilitating stable lifting of the support plates.
  • control of each lifting assembly in each group of lifting assemblies is linked or independent of each other.
  • some or all of the lifting assemblies can be selectively raised or lowered to the same or different heights, thereby more flexibly adjusting the inclination angle of the support plate relative to the site to meet the battery replacement needs of different inclination angles between the chassis of the vehicle to be replaced and the site, or different inclined battery layout angles of the vehicle.
  • control of each group of lifting components can also be linked, which is helpful to simplify the control logic and reduce the control difficulty.
  • the plurality of locking and unlocking mechanisms are distributed on two opposite sides of each support plate along the first direction.
  • each locking and unlocking mechanism By distributing the locking and unlocking mechanisms on the opposite sides of the support plates along the arrangement direction of the multiple support plates, each locking and unlocking mechanism will not interfere with the lifting components located on the outer sides of the two ends in the second direction, and it is also convenient to arrange, disassemble and replace the locking and unlocking mechanisms.
  • the locking and unlocking mechanisms located on the same side are arranged at intervals along the second direction.
  • the locking and unlocking mechanisms located on the same side, they are arranged at intervals along the second direction, so that multi-point locking of the battery or locking of multiple batteries can be achieved in the second direction, meeting the locking and unlocking requirements of battery assemblies in different combinations.
  • the lifting mechanism includes at least two groups of lifting components, and at least one of the at least two groups of lifting components includes: a linear telescopic actuator, which is arranged on the bottom surface of the frame and is configured to drive the support table to move along a third direction, and the third direction is parallel to the lifting direction of the support table; and a lifting member, having a supporting end for supporting the support table and a connecting end connected to the driving end of the linear telescopic actuator, wherein the connecting end is located on the side of the supporting end away from the bottom surface of the frame.
  • a linear telescopic actuator which is arranged on the bottom surface of the frame and is configured to drive the support table to move along a third direction, and the third direction is parallel to the lifting direction of the support table
  • a lifting member having a supporting end for supporting the support table and a connecting end connected to the driving end of the linear telescopic actuator, wherein the connecting end is located on the side of the supporting end away from the bottom surface of the frame.
  • the lifting assembly uses a linear telescopic actuator and a lifting member to drive the support table to move up and down.
  • the lifting member adjusts the height position of the support table it supports under the linear drive of the driving end of the linear telescopic actuator. This helps to place the battery in a lower support position, allowing a larger lifting distance to meet the battery replacement needs of vehicles with lower chassis.
  • the linear telescopic actuator includes: a rigid chain mechanism, having a shell and a rigid chain arranged on the shell, the end of the rigid chain is fixedly connected to the connecting end; a motor, drivingly connected to the rigid chain mechanism and configured to drive the rigid chain to move relative to the shell; and a telescopic arm, connected to both the shell and the connecting end, and sleeved on the outside of the rigid chain.
  • the use of a rigid chain mechanism can achieve a more compact structure while obtaining higher control accuracy, occupying less space, and the telescopic arm sleeve on the outside of the rigid chain can protect the operation of the rigid chain to reduce the adverse effects of lateral forces on the rigid chain.
  • the motor comprises a servo motor.
  • a servo motor to drive the rigid chain mechanism can achieve more precise control effects and higher transmission efficiency in conjunction with a rigid chain with higher precision.
  • the driving end of the linear telescopic actuator has a first working position
  • the lifting member is configured so that when the driving end of the linear telescopic actuator is in the first working position, the distance between the connecting end and the bottom surface of the frame in the third direction is not higher than the height of the frame in the third direction.
  • the overall height of the lifting assembly can be lower when the linear telescopic actuator is in the retracted position, thereby making it easier to enter the lower side of a vehicle with a lower chassis for battery replacement.
  • the frame has a battery support seat, and the battery support seat is configured to support the support platform when the driving end of the linear telescopic actuator is in the first working position so that the support end is out of contact with the support platform.
  • a battery support seat is arranged on the frame, and when the driving end of the linear telescopic actuator is in the first working position, the battery support seat supports the support platform, so that the support end is out of contact with the support platform. In this way, the support platform can obtain a more stable supporting effect, reduce the loss of the lifting component, and make the lifting mechanism less susceptible to lateral forces.
  • the driving end of the linear telescopic actuator also has a second working position
  • the lifting member is configured so that when the driving end of the linear telescopic actuator is in the second working position, the distance between the connecting end and the bottom surface of the frame in the third direction is not less than twice the height of the frame in the third direction.
  • the distance between the connecting end of the lifting member and the bottom surface of the frame in the third direction is not less than twice the height of the frame in the third direction, which allows the support platform to achieve a larger lifting range and meet the battery replacement needs in a larger chassis height range.
  • the vehicle battery replacement device also includes: a floating mechanism, located at the connection position between the lifting mechanism and the support platform, and configured to move the support platform relative to the lifting mechanism in at least one direction perpendicular to the lifting direction of the support platform.
  • a floating mechanism is provided at the connection position between the lifting mechanism and the support platform so that the locking and unlocking mechanism can be relieved of the force in a direction parallel to the supporting surface of the support platform during installation or use through the floating mechanism, thereby reducing the risk of damage to the locking and unlocking mechanism due to force caused by installation or operation errors.
  • the floating mechanism includes a universal ball bearing, and the universal ball bearing is located between the lifting mechanism and the opposing surfaces of the support table in the lifting direction of the support table.
  • the floating mechanism adopts a universal ball bearing to achieve the floating effect while allowing the support platform to be separated from the lifting mechanism in the lifting direction, which is convenient for disassembly and replacement, and the floating mechanism has a more compact structure.
  • the vehicle battery replacement device also includes: a steering wheel assembly, which is arranged on the frame.
  • the steering wheel assembly is used to realize the movement of the vehicle battery replacement device, which can facilitate translation and steering.
  • a battery replacement system comprising the aforementioned vehicle battery replacement device.
  • a battery replacement system that uses the aforementioned vehicle battery replacement device can improve the adaptability of battery replacement.
  • FIG1 is a schematic diagram of a battery replacement scenario according to some embodiments of a vehicle battery replacement device of the present disclosure
  • FIG2 is a schematic diagram of the installation structure of some embodiments of the vehicle battery replacement device according to the present disclosure.
  • FIG3 is a schematic structural diagram of some embodiments of the vehicle battery replacement device according to the present disclosure without the frame;
  • FIG4 is a schematic diagram of the structure of the embodiment shown in FIG2 from a top view
  • FIG5 is a schematic diagram of the structure of the embodiment shown in FIG3 from a top view
  • FIG6 is an enlarged schematic diagram of the position corresponding to circle A in FIG3 ;
  • FIG. 7 is a schematic diagram of the structure of some embodiments of the vehicle battery replacement device according to the present disclosure, when the driving end of the linear telescopic actuator is located at the second working position from a front view angle;
  • FIG8 is a schematic diagram of the structure of some embodiments of the vehicle battery replacement device according to the present disclosure, when the driving end of the linear telescopic actuator is located at the first working position from a front view angle;
  • FIG9 is an enlarged schematic diagram of the position corresponding to circle B in FIG3 ;
  • FIG. 10 is an enlarged schematic diagram of the position corresponding to circle C in FIG. 6 .
  • the battery mentioned in the embodiments of the present disclosure refers to a single physical module including one or more battery cells to provide higher voltage and capacity.
  • the battery may be a battery module.
  • the multiple battery cells are arranged and fixed to form a battery module.
  • the battery module may include multiple battery cells connected in series, in parallel, or in mixed connection.
  • the battery may be a battery pack, which includes a case and battery cells, wherein the battery cells or battery modules are accommodated in the case.
  • the battery cell may be a secondary battery.
  • a secondary battery is a battery cell that is A battery cell that can be used continuously by recharging the active material.
  • the battery cell can be a lithium ion battery, a sodium ion battery, a sodium lithium ion battery, a lithium metal battery, a sodium metal battery, a lithium sulfur battery, a magnesium ion battery, a nickel hydrogen battery, a nickel cadmium battery, a lead storage battery, etc., which is not limited in the embodiments of the present application.
  • the battery cell includes an electrode assembly.
  • the electrode assembly includes a first pole piece and a second pole piece with opposite polarities, and also includes a separator disposed between the first pole piece and the second pole piece.
  • the first pole piece is a positive pole piece
  • the second pole piece is a negative pole piece.
  • the first pole piece is a negative pole piece
  • the second pole piece is a positive pole piece.
  • active ions such as lithium ions
  • the separator is disposed between the positive pole piece and the negative pole piece, which can prevent the positive and negative poles from short-circuiting, while allowing active ions to pass through.
  • the positive electrode sheet may include a positive electrode current collector substrate and a positive electrode active material layer disposed on at least one surface of the positive electrode current collector substrate.
  • the positive electrode current collector substrate has two surfaces facing each other in its thickness direction, and the positive electrode active material layer is disposed on any one or both of the two facing surfaces of the positive electrode current collector substrate.
  • the positive electrode current collector substrate may be a metal foil or a composite current collector.
  • the metal foil aluminum or stainless steel, stainless steel, copper, aluminum, nickel, carbon electrode, carbon, nickel or titanium, etc., treated with silver surface, may be used.
  • the composite current collector may include a polymer material base layer and a metal layer.
  • the composite current collector may be formed by placing a metal material (aluminum, aluminum alloy, nickel, nickel alloy, titanium, titanium alloy, silver and silver alloy, etc.) on a polymer material substrate (such as a substrate of polypropylene, polyethylene terephthalate, polybutylene terephthalate, polystyrene, polyethylene, etc.).
  • the positive electrode active material layer may include at least one of the following materials: lithium-containing phosphates, lithium transition metal oxides, and their respective modified compounds.
  • the present disclosure is not limited to these materials, and other traditional materials that can be used as positive electrode active material layers of batteries may also be used.
  • These positive electrode active material layers may be used alone or in combination of two or more.
  • examples of lithium-containing phosphates may include, but are not limited to, at least one of lithium iron phosphate, a composite material of lithium iron phosphate and carbon, lithium manganese phosphate, a composite material of lithium manganese phosphate and carbon, lithium iron manganese phosphate, and a composite material of lithium iron manganese phosphate and carbon.
  • lithium transition metal oxides may include, but are not limited to, at least one of lithium cobalt oxide, lithium nickel oxide, lithium manganese oxide, lithium nickel cobalt oxide, lithium manganese cobalt oxide, lithium nickel manganese oxide, lithium nickel cobalt manganese oxide, lithium nickel cobalt aluminum oxide, and their modified compounds.
  • the negative electrode sheet may include a negative electrode current collector substrate.
  • the negative electrode current collector substrate may be a metal foil, a foamed metal or a composite current collector.
  • metal foil aluminum or stainless steel, stainless steel, copper, aluminum, nickel, carbon electrode, carbon, nickel or titanium, etc. with silver surface treatment can be used.
  • Foam metal can be foam nickel, foam copper, foam aluminum, foam alloy, or foam carbon, etc.
  • the composite current collector may include a polymer material base and a metal layer.
  • the composite current collector may be formed by placing a metal material (copper, copper alloy, nickel, nickel alloy, titanium, titanium alloy, silver and silver alloy, etc.) on a polymer material substrate (such as a substrate of polypropylene, polyethylene terephthalate, polybutylene terephthalate, polystyrene, polyethylene, etc.).
  • a metal material copper, copper alloy, nickel, nickel alloy, titanium, titanium alloy, silver and silver alloy, etc.
  • a polymer material substrate such as a substrate of polypropylene, polyethylene terephthalate, polybutylene terephthalate, polystyrene, polyethylene, etc.
  • the negative electrode sheet may include a negative electrode current collector substrate and a negative electrode active material layer disposed on at least one surface of the negative electrode current collector substrate.
  • the negative electrode current collector substrate has two surfaces facing each other in its thickness direction, and the negative electrode active material layer is disposed on any one or both of the two facing surfaces of the negative electrode current collector substrate.
  • the negative electrode active material layer may adopt the negative electrode active material layer for battery cells known in the art.
  • the negative electrode active material layer may include at least one of the following materials: artificial graphite, natural graphite, soft carbon, hard carbon, silicon-based materials, tin-based materials, lithium titanate, etc.
  • the silicon-based material may be selected from at least one of elemental silicon, silicon oxide compounds, silicon-carbon composites, silicon-nitrogen composites, and silicon alloys.
  • the tin-based material may be selected from at least one of elemental tin, tin oxide compounds, and tin alloys.
  • the present disclosure is not limited to these materials, and other traditional materials that can be used as negative electrode active material layers for batteries may also be used. These negative electrode active material layers may be used alone or in combination of two or more.
  • the material of the positive electrode current collector substrate may be aluminum, and the material of the negative electrode current collector substrate may be copper.
  • the separator is a separator.
  • the present disclosure has no particular limitation on the type of separator, and any known separator with a porous structure having good chemical stability and mechanical stability can be selected.
  • the main material of the separator can be selected from at least one of glass fiber, non-woven fabric, polyethylene, polypropylene, polyvinylidene fluoride, and ceramic.
  • the separator can be a single-layer film or a multi-layer composite film, without particular limitation. When the separator is a multi-layer composite film, the materials of each layer can be the same or different, without particular limitation.
  • the separator can be a separate component located between the positive electrode sheet and the negative electrode sheet, or it can be located between the positive electrode sheet and the negative electrode sheet and attached to the surface of the positive electrode sheet and/or the surface of the negative electrode sheet.
  • the separator is a solid electrolyte, which is disposed between the positive electrode sheet and the negative electrode sheet and plays the role of transmitting ions and isolating the positive and negative electrodes.
  • the battery cell further includes an electrolyte, which plays a role in conducting ions between the positive and negative electrodes.
  • an electrolyte which plays a role in conducting ions between the positive and negative electrodes.
  • the present disclosure has no specific restrictions on the type of electrolyte, which can be selected according to needs.
  • the electrolyte can be It can be liquid, gel or solid.
  • the liquid electrolyte includes an electrolyte salt and a solvent.
  • the electrolyte salt can be selected from at least one of lithium hexafluorophosphate, lithium tetrafluoroborate, lithium perchlorate, lithium hexafluoroarsenate, lithium bis(fluorosulfonyl)imide, lithium bis(trifluoromethanesulfonyl)imide, lithium trifluoromethanesulfonate, lithium difluorophosphate, lithium difluorooxalatoborate, lithium dioxalatoborate, lithium difluorodioxalatophosphate, and lithium tetrafluorooxalatophosphate.
  • the solvent can be selected from at least one of ethylene carbonate, propylene carbonate, ethyl methyl carbonate, diethyl carbonate, dimethyl carbonate, dipropyl carbonate, methyl propyl carbonate, ethyl propyl carbonate, butylene carbonate, fluoroethylene carbonate, methyl formate, methyl acetate, ethyl acetate, propyl acetate, methyl propionate, ethyl propionate, propyl propionate, methyl butyrate, ethyl butyrate, 1,4-butyrolactone, cyclopentane, dimethyl sulfone, methyl ethyl sulfone and diethyl sulfone.
  • the solvent can also be selected from ether solvents.
  • Ether solvents can include one or more of ethylene glycol dimethyl ether, ethylene glycol diethyl ether, diethylene glycol dimethyl ether, triethylene glycol dimethyl ether, tetraethylene glycol dimethyl ether, 1,3-dioxolane, tetrahydrofuran, methyltetrahydrofuran, diphenyl ether and crown ether.
  • the gel electrolyte includes a polymer as the electrolyte skeleton network, combined with an ionic liquid-lithium salt.
  • the solid electrolyte includes a polymer solid electrolyte, an inorganic solid electrolyte, and a composite solid electrolyte.
  • the polymer solid electrolyte may be polyether (polyethylene oxide), polysiloxane, polycarbonate, polyacrylonitrile, polyvinylidene fluoride, polymethyl methacrylate, a single ion polymer, polyionic liquid-lithium salt, cellulose, and the like.
  • the inorganic solid electrolyte can be an oxide solid electrolyte (crystalline perovskite, sodium superconducting ion conductor, garnet, amorphous LiPON film), a sulfide solid electrolyte (crystalline lithium superion conductor (lithium germanium phosphosulfide, silver germanium sulfide), amorphous sulfide) and one or more of a halide solid electrolyte, a nitride solid electrolyte and a hydride solid electrolyte.
  • oxide solid electrolyte crystalline perovskite, sodium superconducting ion conductor, garnet, amorphous LiPON film
  • a sulfide solid electrolyte crystalline lithium superion conductor (lithium germanium phosphosulfide, silver germanium sulfide), amorphous sulfide) and one or more of a halide solid electrolyte, a nitride
  • the composite solid electrolyte is formed by adding an inorganic solid electrolyte filler to a polymer solid electrolyte.
  • the electrode assembly includes a winding structure.
  • the positive electrode sheet, the negative electrode sheet and the separator are wound into a winding structure.
  • the positive electrode sheet and the negative electrode sheet can be provided with one or more respectively.
  • a plurality of positive electrode sheets and a plurality of negative electrode sheets are alternately arranged along the thickness direction of the electrode sheet.
  • the shape of the electrode assembly can be cylindrical, flat, or polygonal.
  • the positive electrode sheet includes a positive electrode tab
  • the negative electrode sheet includes a negative electrode tab
  • the positive electrode tab The positive and negative electrode tabs can be used to conduct current from the electrode assembly.
  • the positive electrode tab and the negative electrode tab are connected to the positive current collector substrate and the negative current collector substrate respectively.
  • the tabs can be formed by cutting or trimming the current collector substrate, or can be connected to the side of the current collector substrate by welding.
  • the battery cell may include a housing.
  • the housing is used to encapsulate components such as the electrode assembly and the electrolyte.
  • the housing may be a steel housing, an aluminum housing, a plastic housing (such as polypropylene), a composite metal housing (such as a copper-aluminum composite housing), or an aluminum-plastic film.
  • the battery cell may be a cylindrical battery cell, a prismatic battery cell, a soft-pack battery cell or a battery cell of other shapes.
  • the prismatic battery cell includes a square-shell battery cell, a blade-shaped battery cell, a polygonal battery, such as a hexagonal battery.
  • a vehicle lifting and handling robot is used at a battery swap station to load and unload batteries for new energy vehicles that can be replaced.
  • This handling robot uses a trapezoidal screw assembly to drive a connecting rod to achieve lifting and lowering movement.
  • This structure requires a certain amount of space in height, so its adaptability to vehicles with different chassis heights is relatively limited.
  • the lifting distance of this structure is relatively limited, and it also occupies a lot of space in the horizontal direction, which makes it difficult to meet the requirements of loading and unloading batteries of different quantities and combinations.
  • the embodiments of the present disclosure provide a vehicle battery replacement device and a battery replacement system, which can improve the adaptability of vehicle battery replacement.
  • a vehicle battery replacement device for replacing a battery assembly of a vehicle, comprising: a frame; a support platform, arranged on the frame and configured to support a battery assembly to be installed or removed; a lifting mechanism, arranged on the frame and operably connected to the support platform, configured to drive the support platform to rise and fall; and a plurality of locking and unlocking mechanisms, arranged on the support platform, for achieving locking or unlocking of the battery assembly relative to the vehicle; wherein the plurality of locking and unlocking mechanisms are arranged at intervals on the supporting surface of the support platform, and the plurality of locking and unlocking mechanisms include at least two groups of locking and unlocking mechanisms, and the control of each group of locking and unlocking mechanisms is independent of each other.
  • a plurality of locking and unlocking mechanisms are arranged on a support platform driven by a lifting mechanism, and the plurality of locking and unlocking mechanisms are arranged at intervals on the support platform, and the plurality of locking and unlocking mechanisms include at least two groups that are independent of each other in control.
  • FIG1 is a schematic diagram of a battery replacement scenario according to some embodiments of the vehicle battery replacement device disclosed herein.
  • the vehicle 70 may be a fuel vehicle, a gas vehicle, or a new energy vehicle.
  • the new energy vehicle may be a pure electric vehicle or a hybrid vehicle, etc.
  • the vehicle may be a household vehicle or a commercial vehicle.
  • a battery assembly 71 may be disposed at the bottom of a vehicle 70 .
  • the vehicle battery replacement device can disassemble the battery assembly 71 installed on the vehicle 70 at the bottom of the vehicle 70, and can also install the battery assembly 71 on the vehicle 70 at the bottom of the vehicle 70.
  • the vehicle battery replacement device can enter the height space H formed between the bottom of the vehicle 70 and the support surface G.
  • the support surface G can be the ground of the site of the battery replacement station or the surface of the battery replacement platform.
  • the battery assembly 71 can be used to power the vehicle 70.
  • the battery assembly 71 can be used as the operating power source of the vehicle 70 and the circuit system of the vehicle 70, such as the working power demand during the start, navigation and operation of the vehicle 70.
  • the battery assembly 71 can not only be used as the operating power source of the vehicle 70, but also as the driving power source of the vehicle 70, replacing or partially replacing fuel or natural gas to provide driving force for the vehicle 70.
  • the vehicle 70 may also be provided with axles, wheels, motors and controllers, and the controller is used to control the power supplied to the motor by the battery assembly 71.
  • the battery assembly 71 replaces or partially replaces fuel or natural gas to provide the motor with the power required for uniform speed and acceleration.
  • the motor is used to drive the axle to rotate, thereby driving the wheels to rotate.
  • the battery assembly 71 may include one or more batteries. In different battery assemblies, at least one of the size, shape, specification, quantity and position of the batteries is different. In addition to the batteries, the battery assembly 71 may also include a frame structure for fixing multiple batteries.
  • Fig. 2 is a schematic diagram of the installation structure of some embodiments of the vehicle battery replacement device according to the present disclosure.
  • Fig. 3 is a schematic diagram of the structure without the frame in some embodiments of the vehicle battery replacement device according to the present disclosure.
  • Fig. 4 is a schematic diagram of the structure from a top view of the embodiment shown in Fig. 2.
  • Fig. 5 is a schematic diagram of the structure from a top view of the embodiment shown in Fig. 3.
  • an embodiment of the present disclosure provides a vehicle battery replacement device for replacing a battery assembly 71 of a vehicle 70.
  • the vehicle battery replacement device includes: a frame 10, a support platform 20, a lifting mechanism 30, and a plurality of locking and unlocking mechanisms 40.
  • the support platform 20 is disposed on the frame 10, and is configured to support a battery assembly to be installed or removed.
  • the lifting mechanism 30 is disposed on the frame 10 and is operably connected to the support platform 20, and is configured to drive the support platform 20 to rise and fall.
  • a plurality of locking and unlocking mechanisms 40 are disposed on the support platform 20, and are used to achieve locking or unlocking of the battery assembly relative to the vehicle.
  • the plurality of locking and unlocking mechanisms 40 are arranged at intervals on the supporting surface of the support platform 20, and the plurality of locking and unlocking mechanisms 40 include at least two groups of locking and unlocking mechanisms 40, and the control of each group of locking and unlocking mechanisms 40 is independent of each other.
  • a plurality of locking and unlocking mechanisms are arranged on a support platform driven by a lifting mechanism, and the locking and unlocking mechanisms are arranged at intervals on the support platform.
  • the locking and unlocking mechanisms include at least two groups that are independent of each other in terms of control.
  • the battery replacement requirements of at least one of a single battery assembly and a multi-battery assembly can be adaptively met according to the form of the battery assembly used in the vehicle.
  • the number of locking and unlocking mechanisms can also be expanded or reduced according to the weight of the battery.
  • the multiple locking and unlocking mechanisms 40 arranged on the support platform 20 can realize the locking or unlocking of the battery assembly 71 relative to the vehicle 70.
  • the lifting mechanism 30 is used to drive the lifting and lowering of the support platform 20, so as to realize the docking, locking or unlocking of the locking and unlocking mechanisms 40 and the battery assembly 71, and to raise or lower the height position of the battery assembly 71 carried by the support platform 20 by raising or lowering the support platform 20.
  • the multiple locking and unlocking mechanisms 40 include multiple groups.
  • the groups can be divided according to the positions of the respective locking and unlocking mechanisms 40. For example, multiple locking and unlocking mechanisms 40 arranged in the same direction can be divided into one group, or several adjacent locking and unlocking mechanisms 40 can be divided into one group, or they can be grouped according to the areas divided on the support platform, etc. It is also possible that a group of locking and unlocking mechanisms 40 only contains one locking and unlocking mechanism 40.
  • some or all of the at least two groups of locking and unlocking mechanisms 40 have one locking and unlocking mechanism 40 .
  • the support platform 20 includes at least two support plates 21, and the lifting mechanism 30 includes at least two groups of lifting components 31.
  • the at least two groups of lifting components 31 correspond to the at least two support plates 21 one by one and are operably connected, and the control of each group of lifting components 31 is linked or independent of each other.
  • the distance between each support plate and the site can be adjusted according to the inclination angle between the chassis of the vehicle to be replaced and the site or the installation height of each battery assembly to achieve normal replacement of the battery.
  • it can also be applied to the battery replacement needs of some vehicles that use multiple battery assemblies arranged at different installation heights or battery assemblies arranged at an angle.
  • each lifting assembly can also be linked. This is conducive to simplifying the control logic and reducing the control difficulty.
  • each group of lifting assemblies 31 is used to lift a support plate 21, and each group of lifting assemblies 31 includes four lifting assemblies 31.
  • each group of lifting assemblies 31 can be controlled to rise and fall in linkage, thereby realizing a relatively simple control logic.
  • each group of lifting assemblies 31 can be independently controlled to lift the corresponding support plate 21 to different heights, so that the support plate 21 supporting each battery assembly can be lifted to a suitable height to meet the needs of battery replacement.
  • the at least two support plates 21 are arranged along the first direction d1, and a part and another part of each group of lifting components 31 are respectively located on the outer sides of the support plates 21 corresponding to the lifting components 31 at opposite ends in the second direction d2, and the first direction d1 is perpendicular to the second direction d2, and the first direction d1 and the second direction d2 are both perpendicular to the lifting direction of the support platform 20.
  • the lifting direction of the support platform 20 may be parallel to the third direction d3, and the first direction d1 is perpendicular to the lifting direction of the support platform 20.
  • the first direction d1 as the arrangement direction of at least two support plates 21, may be parallel or perpendicular to the horizontal in and out direction of the height space H formed between the bottom of the vehicle 70 and the support surface G of the vehicle battery replacement device, and the second direction d2 is perpendicular to both the first direction d1 and the third direction d3.
  • the support plates can be arranged more compactly, reducing the space occupied and mutual interference between the lifting assembly and the support plates in the first direction, and facilitating stable lifting of the support plates.
  • control of each lifting assembly 31 in each group of lifting assemblies 31 is linked or independent of each other.
  • some or all of the lifting assemblies can be selectively raised or lowered to the same or different heights, thereby more flexibly adjusting the inclination angle of the support plate relative to the site to meet the battery replacement needs of different inclination angles between the chassis of the vehicle to be replaced and the site, or different inclined battery layout angles of the vehicle.
  • control of each group of lifting components can also be linked, which is helpful to simplify the control logic and reduce the control difficulty.
  • each lifting assembly 31 by making each lifting assembly 31 independently controlled, the support and lifting of the support plate with a preset inclination angle can be achieved through different lifting heights of the lifting assembly 31. This can meet the battery replacement needs when the vehicle chassis is not parallel to the site or the battery assembly is installed at an angle. In the case where the battery assembly needs to be lifted horizontally in parallel with the site, each lifting assembly 31 can be controlled to rise and fall in conjunction with each other, thereby realizing a relatively simple control logic.
  • FIG. 6 is an enlarged schematic diagram of the position corresponding to circle A in FIG. 3 .
  • the plurality of locking and unlocking mechanisms 40 are distributed on two opposite side edges 21 a and 21 b of each support plate 21 along the first direction d1 .
  • the two side edges 21a and 21b may be parallel to each other or not.
  • the side edges 21a and 21b may also be configured to have concave and convex portions in the second direction d2 so as to form a staggered embedded structure with adjacent support plates, so that the widths of adjacent support plates in the first direction d1 overlap, making the structure more compact.
  • the locking and unlocking mechanism 40 may be disposed at the convex portion of the side edge.
  • each locking and unlocking mechanism By distributing the locking and unlocking mechanisms on the opposite sides of the support plates along the arrangement direction of the multiple support plates, each locking and unlocking mechanism will not interfere with the lifting components located on the outer sides of the two ends in the second direction, and it is also convenient to arrange, disassemble and replace the locking and unlocking mechanisms.
  • the locking and unlocking mechanisms 40 located on the same side are arranged at intervals along the second direction d2.
  • One (eg 21a or 21b) or both (eg 21a and 21b) of the two side edges of the support plate 21 opposite to each other along the first direction d1 may be provided with a plurality of locking and unlocking mechanisms 40 arranged at intervals along the second direction d2.
  • the locking and unlocking mechanisms located on the same side, they are arranged at intervals along the second direction, so that multi-point locking of the battery or locking of multiple batteries can be achieved in the second direction, meeting the locking and unlocking requirements of battery assemblies in different combinations.
  • Fig. 7 is a schematic diagram of the front view angle of some embodiments of the vehicle battery replacement device disclosed herein when the driving end of the linear telescopic actuator is in the second working position.
  • Fig. 8 is a schematic diagram of the front view angle of some embodiments of the vehicle battery replacement device disclosed herein when the driving end of the linear telescopic actuator is in the first working position.
  • Fig. 9 is an enlarged schematic diagram of the position corresponding to circle B in Fig. 3.
  • the lifting mechanism 30 includes at least two groups of lifting components 31, and at least one of the at least two groups of lifting components 31 includes: a linear telescopic actuator 311 and a lifting member 312.
  • the linear telescopic actuator 311 is disposed on the bottom surface 11 of the frame 10, and is configured to drive the support platform 20 to move along a third direction d3, and the third direction d3 is parallel to the lifting direction of the support platform 20.
  • the lifting member 312 has a supporting end 312a for supporting the support platform 20 and a connecting end 312b connected to the driving end of the linear telescopic actuator 311, wherein the connecting end 312b is located far from the supporting end 312a. A side away from the bottom surface 11 of the frame 10.
  • the linear telescopic actuator 311 can perform linear movement of its driving end by means of electricity, magnetism, hydraulics or pneumatics.
  • the linear telescopic actuator 311 is arranged on the bottom surface 11 of the frame 10, and is used in conjunction with the lifting member 312, which is conducive to reducing the linear telescopic actuator 311 itself and the vehicle battery replacement device as a whole to achieve a smaller folding space in the third direction.
  • the lifting assembly uses a linear telescopic actuator and a lifting member to drive the support platform to perform lifting and lowering movements.
  • the lifting member adjusts the height position of the support platform it supports under the linear drive of the driving end of the linear telescopic actuator, which is conducive to placing the battery in a lower support position, allowing a larger lifting distance to meet the battery replacement needs of vehicles with lower chassis.
  • the linear telescopic actuator 311 includes: a rigid chain mechanism 311a, a motor 311b, and a telescopic arm 311c.
  • the rigid chain mechanism 311a has a housing and a rigid chain disposed on the housing, and the end of the rigid chain is fixedly connected to the connecting end 312b.
  • the motor 311b is drivingly connected to the rigid chain mechanism 311a and is configured to drive the rigid chain to move relative to the housing.
  • the telescopic arm 311c is connected to both the housing and the connecting end 312b, and is sleeved on the outside of the rigid chain.
  • the rigid chain of the rigid chain mechanism 311a can be folded in a winding manner, and linear drive can be achieved by releasing the rigid chain.
  • This structure can achieve a more compact structure while achieving higher control accuracy and occupying less space.
  • the telescopic arm is placed outside the rigid chain to protect the rigid chain and improve the working stability of the linear telescopic actuator.
  • the motor 311b comprises a servo motor.
  • a servo motor to drive the rigid chain mechanism can achieve more precise control effects and higher transmission efficiency in conjunction with a rigid chain with higher precision, thereby improving the accuracy of the lifting action achieved by controlling the lifting component.
  • the driving end of the linear telescopic actuator 311 has a first working position
  • the lifting member 312 is configured so that when the driving end of the linear telescopic actuator 311 is in the first working position, the distance h1 of the connecting end 312b relative to the bottom surface 11 of the frame 10 in the third direction d3 is not higher than the height H of the frame 10 in the third direction d3.
  • the driving end of the linear telescopic actuator 311 is installed with the connecting end 312b of the lifting member 312 and is higher than the supporting end 312a of the lifting member 312.
  • the driving end of the linear telescopic actuator 311 is in the first working position, such as the minimum retracted position of the linear telescopic actuator 311, the distance h1 of the connecting end 312b relative to the bottom surface 11 of the frame 10 in the third direction d3 is lower than the height H of the frame 10 in the third direction d3.
  • the distance h1 of the connecting end 312b relative to the bottom surface 11 of the frame 10 in the third direction d3 is lower than the height H of the frame 10 in the third direction d3.
  • the distance h1 can also be equal to the height H.
  • the overall height of the lifting assembly can be lower when the linear telescopic actuator is in the retracted position, thereby making it easier to enter the lower side of a vehicle with a lower chassis for battery replacement.
  • the driving end of the linear telescopic actuator 311 also has a second working position
  • the lifting member 312 is configured so that when the driving end of the linear telescopic actuator 311 is in the second working position, the distance h2 of the connecting end 312b relative to the bottom surface 11 of the frame 10 in the third direction d3 is not less than twice the height H of the frame 10 in the third direction d3.
  • the driving end of the linear telescopic actuator 311 is in the second working position, for example, the maximum extension position of the linear telescopic actuator 311.
  • the distance h2 of the connecting end 312b relative to the bottom surface 11 of the frame 10 in the third direction d3 is twice the height H of the frame 10 in the third direction d3.
  • the distance h2 may also be more than twice the height H.
  • the distance between the connecting end of the lifting member and the bottom surface of the frame in the third direction is not less than twice the height of the frame in the third direction, which allows the support platform to achieve a larger lifting range and meet the battery replacement needs in a larger chassis height range.
  • the frame 10 has a battery support seat 12, and the battery support seat 12 is configured to support the support platform 20 when the driving end of the linear telescopic actuator 311 is in the first working position, so that the support end 312a is out of contact with the support platform 20.
  • the battery support seat 12 may adopt a convex block structure or a convex edge structure provided on the frame 10 so as to support at least part of the periphery of the support platform 20.
  • the battery support seat is provided on the frame, and the support platform is supported by the battery support seat when the driving end of the linear telescopic actuator is in the first working position, so that the supporting end is out of contact with the support platform, so that when the vehicle battery exchange device moves as a whole, the support platform can obtain a more stable support effect, reduce the risk of horizontal slippage of the battery assembly when the vehicle battery exchange device moves as a whole, and can reduce the loss of the lifting assembly, so that the lifting mechanism is not easily affected by lateral forces.
  • the lifting member can be designed to be Z-shaped, and its connecting end is higher than the supporting end in the third direction.
  • a Z-shaped bending plate is used, and a rib plate is arranged between adjacent angled bending surfaces to improve the strength and rigidity of the lifting member.
  • FIG. 10 is an enlarged schematic diagram of the position corresponding to circle C in FIG. 6 .
  • the vehicle battery replacement device further includes a floating mechanism 50.
  • the floating mechanism 50 is located at the connection position between the lifting mechanism 30 and the support platform 20, and is configured to move the support platform 20 relative to the lifting mechanism 30 in at least one direction perpendicular to the lifting direction of the support platform 20.
  • the floating mechanism 50 can move the support table 20 relative to the lifting mechanism 30 in at least one direction perpendicular to the lifting direction of the support table 20.
  • the moving direction here can be a direction parallel to the first direction d1, or a direction parallel to the second direction d2, or other directions located in a plane parallel to the first direction d1 and the second direction d2.
  • a floating mechanism is provided at the connection position between the lifting mechanism and the support platform so that the locking and unlocking mechanism can be relieved of the force in a direction parallel to the supporting surface of the support platform during installation or use through the floating mechanism, thereby reducing the risk of damage to the locking and unlocking mechanism due to force caused by installation or operation errors.
  • the floating mechanism 50 includes a universal ball bearing 51 , and the universal ball bearing 51 is located between the opposing surfaces of the lifting mechanism 30 and the support table 20 in the lifting direction of the support table 20 .
  • the floating mechanism adopts a universal ball bearing to achieve the floating effect while allowing the support platform to be separated from the lifting mechanism in the lifting direction, which is convenient for disassembly and replacement, and the floating mechanism has a more compact structure.
  • the vehicle battery replacement device further includes: a steering wheel assembly 60 disposed on the frame 10 .
  • the steering wheel assembly 60 may include components such as wheels, motors, steering wheels, speed reducers, brakes, angle control encoders, etc., which are not only very compact in structure, but also can achieve precise control of vehicle rotation and steering.
  • the steering wheel assembly can achieve omnidirectional movement and can carry a certain weight.
  • a battery replacement system comprising the vehicle battery replacement device of any of the aforementioned embodiments.
  • a battery replacement system that uses the aforementioned vehicle battery replacement device can improve the adaptability of battery replacement.
  • the vehicle battery replacement device includes: a frame 10, a support platform 20, a lifting mechanism 30, a plurality of locking and unlocking mechanisms 40, and a steering wheel assembly 60 disposed on the frame 10.
  • the support platform 20 is provided on the frame 10 and includes at least two support plates 21 arranged along the first direction d1.
  • the lifting mechanism 30 is provided on the frame 10 and is operably connected to the support platform 20.
  • the lifting mechanism 30 includes at least two groups of lifting components 31 corresponding to the at least two support plates 21, each group of lifting components 31 includes four lifting components 31, two of which are located outside the corresponding support plate 21 at one end in the second direction d2, and the other two are located outside the corresponding support plate 21 at the other end in the second direction d2.
  • the first direction d1 is perpendicular to the second direction d2.
  • a plurality of locking and unlocking mechanisms 40 are arranged on two opposite sides of each support plate 21 along the first direction d1 and are arranged at intervals along the second direction d2.
  • Each lifting assembly 31 is controlled independently of each other, and each locking and unlocking mechanism 40 is controlled in groups or independently.
  • the lifting assembly 31 includes: a linear telescopic actuator 311 and a lifting member 312 arranged on the bottom surface 11 of the frame 10.
  • the lifting member 312 has a supporting end 312a for supporting the support platform 20 and a connecting end 312b connected to the driving end of the linear telescopic actuator 311.
  • the connecting end 312b is located on a side of the supporting end 312a away from the bottom surface 11 of the frame 10.
  • the linear telescopic actuator 311 includes: a rigid chain mechanism 311a, a motor 311b and a telescopic arm 311c.
  • the rigid chain mechanism 311a includes a housing and a rigid chain disposed on the housing, and the end of the rigid chain is fixedly connected to the connecting end 312b.
  • the motor 311b includes a servo motor, and is drivingly connected to the rigid chain mechanism 311a, and is configured to drive the rigid chain to move relative to the housing.
  • the telescopic arm 311c is connected to both the housing and the connecting end 312b, and is sleeved on the outside of the rigid chain.
  • the driving end of the linear telescopic actuator 311 has a first working position and a second working position.
  • the distance between the connecting end 312b of the lifting member 312 and the bottom surface 11 of the frame 10 in the third direction d3 is not higher than the height H of the frame 10 in the third direction d3.
  • the distance between the connecting end 312b of the lifting member 312 and the bottom surface 11 of the frame 10 in the third direction d3 is not less than twice the height H of the frame 10 in the third direction d3.
  • the frame 10 has a battery support seat 12, and the battery support seat 12 is configured to support the support platform 20 when the driving end of the linear telescopic actuator 311 is in the first working position, so that the support end 312a is out of contact with the support platform 20.
  • the vehicle battery replacement device further includes a floating mechanism 50 located at the connection position between the lifting mechanism 30 and the support platform 20.
  • the floating mechanism 50 enables the support platform 20 to move relative to the lifting mechanism 30 in at least one direction perpendicular to the lifting direction of the support platform 20.
  • the floating mechanism 50 includes a universal ball bearing 51.
  • a universal ball bearing 51 is located between the opposing surfaces of the lifting mechanism 30 and the support table 20 in the lifting direction of the support table 20 .

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Abstract

一种车辆换电装置及换电系统，车辆换电装置用于更换车辆(70)的电池组件(71)，包括：框架(10)；支撑台(20)，设置在框架(10)上，被配置为对待安装或待拆卸的电池组件进行支撑；提升机构(30)，设置在框架(10)上，并与支撑台(20)可操作地连接，被配置为驱动支撑台(20)升降；和多个加解锁机构(40)，设置在支撑台(20)上，用于实现电池组件相对于车辆的锁定或解锁；其中，多个加解锁机构(40)在支撑台(20)的支撑表面上间隔排布，多个加解锁机构(40)包括至少两组加解锁机构(40)，各组加解锁机构(40)的控制是相互独立的。

Description

车辆换电装置及换电系统
相关申请的交叉引用
本申请是以申请号为202311544869.8，申请日为2023年11月17日的中国专利申请为基础，并主张其优先权，该中国专利申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及车辆换电领域，特别是涉及一种车辆换电装置及换电系统。
背景技术
二次电池尤其是锂离子电池具有电压高、比能量大、循环寿命长、绿色无污染、工作温度范围宽及自放电小等优点，在新能源电动汽车的动力设备方面得到广泛应用，对解决人类环境污染和能源危机有着重大意义。
为了满足新能源电动汽车的能量补充需求，一些相关技术建立换电站对到达的车辆进行电池更换，而如何提高电池更换的适应性成为重要问题之一。
发明内容
在本公开的一个方面，提供一种车辆换电装置，用于更换车辆的电池组件，包括：框架；支撑台，设置在所述框架上，被配置为对待安装或待拆卸的电池组件进行支撑；提升机构，设置在所述框架上，并与所述支撑台可操作地连接，被配置为驱动所述支撑台升降；和多个加解锁机构，设置在所述支撑台上，用于实现所述电池组件相对于所述车辆的锁定或解锁；其中，所述多个加解锁机构在所述支撑台的支撑表面上间隔排布，所述多个加解锁机构包括至少两组加解锁机构，各组加解锁机构的控制是相互独立的。
在由提升机构驱动升降的支撑台上设置多个加解锁机构，并使多个加解锁机构在支撑台上间隔排布，多个加解锁机构包括在控制上相互独立的至少两组。通过在多个加解锁机构中进行选择和进行加解锁操作的控制，可以满足多种不同电池组合形式对应的锁定要求，提高车辆换电装置对车辆不同电池组合形式的换电适应性。
在一些实施例中，所述至少两组加解锁机构中的部分组或全部组具有一个加解锁 机构。
通过使各组加解锁机构中的部分或全部具有一个加解锁机构，可使得更多的加解锁机构独立控制，可以提高对不同组合形式的电池组件的加解锁操作的适应性。
在一些实施例中，所述支撑台包括至少两个支撑板，所述提升机构包括至少两组提升组件，所述至少两组提升组件与所述至少两个支撑板一一对应且可操作地连接，各组提升组件的控制是联动的或相互独立的。
考虑到待换电车辆因车辆胎压可能有所不同或者场地不平整等情况导致车辆底盘与场地之间并不平行，可能影响电池的正常更换。通过设置至少两个支撑板，并通过在控制上相互独立的至少两组提升组件来分别对至少两个支撑板进行连接，可以根据待换电车辆的底盘与所在场地的倾角或各个电池组件的安装高度来调整各个支撑板相对于场地的距离，以实现电池的正常更换。此外，也可以适用于一些采用多个电池组件以不同安装高度布置或电池组件倾斜布置的车辆的电池更换需求。
在车辆底盘与场地之间平行等情形中，各组提升组件的控制也可以是联动的，从而有利于简化控制逻辑，降低控制难度。
在一些实施例中，所述至少两个支撑板沿第一方向排布，每组提升组件的一部分和另一部分分别位于所述提升组件对应的支撑板在第二方向相对的两端的外侧，所述第一方向与所述第二方向垂直，且所述第一方向和所述第二方向均垂直于所述支撑台的提升方向。
通过使提升组件对沿第一方向排布的至少两个支撑板在第二方向上的相对两端的外侧进行布置，可使支撑板可以更紧凑地排布，减少提升组件和支撑板在第一方向上的空间占用和相互干涉，并且有利于实现支撑板的稳定提升。
在一些实施例中，每组提升组件中的各个提升组件的控制是联动的或相互独立的。
通过使每组提升组件中的各个提升组件独立控制，配合着各组提升组件的联动控制或相互独立控制，可以选择性地使一部分或全部提升组件升降到相同或不同高度，从而更灵活地调整支撑板相对于场地的倾角，满足待换电车辆的底盘与所在场地之间不同倾角或车辆的不同倾斜布置电池角度的电池更换需要。
对于可以独立控制或联动控制的各组提升组件，每组提升组件的控制也可以是联动的，从而有利于简化控制逻辑，降低控制难度。
在一些实施例中，所述多个加解锁机构分布在各个支撑板沿所述第一方向相对的两个侧边上。
通过使加解锁机构分布在支撑板沿多个支撑板排布方向的相对侧边上，可使各个加解锁机构与位于第二方向两端外侧的提升组件不发生干涉，而且还有利于实现对加解锁机构的布置、拆卸和更换。
在一些实施例中，位于同一侧边的加解锁机构沿所述第二方向间隔排布。
对于位于同一侧边的加解锁机构来说，使其沿第二方向间隔排布，可以在第二方向上实现电池的多点锁定或多个电池的锁定，满足不同组合形式的电池组件的加解锁需求。
在一些实施例中，所述提升机构包括至少两组提升组件，所述至少两组提升组件中的至少一个提升组件包括：线性伸缩式执行器，设置在所述框架的底面上，被配置为驱动所述支撑台沿第三方向运动，所述第三方向与所述支撑台的提升方向平行；和提升件，具有用于支撑所述支撑台的支撑端和与所述线性伸缩式执行器的驱动端连接的连接端，其中，所述连接端位于所述支撑端远离所述框架的底面的一侧。
提升组件采用线性伸缩式执行器和提升件来驱动支撑台进行升降运动，提升件在线性伸缩式执行器的驱动端直线驱动下调整其所支撑的支撑台的高度位置，这样有利于使电池处于更靠下的支撑位置，允许更大的提升距离，以满足较低底盘的车辆的换电需求。
在一些实施例中，所述线性伸缩式执行器包括：刚性链机构，具有壳体和设置于所述壳体的刚性链，所述刚性链的末端与所述连接端固定连接；电机，与所述刚性链机构驱动连接，被配置为驱动所述刚性链相对于所述壳体运动；和伸缩臂，与所述壳体和所述连接端均连接，且套在所述刚性链的外侧。
采用刚性链机构可以在获得较高控制精度的同时实现更紧凑的结构，占用较少空间，而且伸缩臂套在刚性链外侧可以对刚性链的运行进行保护，以减少侧向力对刚性链的不利影响。
在一些实施例中，所述电机包括伺服电机。
采用伺服电机对刚性链机构进行驱动，可以配合着具有较高精度的刚性链实现更精确的控制效果，并实现更高的传动效率。
在一些实施例中，所述线性伸缩式执行器的驱动端具有第一工作位置，所述提升件被配置为在所述线性伸缩式执行器的驱动端处于所述第一工作位置的状态下，使所述连接端在所述第三方向上相对于所述框架的底面的距离不高于所述框架在所述第三方向上的高度。
在线性伸缩式执行器的驱动端处于第一工作位置时，通过使提升件的连接端在第三方向上相对于所述框架的底面的距离不高于所述框架在所述第三方向上的高度，可以使提升组件在线性伸缩式执行器的缩回位置下整体高度较低，从而更容易进入较低底盘的车辆下侧进行换电。
在一些实施例中，所述框架具有电池支撑座，所述电池支撑座被配置为在所述线性伸缩式执行器的驱动端处于所述第一工作位置的状态下，对所述支撑台进行支撑，以使所述支撑端与所述支撑台脱离接触。
在框架上设置电池支撑座，在线性伸缩式执行器的驱动端处于所述第一工作位置的状态下由电池支撑座对支撑台进行支撑，从而使支撑端与所述支撑台脱离接触，这样可以使支撑台获得更稳定的支撑作用，减少提升组件的损耗，使提升机构不容易受到侧向力的影响。
在一些实施例中，所述线性伸缩式执行器的驱动端还具有第二工作位置，所述提升件被配置为在所述线性伸缩式执行器的驱动端处于所述第二工作位置的状态下，使所述连接端在所述第三方向上相对于所述框架的底面的距离不低于所述框架在所述第三方向上的高度的两倍。
在线性伸缩式执行器的驱动端处于第二工作位置时，提升件的连接端在第三方向上相对于所述框架的底面的距离不低于所述框架在所述第三方向上的高度的两倍，这使得支撑台可以实现更大的升降范围，满足更大的底盘高度范围的换电需求。
在一些实施例中，所述车辆换电装置还包括：浮动机构，位于所述提升机构和所述支撑台的连接位置，被配置为使所述支撑台相对于所述提升机构在垂直于所述支撑台的提升方向的至少一个方向上移动。
通过在提升机构和所述支撑台的连接位置设置浮动机构，以便通过浮动机构卸除加解锁机构在安装或使用时受到平行于支撑台的支撑表面的方向的力，从而降低因安装或运行误差导致加解锁机构受力而损坏的风险。
在一些实施例中，所述浮动机构包括万向球轴承，所述万向球轴承位于所述提升机构和所述支撑台在所述支撑台的提升方向上的相对表面之间。
浮动机构采用万向球轴承可以在实现浮动作用的同时，允许支撑台在升降方向上与提升机构脱离，方便进行拆卸、更换，而且这种浮动机构具有更紧凑的结构。
在一些实施例中，所述车辆换电装置还包括：舵轮组件，设置在所述框架上。
采用舵轮组件实现车辆换电装置的行走，可以方便地进行平移和转向。
在本公开的一个方面，提供一种换电系统，包括前述的车辆换电装置。
采用前述车辆换电装置的换电系统可以提高电池更换的适应性。
附图说明
为了更清楚地说明本公开实施例的技术方案，下面将对本公开实施例中所需要使用的附图作简单地介绍，显而易见地，下面所描述的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据附图获得其他的附图。
参照附图，根据下面的详细描述，可以更加清楚地理解本公开，其中：
图1是根据本公开车辆换电装置的一些实施例的换电场景示意图；
图2是根据本公开车辆换电装置的一些实施例的安装结构示意图；
图3是根据本公开车辆换电装置的一些实施例中去掉框架的结构示意图；
图4是图2所示实施例的俯视角度的结构示意图；
图5是图3所示实施例的俯视角度的结构示意图；
图6是图3中圆圈A所对应位置的放大示意图；
图7是根据本公开车辆换电装置的一些实施例在线性伸缩式执行器的驱动端位于第二工作位置的状态下的前视角度的结构示意图；
图8是根据本公开车辆换电装置的一些实施例在线性伸缩式执行器的驱动端位于第一工作位置的状态下的前视角度的结构示意图；
图9是图3中圆圈B所对应位置的放大示意图；
图10是图6中圆圈C所对应位置的放大示意图。
应当明白，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。此外，相同或类似的参考标号表示相同或类似的构件。
附图标记说明：
10-框架；11-底面；12-电池支撑座；
20-支撑台；21-支撑板；21a、21b-侧边；
30-提升机构；31-提升组件；311-线性伸缩式执行器；311a-刚性链机构；311b-电
机；311c-伸缩臂；312-提升件；312a-支撑端；312b-连接端；
40-加解锁机构；
50-浮动机构；51-万向球轴承；
60-舵轮组件；
70-车辆；71-电池组件；
d1-第一方向；d2-第二方向；d3-第三方向。
具体实施方式
下面结合附图和实施例对本公开的实施方式作进一步详细描述。以下实施例的详细描述和附图用于示例性地说明本公开的原理，但不能用来限制本公开的范围，即本公开不限于所描述的实施例。
在本公开的描述中，需要说明的是，除非另有说明，“多个”的含义是两个以上；术语“上”、“下”、“左”、“右”、“内”、“外”等指示的方位或位置关系仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。此外，术语“第一”、“第二”、“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。“垂直”并不是严格意义上的垂直，而是在误差允许范围之内。“平行”并不是严格意义上的平行，而是在误差允许范围之内。
下述描述中出现的方位词均为图中示出的方向，并不是对本公开的具体结构进行限定。在本公开的描述中，还需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可视具体情况理解上述术语在本公开中的具体含义。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例中的特征可以相互组合。
本公开中出现的“多个”指的是两个以上(包括两个)。
本公开实施例所提到的电池是指包括一个或多个电池单体以提供更高的电压和容量的单一的物理模块。
在一些实施例中，电池可以为电池模块。电池单体有多个时，多个电池单体排列并固定形成一个电池模块。电池模组可包括串联、并联或混联的多个电池单体。
在一些实施例中，电池可以为电池包，电池包包括箱体和电池单体，电池单体或电池模块容纳于箱体中。
在本公开实施例中，电池单体可以为二次电池，二次电池是指在电池单体放电后 可通过充电的方式使活性材料激活而继续使用的电池单体。
电池单体可以为锂离子电池、钠离子电池、钠锂离子电池、锂金属电池、钠金属电池、锂硫电池、镁离子电池、镍氢电池、镍镉电池、铅蓄电池等，本申请实施例对此并不限定。
电池单体包括电极组件。电极组件包括极性相反的第一极片和第二极片，还包括设置在第一极片和第二极片之间的隔离件。在一些实施例中，第一极片为正极极片，第二极片为负极极片。在另一些实施例中，第一极片为负极极片，第二极片为正极极片。在电池单体充放电过程中，活性离子(例如锂离子)在正极极片和负极极片之间往返嵌入和脱出。隔离件设置在正极极片和负极极片之间，可以起到防止正负极短路的作用，同时可以使活性离子通过。
在一些实施方式中，正极极片可以包括正极集流体基材以及设置在正极集流体基材至少一个表面的正极活性材料层。
作为示例，正极集流体基材具有在其自身厚度方向相对的两个表面，正极活性材料层设置在正极集流体基材相对的两个表面的任意一者或两者上。
作为示例，正极集流体基材可采用金属箔片或复合集流体。例如，作为金属箔片，可采用银表面处理的铝或不锈钢、不锈钢、铜、铝、镍、炭精电极、碳、镍或钛等。复合集流体可包括高分子材料基层和金属层。复合集流体可通过将金属材料(铝、铝合金、镍、镍合金、钛、钛合金、银及银合金等)在高分子材料基材(如聚丙烯、聚对苯二甲酸乙二醇酯、聚对苯二甲酸丁二醇酯、聚苯乙烯、聚乙烯等的基材)上而形成。
作为示例，正极活性材料层可包括以下材料中的至少一种：含锂磷酸盐、锂过渡金属氧化物及其各自的改性化合物。但本公开并不限定于这些材料，还可以使用其他可被用作电池正极活性材料层的传统材料。这些正极活性材料层可以仅单独使用一种，也可以将两种以上组合使用。其中，含锂磷酸盐的示例可包括但不限于磷酸铁锂、磷酸铁锂与碳的复合材料、磷酸锰锂、磷酸锰锂与碳的复合材料、磷酸锰铁锂、磷酸锰铁锂与碳的复合材料中的至少一种。锂过渡金属氧化物的示例可包括但不限于锂钴氧化物、锂镍氧化物、锂锰氧化物、锂镍钴氧化物、锂锰钴氧化物、锂镍锰氧化物、锂镍钴锰氧化物、锂镍钴铝氧化物及其改性化合物等中的至少一种。
在一些实施方式中，负极极片可以包括负极集流体基材。
作为示例，负极集流体基材可采用金属箔片、泡沫金属或复合集流体。例如，作 为金属箔片，可以采用银表面处理的铝或不锈钢、不锈钢、铜、铝、镍、炭精电极、用碳、镍或钛等。泡沫金属可以为泡沫镍、泡沫铜、泡沫铝、泡沫合金、或泡沫碳等。复合集流体可包括高分子材料基层和金属层。复合集流体可通过将金属材料(铜、铜合金、镍、镍合金、钛、钛合金、银及银合金等)在高分子材料基材(如聚丙烯、聚对苯二甲酸乙二醇酯、聚对苯二甲酸丁二醇酯、聚苯乙烯、聚乙烯等的基材)上而形成。
在一些实施方式中，负极极片可以包括负极集流体基材以及设置在负极集流体基材至少一个表面上的负极活性材料层。
作为示例，负极集流体基材具有在其自身厚度方向相对的两个表面，负极活性材料层设置在负极集流体基材相对的两个表面中的任意一者或两者上。
作为示例，负极活性材料层可采用本领域公知的用于电池单体的负极活性材料层。作为示例，负极活性材料层可包括以下材料中的至少一种：人造石墨、天然石墨、软炭、硬炭、硅基材料、锡基材料和钛酸锂等。硅基材料可选自单质硅、硅氧化合物、硅碳复合物、硅氮复合物以及硅合金中的至少一种。锡基材料可选自单质锡、锡氧化合物以及锡合金中的至少一种。但本公开并不限定于这些材料，还可以使用其他可被用作电池负极活性材料层的传统材料。这些负极活性材料层可以仅单独使用一种，也可以将两种以上组合使用。
在一些实施方式中，正极集流体基材的材料可以为铝，负极集流体基材的材料可以为铜。
在一些实施方式中，隔离件为隔离膜。本公开对隔离膜的种类没有特别的限制，可以选用任意公知的具有良好的化学稳定性和机械稳定性的多孔结构隔离膜。
作为示例，隔离膜的主要材质可选自玻璃纤维、无纺布、聚乙烯、聚丙烯、聚偏二氟乙烯、陶瓷中的至少一种。隔离膜可以是单层薄膜，也可以是多层复合薄膜，没有特别限制。在隔离膜为多层复合薄膜时，各层的材料可以相同或不同，没有特别限制。隔离件可以是单独的一个部件位于正极极片和负极极片之间，也可以在位于正极极片和负极极片之间的同时，附着在正极极片的表面和/或负极极片的表面。
在一些实施方式中，隔离件为固态电解质。固态电解质设于正极极片和负极极片之间，同时起到传输离子和隔离正负极的作用。
在一些实施方式中，电池单体还包括电解质，电解质在正、负极之间起到传导离子的作用。本公开对电解质的种类没有具体的限制，可根据需求进行选择。电解质可 以是液态的、凝胶态的或固态的。
作为示例，液态电解质包括电解质盐和溶剂。
在一些实施方式中，电解质盐可选自六氟磷酸锂、四氟硼酸锂、高氯酸锂、六氟砷酸锂、双氟磺酰亚胺锂、双三氟甲磺酰亚胺锂、三氟甲磺酸锂、二氟磷酸锂、二氟草酸硼酸锂、二草酸硼酸锂、二氟二草酸磷酸锂及四氟草酸磷酸锂中的至少一种。
在一些实施方式中，溶剂可选自碳酸亚乙酯、碳酸亚丙酯、碳酸甲乙酯、碳酸二乙酯、碳酸二甲酯、碳酸二丙酯、碳酸甲丙酯、碳酸乙丙酯、碳酸亚丁酯、氟代碳酸亚乙酯、甲酸甲酯、乙酸甲酯、乙酸乙酯、乙酸丙酯、丙酸甲酯、丙酸乙酯、丙酸丙酯、丁酸甲酯、丁酸乙酯、1,4-丁内酯、环丁砜、二甲砜、甲乙砜及二乙砜中的至少一种。溶剂也可选醚类溶剂。醚类溶剂可以包括乙二醇二甲醚、乙二醇二乙醚、二乙二醇二甲醚、三乙二醇二甲醚、四乙二醇二甲醚、1,3-二氧戊环、四氢呋喃、甲基四氢呋喃、二苯醚及冠醚中的一种或多种。
作为示例，凝胶态电解质包括以聚合物作为电解质的骨架网络，搭配离子液体-锂盐。
作为示例，固态电解质包括聚合物固态电解质、无机固态电解质、复合固态电解质。
作为示例，聚合物固态电解质可以为聚醚(聚氧化乙烯)、聚硅氧烷、聚碳酸酯、聚丙烯腈、聚偏氟乙烯、聚甲基丙烯酸甲酯、单离子聚合物、聚离子液体-锂盐、纤维素等。
作为示例，无机固态电解质可以为氧化物固体电解质(晶态的钙钛矿、钠超导离子导体、石榴石、非晶态的LiPON薄膜)、硫化物固体电解质(晶态的锂超离子导体(锂锗磷硫、硫银锗矿)、非晶体硫化物)以及卤化物固体电解质、氮化物固体电解质及氢化物固体电解质中的一种或多种。
作为示例，复合固态电解质通过在聚合物固体电解质中增加无机固态电解质填料形成。
在一些实施方式中，电极组件包括卷绕结构。正极极片、负极极片和隔离件卷绕成卷绕结构。正极极片、负极极片可分别设置一个或多个。作为示例，多个正极极片和多个负极极片沿极片厚度方向交替设置。
在一些实施方式中，电极组件的形状可以为圆柱状、扁平状或多棱柱状等。
在一些实施方式中，正极极片包括正极极耳，负极极片包括负极极耳，正极极耳 和负极极耳可用于将电流从电极组件导出。正极极耳和负极极耳分别连接正极集流体基材和负极集流体基材。极耳可通过切割或裁切集流体基材的方式形成，也可以通过焊接方式连接在集流体基材的侧边。
在一些实施方式中，电池单体可以包括外壳。外壳用于封装电极组件及电解质等部件。外壳可以为钢壳、铝壳、塑料壳(如聚丙烯)、复合金属壳(如铜铝复合外壳)或铝塑膜等。
作为示例，电池单体可以为圆柱形电池单体、棱柱电池单体、软包电池单体或其它形状的电池单体，棱柱电池单体包括方壳电池单体、刀片形电池单体、多棱柱电池，多棱柱电池例如为六棱柱电池等。
在一些相关技术中，在换电站采用车辆顶升搬运机器人对可换电的新能源车辆进行电池的装卸。这种搬运机器人采用梯形丝杆组件驱动连杆来实现升降运动，这种结构在高度上需要占据一定的空间，因此对具有不同底盘高度的车辆的适应性比较受限。而且，这种结构的升降距离比较有限，且在水平方向上也占用较多空间，不容易实现不同数量、不同组合形式的电池装卸需求。
有鉴于此，本公开实施例提供一种车辆换电装置及换电系统，能够提高车辆电池的更换适应性。
在本公开的一个方面，提供一种车辆换电装置，用于更换车辆的电池组件，包括：框架；支撑台，设置在所述框架上，被配置为对待安装或待拆卸的电池组件进行支撑；提升机构，设置在所述框架上，并与所述支撑台可操作地连接，被配置为驱动所述支撑台升降；和多个加解锁机构，设置在所述支撑台上，用于实现所述电池组件相对于所述车辆的锁定或解锁；其中，所述多个加解锁机构在所述支撑台的支撑表面上间隔排布，所述多个加解锁机构包括至少两组加解锁机构，各组加解锁机构的控制是相互独立的。
在由提升机构驱动升降的支撑台上设置多个加解锁机构，并使多个加解锁机构在支撑台上间隔排布，多个加解锁机构包括在控制上相互独立的至少两组。通过在多个加解锁机构中进行选择和进行加解锁操作的控制，可以满足多种不同电池组合形式对应的锁定要求，提高车辆换电装置对车辆不同电池组合形式的换电适应性。
图1是根据本公开车辆换电装置的一些实施例的换电场景示意图。参考图1，在车辆换电装置的一些实施例中，车辆70可以为燃油汽车、燃气汽车或新能源汽车，新能源汽车可以是纯电动汽车或混合动力汽车等，车辆可以为家用车辆，也可以是商用 车辆。在车辆70的底部可以设置电池组件71。
车辆换电装置可以在车辆70的底部对车辆70上安装的电池组件71进行拆卸，也可以在车辆70的底部向车辆70安装电池组件71。车辆换电装置可以进入到车辆70的底部与支撑表面G之间形成的高度空间H。支撑表面G可以为换电站的场地地面或者换电平台的表面。
电池组件71可以用于车辆70的供电，例如，电池组件71可以作为车辆70的操作电源，用于车辆70的电路系统，例如用于车辆70的启动、导航和运行时的工作用电需求。电池组件71不仅仅可以作为车辆70的操作电源，还可以作为车辆70的驱动电源，替代或部分替代燃油或天然气为车辆70提供驱动力。
车辆70的内部还可以设置车桥、车轮、马达以及控制器，控制器用来控制电池组件71给马达的供电。例如，在车辆70以电池组件71作为驱动电源时，电池组件71代替或部分地代替燃油或天然气为马达提供匀速、加速的所需要的动力。马达用于驱动车桥转动，以带动车轮转动。
电池组件71可以包括一个或多个电池。在不同的电池组件中，电池的尺寸、形状、规格、数量和位置的至少一种不同。电池组件71除了包括电池，还可以包括用于固定多个电池的框架结构等。
图2是根据本公开车辆换电装置的一些实施例的安装结构示意图。图3是根据本公开车辆换电装置的一些实施例中去掉框架的结构示意图。图4是图2所示实施例的俯视角度的结构示意图。图5是图3所示实施例的俯视角度的结构示意图。
参考图2和图4，本公开实施例提供了一种车辆换电装置，用于更换车辆70的电池组件71。车辆换电装置包括：框架10、支撑台20、提升机构30和多个加解锁机构40。支撑台20设置在所述框架10上，被配置为对待安装或待拆卸的电池组件进行支撑。提升机构30设置在所述框架10上，并与所述支撑台20可操作地连接，被配置为驱动所述支撑台20升降。多个加解锁机构40设置在所述支撑台20上，用于实现所述电池组件相对于所述车辆的锁定或解锁。所述多个加解锁机构40在所述支撑台20的支撑表面上间隔排布，所述多个加解锁机构40包括至少两组加解锁机构40，各组加解锁机构40的控制是相互独立的。
在由提升机构驱动升降的支撑台上设置多个加解锁机构，并使多个加解锁机构在支撑台上间隔排布，多个加解锁机构包括在控制上相互独立的至少两组。通过在多个加解锁机构中进行选择和进行加解锁操作的控制，可以满足多种不同电池组合形式对 应的锁定要求，提高车辆换电装置对车辆不同电池组合形式的换电适应性。
通过各组加解锁机构的独立控制，可以满足根据车辆所用的电池组件的形态来适应性地满足单电池组件和多电池组件中至少一种的换电需求。加解锁机构的数量还可以根据电池重量进行扩充或减少。
在本实施例中，框架20可实现支撑台20和提升机构30的安装和支撑，并可通过行走机构实现在支撑表面G的运行，具体地，行走机构可采用能够在平面上行走的滚轮，也可以采用能够在轨道上运行的轨道轮。框架20可以采用箱式结构或桁架结构。
设置在支撑台20上的多个加解锁机构40能够实现电池组件71相对于所述车辆70的锁定或解锁，提升机构30用于驱动所述支撑台20的升降，从而实现加解锁机构40与电池组件71的对接、锁定或解锁，以及通过使支撑台20上升或下降来提升或下降支撑台20承载的电池组件71的高度位置。
多个加解锁机构40包括多个组，组的划分可以按照各个加解锁机构40的位置进行，例如使位于同一方向排列的多个加解锁机构40划分为一组，或者使相邻的几个加解锁机构40划分为一组，或者按照支撑台上划分的区域进行分组等，也可以使一组加解锁机构40只包含一个加解锁机构40。
在一些实施例中，所述至少两组加解锁机构40中的部分组或全部组具有一个加解锁机构40。
通过使各组加解锁机构中的部分或全部具有一个加解锁机构，可使得更多的加解锁机构独立控制，可以提高对不同组合形式的电池组件的加解锁操作的适应性。
参考图2和图3，在一些实施例中，所述支撑台20包括至少两个支撑板21，所述提升机构30包括至少两组提升组件31，所述至少两组提升组件31与所述至少两个支撑板21一一对应且可操作地连接，各组提升组件31的控制是联动的或相互独立的。
考虑到待换电车辆因车辆胎压可能有所不同或者场地不平整等情况导致车辆底盘与场地之间并不平行，可能影响电池的正常更换。通过设置至少两个支撑板，并通过在控制上相互独立的至少两组提升组件来分别对至少两个支撑板进行连接，可以根据待换电车辆的底盘与所在场地的倾角或各个电池组件的安装高度来调整各个支撑板相对于场地的距离，以实现电池的正常更换。此外，也可以适用于一些采用多个电池组件以不同安装高度布置或电池组件倾斜布置的车辆的电池更换需求。
在例如车辆底盘与场地平行等情形下，各组提升组件的控制也可以是联动的，从 而有利于简化控制逻辑，降低控制难度。
例如在图2所示的沿第一方向d1排布的三组提升组件31中，每组提升组件31用于提升一个支撑板21，且每组提升组件31包括四个提升组件31。对于车辆底盘与场地平行，需要电池组件被水平提升的情况，各组提升组件31可以被控制着联动地升降，从而实现比较简单的控制逻辑。对于车辆上安装多个电池组件，但各个电池组件安装高度不同的情形，可以独立控制各组提升组件31将对应的支撑板21提升不同高度，以使得对各个电池组件进行支撑的支撑板21能够被提升到适合的高度来满足电池更换的需求。
参考图2、图4和图5，在一些实施例中，所述至少两个支撑板21沿第一方向d1排布，每组提升组件31的一部分和另一部分分别位于所述提升组件31对应的支撑板21在第二方向d2相对的两端的外侧，所述第一方向d1与所述第二方向d2垂直，且所述第一方向d1和所述第二方向d2均垂直于所述支撑台20的提升方向。
在图2中，支撑台20的提升方向可以平行于第三方向d3，而第一方向d1垂直于支撑台20的提升方向。第一方向d1作为至少两个支撑板21的排布方向，可以与车辆换电装置相对于车辆70的底部与支撑表面G之间形成的高度空间H的水平进出方向平行或者垂直，第二方向d2与第一方向d1和第三方向d3均垂直。
通过使提升组件对沿第一方向排布的至少两个支撑板在第二方向上的相对两端的外侧进行布置，可使支撑板可以更紧凑地排布，减少提升组件和支撑板在第一方向上的空间占用和相互干涉，并且有利于实现支撑板的稳定提升。
在一些实施例中，每组提升组件31中的各个提升组件31的控制是联动的或相互独立的。
通过使每组提升组件中的各个提升组件独立控制，配合着各组提升组件的联动控制或相互独立控制，可以选择性地使一部分或全部提升组件升降到相同或不同高度，从而更灵活地调整支撑板相对于场地的倾角，满足待换电车辆的底盘与所在场地之间不同倾角或车辆的不同倾斜布置电池角度的电池更换需要。
对于可以独立控制或联动控制的各组提升组件，每组提升组件的控制也可以是联动的，从而有利于简化控制逻辑，降低控制难度。
仍参考图2，对于任一组提升组件31来说，通过使各个提升组件31独立控制，可以通过提升组件31不同的提升高度来实现预设倾角的支撑板的支撑和升降。这样可以满足车辆底盘与场地不平行或电池组件倾斜安装的电池更换需要。对于车辆底盘 与场地平行，需要电池组件被水平提升的情况，各个提升组件31可以被控制着联动地升降，从而实现比较简单的控制逻辑。
图6是图3中圆圈A所对应位置的放大示意图。
参考图4和图6，在一些实施例中，所述多个加解锁机构40分布在各个支撑板21沿所述第一方向d1相对的两个侧边21a、21b上。
两个侧边21a、21b可以相互平行，也可以不平行。在图6中，侧边21a和21b还可以设置成在第二方向d2上具有凹部和凸部，以便与相邻支撑板形成交错嵌入的结构，从而使相邻支撑板在第一方向d1上的部分宽度交叠，以使得结构更加紧凑。加解锁机构40可以设置在侧边的凸部位置。
通过使加解锁机构分布在支撑板沿多个支撑板排布方向的相对侧边上，可使各个加解锁机构与位于第二方向两端外侧的提升组件不发生干涉，而且还有利于实现对加解锁机构的布置、拆卸和更换。
参考图3-图6，在一些实施例中，位于同一侧边的加解锁机构40沿所述第二方向d2间隔排布。
在支撑板21沿所述第一方向d1相对的的两个侧边中的一个(例如21a或21b)或者两个(例如21a和21b)都可以设置成沿所述第二方向d2间隔排布的多个加解锁机构40。
对于位于同一侧边的加解锁机构来说，使其沿第二方向间隔排布，可以在第二方向上实现电池的多点锁定或多个电池的锁定，满足不同组合形式的电池组件的加解锁需求。
图7是根据本公开车辆换电装置的一些实施例在线性伸缩式执行器的驱动端位于第二工作位置的状态下的前视角度的结构示意图。图8是根据本公开车辆换电装置的一些实施例在线性伸缩式执行器的驱动端位于第一工作位置的状态下的前视角度的结构示意图。图9是图3中圆圈B所对应位置的放大示意图。
参考图3和图9，在一些实施例中，所述提升机构30包括至少两组提升组件31，所述至少两组提升组件31中的至少一个提升组件31包括：线性伸缩式执行器311和提升件312。线性伸缩式执行器311设置在所述框架10的底面11上，被配置为驱动所述支撑台20沿第三方向d3运动，所述第三方向d3与所述支撑台20的提升方向平行。提升件312具有用于支撑所述支撑台20的支撑端312a和与所述线性伸缩式执行器311的驱动端连接的连接端312b，其中，所述连接端312b位于所述支撑端312a远 离所述框架10的底面11的一侧。
线性伸缩式执行器311可采用基于电、磁、液压或气动等方式执行其驱动端的线性运动。将线性伸缩式执行器311设置在所述框架10的底面11上，并配合提升件312的使用，有利于减少线性伸缩式执行器311自身以及车辆换电装置整体上在第三方向上实现更小的收合空间。提升组件采用线性伸缩式执行器和提升件来驱动支撑台进行升降运动，提升件在线性伸缩式执行器的驱动端直线驱动下调整其所支撑的支撑台的高度位置，这样有利于使电池处于更靠下的支撑位置，允许更大的提升距离，以满足较低底盘的车辆的换电需求。
参考图9，在一些实施例中，所述线性伸缩式执行器311包括：刚性链机构311a、电机311b和伸缩臂311c。刚性链机构311a具有壳体和设置于所述壳体的刚性链，所述刚性链的末端与所述连接端312b固定连接。电机311b与所述刚性链机构311a驱动连接，被配置为驱动所述刚性链相对于所述壳体运动。伸缩臂311c与所述壳体和所述连接端312b均连接，且套在所述刚性链的外侧。
刚性链机构311a的刚性链可以卷绕方式进行收合，并通过放出刚性链来实现线性驱动，这种结构可以在获得较高控制精度的同时实现更紧凑的结构，占用较少空间。为了减少或尽量消除侧向力对刚性链稳定运行的不利影响，将伸缩臂套在刚性链外侧可实现对刚性链的保护，提高线性伸缩式执行器的工作稳定性。
在一些实施例中，所述电机311b包括伺服电机。
采用伺服电机对刚性链机构进行驱动，可以配合着具有较高精度的刚性链实现更精确的控制效果，并实现更高的传动效率，从而提高控制提升组件实现提升动作的精度。
参考图8，在一些实施例中，所述线性伸缩式执行器311的驱动端具有第一工作位置，所述提升件312被配置为在所述线性伸缩式执行器311的驱动端处于所述第一工作位置的状态下，使所述连接端312b在所述第三方向d3上相对于所述框架10的底面11的距离h1不高于所述框架10在所述第三方向d3上的高度H。
在图8中，线性伸缩式执行器311的驱动端与提升件312的连接端312b安装，且高于提升件312的支撑端312a。在所述线性伸缩式执行器311的驱动端处于第一工作位置，例如线性伸缩式执行器311的最小回缩位置，此时的连接端312b在所述第三方向d3上相对于所述框架10的底面11的距离h1低于框架10在所述第三方向d3上的高度H。在另一些实施例中，在所述线性伸缩式执行器311的驱动端处于第一工 作位置时，距离h1也可以等于高度H。
在线性伸缩式执行器的驱动端处于第一工作位置时，通过使提升件的连接端在第三方向上相对于所述框架的底面的距离不高于所述框架在所述第三方向上的高度，可以使提升组件在线性伸缩式执行器的缩回位置下整体高度较低，从而更容易进入较低底盘的车辆下侧进行换电。
参考图7，在一些实施例中，所述线性伸缩式执行器311的驱动端还具有第二工作位置，所述提升件312被配置为在所述线性伸缩式执行器311的驱动端处于所述第二工作位置的状态下，使所述连接端312b在所述第三方向d3上相对于所述框架10的底面11的距离h2不低于所述框架10在所述第三方向d3上的高度H的两倍。
在图7中，在所述线性伸缩式执行器311的驱动端处于第二工作位置，例如线性伸缩式执行器311的最大伸出位置，此时的连接端312b在所述第三方向d3上相对于所述框架10的底面11的距离h2为所述框架10在所述第三方向d3上的高度H的两倍。在另一些实施例中，在所述线性伸缩式执行器311的驱动端处于第二工作位置时，距离h2也可以为高度H的2倍以上。
在线性伸缩式执行器的驱动端处于第二工作位置时，提升件的连接端在第三方向上相对于所述框架的底面的距离不低于所述框架在所述第三方向上的高度的两倍，这使得支撑台可以实现更大的升降范围，满足更大的底盘高度范围的换电需求。
参考图2和图8，在一些实施例中，所述框架10具有电池支撑座12，所述电池支撑座12被配置为在所述线性伸缩式执行器311的驱动端处于所述第一工作位置的状态下，对所述支撑台20进行支撑，以使所述支撑端312a与所述支撑台20脱离接触。
在图2中，电池支撑座12可以采用在框架10上设置的凸块结构或凸边结构，以便对支撑台20的周边的至少部分进行支撑。在框架上设置电池支撑座，在线性伸缩式执行器的驱动端处于所述第一工作位置的状态下由电池支撑座对支撑台进行支撑，从而使支撑端与所述支撑台脱离接触，这样可以在车辆换电装置整体移动时，使支撑台可以获得更稳定的支撑作用，降低车辆换电装置整体移动时电池组件水平滑移的风险，并能够减少提升组件的损耗，使提升机构不容易受到侧向力的影响。
在上述各实施例中，提升件可以被设计成Z字形，且其连接端在第三方向上高于支撑端。例如采用呈Z字形的折弯板，并在成角度的相邻折弯表面之间设置筋板以提高提升件的强度和刚度。
图10是图6中圆圈C所对应位置的放大示意图。
参考图7和图10，在一些实施例中，车辆换电装置还包括浮动机构50。浮动机构50位于所述提升机构30和所述支撑台20的连接位置，被配置为使所述支撑台20相对于所述提升机构30在垂直于所述支撑台20的提升方向的至少一个方向上移动。
浮动机构50可使支撑台20相对于所述提升机构30在垂直于所述支撑台20的提升方向的至少一个方向上移动。这里的移动方向可以为平行于第一方向d1的方向，或者平行于第二方向d2的方向，或者位于平行于第一方向d1和第二方向d2平面的其他方向。
通过在提升机构和所述支撑台的连接位置设置浮动机构，以便通过浮动机构卸除加解锁机构在安装或使用时受到平行于支撑台的支撑表面的方向的力，从而降低因安装或运行误差导致加解锁机构受力而损坏的风险。
参考图10，在一些实施例中，所述浮动机构50包括万向球轴承51，所述万向球轴承51位于所述提升机构30和所述支撑台20在所述支撑台20的提升方向上的相对表面之间。
浮动机构采用万向球轴承可以在实现浮动作用的同时，允许支撑台在升降方向上与提升机构脱离，方便进行拆卸、更换，而且这种浮动机构具有更紧凑的结构。
参考图3、图5和图9，在一些实施例中，车辆换电装置还包括：设置在所述框架10上的舵轮组件60。
舵轮组件60可包括车轮、电机、转向盘、减速器、制动器、角度控制编码器等部件，不仅结构非常紧凑，且能够实现车辆转动和转向的精准控制。舵轮组件可以实现全向移动，并能够承载一定重量。
在图9中，舵轮组件60采用卧式结构，其电机与车辆在水平方向上间隔设置，从而降低舵轮组件60的整体高度，有利于减小车辆换电装置在高度上的空间占用。舵轮组件60可设置在相邻的线性伸缩式执行器之间，例如图5所示的在三个支撑板中两个支撑板分别对应的两组提升机构来说，四个舵轮组件分别位于各组提升机构的相邻两个提升机构的线性伸缩式执行器之间。通过舵轮组件实现车辆换电装置的行走，可以方便地进行车辆换电装置的平移和转向。
在本公开的一个方面，提供一种换电系统，包括前述任一实施例的车辆换电装置。
采用前述车辆换电装置的换电系统可以提高电池更换的适应性。
在一些具体的实施例中，如图2-图9所示，车辆换电装置包括：框架10、支撑台20、提升机构30、多个加解锁机构40和设置在所述框架10上的舵轮组件60。支撑台 20设置在所述框架10上，包括沿第一方向d1排布的至少两个支撑板21。提升机构30设置在所述框架10上，并与所述支撑台20可操作地连接。提升机构30包括与至少两个支撑板21分别对应的至少两组提升组件31，每组提升组件31包括四个提升组件31，两个位于对应的支撑板21在第二方向d2的一端的外侧，另两个位于对应的支撑板21在第二方向d2的另一端的外侧。第一方向d1与所述第二方向d2垂直。
多个加解锁机构40设置在各个支撑板21沿所述第一方向d1相对的两个侧边上，并沿所述第二方向d2间隔排布。各个提升组件31相互独立控制，各个加解锁机构40分组或各个独立控制。
提升组件31包括：设置在所述框架10的底面11上的线性伸缩式执行器311和提升件312。提升件312具有用于支撑所述支撑台20的支撑端312a和与所述线性伸缩式执行器311的驱动端连接的连接端312b。所述连接端312b位于所述支撑端312a远离所述框架10的底面11的一侧。
所述线性伸缩式执行器311包括：刚性链机构311a、电机311b和伸缩臂311c。刚性链机构311a具有壳体和设置于所述壳体的刚性链，所述刚性链的末端与所述连接端312b固定连接。电机311b包括伺服电机，且与所述刚性链机构311a驱动连接，被配置为驱动所述刚性链相对于所述壳体运动。伸缩臂311c与所述壳体和所述连接端312b均连接，且套在所述刚性链的外侧。
所述线性伸缩式执行器311的驱动端具有第一工作位置和第二工作位置。在所述线性伸缩式执行器311的驱动端处于所述第一工作位置的状态下，所述提升件312的所述连接端312b在所述第三方向d3上相对于所述框架10的底面11的距离不高于所述框架10在所述第三方向d3上的高度H。在所述线性伸缩式执行器311的驱动端处于所述第二工作位置的状态下，所述提升件312的所述连接端312b在所述第三方向d3上相对于所述框架10的底面11的距离不低于所述框架10在所述第三方向d3上的高度H的两倍。
框架10具有电池支撑座12，所述电池支撑座12被配置为在所述线性伸缩式执行器311的驱动端处于所述第一工作位置的状态下，对所述支撑台20进行支撑，以使所述支撑端312a与所述支撑台20脱离接触。
车辆换电装置还包括位于所述提升机构30和所述支撑台20的连接位置的浮动机构50。浮动机构50能够使所述支撑台20相对于所述提升机构30在垂直于所述支撑台20的提升方向的至少一个方向上移动。所述浮动机构50包括万向球轴承51，所述 万向球轴承51位于所述提升机构30和所述支撑台20在所述支撑台20的提升方向上的相对表面之间。
虽然已经参考优选实施例对本公开进行了描述，但在不脱离本公开的范围的情况下，可以对其进行各种改进并且可以用等效物替换其中的部件。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本公开并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (17)

  1. 一种车辆换电装置，用于更换车辆(70)的电池组件(71)，包括：
    框架(10)；
    支撑台(20)，设置在所述框架(10)上，被配置为对待安装或待拆卸的电池组件(71)进行支撑；
    提升机构(30)，设置在所述框架(10)上，并与所述支撑台(20)可操作地连接，被配置为驱动所述支撑台(20)升降；和
    多个加解锁机构(40)，设置在所述支撑台(20)上，用于实现所述电池组件(71)相对于所述车辆的锁定或解锁；
    其中，所述多个加解锁机构(40)在所述支撑台(20)的支撑表面上间隔排布，所述多个加解锁机构(40)包括至少两组加解锁机构(40)，各组加解锁机构(40)的控制是相互独立的。
  2. 根据权利要求1所述的车辆换电装置，其中，所述至少两组加解锁机构(40)中的部分组或全部组具有一个加解锁机构(40)。
  3. 根据权利要求1或2所述的车辆换电装置，其中，所述支撑台(20)包括至少两个支撑板(21)，所述提升机构(30)包括至少两组提升组件(31)，所述至少两组提升组件(31)与所述至少两个支撑板(21)一一对应且可操作地连接，各组提升组件(31)的控制是联动的或相互独立的。
  4. 根据权利要求3所述的车辆换电装置，其中，所述至少两个支撑板(21)沿第一方向(d1)排布，每组提升组件(31)的一部分和另一部分分别位于所述提升组件(31)对应的支撑板(21)在第二方向(d2)相对的两端的外侧，所述第一方向(d1)与所述第二方向(d2)垂直，且所述第一方向(d1)和所述第二方向(d2)均垂直于所述支撑台(20)的提升方向。
  5. 根据权利要求3或4所述的车辆换电装置，其中，每组提升组件(31)中的各个提升组件(31)的控制是联动的或相互独立的。
  6. 根据权利要求4或5所述的车辆换电装置，其中，所述多个加解锁机构(40)分布在各个支撑板(21)沿所述第一方向(d1)相对的两个侧边(21a；21b)上。
  7. 根据权利要求6所述的车辆换电装置，其中，位于同一侧边(21a；21b)的加解锁机构(40)沿所述第二方向(d2)间隔排布。
  8. 根据权利要求1-7任一所述的车辆换电装置，其中，所述提升机构(30)包括至少两组提升组件(31)，所述至少两组提升组件(31)中的至少一个提升组件(31)包括：
    线性伸缩式执行器(311)，设置在所述框架(10)的底面(11)上，被配置为驱动所述支撑台(20)沿第三方向(d3)运动，所述第三方向(d3)与所述支撑台(20)的提升方向平行；和
    提升件(312)，具有用于支撑所述支撑台(20)的支撑端(312a)和与所述线性伸缩式执行器(311)的驱动端连接的连接端(312b)，其中，所述连接端(312b)位于所述支撑端(312a)远离所述框架(10)的底面(11)的一侧。
  9. 根据权利要求8所述的车辆换电装置，其中，所述线性伸缩式执行器(311)包括：
    刚性链机构(311a)，具有壳体和设置于所述壳体的刚性链，所述刚性链的末端与所述连接端(312b)固定连接；
    电机(311b)，与所述刚性链机构(311a)驱动连接，被配置为驱动所述刚性链相对于所述壳体运动；和
    伸缩臂(311c)，与所述壳体和所述连接端(312b)均连接，且套在所述刚性链的外侧。
  10. 根据权利要求9所述的车辆换电装置，其中，所述电机(311b)包括伺服电机。
  11. 根据权利要求8～10任一所述的车辆换电装置，其中，所述线性伸缩式执行器(311)的驱动端具有第一工作位置，所述提升件(312)被配置为在所述线性伸缩式执行器(311)的驱动端处于所述第一工作位置的状态下，使所述连接端(312b)在所述第三方向(d3)上相对于所述框架(10)的底面(11)的距离不高于所述框架(10)在所述第三方向(d3)上的高度(H)。
  12. 根据权利要求11所述的车辆换电装置，其中，所述框架(10)具有电池支撑座(12)，所述电池支撑座(12)被配置为在所述线性伸缩式执行器(311)的驱动端处于所述第一工作位置的状态下，对所述支撑台(20)进行支撑，以使所述支撑端(312a)与所述支撑台(20)脱离接触。
  13. 根据权利要求11或12所述的车辆换电装置，其中，所述线性伸缩式执行器(311)的驱动端还具有第二工作位置，所述提升件(312)被配置为在所述线性伸缩 式执行器(311)的驱动端处于所述第二工作位置的状态下，使所述连接端(312b)在所述第三方向(d3)上相对于所述框架(10)的底面(11)的距离不低于所述框架(10)在所述第三方向(d3)上的高度(H)的两倍。
  14. 根据权利要求1-13任一所述的车辆换电装置，还包括：
    浮动机构(50)，位于所述提升机构(30)和所述支撑台(20)的连接位置，被配置为使所述支撑台(20)相对于所述提升机构(30)在垂直于所述支撑台(20)的提升方向的至少一个方向上移动。
  15. 根据权利要求14所述的车辆换电装置，其中，所述浮动机构(50)包括万向球轴承(51)，所述万向球轴承(51)位于所述提升机构(30)和所述支撑台(20)在所述支撑台(20)的提升方向上的相对表面之间。
  16. 根据权利要求1-15任一所述的车辆换电装置，还包括：
    舵轮组件(60)，设置在所述框架(10)上。
  17. 一种换电系统，包括：
    权利要求1～16任一所述的车辆换电装置。
PCT/CN2024/128115 2023-11-17 2024-10-29 车辆换电装置及换电系统 Pending WO2025103136A1 (zh)

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