CN115520153A

CN115520153A - Battery changing station and battery pack taking method laterally of battery changing station

Info

Publication number: CN115520153A
Application number: CN202211160783.0A
Authority: CN
Inventors: 张喜迎; 李玉军; 侯艳丽
Original assignee: Beijing Shengneng Energy Technology Co Ltd
Current assignee: Beijing Shengneng Energy Technology Co Ltd
Priority date: 2022-09-22
Filing date: 2022-09-22
Publication date: 2022-12-27

Abstract

The invention discloses a battery changing station and a method for laterally taking a battery pack from the battery changing station, and belongs to the technical field of battery changing stations. The battery pack storage rack is provided with a battery pack storage position; the two sides of the battery pack storage position are respectively provided with the avoidance plugging mechanism, the avoidance plugging mechanism comprises a female head piece, the female head piece can reciprocate along a second horizontal direction and can reciprocate along a first horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction; trade electric equipment and include the operation end, the operation end can be followed first horizontal direction reciprocating motion and can be followed vertical direction and go up and down. The invention improves the power switching efficiency of the power switching station.

Description

Battery changing station and battery pack taking method laterally of battery changing station

Technical Field

The invention relates to the technical field of battery replacing stations, in particular to a battery replacing station and a method for laterally taking a battery pack from the battery replacing station.

Background

When the battery pack of the vehicle to be replaced is replaced, the battery replacing station needs to take out the power-shortage battery pack on the vehicle to be replaced.

In the prior art, a power shortage battery pack on a vehicle to be replaced is taken out by a power replacement device in a power replacement station. On the electric vehicle to be replaced, the charging male head and the liquid cooling male head of the battery pack horizontally face to the central position of the electric vehicle to be replaced, namely when the electric vehicle to be replaced runs to the replacement potential of the replacement station, the charging male head of the power-shortage battery pack on the electric vehicle to be replaced faces back to the charging female head of the battery pack storage rack, and the liquid cooling male head of the power-shortage battery pack faces back to the liquid cooling female head of the battery pack storage rack. After the battery replacing equipment takes out the insufficient voltage battery pack, the battery replacing equipment can rotate the insufficient voltage battery pack by 180 degrees, then the charging male head of the insufficient voltage battery pack faces to and is plugged into the charging female head of the battery pack storage rack, and the liquid cooling male head of the insufficient voltage battery pack faces to and is plugged into the liquid cooling female head of the battery pack storage rack.

At the in-process of taking out the insufficient voltage battery package that treats on the trading electric vehicle, trade electric equipment and take out the insufficient voltage battery package after, need rotate 180 with the insufficient voltage battery package that takes out, just can place the insufficient voltage battery package to the battery package that trades the power station and deposit the frame, prolonged and traded the electric time, influenced and traded electric efficiency, and then produced harmful effects to the service ability that trades the power station.

Disclosure of Invention

The invention aims to provide a battery replacing station and a method for laterally taking out a battery pack from the battery replacing station, so that the efficiency of laterally taking out the battery pack from the battery replacing station is improved, and the battery replacing efficiency is improved.

As the conception, the technical scheme adopted by the invention is as follows:

trade power station includes:

the battery pack storage rack is provided with a battery pack storage position;

the battery pack storage position is provided with a plurality of battery pack storage positions, each battery pack storage position is provided with a corresponding avoidance plugging mechanism, each avoidance plugging mechanism comprises a female head piece, each female head piece can reciprocate along a second horizontal direction and can reciprocate along a first horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction;

trade electric equipment, including the operation end, the operation end can be followed first horizontal direction reciprocating motion and can be followed vertical direction and go up and down.

Optionally, the avoiding plug mechanism includes:

a first moving member;

the first avoidance plug-pull mechanism guide rail extends along the second horizontal direction, and the first moving piece is arranged on the first avoidance plug-pull mechanism guide rail in a sliding mode;

the second dodges the plug-in mechanism guide rail, set up in on the first moving member and follow first horizontal direction extends, female head spare slide set up in on the plug-in mechanism guide rail is dodged to the second.

Optionally, the avoiding plugging mechanism further comprises a second moving member, the female member is fixedly arranged on the second moving member, and the second moving member is slidably arranged on the second avoiding plugging mechanism guide rail.

Optionally, the battery swapping device includes:

the operation end is arranged on the battery replacement device body;

and the floating mechanism is arranged at the operating end.

Optionally, the float mechanism comprises:

the base is arranged at the operating end, and an installation plate capable of moving back and forth along the first horizontal direction is arranged on the base;

the floating plate is connected to the mounting plate in a floating mode, and the upper surface of the floating plate is provided with a battery pack clamping position;

the floating plate guide rails are arranged at the operation end, two sides of the base are respectively provided with one floating plate guide rail at intervals, and two sides of the floating plate are respectively in floating sliding connection with the two floating plate guide rails.

Optionally, the float plate is gimballed and floatingly coupled to the mounting plate.

Optionally, the floating mechanism further comprises a sliding connector slidably connected to the floating plate guide rail, and the floating plate is floatingly connected to the sliding connector.

Optionally, the slip connector comprises:

the first sliding block is connected to the floating plate guide rail in a sliding mode;

and the side connecting block is fixedly connected to the first sliding block, and the floating plate is in floating connection with the side connecting block.

Optionally, the float mechanism further comprises a float plate side float assembly, the float plate side float assembly comprising:

the floating connecting block is fixedly connected to the floating plate;

the upper end of the floating screw is movably connected to the floating connecting block, and the lower end of the floating screw is fixedly connected to the side connecting block of the sliding connecting piece;

the floating elastic piece is sleeved on the floating screw, the upper end of the floating elastic piece is elastically abutted to the lower surface of the floating connecting block, and the lower end of the floating elastic piece is elastically abutted to the upper surface of the floating connecting block.

Optionally, a step structure is arranged on the side connecting block and comprises a horizontal step surface and a vertical step surface, the surface of the floating connecting block facing the vertical step surface can be abutted to the vertical step surface, and the lower surface of the floating connecting block can be abutted to the horizontal step surface.

The method for taking out the battery pack laterally from the battery replacing station comprises the following steps of:

s12, controlling the operation end of the battery replacing device to move forward to the bottom of the vehicle to be replaced along a first horizontal direction, and disconnecting the insufficient battery pack from the vehicle to be replaced;

s13, controlling an operation end of the battery replacement equipment to move reversely along the first horizontal direction, and taking out a power-shortage battery pack;

s14, controlling the operation end to move to an inlet end of an empty battery pack storage position, driving two female head pieces to move along a second horizontal direction by two avoidance plug-pull mechanisms corresponding to the battery pack storage position, enabling the two female head pieces to be away from each other, continuously moving the operation end along the first horizontal direction in a reverse direction, and placing a power-deficient battery pack in the battery pack storage position;

s15, controlling the operation end to reset;

s16, control female first piece is followed the second horizontal direction motion resets the back, control female first piece is followed first horizontal direction motion extremely with insufficient voltage battery pack' S public first piece is pegged graft.

Optionally, before the step S12, the following steps need to be executed:

s10, acquiring a space coordinate of a forking point of a power-lack battery pack on the vehicle to be switched;

and S11, controlling the battery replacing equipment to move to the battery taking bag position according to the space coordinate of the forking point.

Optionally, the step S12 includes:

s121, controlling an operation end of the battery replacement equipment to move forward along the first horizontal direction to a position to be unlocked of a power-shortage battery pack, controlling a servo motor of the operation end of the battery replacement equipment to switch to a torque mode, driving the operation end to push the power-shortage battery pack by the servo motor, and unlocking the power-shortage battery pack and a vehicle to be replaced when the torque of the servo motor reaches an unlocking torque;

s122, controlling the operation end to reversely move for a set distance along the first horizontal direction;

s123, controlling the operation end to descend to the height of the position of the space coordinate of the forking point, and controlling the operation end to move forward along the first horizontal direction to a fixed lifting position below the power-deficient battery pack;

and S124, controlling the operation end to ascend until the operation end is clamped with the insufficient battery pack.

When the power exchanging station works, a vehicle to be exchanged runs to a parking space of the power exchanging station, namely, when the power exchanging station is in a power exchanging state, the operation end of the power exchanging equipment moves forward along a first horizontal direction, a power-shortage battery pack on the vehicle to be exchanged is taken down, then the operation end moves reversely along the first horizontal direction, and the power-shortage battery pack is moved out and conveyed to a battery pack storage position. When the operation end carried the insufficient voltage battery package to the entry position that the position was deposited to the battery package, two female first spares that the battery package was deposited the position and is corresponded all remove and two female first spares are kept away from each other along the second horizontal direction to dodge placing of insufficient voltage battery package. After insufficient voltage battery package was placed into battery package and is deposited the position, the operation end resets, and two female first spares reset the back, and two female first spares move simultaneously along first horizontal direction towards insufficient voltage battery package to with the public first spare on the insufficient voltage battery package to inserting.

When trading the power station and taking off and deposit the insufficient voltage battery package on waiting to trade the vehicle and deposit in battery package storage rack, need not to rotate 180 with the insufficient voltage battery package, the operation end can accomplish depositing of insufficient voltage battery package with the mode along first horizontal direction sideslip, improves and trades electric efficiency.

According to the method for laterally taking the battery pack from the battery replacing station, when the insufficient battery pack on the vehicle to be replaced is taken down and stored on the battery pack storage rack, the insufficient battery pack does not need to be rotated by 180 degrees, the operation end can finish the storage of the insufficient battery pack in a mode of transversely moving along the first horizontal direction, and the battery replacing efficiency is improved.

Drawings

Fig. 1 is a schematic structural diagram of a part of a power swapping station provided in a first embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of the structure of FIG. 1;

fig. 3 is a schematic structural view of a battery pack storage rack according to an embodiment of the present invention;

FIG. 4 is a schematic view of FIG. 3 with portions of the structure hidden;

FIG. 5 is an enlarged view at B in FIG. 3;

fig. 6 is a schematic diagram illustrating a first view angle of an avoidance plug mechanism according to an embodiment of the present invention;

fig. 7 is a schematic diagram illustrating a second view of an avoidance plug mechanism according to an embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating a third perspective view of an avoidance plug mechanism according to an embodiment of the present invention;

FIG. 9 is an enlarged view of a portion of the structure of FIG. 8;

fig. 10 is a schematic partial view of a power swapping device according to a first embodiment of the present invention;

FIG. 11 is a schematic structural diagram of a floating mechanism according to an embodiment of the present invention;

FIG. 12 is an enlarged schematic view of a portion of the structure of FIG. 11;

FIG. 13 is a first exploded view of a floating mechanism according to a first embodiment of the present invention;

FIG. 14 is an enlarged schematic view of a portion of the structure of FIG. 13;

FIG. 15 is a second exploded view of the floating mechanism according to the first embodiment of the present invention;

FIG. 16 is an enlarged schematic view of a portion of the structure of FIG. 15;

FIG. 17 is a top view of a portion of the structure of FIG. 15;

FIG. 18 is an enlarged schematic view of the mounting plate, annular stop collar, catch plate and float of FIG. 16;

FIG. 19 is a schematic view of a float provided in accordance with one embodiment of the present invention;

FIG. 20 is a third exploded view of the floating mechanism according to the first embodiment of the present invention;

FIG. 21 is an enlarged view at A in FIG. 20;

fig. 22 is a flowchart of a method for taking a battery pack laterally from a battery swapping station according to a second embodiment of the present invention.

In the figure:

10. a battery pack storage rack;

11. a base; 111. mounting a plate; 1111. a floating groove; 11111. an annular spacing ring; 1112. a float member; 11121. a connecting plate; 11122. a reducing shaft; 11123. a floating hemispherical portion; 1113. clamping a plate; 1114. a first support plate; 11141. a buffer block; 1115. a second support plate; 12. a floating plate; 121. clamping the battery pack; 1211. a bump; 122. a rolling member; 13. a floating plate guide rail; 14. a sliding connector; 141. a side connecting block; 142. a first slider; 151. a floating connecting block; 152. a floating screw; 153. a floating elastic member; 161. a horizontal step surface; 162. a vertical step surface; 171. the floating mechanism driving component mounting frame; 172. a floating mechanism driving motor; 173. a rotating shaft; 174. a transmission belt;

21. a first driver; 211. a first linear driver; 212. a connecting rod; 22. a first moving member; 221. a first moving member slider; 23. a first avoidance plug mechanism guide rail; 24. a second avoidance plug mechanism guide rail; 25. a female headpiece; 26. a second moving member; 261. a second moving member slider; 27. a second driver;

31. a horizontally moving frame; 311. a sky rail; 312. a ground rail; 33. a secondary telescoping mechanism; 34. a lifting frame.

Detailed Description

In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the features relevant to the present invention are shown in the drawings.

Example one

Referring to fig. 1 to 21, the present embodiment provides a swapping station.

Specifically, referring to fig. 1 to 4, the battery replacement station includes a battery pack storage rack 10 and a battery replacement device, and a battery pack storage position is disposed on the battery pack storage rack 10. Specifically, when the battery pack is stored in the battery pack storage position, the charging male head and the liquid cooling male head of the battery pack both extend in the horizontal direction.

The battery pack storage position is used for charging a low-power battery pack or storing a full-power battery pack. Trade electric equipment and include the operation end, the operation end can be followed first horizontal direction reciprocating motion and can be followed vertical direction and go up and down.

Referring to fig. 3-5, the swapping station further includes an avoidance plugging mechanism. The two sides of the battery pack storage position are provided with an avoiding plugging mechanism, the avoiding plugging mechanism comprises a female head piece 25, the female head piece 25 can reciprocate along a second horizontal direction and can reciprocate along a first horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction.

In this embodiment, when trading the power station and take off the insufficient voltage battery package on waiting to trade the electric vehicle and deposit on battery package storage rack 10, need not to rotate the insufficient voltage battery package 180, the operation end can accomplish depositing of insufficient voltage battery package with the mode of following the sideslip of first horizontal direction, improves and trades electric efficiency.

It can be understood that, since a battery pack is provided with a charging male connector and a liquid cooling male connector, on the battery pack storage rack 10, two sides of each battery pack storage position are respectively provided with an avoiding plugging mechanism, and two female connector pieces 25 at two sides of each battery pack storage position are respectively a charging female connector and a liquid cooling female connector.

Specifically, referring to fig. 6 to 9, in the embodiment, the avoidance plugging mechanism has both an avoidance function and a plugging function, and when the avoidance plugging mechanism is applied to a swapping station, the swapping efficiency can be improved.

Specifically, in this embodiment, the avoidance inserting and pulling mechanism includes a first moving member 22, a first avoidance inserting and pulling mechanism guide rail 23, a second avoidance inserting and pulling mechanism guide rail 24, and a female member 25.

The first avoidance plug mechanism guide rail 23 extends along the second horizontal direction, and the first moving member 22 is slidably disposed on the first avoidance plug mechanism guide rail 23.

The second avoidance plug mechanism guide rail 24 is disposed on the first moving member 22 and extends along a first horizontal direction, which is perpendicular to a second horizontal direction.

The female member 25 is slidably disposed on the second avoidance inserting and pulling mechanism guide rail 24. Specifically, the female member 25 is a charging female or a liquid-cooling female.

When the avoidance plugging and unplugging mechanism provided by the embodiment is used, the avoidance plugging and unplugging mechanism is installed on a battery pack storage rack 10 of a battery replacement station. And the second horizontal direction is the axial direction of a vehicle to be switched in the switching station when the vehicle is positioned in a parking space. Specifically, the parking space is the potential change.

In practical use, a first avoidance plug mechanism guide rail 23 of the avoidance plug mechanism is arranged at the front side of the inlet end of the battery pack storage position on the battery pack storage rack 10 along the second horizontal direction, and the first moving member 22 can move along the second avoidance plug mechanism guide rail 24 to drive the female head member 25 to avoid the battery pack at the inlet end of the battery pack storage position; the female head piece 25 can reciprocate along the second avoidance plug mechanism guide rail 24 to plug in or pull out the battery pack on the battery pack storage position.

When dodging plug mechanism and being applied to and trading the power station after, when trading the operation end of the electric equipment that trades of power station and trading the electricity, after the operation end took off the power shortage battery package from waiting to trade electric vehicle, the operation end need not to rotate the power shortage battery package 180, continues to drive the direction sideslip that the position was deposited to the power shortage battery package orientation near the battery package on the battery package storage rack 10, and at this moment, first moving member 22 carries out and dodges the action: that is, the first moving member 22 moves forward along the second avoidance plug mechanism guide rail 24 to avoid the movement space required by the inlet end of the insufficient-voltage battery pack storage position through the battery pack, and after the operation end of the battery replacement device moves the insufficient-voltage battery pack to the battery pack storage position, the operation end resets.

Then, the first moving part 22 is reset: the first moving member 22 moves reversely along the second avoidance plug mechanism guide rail 24 until the female connector 25 is on the same straight line with the male connector of the insufficient-power battery pack along the first horizontal direction.

Next, the female connector 25 performs the plugging action: the female head piece 25 moves forward towards the insufficient-voltage battery pack along the second avoidance plugging and unplugging mechanism guide rail 24 until the female head piece 25 is plugged with a male connector on the insufficient-voltage battery pack.

When the avoiding plugging mechanism provided by the embodiment is applied to the battery pack storage rack 10 of the battery replacing station, the battery replacing equipment of the battery replacing station does not need to rotate 180 degrees in the process of transferring the insufficient battery on the vehicle to be replaced to the battery pack storage rack 10, the insufficient battery pack can be directly transferred to the battery pack storage rack 10 in a transverse moving mode, and the battery replacing efficiency is improved. Correspondingly, when the battery replacing device transfers the fully charged battery pack on the battery pack storage rack 10 to the vehicle to be replaced, the battery replacing device does not need to rotate 180 degrees, and the power-shortage battery pack can be transferred to the battery pack storage rack 10 directly in a transverse moving mode, so that the battery replacing efficiency is improved.

When the operation end of the battery replacing device drives the insufficient-voltage battery pack to move transversely towards the direction of the battery pack storage position close to the battery pack storage rack 10, two avoidance plugging mechanisms corresponding to one battery pack storage position firstly execute avoidance actions, namely two first moving members 22 of the two avoidance plugging mechanisms move towards the direction away from each other, and the first moving members 22 are prevented from interfering the placement of the insufficient-voltage battery pack to the battery pack storage position. Treat that insufficient voltage battery package places to battery package and deposits the position after, two first moving parts 22 reset earlier for the line of the public head of charging of female head and insufficient voltage battery package is on a parallel with first horizontal direction, the line of the public head of liquid cooling of the female head of liquid cooling and insufficient voltage battery package is on a parallel with first horizontal direction, then charges female head and the female first forward motion of liquid cooling, is close to insufficient voltage battery package simultaneously, until accomplishing the grafting action of charging female head and liquid cooling female head on insufficient voltage battery package.

When the insufficient-power battery pack is fully charged on the battery pack storage position, the battery pack is a fully charged battery pack.

When an operating end of the battery replacement equipment needs to take out a fully charged battery pack on a battery pack storage position, two avoidance plugging mechanisms corresponding to one battery pack storage position firstly perform a plugging action, namely a charging female head and a liquid cooling female head move reversely to be separated from being plugged with the fully charged battery pack; after the female head of waiting to charge and the female head of liquid cooling are pulled out, two dodge plug mechanisms that a battery package storage position corresponds carry out the action of dodging again, also be these two first moving members 22 of dodging plug mechanism move towards the direction of keeping away from each other, avoid first moving member 22 to interfere the action of shifting out of full-capacity battery package. And the operation end of the battery replacement equipment transversely moves to take out the fully charged battery pack.

Specifically, taking the orientation shown in fig. 6 as an example, the forward movement of the first moving member 22 is a leftward movement, and the reverse movement is a rightward movement. The forward movement of the female member 25 is a backward movement and the reverse movement is a forward movement. That is, the moving direction of the first moving member 22 when performing the avoidance operation is the forward movement; the movement direction of the female member 25 when performing the plugging operation is a forward movement.

Further, a first moving member sliding block 221 is arranged on the first moving member 22, and the first moving member sliding block 221 is slidably arranged on the first avoidance plug mechanism guide rail 23, so that the first moving member 22 slides smoothly relative to the first avoidance plug mechanism guide rail 23.

Further, in order to realize the reciprocating movement of the first moving member 22 along the first avoidance plug mechanism guide rail 23, in this embodiment, the avoidance plug mechanism further includes a first driver 21, and the first moving member 22 is disposed at an output end of the first driver 21. In actual use, the first driver 21 is fixed on the battery pack storage rack 10.

Specifically, the first driver 21 includes a first linear driver 211 and a link 212.

The first linear driver 211 is configured to be fixedly installed on the battery pack storage rack 10. The first linear driver 211 is an electric push rod. The electric push rod is an electric driving device which converts the rotary motion of a motor into the linear reciprocating motion of the push rod. One end of the connecting rod 212 is hinged with the output end of the first linear driver 211, and the other end is fixedly connected with the first moving part 22. The first linear driver 211 is matched with the connecting rod 212 to drive the first moving part 22 to move along the first avoidance plug mechanism guide rail 23.

Further, in order to realize the fixed installation of the first linear actuator 211 on the battery pack storage rack 10, in this embodiment, the avoidance plugging mechanism further includes a first linear actuator fixing plate, and the first linear actuator 211 is fixedly arranged on the first linear actuator fixing plate. The first linear drive fixing plate is configured to be fixedly mounted on the battery pack storage rack 10.

Further, in order to realize the stable installation and the stable movement of the female member 25, in this embodiment, the avoidance plug mechanism further includes a second moving member 26, the female member 25 is fixedly disposed on the second moving member 26, and the second moving member 26 is slidably disposed on the second avoidance plug mechanism guide rail 24.

In order to realize the sliding of the second moving member 26 relative to the second avoidance plug mechanism guide rail 24, in this embodiment, the avoidance plug mechanism further includes a second driver 27, the second driver 27 is fixedly disposed on the first moving member 22, and the second moving member 26 is disposed at an output end of the second driver 27. In particular, the second driver 27 is an electric push rod.

Further, a second moving member sliding block 261 is arranged on the second moving member 26, and the second moving member sliding block 261 is slidably arranged on the second avoidance plug mechanism guide rail 24, so that the second moving member 26 slides smoothly relative to the second avoidance plug mechanism guide rail 24.

Specifically, during actual use, the first avoidance plug mechanism guide rail 23 of the avoidance plug mechanism is fixedly arranged at the front side of the inlet end of the battery pack storage position of the battery pack storage rack 10 along the second horizontal direction, two sides of each battery pack storage position are respectively provided with an avoidance plug mechanism, and two female head pieces 25 at two sides of each battery pack storage position are respectively a charging female head and a liquid cooling female head.

Further, trade the power station and include a plurality of battery package storage rack 10, a plurality of battery package storage rack 10 sets up along second horizontal direction interval. The arrangement of the battery pack storage racks 10 enables the battery replacement station to store more battery packs.

The power exchanging device will be described in detail below.

The battery changing device can also move back and forth along the second horizontal direction.

Specifically, referring to fig. 10, in this embodiment, the battery replacement device includes a battery replacement device body, and the operation end is disposed on the battery replacement device body.

The battery replacement equipment body comprises a horizontal moving rack 31, a primary telescopic mechanism (not shown in fig. 12) and a secondary telescopic mechanism 33.

The horizontal moving frame 31 can reciprocate in a second horizontal direction perpendicular to the first horizontal direction.

The primary telescoping mechanism is disposed on the horizontal moving frame 31 along the first horizontal direction.

The secondary telescoping mechanism 33 is disposed on the output end of the primary telescoping mechanism 22 along the first horizontal direction.

In particular, the primary and secondary telescopic mechanisms 33 are in the form of a common rail slide.

The first-stage telescopic mechanism comprises a first-stage guide rail which extends along a first horizontal direction and is fixedly arranged on the horizontal moving rack 31, and a first-stage sliding plate is arranged on the first-stage guide rail in a sliding manner. Second grade telescopic machanism 33 includes and extends and the fixed second grade guide rail that sets up on the one-level slide along first horizontal direction, and the slip is provided with the second grade slide on the second grade guide rail. And a secondary sliding plate of the secondary telescopic mechanism 33 is an operation end of the battery replacement equipment.

Specifically, the horizontal moving frame 31 is a frame-shaped structure, and includes a lower beam, a first side beam, an upper beam, and a second side beam, which are sequentially connected end to end. In order to ensure that the horizontally moving frame 31 can strictly move in the second horizontal direction, in this embodiment, the battery replacement device further includes a top rail 311 and a bottom rail 312, the lower beam is in sliding fit with the bottom rail 312, and the upper beam is in sliding fit with the top rail 311.

Further, in order to control the lifting of the operation end of the battery replacing device, in this embodiment, the battery replacing device body further includes a lifting frame 34, the lifting frame 34 is arranged in the horizontal moving frame 31 in a lifting manner along the vertical direction, and the primary telescopic mechanism 22 is arranged in the lifting frame 34 in a sliding manner along the first horizontal direction.

Specifically, the elevator frame 34 can be lifted and lowered along the first side member and the second side member, and the lifting direction is prevented from being deviated.

Further, a rotating plate is further disposed on the lifting frame 34, the rotating plate can rotate in a horizontal plane relative to the lifting frame 34, that is, the rotating plate is disposed horizontally all the time, and the primary telescopic mechanism is disposed on the rotating plate, so that the operating end can rotate. Preferably, the rotation range of the rotation plate is-10 ° - +10 °, further accommodating parking errors. Specifically, a rotating plate driving mechanism is further arranged on the lifting frame 34 and comprises a rotating plate driving motor, an active rotating gear and a passive rotating gear, the rotating plate driving motor is fixedly arranged on the lifting frame 34, the active rotating gear is coaxially and fixedly arranged on an output shaft of the rotating plate driving motor, the passive rotating gear is rotatably arranged on the lifting frame 34 and is in meshing transmission with the active rotating gear, and the rotating plate is fixedly arranged on the passive rotating gear. Specifically, the axes of the driving rotary gear and the driven rotary gear are both in the vertical direction.

Further, in order to enable the battery replacement device to adapt to a parking error and a vehicle body deflection error of a vehicle to be replaced at a battery replacement position, in this embodiment, referring to fig. 11 to 21, the battery replacement device further includes a floating mechanism, and the floating mechanism is disposed at the operation end.

Specifically, referring to fig. 11 to 14, the floating mechanism includes a base 11, a floating plate 12, and a floating plate guide 13.

The base 11 is provided with a mounting plate 111 capable of reciprocating in a first horizontal direction.

The floating plate 12 is connected to the mounting plate 111 in a floating manner, and a battery pack locking position 121 is arranged on the upper surface of the floating plate 12. Preferably, the floating plate 12 is made of a steel plate.

Two sides of the base 11 are respectively provided with a floating plate guide rail 13 at intervals, and two sides of the floating plate 12 are respectively connected with the two floating plate guide rails 13 in a floating and sliding manner. That is, the floating plate 12 can float with respect to the floating plate rail 13 and can slide along the floating plate rail 13.

When the floating mechanism provided by the embodiment is used, both the base 11 and the floating plate guide rail 13 are fixedly installed at the operation end of the battery replacement device, and the battery replacement operation is performed by the floating mechanism. Specifically, the base 11 and the floating plate guide rail 13 are disposed at the output end of the secondary telescoping mechanism 33, and further, the base 11 and the floating plate guide rail 13 of the floating mechanism are disposed on the secondary slide plate.

Since the mounting plate 111 of the floating mechanism can also reciprocate in the first horizontal direction, the battery replacement device has a three-stage telescopic function.

When a power-shortage battery pack on a vehicle to be replaced is taken down, the mounting plate 111 is controlled to move forward along a first horizontal direction, so that the floating plate 12 extends into the lower bottom surface of a battery transfer frame of the vehicle to be replaced, the battery pack clamping position 121 and the battery transfer frame of the power-shortage battery pack are aligned up and down along with the gradual extension of the floating plate 12, then the operation end of a power replacing device is controlled to move up, and the battery pack clamping position 121 and the battery transfer frame of the power-shortage battery pack are clamped; and then the mounting plate 111 is controlled to move reversely along the first horizontal direction, and the floating plate 12 pulls out the battery adapting frame of the insufficient battery pack to finish the battery pack taking operation of the vehicle to be replaced.

At the in-process that takes off the insufficient voltage battery package that will wait to trade on the vehicle, if there is the deviation in battery package joint position 121 and the battery switching frame of insufficient voltage battery package counterpoint from top to bottom, shift up, battery package joint position 121 and the in-process of the battery switching frame joint of insufficient voltage battery package at the control operation end that trades the electric equipment, mounting panel 11 floats relatively to floating plate 12 to make battery package joint position 121 and the smooth joint of battery switching frame of insufficient voltage battery package.

When a fully charged battery pack is placed on a vehicle to be replaced, the fully charged battery pack is firstly placed on the floating plate 12, the battery pack clamping position 121 on the floating plate 12 is clamped with the battery transferring frame of the fully charged battery pack, the mounting plate 111 is controlled to move forward along the first horizontal direction, the floating plate 12 extends into the lower bottom surface of the battery transferring frame of the vehicle to be replaced, the battery transferring frame of the fully charged battery pack is vertically aligned with the mounting position of the fully charged battery pack on the vehicle to be replaced along with the gradual extension of the floating plate 12, and then the operation end of the battery replacing device is controlled to move upwards, so that the fully charged battery pack is mounted on the vehicle to be replaced; and then, the operation end of the battery replacement device is controlled to move downwards, the fully charged battery pack is separated from the battery pack clamping position 121, and the mounting plate 111 is controlled to move reversely along the first horizontal direction until the floating mechanism resets.

In the process of putting a full-charge battery pack into a vehicle to be replaced, if the battery transfer frame of the full-charge battery pack has a deviation in vertical alignment with the installation position of the full-charge battery pack on the vehicle to be replaced, the floating plate 12 can float relative to the installation plate 111 in the process of controlling the operation end of the battery replacing device to move upwards, and the floating plate 12 drives the battery transfer frame of the full-charge battery pack to float in the floating process, so that the battery transfer frame of the full-charge battery pack is accurately aligned with the installation position of the full-charge battery pack on the vehicle to be replaced, and the full-charge battery pack can be smoothly installed on the vehicle to be replaced.

In the floating mechanism provided in the present embodiment, when the battery pack is replaced, the floating plate guide rail 13 can restrict the floating plate 12 from accurately reciprocating in the first horizontal direction, thereby preventing the track of the floating plate 12 from deviating. Meanwhile, the floating plate 12 is connected to the mounting plate 111 in a floating mode, namely the floating plate 12 can float relative to the mounting plate 111, even if parking errors and vehicle body deflection errors exist in parking spaces of vehicles to be replaced in the battery replacement station, the floating plate 12 can drive the under-run battery packs or the full-run battery packs to float relative to the vehicles to be replaced, the under-run battery packs can be detached accurately, and the full-run battery packs can be installed accurately.

Specifically, in this embodiment, the battery pack clamping position 121 is a groove structure, and the square tube on the battery adapting frame can be clamped in the groove structure. Specifically, two protrusions 1211 disposed opposite to each other form a battery pack locking position 121. Preferably, two battery pack clamping positions 121 are arranged on the floating plate 12 at intervals along a second horizontal direction perpendicular to the first horizontal direction. Optionally, the bump 1211 is made of nylon.

Further, in this embodiment, a rolling element 122 is further rotatably disposed on the upper surface of the floating plate 12, and the highest point of the rolling element 122 is lower than the highest point of the bump 1211, so as to prevent the rolling element 122 from interfering with the installation of the battery adapter frame when the square tube on the battery adapter frame is clamped in the battery pack clamping position 121.

Specifically, referring to fig. 12, in the present embodiment, the axial direction of the rolling member 122 extends in the second horizontal direction. When a power-deficient battery pack on a vehicle to be replaced is taken down, if a parking error and a vehicle body deflection error exist in a parking space of the vehicle to be replaced in a battery replacing station, and a deviation exists between the battery pack clamping position 121 and the vertical alignment of a battery transferring frame of the power-deficient battery pack, in the process of controlling the operation end of the battery replacing device to move upwards, the floating plate 12 floats relative to the power-deficient battery pack on the vehicle to be replaced, in the floating process, rolling friction exists between the lower surface of the battery transferring frame of the power-deficient battery pack and the rolling piece 122, and the rolling friction force is smaller than the sliding friction force, so that the floating plate 12 is convenient to float.

Specifically, in the present embodiment, the rolling member 122 is a roller that is rolled on the floating plate 12. Specifically, in the present embodiment, two rolling members 122 are respectively disposed on two sides of each battery pack clamping position 121 along the first horizontal direction.

Further, referring to fig. 15-17, in the present embodiment, in order to achieve the reciprocating movement of the mounting plate 111 in the first horizontal direction, the floating mechanism further includes a floating mechanism driving assembly that drives the mounting plate 111 to reciprocate in the first horizontal direction.

Specifically, in this embodiment, the base 11 is a frame-shaped structure, and includes two first supporting plates 1114 that are disposed oppositely along the second horizontal direction, the first supporting plates 1114 extend along the first horizontal direction, the base 11 further includes two second supporting plates 1115, the two second supporting plates 1115 are disposed at two ends of the first supporting plates 1114 respectively, and two ends of each second supporting plate 1115 are connected to ends of the two first supporting plates 1114 respectively.

The two ends of the mounting plate 111 are slidably connected to the two first supporting plates 1114 respectively.

Preferably, one end of the first support plate 1114 facing the electric vehicle to be replaced is provided with a buffer block 11141. When the battery replacement operation is performed, one end of the first support plate 1114, which faces the battery replacement vehicle, is firstly abutted against the battery replacement vehicle, and when one end of the first support plate 1114, which faces the battery replacement vehicle, is abutted against the battery replacement vehicle, the buffer block 11141 can buffer the impact between the two.

After the buffer block 11141 abuts against the vehicle to be replaced, the floating mechanism driving assembly drives the mounting plate 111 to approach the vehicle to be replaced along the first horizontal direction so as to perform the battery replacing operation.

Specifically, referring to fig. 17, the floating mechanism driving assembly includes a floating mechanism driving assembly mounting frame 171 and a floating mechanism driving motor 172.

The floating mechanism driving unit mounting frame 171 is a frame-shaped structure and is fixedly mounted on a second support plate 1115.

The floating mechanism driving motor 172 is fixedly mounted on the outer side surface of the floating mechanism driving assembly mounting frame 171, an output shaft of the floating mechanism driving motor 172 rotates to penetrate through the side wall of the floating mechanism driving assembly mounting frame 171 and extend into the floating mechanism driving assembly mounting frame 171, a rotating shaft 173 is rotationally arranged in the floating mechanism driving assembly mounting frame 171, the axis direction of the rotating shaft 173 extends along the second horizontal direction, and two ends of the rotating shaft 173 extend out of the floating mechanism driving assembly mounting frame 171. In the mounting frame 171 of the floating mechanism driving assembly, a driven bevel gear is coaxially and fixedly arranged on the rotating shaft 173, and a driving bevel gear is coaxially and fixedly arranged on the output shaft of the floating mechanism driving motor 172, and the driving bevel gear and the driven bevel gear are in meshing transmission, so that the floating mechanism driving motor 172 drives the rotating shaft 173 to rotate.

Further, the floating mechanism drive assembly further includes two oppositely disposed belts 174, the belts 174 extending in a first horizontal direction. One end of each driving belt 174 is rotatably sleeved on one end of the rotating shaft 174, and the other end is rotatably disposed on the other second supporting plate 1115 away from the floating-mechanism driving-assembly mounting frame 171. The mounting plate 111 is fixedly connected with the two transmission belts 174, and when the transmission belts 174 move, the mounting plate 111 can be driven to move.

The floating mechanism driving motor 172 sequentially transmits power to the transmission belt 174 through the driving bevel gear, the driven bevel gear, and the rotating shaft 173, and the transmission belt 174 drives the mounting plate 111 to reciprocate relative to the first support plate 1114.

Preferably, in this embodiment, the floating plate 12 is universally floatingly coupled to the mounting plate 111 to enhance the adaptability of the floating mechanism.

Specifically, referring to fig. 16-19, in the present embodiment, the mounting plate 111 is provided with a floating groove 1111 and a floating member 1112, the floating member 1112 is floatingly coupled in the floating groove 1111, and the floating plate 12 is fixedly coupled to the floating member 1112. Specifically, the float 1112 is gimbaled and floatingly coupled within the float recess 1111.

Float 1112 is universally buoyant relative to mounting plate 111, thereby floating plate 12.

Specifically, referring to fig. 19, in the present embodiment, the floating member 1112 is an integrally formed structure and includes a connecting plate 11121, a reduced diameter shaft 11122, and a floating hemisphere 11123.

The floating plate 12 is fixedly connected to the connecting plate 11121.

The reducing shaft 11122 is coaxially arranged on one side of the connecting plate 11121 facing the floating groove 1111, an annular limiting ring 11111 is arranged in the floating groove 1111, and the reducing shaft 11122 coaxially penetrates through the annular limiting ring 11111 in a clearance manner.

Floating semi-spherical portion 11123 is coaxially disposed on the side of reduced diameter shaft 11122 away from connecting plate 11121, and floating semi-spherical portion 11123 is coaxially disposed in floating groove 1111 through annular retainer 11111 with a clearance.

The annular retainer 11111 can limit the radial floating of the floating member 1112.

Further, in order to avoid the floating member 1112 from being separated from the floating groove 1111, in this embodiment, the floating plate 12 is provided with a clamping plate 1113, the clamping plate 1113 is provided with an avoiding arc-shaped groove, a gap is formed between the side surface of the avoiding arc-shaped groove and the side surface of the reducing shaft 11122, the diameter of the connecting plate 11121 is larger than that of the avoiding arc-shaped groove, and the diameter of the upper surface of the floating hemisphere 11123 is larger than that of the avoiding arc-shaped groove. The above dimensional relationship allows the upper surface of the card plate 1113 to abut against the lower surface of the connecting plate 11121, and the lower surface of the card plate 1113 to abut against the upper surface of the floating hemisphere 11123, thereby limiting the axial floating of the floating member 1112.

Specifically, one catch plate 1113 is disposed on each side of the float 1112. The side surfaces of the two avoiding arc-shaped grooves of the two clamping plates 1113 are arranged with the side surface gap of the reducing shaft 11122.

Specifically, an annular limiting ring installation step surface is arranged in the floating groove 1111, after the annular limiting ring 11111 is fixedly installed on the annular limiting ring installation step surface, the floating hemispherical portion 11123 is arranged in the floating groove 1111 in a floating manner from top to bottom, and then the two clamping plates 1113 are installed, so that the floating piece 1112 is floated relative to the installation plate 111.

Further, referring to fig. 14, 15, 20 and 21, in the present embodiment, the floating mechanism further includes a sliding connector 14, the sliding connector 14 is slidably connected to the floating plate guide rail 13, and the floating plate 12 is floatingly connected to the sliding connector 14.

Specifically, in the present embodiment, the sliding connection member 14 includes a side connection block 141 and a first slider 142, the first slider 142 is slidably connected to the floating plate rail 13, the side connection block 141 is fixedly connected to a side of the first slider 142, and the floating plate 12 is floatingly connected to the side connection block 141, so that when the floating plate 12 floats along with the floating member 1112, the connection between the floating plate 12 and the floating plate rail 13 can also float adaptively.

Specifically, referring to fig. 12, 20 and 21, in the present embodiment, the floating mechanism further includes a floating plate side floating assembly to achieve floating of the floating plate 12 with respect to the floating plate rail 13.

Specifically, referring to fig. 21, the floating plate side floating assembly includes a floating connection block 151, a floating screw 152, and a floating elastic member 153.

The floating connection block 151 is fixedly connected to the floating plate 12. Specifically, the floating connection block 151 is fixedly coupled to the lower surface of the floating plate 12.

The upper end of the floating screw 152 is movably connected to the floating connection block 151, and the lower end is fixedly connected to the sliding connection member 14. Specifically, the lower end of the floating screw 152 is fixedly coupled to the side connection block 141. The upper end of the floating screw 152 is capable of floating radially and axially relative to the floating attachment block 151.

The floating screw 152 is located to the cover of floating elastic component 153, and the upper end of floating elastic component 153 and the lower surface elasticity butt of floating connecting block 151, the lower extreme of floating elastic component 153 and the upper surface elasticity butt of floating connecting block 151. Specifically, the floating elastic member 153 is a compression spring.

Specifically, a counter bore is formed in the floating connection block 151, and a floating screw 152 passes through the counter bore and is movably connected to the floating connection block 151.

Specifically, in the present embodiment, the floating screw 152 is a plug screw, a top end nut of which is dropped into a counter bore, an upper end of which is in clearance fit with the floating connection block 151, and an external thread end of which is screwed to the side connection block 141.

Specifically, in the present embodiment, four floating plate side floating assemblies are provided, and the four floating plate side floating assemblies are located at four corners of the lower surface of the floating plate 12, respectively.

Further, in the present embodiment, a step structure is provided on the side connection block 141, the step structure includes a horizontal step surface 161 and a vertical step surface 162, a surface of the floating connection block 151 facing the vertical step surface 162 can float to abut against the vertical step surface 162, and a lower surface of the floating connection block 151 can float to abut against the horizontal step surface 161.

The lower surface of the floating connection block 151 can float downward to abut against the horizontal step surface 161, so that the downward movement of the floating connection block 151 is limited, and the excessive downward movement of the floating connection block 151 is avoided when the battery pack is placed on the floating plate 12.

The surface of the floating connection block 151 facing the vertical step surface 162 can be horizontally floated to abut against the vertical step surface 162, so that the radial load applied to the floating screw 152 can be relieved.

Preferably, a grabbing detection sensor is further disposed on the floating plate 12 to determine whether the floating mechanism stably grabs the battery adapting frame. Illustratively, the grab detection sensor is disposed on the floating connection block 151, and includes a transmitting end and a receiving end; if the floating mechanism successfully grabs the battery transfer frame, infrared rays emitted by the emitting end can be reflected to the receiving end by the battery transfer frame, and the grabbing is successful; if the receiving end does not receive the signal, the capture failure is indicated.

Specifically, if the battery adapting frame is clamped in the battery pack clamping position 121, it indicates that the grabbing is successful.

Illustratively, during the process of removing the power-fail battery pack from the vehicle to be replaced, the operating end of the power replacing device is controlled to move upwards, so that when the battery pack clamping position 121 is clamped with the battery transferring frame of the power-fail battery pack, the battery transferring frame of the power-fail battery pack applies a transverse load to the floating plate 12, and the transverse load is transferred to the floating screw 152, so that the floating screw 152 bears a radial load. If the radial load is too large, the floating screw 152 may break; the surface of the floating connection block 151 facing the vertical step surface 162 is horizontally floated to abut against the vertical step surface 162, and the lateral load is transmitted to the side connection block 141, thereby unloading the radial load applied to the floating screw 152.

Illustratively, during the process of placing the fully charged battery pack on the vehicle to be replaced, the operating end of the battery replacing device is controlled to move upwards, so that when the fully charged battery pack is installed on the vehicle to be replaced, the battery transferring frame of the fully charged battery pack applies a transverse load to the floating plate 12, and the transverse load is transferred to the floating screw 152, so that the floating screw 152 bears a radial load. If the radial load is too large, the floating screw 152 may break; the surface of the floating connection block 151 facing the vertical step surface 162 can float downward to abut against the vertical step surface 162, and thus the lateral load can be transmitted to the side connection block 141, thereby unloading the radial load applied to the floating screw 152.

The floating mechanism provided by the embodiment allows the deflection error of the vehicle to be changed to reach +/-5 degrees, the pitching error to reach +/-3 degrees and the rolling error to reach +/-3 degrees.

In the battery replacement station provided by this embodiment, the battery replacement time is controlled within 120 seconds, which not only improves the battery replacement efficiency of the whole battery replacement station, but also increases the service capacity of the whole battery replacement station, and reaches 480 times/24 h.

Specifically, a liquid cooling system is arranged on the battery pack storage rack 10 of the battery replacement station to cool the insufficient battery pack being charged, so as to improve the charging current. Specifically, each battery pack storage position is distributed with a liquid cooling pipeline, so that the charging rate of the battery pack can reach 1C.

Specifically, photoelectric sensors are arranged on two sides of a battery replacing channel of the battery replacing station, a vehicle to be replaced entering the battery replacing channel is detected, the vehicle body posture of the vehicle to be replaced is obtained, and meanwhile, the current vehicle body posture is informed to a driver in a voice mode so as to guide the driver to stop the vehicle to be replaced to a proper battery replacing position. Optionally, two photosensors are disposed on each side of the swapping channel.

Further, the battery pack storage positions of the battery pack storage rack 10 include two battery pack storage buffer positions arranged up and down, the battery pack storage buffer positions are located above the battery pack storage rack and are full-charge battery positions, and the battery pack storage buffer positions are located below the battery pack storage buffer positions. Before a vehicle to be switched enters a switching station, a full-charge battery pack is placed at a full-charge battery position by the switching equipment, the vehicle to be switched stops at the switching position, the power-shortage battery pack taken out of the vehicle to be switched is directly and transversely placed at a power-shortage battery position by the switching equipment, then the operation end is moved upwards, the full-charge battery pack is taken out of the full-charge battery position and is installed on the vehicle to be switched, the stroke for taking and placing the battery pack is shortened, and the switching time is shortened.

3D cameras are arranged on two sides of a battery replacing channel of a battery replacing station, and the 3D cameras are arranged at positions 700mm away from the outer side face of a battery pack on a vehicle to be replaced, so that the identification and positioning accuracy of the 3D cameras can be controlled to be +/-2 mm.

The wide angle of the 3D camera is adjusted to increase the identification width of the battery pack on the vehicle to be changed, and the parking error of a driver master is allowed to reach +/-20 cm.

Specifically, the electric vehicle to be replaced is a light truck. Both sides of the battery replacing channel are provided with battery replacing equipment and a battery pack storage rack 10, so that the battery replacing equipment on both sides can respectively replace batteries of the vehicles to be replaced from both sides of the vehicles to be replaced.

Specifically, when the battery replacement station works, after a light card to be replaced drives into the battery replacement channel, the photoelectric sensors on the two sides of the battery replacement channel start to detect the posture of the light card vehicle body, inform a driver of the posture error of the light card vehicle body in a voice broadcasting mode, and enable the driver to adjust the posture of the light card vehicle body. When the light card stops at a preset parking space, the 3D camera acquires the position and the posture of the power-lack battery pack on the light card, the position and the posture data are transmitted to a control system of the battery replacement station, and the control system firstly moves the battery replacement equipment on two sides of the battery replacement station to a working position according to the acquired position and the posture data of the power-lack battery pack on the light card. Then, the battery replacing equipment adjusts the position and the posture of the battery replacing equipment to adapt to the position and the posture of the power-lack battery pack on the light card, and then the battery replacing equipment on the two sides synchronously takes out the battery pack from the light card and transversely moves to the battery pack storage racks 10 on the two sides of the battery replacing station. Then, the battery replacement device takes out the full-charge battery from the battery pack storage rack 10, the 3D camera acquires the battery bit data on the light card again and transmits the battery bit data to the battery replacement station control system, then an instruction is issued to the battery replacement device, the battery replacement devices on the two sides of the battery replacement station synchronously place the full-charge battery to the battery bit on the light card, then the battery replacement devices on the two sides of the battery replacement station synchronously retract to the original point position, the light card laterally completes the battery replacement and prompts a driver to drive the light card out of the battery replacement channel, finally the stackers on the two sides of the battery replacement station take out the power-deficient battery on the power-deficient battery bit to the charging potential on the charging battery rack to start charging, and the liquid cooling system starts in the charging process to dissipate heat generated in the charging process.

Example two

Referring to fig. 22, the embodiment provides a method for taking out a battery pack laterally from a battery replacement station, and a power-deficient battery pack of a vehicle to be replaced is taken out by using the battery replacement station in the first embodiment.

Specifically, the method for laterally taking the battery pack from the battery replacement station comprises the following steps:

s12, controlling an operation end of the battery replacing device to move to the bottom of the vehicle to be replaced along the first horizontal direction, and disconnecting the insufficient battery pack from the vehicle to be replaced; specifically, the movement of the operation end towards the electric vehicle to be replaced is positive movement;

s13, controlling the operation end of the battery replacement device to move reversely along the first horizontal direction, and taking out the insufficient battery pack;

s14, controlling the operation end to move to an inlet end of an empty battery pack storage position, driving the two female head pieces 25 to move along a second horizontal direction by the two avoidance plug-pull mechanisms corresponding to the battery pack storage position, enabling the two female head pieces 25 to be away from each other, continuously moving the operation end in a reverse direction along the first horizontal direction, and placing a power-deficient battery pack in the battery pack storage position;

s15, controlling the operation end to reset;

s16, after the female head piece 25 is controlled to move and reset along the second horizontal direction, the female head piece 25 is controlled to move along the first horizontal direction to be connected with the male head piece of the power-deficient battery pack in an inserting mode.

Specifically, in step S16, the charging female connector is plugged into the charging male connector, and the liquid-cooling female connector is plugged into the liquid-cooling male connector.

Further, before step S12, the following steps need to be executed:

s10, acquiring a space coordinate of a forking point of a power-deficient battery pack on the vehicle to be replaced;

s11, controlling the battery replacing equipment to move to the battery taking bag position according to the space coordinate of the forking point.

Specifically, in step S10, when the vehicle to be switched is driven into the switching station, the vehicle is automatically driven to the switching potential; after the control system of the power station to be replaced sends the in-place command, the control system controls the 3D camera to carry out 3D imaging on the vehicle to be replaced, and spatial coordinates (X, Y, Z and theta) of a forking point of the insufficient battery pack are output to the control system.

Specifically, in step S12, the control system calculates a motion parameter of an operation end of the battery replacement device according to the spatial coordinates (X, Y, Z, θ) of the fork point of the power-deficient battery pack, where the motion parameter of the operation end includes: a movement distance in a first horizontal direction, a movement distance in a second horizontal direction, a movement distance in a vertical direction; and then, the operation end starts to act and moves to the battery pack taking position.

Further, step S12 includes:

s121, controlling an operation end of the battery replacement device to move forward to a position to be unlocked of the electricity-shortage battery pack along a first horizontal direction, controlling a servo motor of the operation end of the battery replacement device to switch to a torque mode, driving the operation end to push the electricity-shortage battery pack by the servo motor, and unlocking the electricity-shortage battery pack and the vehicle to be unlocked when the torque of the servo motor reaches an unlocking torque;

s122, controlling the operation end to reversely move for a set distance along the first horizontal direction; optionally, the set distance is 95mm to 105mm, preferably 100mm;

s123, controlling the operation end to descend to the height of the position of the space coordinate of the forking point, and controlling the operation end to move forward along a first horizontal direction to a fixed lifting position below the insufficient-voltage battery pack;

Specifically, in step S124, the battery pack engaging portion 121 of the floating mechanism of the operation end is engaged with the battery adapting frame of the insufficient battery pack.

The foregoing embodiments are merely illustrative of the principles and features of this invention, which is not limited to the above-described embodiments, but rather is susceptible to various changes and modifications without departing from the spirit and scope of the invention, which changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. Trade power station, its characterized in that includes:

the battery pack storage rack (10), wherein a battery pack storage position is arranged on the battery pack storage rack (10);

the battery pack storage position comprises a battery pack storage position, wherein the battery pack storage position is arranged on the battery pack storage position, the battery pack storage position is provided with an avoidance plugging mechanism, the avoidance plugging mechanism comprises a female head piece (25), the female head piece (25) can reciprocate along a second horizontal direction and can reciprocate along a first horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction;

the battery replacement equipment comprises an operation end, and the operation end can reciprocate along the first horizontal direction and can lift along the vertical direction.

2. The swapping station of claim 1, wherein the avoidance plugging mechanism comprises:

a first moving member (22);

the first avoidance plug mechanism guide rail (23) extends along the second horizontal direction, and the first moving piece (22) is arranged on the first avoidance plug mechanism guide rail (23) in a sliding mode;

the second avoidance plug-pull mechanism guide rail (24) is arranged on the first moving piece (22) and extends along the first horizontal direction, and the female head piece (25) is arranged on the second avoidance plug-pull mechanism guide rail (24) in a sliding mode.

3. The swapping station as in claim 2, wherein the avoidance plug mechanism further comprises a second moving member (26), the female member (25) is fixedly disposed on the second moving member (26), and the second moving member (26) is slidably disposed on the second avoidance plug mechanism guide rail (24).

4. The swapping station of claim 1, wherein the swapping device comprises:

the operation end is arranged on the battery replacing equipment body;

and the floating mechanism is arranged at the operating end.

5. The swapping station of claim 4, wherein the float mechanism comprises:

the base (11) is arranged at the operation end, and a mounting plate (111) capable of moving in a reciprocating manner along the first horizontal direction is arranged on the base (11);

the floating plate (12) is connected to the mounting plate (111) in a floating mode, and a battery pack clamping position (121) is arranged on the upper surface of the floating plate (12);

the floating plate guide rails (13) are arranged at the operation ends, the two sides of the base (11) are respectively provided with one floating plate guide rail (13) at intervals, and the two sides of the floating plate (12) are respectively in floating sliding connection with the two floating plate guide rails (13).

6. Swapping station according to claim 5, characterized in that the floating plate (12) is gimballed floating connected to the mounting plate (111).

7. The station of claim 5, wherein the float mechanism further comprises a slide connection (14), the slide connection (14) being slidably connected to the float plate rail (13), the float plate (12) being floatingly connected to the slide connection (14).

8. The station according to claim 7, characterized in that said sliding connection (14) comprises:

a first slider (142) slidably connected to the floating plate rail (13);

and a side connection block (141) fixedly connected to the first slider (142), wherein the floating plate (12) is floatingly connected to the side connection block (141).

9. The swapping station of claim 8, wherein the float mechanism further comprises a float plate side float assembly, the float plate side float assembly comprising:

the floating connecting block (151) is fixedly connected to the floating plate (12);

the upper end of the floating screw (152) is movably connected to the floating connecting block (151), and the lower end of the floating screw is fixedly connected to the side connecting block (141) of the sliding connecting piece (14);

the floating elastic piece (153) is sleeved on the floating screw (152), the upper end of the floating elastic piece (153) is in elastic abutting joint with the lower surface of the floating connecting block (151), and the lower end of the floating elastic piece (153) is in elastic abutting joint with the upper surface of the floating connecting block (151).

10. The power station according to claim 9, wherein a step structure is provided on the side connection block (141), the step structure comprises a horizontal step surface (161) and a vertical step surface (162), a surface of the floating connection block (151) facing the vertical step surface (162) can abut against the vertical step surface (162), and a lower surface of the floating connection block (151) can abut against the horizontal step surface (161).

11. The method for taking out the battery pack laterally from the battery replacement station is characterized in that the battery replacement station is adopted to take out the power-shortage battery pack of the vehicle to be replaced, and comprises the following steps:

s14, controlling the operation end to move to an inlet end of an empty battery pack storage position, driving two female head pieces (25) to move along a second horizontal direction by two avoidance plugging mechanisms corresponding to the battery pack storage position, enabling the two female head pieces (25) to be away from each other, continuing to reversely move along the first horizontal direction by the operation end, and placing a power-shortage battery pack in the battery pack storage position;

s15, controlling the operation end to reset;

s16, control female first spare (25) are followed the second horizontal direction motion is reset the back, control female first spare (25) are followed first horizontal direction motion extremely with insufficient voltage battery pack' S public first spare is pegged graft.

12. The battery pack side-fetching method for the battery swapping station as claimed in claim 11, wherein before the step S12, the following steps are further performed:

s10, acquiring a space coordinate of a forking point of a power-shortage battery pack on the vehicle to be switched;

13. The battery pack side-fetching method for the battery swapping station as claimed in claim 12, wherein the step S12 comprises: