WO2025189882A1 - Robot de permutation de batterie et station de charge et de permutation de batterie - Google Patents

Robot de permutation de batterie et station de charge et de permutation de batterie

Info

Publication number
WO2025189882A1
WO2025189882A1 PCT/CN2024/139946 CN2024139946W WO2025189882A1 WO 2025189882 A1 WO2025189882 A1 WO 2025189882A1 CN 2024139946 W CN2024139946 W CN 2024139946W WO 2025189882 A1 WO2025189882 A1 WO 2025189882A1
Authority
WO
WIPO (PCT)
Prior art keywords
battery
docking
female end
supply module
male end
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/CN2024/139946
Other languages
English (en)
Chinese (zh)
Inventor
周肖鸿
杨潮
邹积勇
徐余才
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NIO Technology Anhui Co Ltd
Original Assignee
NIO Technology Anhui Co Ltd
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
Application filed by NIO Technology Anhui Co Ltd filed Critical NIO Technology Anhui Co Ltd
Publication of WO2025189882A1 publication Critical patent/WO2025189882A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • 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
    • 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
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. 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 invention relates to the field of battery charging and swapping technology, and in particular to a battery swapping robot and a charging and swapping station.
  • one existing solution is to modify the battery swapping robot in the charging and swapping station by adding a movable locking and unlocking mechanism to the battery swapping robot. For example, on the basis of the fixed locking and unlocking mechanism, a locking and unlocking mechanism that can be moved horizontally, a locking and unlocking mechanism that can be raised and lowered, and a locking and unlocking mechanism that can be moved and raised simultaneously are added. In this way, the battery swapping robot can be adapted to a variety of vehicles and batteries.
  • the above technical solution increases the battery swapping compatibility of the battery swapping robot to a certain extent, it is limited by the layout space of the battery swapping robot and the small movable range of the locking and unlocking mechanism. When the above technical solution is adopted, the battery swapping compatibility of the battery swapping robot is still insufficient.
  • the present application provides a battery swapping robot, the battery swapping robot comprising:
  • a docking mechanism is provided between the main body and the battery carrying portion, and the battery carrying portion is detachably connected to the main body through the docking mechanism.
  • the battery-swapping robot of the present application can achieve a detachable connection between the main body and the battery-carrying part, as well as rapid replacement of the battery-carrying part by setting a docking mechanism, thereby realizing replacement of power batteries for vehicles of different models by replacing different battery-carrying parts, thereby improving the compatibility of the battery-swapping robot and enabling the battery-swapping robot to cover more models of vehicles and batteries.
  • the docking mechanism includes a docking male end and a docking female end, one of the docking male end and the docking female end is arranged on the main body, and the other is arranged on the battery carrying part, and the docking male end and the docking female end can be docked and locked in the vertical direction.
  • the docking male end is arranged on the main body, and the docking female end is arranged on the battery carrying part.
  • the docking male end is arranged in the middle of the main body, and the docking female end is arranged in the middle of the battery-carrying part.
  • the above arrangement can improve the connection stability between the body and the battery carrying part.
  • the docking mechanism is a robot tool quick-changing device.
  • the robot tool quick change device is used as the docking mechanism, which can realize electric locking between the main body and the battery carrying part, and the locking effect is good.
  • the main body includes a bottom frame, a lifting mechanism and a connecting frame.
  • the lifting mechanism is arranged on the bottom frame, and the connecting frame is connected to the lifting mechanism.
  • the battery carrying part includes a fixed frame, and one of the docking male end and the docking female end is arranged on the upper side of the connecting frame, and the other is arranged on the lower side of the fixed frame.
  • the battery carrying part also includes a carrying plate, the carrying plate is floatingly connected to the fixed frame, and the locking and unlocking mechanism is arranged on the carrying plate.
  • the above setting method can achieve floating alignment of the locking and unlocking mechanism and improve the success rate of battery replacement.
  • the docking mechanism further includes a power supply module male end and a power supply module female end, the power supply module male end is arranged at the docking male end, the power supply module female end is arranged at the docking female end, the power supply module female end is connected to the locking and unlocking mechanism through a cable, and the power supply module male end can be electrically connected to the power supply module female end; and/or
  • the docking mechanism further comprises an air supply module male end and an air supply module female end, the air supply module male end is arranged at the docking male end, the air supply module female end is arranged at the docking female end, and the air supply module male end can be sealed and connected to the air supply module female end; and/or
  • the docking mechanism further includes a signal module male end and a signal module female end.
  • the signal module male end is arranged on the docking male end, and the signal module female end is arranged on the docking female end.
  • the signal module male end can be connected to the signal module female end.
  • the above-mentioned setting method by setting the power supply module, air supply module and/or signal module on the docking mechanism, can utilize the docking process of the docking mechanism to realize the transmission between electricity, gas and signals, which is beneficial to improving the docking accuracy of the power supply module, air supply module and/or signal module.
  • At least some of the locking and unlocking mechanisms are movably arranged.
  • the above arrangement is conducive to improving the compatibility of the battery carrying part.
  • the present application also provides a charging and swapping station, which includes a battery swapping robot according to any one of the above-mentioned preferred technical solutions.
  • the charging and swapping station of the present application by setting up the above-mentioned battery swapping robot, can realize the detachable connection between the main body and the battery carrying part through the docking mechanism, so as to adapt to vehicles and batteries of different specifications by replacing the battery carrying part, which can significantly improve the battery swapping compatibility of the charging and swapping station, so that the charging and swapping station can swap batteries for more types of vehicles.
  • Figure 1 is an assembly diagram of the battery-swapping robot of the present application
  • FIG. 2 is a structural diagram of the battery-swapping robot of the present application.
  • FIG3 is an exploded view of the battery carrying portion of the battery-swapping robot of the present application.
  • FIG4 is an exploded view (I) of the docking mechanism of the battery-swapping robot of the present application
  • Figure 5 is an exploded view (2) of the docking mechanism of the battery-swapping robot of the present application.
  • a battery swapping robot which includes: a main body 1, a battery carrying part 2 and a docking mechanism 6.
  • a plurality of locking and unlocking mechanisms 4 are provided on the battery carrying part 2.
  • the battery carrying part 2 is configured to carry a power battery, and the locking and unlocking mechanism 4 is configured to be able to lock and unlock the power battery of the vehicle to be battery swapped.
  • the docking mechanism 6 is provided between the main body 1 and the battery carrying part 2, and the battery carrying part 2 is detachably connected to the main body 1 through the docking mechanism 6.
  • the battery swapping robot is located below the vehicle to be swapped, with the battery carrier 2 locked to the body 1 via the docking mechanism 6.
  • the battery carrier 2 first docks with the vehicle chassis, and then the locking and unlocking mechanism 4 locks or unlocks the battery, thereby completing the power battery swap. If the locking and unlocking mechanism 4 on the battery carrier 2 does not match the vehicle to be swapped or the battery under the vehicle, the current battery carrier 2 is removed via the docking mechanism 6 and replaced with another battery carrier 2 that matches the vehicle to be swapped, and the battery swapping operation is repeated.
  • the battery-swapping robot of the present application can realize a detachable connection between the main body 1 and the battery-carrying part 2, as well as a quick replacement of the battery-carrying part 2 by setting a docking mechanism 6, so as to realize the replacement of power batteries for vehicles of different models by replacing different battery-carrying parts 2, thereby improving the compatibility of the battery-swapping robot and enabling the battery-swapping robot to cover more models of vehicles and batteries.
  • the battery-exchanging robot includes a main body 1, a battery-carrying part 2, a control part 3, a docking mechanism 6 and an auxiliary power supply 7.
  • the main body 1 includes a base frame 11, a lifting mechanism 12, and a connecting frame 13.
  • the base frame 11 is provided with a running portion, which enables the base frame 11 to reciprocate between predetermined positions.
  • the running portion includes running wheels and a running mechanism.
  • the running wheels are mounted on the underside of the base frame 11.
  • a track is provided between the battery rack and the battery swapping platform of the charging and swapping station, and the running wheels are located on this track.
  • the running mechanism includes a drive motor and a rack and pinion assembly.
  • the rack is mounted between the tracks, and the drive motor is mounted on the underside of the base frame 11.
  • the output shaft of the drive motor is connected to the gear, and the gear and rack mesh.
  • the lifting mechanism 12 is a scissor-type lifting mechanism 12, with one side connected to the base frame 11 and the other side connected to the connecting frame 13.
  • the connecting frame 13 can be vertically raised or lowered relative to the base frame 11.
  • the battery carrier 2 includes a fixed frame 21 and a carrier plate 22.
  • the fixed frame 21 is a frame formed by welding rectangular steel pipes, and the carrier plate 22 is formed by processing steel plates.
  • the carrier plate 22 is connected to the upper side of the fixed frame 21.
  • the locking and unlocking mechanism 4 is disposed on the carrier plate 22.
  • the carrier plate 22 is floatingly connected to the fixed frame 21.
  • the floating connection between the carrier plate 22 and the fixed frame 21 is a conventional method in the art and will not be described in detail in this application.
  • at least some of the multiple locking and unlocking mechanisms 4 are movable.
  • the illustrated embodiment includes twelve locking and unlocking mechanisms 4.
  • the two locking and unlocking mechanisms 4 located in the middle of the carrier plate 22 are translatably movable. Of the ten locking and unlocking mechanisms 4 located around the carrier plate 22, the four locking and unlocking mechanisms 4 located on the same side of the carrier plate 22 (the upper left side in Figure 1) are liftable. The remaining six locking and unlocking mechanisms 4 are fixed to the carrier plate 22.
  • the specific structures and connection methods of the translatable locking and unlocking mechanism and the liftable locking and unlocking mechanism are conventional means in this field and will not be described in detail in this application.
  • the carrier plate 22 is floatingly connected to the fixed frame 21, which can achieve floating alignment of the locking and unlocking mechanism 4, thereby improving the success rate of battery replacement.
  • At least part of the locking and unlocking mechanism 4 is movable, which is beneficial to improving the compatibility of the battery carrier 2, so that the same battery carrier 2 can be used to match batteries of various specifications.
  • the control unit 3 is arranged on the fixed frame 21. More specifically, the control unit 3 is fixedly connected to one side of the fixed frame 21 to improve the connection stability of the control unit 3 and prevent the floating process of the carrier plate 22 from affecting the control unit 3.
  • the control unit 3 includes a servo controller and an encoder.
  • the number of servo controllers and encoders is less than the number of locking and unlocking mechanisms 4.
  • two servo controllers and two encoders are provided.
  • every six locking and unlocking mechanisms 4 are connected to one servo controller and one encoder.
  • the servo controller realizes the locking and unlocking action by controlling the speed and position of the motor of the locking and unlocking mechanism 4, and the encoder realizes high-precision position control by measuring the rotation angle of the motor of the locking and unlocking mechanism 4.
  • the specific structure and model of the servo controller and encoder in this application are not limited. Any servo controller and encoder that can realize the above functions can be applied to this application.
  • the docking mechanism 6 includes a male docking end 61 and a female docking end 62, one of which is disposed on the main body 1 and the other on the battery carrier 2, thereby detachably connecting the battery carrier 2 to the main body 1 via the docking mechanism 6.
  • the docking mechanism 6 is preferably a robotic tool quick changer, comprising a male docking end 61 and a female docking end 62, wherein the male docking end 61 is disposed on the main body 1 and the female docking end 62 is disposed on the battery carrier 2.
  • the male docking end 61 is disposed in the upper middle portion of the connecting frame 13, and the female docking end 62 is disposed in the lower middle portion of the fixed frame 21.
  • a locking mechanism and guide posts are provided on the male docking end 61, while a locking hole and guide holes are provided on the female docking end 62.
  • three locking mechanisms and three guide posts are provided on the male docking end 61, correspondingly, three locking holes and three guide holes are provided on the female docking end 62.
  • the docking male end 61 and the docking female end 62 are plugged into each other in the vertical direction through the guide column and the guide hole.
  • the battery carrier 2 is electrically locked through the locking mechanism and the locking hole. After electrical locking, the battery carrier 2 is fixed on the main body 1 and can be moved and lifted with the main body 1.
  • the docking between the main body 1 and the battery carrying part 2 can be achieved, and the docking accuracy and connection stability of the two can be improved.
  • the guidance and locking between the battery carrying part 2 and the main body 1 can be achieved at the same time.
  • the docking male end 61 is arranged in the middle of the main body 1, and the docking female end 62 is arranged in the middle of the battery carrying part 2, which can improve the connection stability between the main body 1 and the battery carrying part 2.
  • a robot tool quick change device as the docking mechanism 6, it is possible to achieve electric locking between the main body 1 and the battery carrying part 2, and the locking effect is good.
  • a robot tool quick change device is applied to the end of a manipulator, and the present application innovatively applies a robot tool quick change device to the battery carrying part 2 and the main body 1 of a battery-changing robot, thereby achieving a detachable connection and stable locking between the battery carrying part 2 and the main body 1.
  • the above-mentioned vertical direction in the present application is not limited to an absolute vertical direction.
  • an absolute vertical direction is difficult to achieve. Therefore, as long as the docking male end 61 and the docking female end 62 are in a roughly vertical direction during the docking process, it is sufficient.
  • the docking direction of the docking male end 61 and the docking female end 62 has a certain angle with the vertical direction, and the angle is controlled within 3°.
  • the battery-swapping robot also includes a power supply module male end 51, a power supply module female end 52, a signal module male end 53, and a signal module female end 54.
  • One of the power supply module male end 51 and the power supply module female end 52 is arranged on the docking male end 61, and the other is arranged on the docking female end 62 and connected to the control unit 3.
  • the power supply module male end 51 can be electrically connected to the power supply module female end 52.
  • the power supply module male end 51 is arranged on the peripheral side of the docking male end 61, and the power supply module male end 51 is provided with a cable interface and a jack, and the cable interface is connected to the power supply source through a cable;
  • the power supply module female end 52 is arranged on the peripheral side of the docking female end 62, and the power supply module female end 52 is provided with a cable interface and a pin, and the cable interface is connected to the control unit 3 through a cable.
  • the pin on the power supply module female end 52 is inserted into the jack on the power supply module male end 51 to achieve power conduction.
  • the signal module male terminal 53 is disposed on the docking male terminal 61, and the signal module female terminal 54 is disposed on the docking female terminal 62.
  • the signal module male terminal 53 is connectable to the signal module female terminal 54.
  • the signal module male terminal 53 is disposed around the docking male terminal 61 and is provided with a signal line interface and a jack.
  • the signal line interface is connected to the signal source via a signal line.
  • the signal module female terminal 54 is disposed around the docking female terminal 62 and is provided with a signal line interface and a pin.
  • the signal line interface is connected to the control unit 3 via a signal line.
  • the control unit 3 and the locking and unlocking mechanism 4 can be powered by docking the two, reducing the structural complexity of the battery-swapping robot.
  • the male end 53 of the signal module and the female end 54 of the signal module signal transmission can be achieved by docking the two.
  • the docking process of the docking mechanism 6 can be used to achieve power and signal transmission, which is conducive to improving the docking accuracy of the power supply module and the signal module.
  • the auxiliary power supply 7 is disposed within the battery carrier 2 and is connected to the control unit 3 .
  • the auxiliary power supply 7 is preferably a rechargeable power supply, which is fixedly mounted on the fixing frame 21 and located on the opposite side of the control unit 3 .
  • the rechargeable power supply has a charging port and a discharging port. The discharging port is connected to the control unit 3 via a power supply line, and the charging port is connected to the female terminal 52 of the power supply module.
  • the present application provides an auxiliary power supply 7, which can be used to power the control unit 3 when the battery is not being replaced or the power is off, thereby preventing the control unit 3 from generating an error when it is powered on again after being powered off, thereby improving the working stability of the battery replacement robot.
  • the setting method of connecting the female end 52 of the power supply module to the charging interface of the rechargeable power supply can use the female end 52 of the power supply module provided on the battery carrying unit 2 to charge the rechargeable power supply, ensuring that the power of the rechargeable power supply is always in a suitable range.
  • control unit 3 of the battery-exchange robot being arranged on the battery carrying unit 2
  • the arrangement of the control unit 3 is not necessary, and the position of the arrangement can also be adjusted by those skilled in the art, and such adjustment does not deviate from the principle of this application.
  • the control unit 3 can also be arranged on the main body 1 and connected to the locking and unlocking mechanism 4 through the power plug and socket assembly and the signal plug and socket assembly.
  • the control unit 3 can also be not provided, but the control function can be integrated into the locking and unlocking mechanism 4, for example, each motor of the locking and unlocking mechanism 4 is configured with a servo controller and an encoder, etc.
  • the above embodiment is introduced with reference to the example of the main body 1 including the bottom frame 11, the lifting mechanism 12 and the connecting frame 13, this is only a possible embodiment, and those skilled in the art can select the specific structure of the main body 1 based on the specific application scenario.
  • the walking part may not be provided on the bottom frame 11, and the main body 1 may be fixedly provided below the battery exchange platform; for another example, the lifting mechanism 12 may not be provided, but the bottom frame 11 and the connecting frame 13 may be lifted and lowered as a whole by a lifting device.
  • the specific structure and composition of the walking part are not unique.
  • the main body 1 can be able to walk
  • those skilled in the art can also adjust the walking part, such as replacing the walking wheel with a driving wheel, thereby eliminating the drive motor and the rack and pinion assembly.
  • the scissor-type lifting mechanism 12 is only a preferred embodiment, and the lifting mechanism 12 can also be provided in other ways, such as using a chain mechanism or a rigid chain lifting mechanism 12 to achieve lifting.
  • the specific configuration of the battery carrier 2 is not fixed, and those skilled in the art can adjust it based on the specific application scenario.
  • the battery carrier 2 can include only the fixed frame 21 or the carrier plate 22, or other plates or frames can be added between the two, as long as the battery carrier 2 can effectively carry the battery and dock with the body 1.
  • the carrier plate 22 in addition to being floatingly arranged on the fixed frame 21, can also be fixedly connected to the fixed frame 21.
  • all can be configured as fixed locking and unlocking mechanisms, or all can be configured as movable locking and unlocking mechanisms.
  • a movable locking and unlocking mechanism When a movable locking and unlocking mechanism is present, at least one of the following can be included: a lifting locking and unlocking mechanism, a translational locking and unlocking mechanism, and a locking and unlocking mechanism 4 that can be both translated and lifted.
  • the number of locking and unlocking mechanisms 4 is also not fixed, and those skilled in the art can adjust the number based on the specific battery specifications and the number of battery specifications that the battery carrier 2 can be compatible with.
  • control unit 3 is described in this application in combination with a servo controller and an encoder as an example, the specific composition of the control unit 3 is not unique.
  • the control unit 3 may also include only one of the servo controller and the encoder. It is only exemplary that the number of servo controllers and encoders is set to two. Those skilled in the art can adjust it based on the specific application scenario. At the same time, the number of locking and unlocking mechanisms 4 connected to each servo controller and encoder can also be adjusted. This adjustment does not deviate from the principle of this application.
  • control unit 3 in addition to being fixedly connected to one side of the fixed frame 21, the control unit 3 can also be set at the bottom or inside of the fixed frame 21, as long as there is enough space at the location to install the controller and the controller does not interfere with other mechanisms during the battery replacement process.
  • the specific structural form of the docking mechanism 6 is not unique, and those skilled in the art can make adjustments as long as they can achieve effective docking between the main body 1 and the battery carrying part 2.
  • the docking mechanism 6 can also be implemented by an electromagnetic attraction device, that is, an electromagnet is provided on the main body 1, and a magnetic metal is provided on the battery carrying part 2. When the electromagnet is energized, it is magnetically attracted to the magnetic metal to generate suction to achieve docking between the battery carrying part 2 and the main body 1.
  • the docking mechanism 6 can also adopt a mechanical telescopic mechanism, that is, a driving motor is provided on the main body 1 to drive the rod body or slider to extend and retract (such as horizontal extension, etc.), and a socket is provided on the battery carrying part 2.
  • a driving motor is provided on the main body 1 to drive the rod body or slider to extend and retract (such as horizontal extension, etc.)
  • a socket is provided on the battery carrying part 2.
  • the battery carrying part 2 is placed on the main body 1, the rod body or slider is extended and inserted into the socket to achieve docking between the battery carrying part 2 and the main body 1.
  • the present application is described in combination with the example of the docking male end 61 being provided on the main body 1 and the docking female end 62 being provided on the battery carrying part 2, it is obvious that the positions of the two can be swapped.
  • a robotic tool quick changer is used as the docking mechanism 6, the specific structure of the device is not fixed.
  • the provision of the power supply module male end 51, the power supply module female end 52, the signal module male end 53 and the signal module female end 54 is not necessary, and those skilled in the art may selectively provide only one pair of modules, or add other possible modules.
  • only the power supply module male end 51 and the power supply module female end 52 may be provided for transmitting power, while the signal may be transmitted wirelessly.
  • the power supply module male end 51 and the power supply module female end 52 may not be provided, but two independent power supplies and power supply lines may be provided to supply power to the main body 1 and the battery carrying part 2 respectively.
  • the power supply and signal may be combined into one module, that is, a combined module male end and a combined module female end are provided, the combined module male end is provided with power pins and signal pins that are independent of each other, and the combined module female end is provided with power jacks and signal jacks that are independent of each other.
  • the combined module male end and the combined module female end are plugged into each other, the transmission of power and signal is realized simultaneously.
  • an air supply module can be added.
  • the air supply module includes a male end and a female end. One of the male end and the female end is located at the docking male end 61, and the other is located at the docking female end 62.
  • the male end of the air supply module can be sealed and connected to the female end of the air supply module.
  • the positions of the power supply module male end 51 and the power supply module female end 52 can be swapped, and the positions of the signal module male end 53 and the signal module female end 54 can also be swapped.
  • a pair or all of the power supply module male end 51, the power supply module female end 52, the signal module male end 53 and the signal module female end 54 may not be set on the docking mechanism 6, but may be respectively set on the main body 1 and the battery carrying part 2 (such as respectively set on the upper side of the connecting frame 13 and the lower side of the fixed frame 21). As long as the main body 1 and the battery carrying part 2 are docked through the docking mechanism 6, the power supply module male end 51 can be plugged into the power supply module female end 52, and the signal module male end 53 can be plugged into the signal module female end 54.
  • the provision of the auxiliary power supply 7 is only preferred. In other embodiments, those skilled in the art may not provide the auxiliary power supply 7. Of course, this will not be conducive to improving the battery replacement rhythm.
  • the auxiliary power supply 7 in addition to being a rechargeable power supply, can also be a non-rechargeable power supply. In this case, the auxiliary power supply 7 needs to be replaced regularly.
  • the location of the auxiliary power supply 7 is not restrictive. It can also be provided at any position of the battery carrying portion 2, as long as the position does not interfere with the battery replacement process.
  • the auxiliary power supply 7 can also be provided on the same side of the fixed frame 21 as the control unit 3, which facilitates the connection between the two.
  • the present application also provides a charging and swapping station, which includes a battery swapping robot introduced in any of the above embodiments.
  • the charging and swapping station of the present application by setting up the above-mentioned battery swapping robot, enables the battery swapping robot to achieve a detachable connection between the main body 1 and the battery carrying part 2 through the docking mechanism 6, thereby adapting to vehicles and batteries of different specifications by replacing the battery carrying part 2, which can significantly improve the battery swapping compatibility of the charging and swapping station, allowing the charging and swapping station to swap batteries for more models of vehicles.
  • a tool warehouse is provided in the charging and swapping station, and a plurality of battery carriers 2 of different specifications are stored in the tool warehouse.
  • the battery carrier 2 replacement program is started.
  • the locking mechanism of the docking male end 61 disconnects the connection between the locking holes of the docking female end 62, and the battery carrier 2 is separated from the main body 1 in the vertical direction.
  • the auxiliary power supply 7 is started to supply power to the control unit 3, and the power supply module male end 51 and the power supply module female end 52 are separated from each other, and the signal module male end 53 and the signal module female end 54 are separated from each other.
  • the replaced battery carrier 2 is recycled into the tool warehouse, and the auxiliary power supply 7 is charged in the tool warehouse to ensure the power.
  • the new battery carrier 2 that matches the vehicle to be replaced is docked with the body 1 in the vertical direction. After docking, the locking mechanism of the docking male end 61 of the new battery carrier 2 is electrically locked with the locking hole of the docking female end 62 on the body 1.
  • the male end 51 of the power supply module of the new battery carrier 2 is plugged into the female end 52 of the power supply module of the body 1.
  • the male end 53 of the signal module on the new battery carrier is plugged into the female end 54 of the signal module on the body 1.
  • the auxiliary power supply 7 on the new battery carrier 2 is powered off.
  • the battery-changing robot moves along the track to the bottom of the vehicle to be replaced.
  • the lifting mechanism 12 is operated to lift the battery carrier 2 to the vehicle chassis.
  • the control unit 3 controls the unlocking mechanism 4 to unlock the low-charged battery of the vehicle to be replaced. After unlocking is completed, the lifting mechanism 12 descends, and the battery carrier 2 drives the low-charged battery to descend. Subsequently, the battery-changing robot transports the low-charged battery to the battery rack, receives the fully charged battery from the battery rack, and moves again to the bottom of the vehicle to be replaced.
  • the lifting mechanism 12 operates to lift the battery carrier 2 together with the fully charged battery to the vehicle chassis.
  • the control unit 3 controls the locking and unlocking mechanism 4 to lock the fully charged battery. After locking is completed, the lifting mechanism 12 descends again. At this time, the battery replacement is completed.

Landscapes

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

Abstract

L'invention concerne un robot de permutation de batterie et une station de charge et de permutation de batterie, se rapportant au domaine technique de la charge et de la permutation de batterie, et destinés à être utilisés pour résoudre le problème de la faible compatibilité de permutation de batterie des robots de permutation de batterie existants. Le robot de permutation de batterie comprend : un corps (1) ; une partie de support de batterie (2), qui est pourvue d'une pluralité de mécanismes de verrouillage/déverrouillage (4), la partie de support de batterie (2) étant conçue pour porter une batterie d'alimentation, et les mécanismes de verrouillage/déverrouillage (4) étant conçus pour verrouiller/déverrouiller une batterie d'alimentation d'un véhicule devant faire l'objet d'une permutation de batterie ; et un mécanisme de connexion (6), qui est disposé entre le corps (1) et la partie de support de batterie (2), la partie de support de batterie (2) étant reliée de manière amovible au corps (1) par l'intermédiaire du mécanisme de connexion (6). En fournissant le mécanisme de connexion (4), un raccordement détachable entre le corps (1) et la partie de support de batterie (2) et un remplacement rapide de la partie de support de batterie (2) peuvent être obtenus, ce qui permet d'améliorer la compatibilité du robot de permutation de batterie et de permettre au robot de permutation de batterie de prendre en charge davantage de modèles de véhicule et de batterie.
PCT/CN2024/139946 2024-03-15 2024-12-17 Robot de permutation de batterie et station de charge et de permutation de batterie Pending WO2025189882A1 (fr)

Applications Claiming Priority (2)

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CN202420511027.6U CN222179462U (zh) 2024-03-15 2024-03-15 换电机器人及充换电站
CN202420511027.6 2024-03-15

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WO2025189882A1 true WO2025189882A1 (fr) 2025-09-18

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CN (1) CN222179462U (fr)
WO (1) WO2025189882A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN222157425U (zh) * 2024-03-15 2024-12-13 蔚来汽车科技(安徽)有限公司 换电机器人及充换电站
CN117962824A (zh) * 2024-03-15 2024-05-03 蔚来汽车科技(安徽)有限公司 换电机器人及充换电站

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CN117962824A (zh) * 2024-03-15 2024-05-03 蔚来汽车科技(安徽)有限公司 换电机器人及充换电站
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US20140360011A1 (en) * 2012-01-09 2014-12-11 Renault S.A.S. Device for installing and uninstalling a vehicle battery
CN106347323A (zh) * 2015-07-15 2017-01-25 王俊 升降搬运装置
CN217623206U (zh) * 2022-04-06 2022-10-21 北京胜能能源科技有限公司 一种换电站加解锁机构及换电站
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