CN115520154A

CN115520154A - Battery changing station and battery pack lateral discharging control method for battery changing station

Info

Publication number: CN115520154A
Application number: CN202211160794.9A
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 control method for laterally discharging a battery pack in the battery changing station, and belongs to the technical field of battery changing stations. The battery replacement channel extends along a second horizontal direction; the battery pack storage racks are arranged on two sides of the battery replacing channel; the battery replacing equipment is arranged on two sides of the battery replacing channel, the battery replacing equipment on each side is located between the battery replacing channel and the battery pack storage rack on the side, the battery replacing equipment can move in a reciprocating mode along the second horizontal direction, the battery replacing equipment comprises an operation end, and the operation end can move in a reciprocating mode along the first horizontal direction and can lift in the vertical direction; each the operation end all is provided with one floating mechanism, floating mechanism is including the floating plate that can universal floating, the upper surface of floating plate is provided with battery package joint position. The invention improves the battery replacement efficiency.

Description

Battery changing station and battery pack lateral discharging control method for battery changing station

Technical Field

The invention relates to the technical field of battery changing stations, in particular to a battery changing station and a battery pack lateral discharging control method for the battery changing station.

Background

When trading the power station and being used for treating the battery package of trading the electric vehicle, after taking out the insufficient voltage battery package on will waiting to trade the electric vehicle, need with the battery package of trading the power station deposit the full charge battery package on the frame install to waiting to trade the electric vehicle on to accomplish whole electric operation of trading.

In the battery replacement station, a full-charge battery pack is mounted on a vehicle to be replaced by an operation end of the battery replacement equipment.

However, when the vehicle to be subjected to battery replacement stops at the battery replacement position of the battery replacement station, the operating end of the battery replacement device cannot be aligned with the battery installation position of the vehicle to be subjected to battery replacement due to the existence of the parking error and the vehicle body deflection error, and the vehicle position needs to be adjusted by a driver, so that the battery replacement efficiency is affected.

Disclosure of Invention

The invention aims to provide a battery changing station and a battery pack lateral discharging control method for the battery changing station, which can be self-adaptive to a parking error and a vehicle body deflection error and have high battery changing efficiency.

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

trade power station includes:

the battery replacement channel extends along the second horizontal direction;

the battery pack storage rack is arranged on each of two sides of the battery replacing channel;

the battery replacing equipment is arranged on two sides of the battery replacing channel, the battery replacing equipment on each side is located between the battery replacing channel and the battery pack storage rack on the side, the battery replacing equipment can move in a reciprocating mode along the second horizontal direction, the battery replacing equipment comprises an operation end, and the operation end can move in a reciprocating mode along the first horizontal direction and can lift in the vertical direction;

the battery pack clamping device comprises a floating mechanism, wherein each operating end is provided with one floating mechanism, each floating mechanism comprises a floating plate capable of floating universally, and the upper surface of each floating plate is provided with a battery pack clamping position.

Optionally, the float mechanism comprises:

the base is arranged at the operation end, an installation plate capable of moving back and forth along the first horizontal direction is arranged on the base, and the floating plate is connected to the installation plate in a universal floating mode;

the floating plate guide rails are arranged at the operation ends, 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, a floating groove and a floating member are arranged on the mounting plate, the floating member is connected in the floating groove in a universal floating mode, and the floating plate is fixedly connected to the floating member.

Optionally, the floating member is an integrally formed structure, including:

the floating plate is fixedly connected to the connecting plate;

the reducing shaft is coaxially arranged on one side, facing the floating groove, of the connecting plate, an annular limiting ring is arranged in the floating groove, and the reducing shaft penetrates through the annular limiting ring in a coaxial clearance mode;

the floating semispherical part is coaxially arranged on one side, far away from the connecting plate, of the reducing shaft, and the floating semispherical part penetrates through the annular limiting ring in a coaxial clearance mode and is arranged in the floating groove in a floating mode.

Optionally, the floating plate is provided with a clamping plate, the clamping plate is provided with an avoidance arc-shaped groove, a gap is formed between the side face of the avoidance arc-shaped groove and the side face of the reducing shaft, the diameter of the connecting plate is larger than that of the avoidance arc-shaped groove, and the diameter of the upper surface of the floating semispherical part is larger than that of the avoidance arc-shaped groove.

Optionally, two sides of the reducing shaft are respectively provided with one clamping 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, be provided with the battery package on the battery package storage rack and deposit the position, trade the power station and still include dodging plug mechanism, the both sides that the position was deposited to the battery package all are provided with one dodge plug mechanism, dodge plug mechanism and include female first, female first can be followed second horizontal direction reciprocating motion just can be followed first horizontal direction reciprocating motion, first horizontal direction perpendicular to the second horizontal direction.

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

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.

The control method for laterally discharging the battery pack in the battery replacing station is used for installing the fully charged battery pack on the battery pack storage rack to the vehicle to be replaced, and comprises the following steps:

s20, detecting whether the battery replacement vehicle stops at a battery replacement potential of a battery replacement channel; if yes, executing step S21; if not, continuing to detect;

s21, taking out a full-charge battery pack from the battery pack storage rack by a floating mechanism at an operation end of the battery replacing equipment, and clamping the full-charge battery pack with a battery pack clamping position;

s22, acquiring a battery pack fork installation point space coordinate;

s24, the operation end moves towards the spatial coordinate of the battery pack forking point until the fully charged battery pack on the floating mechanism is contacted with a vehicle body battery pack bracket of the vehicle to be charged;

and S25, after the operation end installs the full-charge battery pack to a vehicle to be changed, the operation end resets.

Optionally, the step S25 includes:

and controlling the operation end to descend until the fully charged battery pack is contacted with the upper surface of the vehicle body battery pack bracket, and pushing the fully charged battery pack into a locking position and locking the fully charged battery pack by the operation end.

Optionally, the power swapping station further includes a control system and a 3D camera, and the step S22 includes:

and the 3D camera performs 3D imaging on the vehicle to be subjected to battery replacement, acquires the space coordinate of the battery pack fork-assembling point, and then sends the space coordinate of the battery pack fork-assembling point to the control system.

The invention has the beneficial effects that:

the battery replacement station provided by the invention can improve the battery replacement efficiency. When installing full-electricity battery package to waiting to trade the electric vehicle, even there are parking error and automobile body beat error to waiting to trade the electric vehicle, the floating machanism of operation end department can universally float, and the unsteady in-process of floating plate drives full-electricity battery package and floats to make full-electricity battery package and its accurate counterpoint from top to bottom at the mounted position on waiting to trade the electric vehicle, thereby guarantee that full-electricity battery package can install smoothly to waiting to trade the electric vehicle. The two battery replacing devices on the two sides can replace the battery of the vehicle to be replaced at the same time, and the battery replacing efficiency is further improved.

According to the control method for the battery pack discharging laterally of the battery changing station, the battery changing station is adopted to install the fully charged battery pack to the vehicle to be changed, and the battery changing efficiency is high.

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 diagram 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 perspective 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 diagram 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 floatation member provided in accordance with one embodiment of the present invention;

FIG. 20 is a third exploded view of the floating mechanism provided in accordance with one 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 controlling a battery pack to be discharged 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. horizontally moving the 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 and fig. 2, in this embodiment, the battery swapping station includes a battery swapping channel and a battery pack storage rack, and the battery swapping channel extends along the second horizontal direction. The power switching channel is provided with a parking space, namely a power switching potential.

Both sides of the battery replacement channel are provided with battery pack storage racks 10 (for clarity, only one side of the battery pack storage rack 10 is shown in fig. 1).

Further, referring to fig. 2, 10, and 11, in this embodiment, the swapping station further includes a swapping device and a floating mechanism.

The both sides that trade electric channel all are provided with and trade electric equipment, and the electric equipment that trades of each side is located and trades electric channel and the battery package of this side and deposit between the frame 10 (for clearly showing, only show the electric equipment that trades of one side in figure 1), trades electric equipment and can follow the reciprocal walking of second horizontal direction, trades electric equipment and includes the operation end, and the operation end can follow first horizontal direction reciprocating motion and can follow vertical direction and go up and down.

Each operation end is provided with a floating mechanism, the floating mechanism comprises a floating plate 12 capable of universally floating, and the upper surface of the floating plate 12 is provided with a battery pack clamping position 121.

The power conversion station provided by the embodiment has high power conversion efficiency when the full-charge battery pack is mounted on the vehicle to be converted.

When the vehicle to be changed is driven into the changing potential of the changing channel, the electricity changing equipment firstly takes out the insufficient battery pack on the vehicle to be changed, and then installs the full-charge battery pack to the vehicle to be changed. When the full-electricity battery pack is installed on a vehicle to be replaced, the operation end moves along the vertical direction and corresponds to the position of the full-electricity battery pack on the battery pack storage rack 10, then the operation end moves in the reverse direction along the first horizontal direction and is close to the full-electricity battery pack, after the battery pack clamping position 121 of the floating mechanism is clamped with the full-electricity battery pack, the operation end moves in the forward direction along the first horizontal direction and is close to the vehicle to be replaced, then the operation end descends to correspond to the battery pack installation position of the vehicle to be replaced, the operation end is matched with the floating plate 12 of the floating mechanism, and accurate installation of the full-electricity battery pack is completed quickly.

In the process of putting a full-electric battery pack into a vehicle to be replaced, if the battery transfer frame of the full-electric battery pack is vertically aligned with the installation position of the full-electric battery pack on the vehicle to be replaced, the floating plate 12 can float in a universal mode 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-electric battery pack to float in the floating process, so that the battery transfer frame of the full-electric battery pack is vertically and accurately aligned with the installation position of the full-electric battery pack on the vehicle to be replaced, and the full-electric battery pack can be smoothly installed on the vehicle to be replaced.

Meanwhile, in the embodiment, the two battery replacing devices on the two sides can replace the battery of the vehicle to be replaced at the same time, so that the battery replacing efficiency is further improved.

Specifically, referring to fig. 1 to 4, a battery pack storage position is provided 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 power-lack battery pack or storing a full-charge battery pack.

In the prior art, on a vehicle to be replaced, a charging male plug and a liquid cooling male plug of a battery pack horizontally face to the center of the vehicle to be replaced. The charging female head and the liquid cooling female head on the battery pack storage rack face the vehicle to be replaced. When taking out full charge battery package from battery package storage rack, the public head of charging of full charge battery package and the public head of liquid cooling back of the body are to waiting to trade electric vehicle setting, and this just leads to when ann fills up electric battery package, need rotate 180 back with full charge battery package earlier, can install full charge battery package to waiting to trade electric vehicle. This results in a reduction in the battery replacement efficiency.

In order to further improve the battery replacement efficiency, referring to fig. 3-5, the battery replacement station further includes an avoidance plug-pull 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.

When the battery replacing station takes down the full-charge battery pack on the battery pack storage position and installs the full-charge battery pack to a vehicle to be replaced, the operation end can complete the installation of the full-charge battery pack in a mode of transversely moving along the first horizontal direction, and the battery replacing efficiency is improved.

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.

The avoidance plugging mechanism is described in detail below.

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-pull 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 plug mechanism guide rail 24. Specifically, the female member 25 is a charging female or a liquid-cooling female.

When the avoidance plugging mechanism provided by the embodiment is used, the avoidance plugging mechanism is installed on the battery pack storage rack 10 of the 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 actual use, a first avoidance plugging mechanism guide rail 23 of the avoidance plugging mechanism is installed on 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 back and forth along the second avoidance plugging 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 a 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 trade 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 180, continues to drive the direction sideslip that the position was deposited to the power shortage battery package orientation battery package that is close to 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 part 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 power-lack 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 plug mechanism guide rail 24 until the female head piece 25 is plugged with the 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 at the moment is a fully charged battery pack.

When an operating end of the battery changing 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 extracted, two that a battery package storage position corresponds dodge the plug mechanism and carry out the action of dodging again, also be these two first moving members 22 of dodging the plug mechanism and move towards the direction of keeping away from each other, avoid first moving member 22 to interfere the action of shifting out of full electricity battery package. And the operation end of the battery replacement equipment moves transversely 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.

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 arranged on the first avoidance plug mechanism guide rail 23 in a sliding manner, 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 part 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 part 22 is disposed at an output end of the first driver 21. In actual use, the first driver 21 is fixed to 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 driver 211 on the battery pack storage rack 10, in this embodiment, the avoiding plugging mechanism further includes a first linear driver fixing plate, and the first linear driver 211 is fixedly disposed on the first linear driver fixing plate. The first linear driver 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 inserting and pulling mechanism guide rail 24, so that the second moving member 26 can smoothly slide relative to the second avoidance inserting and pulling 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.

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 device body includes a horizontally moving chassis 31, a primary telescoping mechanism (not shown in fig. 12), and a secondary telescoping mechanism 33.

The horizontally 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 along the vertical direction in a lifting manner, and the primary telescopic mechanism 22 is arranged in the lifting frame 34 along the first horizontal direction in a sliding manner.

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

Further, the lifting frame 34 is further provided with a rotating plate, the rotating plate can rotate in a horizontal plane relative to the lifting frame 34, that is, the rotating plate is always horizontally arranged, and the primary telescopic mechanism is arranged 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.

Specifically, referring to fig. 11-21, in the present embodiment, the floating mechanism further includes a base 11 and a floating plate rail 13.

The base 11 is arranged at the operation end, the base 11 is provided with an installation plate 111 capable of reciprocating along a first horizontal direction, and the floating plate 12 is connected to the installation plate 111 in a universal floating mode.

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

Preferably, the floating plate 12 is made of a steel plate.

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 a floating plate 12, a battery pack clamping position 121 on the floating plate 12 is clamped with a battery transferring frame of the fully charged battery pack, the mounting plate 111 is controlled to move forward along a 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, then an operation end of a battery replacing device is controlled to move upwards, and 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-electric battery pack into a vehicle to be replaced, if the battery transfer frame of the full-electric battery pack is vertically aligned with the mounting position of the full-electric battery pack on the vehicle to be replaced, the floating plate 12 can float relative to the mounting 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-electric battery pack to float in the floating process, so that the battery transfer frame of the full-electric battery pack is vertically and accurately aligned with the mounting position of the full-electric battery pack on the vehicle to be replaced, and the full-electric battery pack can be smoothly mounted 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-lack 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 battery pack clamping position 121 and a battery transfer frame of the power-lack battery pack are vertically aligned to have a deviation, in the process of controlling an operation end of the battery replacing device to move upwards, a floating plate 12 floats relative to the power-lack battery pack on the vehicle to be replaced, in the floating process, rolling friction exists between the lower surface of the battery transfer frame of the power-lack battery pack and a rolling piece 122, the rolling friction force is smaller than the sliding friction force, and the floating of the floating plate 12 is facilitated.

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

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. During the battery replacement operation, the end of the first support plate 1114 facing the battery replacement vehicle first abuts against the battery replacement vehicle, and when the end of the first support plate 1114 facing the battery replacement vehicle abuts against the battery replacement vehicle, the buffer block 11141 can buffer the impact therebetween.

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 rotatably penetrates through the side wall of the floating mechanism driving assembly mounting frame 171 and extends into the floating mechanism driving assembly mounting frame 171, a rotating shaft 173 is rotatably arranged in the floating mechanism driving assembly mounting frame 171, the axial direction of the rotating shaft 173 extends along the second horizontal direction, and two ends of the rotating shaft 173 all 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.

Referring specifically to fig. 16-19, in the present embodiment, a floating groove 1111 and a floating member 1112 are disposed on the mounting plate 111, 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 stop ring 11111 is capable of limiting the radial float of the float 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 two avoidance arc-shaped grooves of the two clamping plates 1113 are arranged in a gap with the side surface 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 elastic member 153 is sleeved on the floating screw 152, the upper end of the floating elastic member 153 is elastically abutted to the lower surface of the floating connecting block 151, and the lower end of the floating elastic member 153 is elastically abutted to the upper surface of the 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 penetrates 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 connecting block 151 can float downward to abut against the horizontal step surface 161, so that the downward movement of the floating connecting block 151 is limited, and when the battery pack is prevented from being placed on the floating plate 12, the downward movement of the floating connecting block 151 is excessive.

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 fails.

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 electric power shortage battery pack from the vehicle to be replaced, the operating end of the battery replacing device is controlled to move upwards, so that when the battery pack clamping position 121 is clamped with the battery adapting frame of the electric power shortage battery pack, the battery adapting frame of the electric power shortage 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 electric vehicle to be replaced 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 charging insufficient battery pack 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 package storage position of battery package storage rack 10 includes that the battery package of two upper and lower settings places the buffer position, is located the top for full charge battery position, is located the below for insufficient voltage battery position. Before a vehicle to be changed is driven into the battery changing station, the battery changing equipment places a full-charge battery pack at a full-charge battery level, when the vehicle to be changed stops at the battery changing level, the battery changing equipment directly and transversely places a power-down battery pack taken out of the vehicle to be changed at a power-down battery level, then the operation end is moved upwards, the full-charge battery pack is taken out of the full-charge battery level and is installed on the vehicle to be changed, the stroke for taking and placing the battery pack is shortened, and the battery changing time is shortened.

The 3D cameras are arranged on two sides of a battery replacing channel of the battery replacing station, and the 3D cameras are arranged at positions 700mm away from the outer side surface of a battery pack on a vehicle to be replaced, so that the identification and positioning accuracy of the 3D cameras can be controlled within +/-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. And after the light card stops at the preset parking space, the 3D camera acquires the position and the posture of the power-shortage battery pack on the light card, and transmits the position and the posture data to a control system of the power exchanging station, and the control system firstly moves the power exchanging equipment on two sides of the power exchanging station to a working position according to the acquired position and the posture data of the power-shortage battery pack on the light card. Then, the battery replacement equipment adjusts the position and the posture of the battery replacement equipment to adapt to the position and the posture of the insufficient battery pack on the light card, and then the battery replacement equipment on the two sides synchronously takes out the battery pack from the light card and transversely moves the battery pack to the battery pack storage rack 10 on the two sides of the battery replacement 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 present embodiment provides a method for controlling a battery pack to be discharged laterally from a battery changing station, where the battery changing station in the first embodiment is used to mount a fully charged battery pack on a battery pack storage rack 10 to a vehicle to be changed, and the method includes the following steps:

s20, detecting whether the vehicle to be charged stops at a charging position of a charging channel; if yes, executing step S21; if not, continuing to detect;

s21, taking out a full-charge battery pack from the battery pack storage rack 10 by a floating mechanism at an operation end of the battery replacing equipment, and clamping the full-charge battery pack with a battery pack clamping position 121;

s22, acquiring a spatial coordinate of a battery pack fork installation point;

s24, moving the operation end towards the spatial coordinate of the battery pack forking point until a fully charged battery pack on the floating mechanism is contacted with a vehicle body battery pack bracket of the vehicle to be replaced;

and S25, after the operation end installs the fully charged battery pack to the vehicle to be changed, the operation end resets.

Specifically, step S25 includes: and controlling the operation end to descend until the fully charged battery pack is contacted with the upper surface of the vehicle body battery pack bracket, and then pushing the fully charged battery pack into the locking position and locking the fully charged battery pack by the operation end.

Further, the power conversion station further comprises a control system and a 3D camera, and step S22 comprises:

and 3D imaging is carried out on the electric vehicle to be changed by the 3D camera, and after spatial coordinates (X, Y, Z and theta) of the battery pack fork-assembling point are obtained, the spatial coordinates of the battery pack fork-assembling point are sent to a control system.

Subsequently, the control system controls the movement of the operation end of the battery replacement device.

Specifically, one of the battery pack storage racks 10 on one side of the battery swapping station is provided with a full-battery buffer rack, the battery packs stored in the full-battery buffer rack are all full-battery packs, and in step S21, the floating mechanism on the operating end takes out the full-battery packs from the full-battery buffer rack.

Specifically, in step S25, when the operation end mounts the full-charge battery pack to the vehicle to be replaced, the servo motor of the battery replacement device switches to the torque mode and continues to push the full-charge battery pack, and when the torque of the servo motor reaches the locking torque, the full-charge battery pack is successfully locked and is mounted in place. Then, the operation end reversely moves for a set distance along the first horizontal direction; alternatively, the set distance is 100mm. And finally, resetting the battery replacement equipment and driving the operation end to reset.

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 replacement channel extends along the second horizontal direction;

the battery pack storage rack (10) is arranged on each of two sides of the battery replacement channel;

the battery replacing equipment is arranged on two sides of the battery replacing channel, the battery replacing equipment on each side is located between the battery replacing channel and the battery pack storage rack (10) on the side, the battery replacing equipment can reciprocate along the second horizontal direction, and the battery replacing equipment comprises an operation end which can reciprocate along the first horizontal direction and can lift along the vertical direction;

the battery pack floating mechanism comprises floating mechanisms, each operating end is provided with one floating mechanism, each floating mechanism comprises a floating plate (12) capable of floating universally, and a battery pack clamping position (121) is arranged on the upper surface of each floating plate (12).

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

a base (11) arranged at the operation end, wherein the base (11) is provided with a mounting plate (111) capable of reciprocating along the first horizontal direction, and the floating plate (12) is connected to the mounting plate (111) in a universal floating manner;

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

3. The station according to claim 2, characterized in that a float groove (1111) and a float member (1112) are provided on the mounting plate (111), the float member (1112) is universally float-connected in the float groove (1111), and the float plate (12) is fixedly connected to the float member (1112).

4. The station as recited in claim 3, wherein the float (1112) is of unitary construction comprising:

a connecting plate (11121), wherein the floating plate (12) is fixedly connected to the connecting plate (11121);

a reducing shaft (11122) 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) with a clearance;

a floating semispherical part (11123) coaxially arranged on one side of the reducing shaft (11122) far away from the connecting plate (11121), wherein the floating semispherical part (11123) passes through the annular limiting ring (11111) with a coaxial gap and is arranged in the floating groove (1111) in a floating manner.

5. The power station as claimed in claim 4, wherein a clamping plate (1113) is arranged on the floating plate (12), an avoiding arc-shaped groove is arranged on the clamping plate (1113), the side surface of the avoiding arc-shaped groove is spaced from 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 semispherical part (11123) is larger than that of the avoiding arc-shaped groove.

6. The swapping station as in claim 5, characterized in that one of the clamping plates (1113) is arranged on each side of the tapered shaft (11122).

7. The station of claim 2, 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 power exchanging station according to any one of claims 1 to 7, wherein a battery pack storage position is arranged on the battery pack storage rack (10), the power exchanging station further comprises an avoiding plug-pull mechanism, one avoiding plug-pull mechanism is arranged on each of two sides of the battery pack storage position, the avoiding plug-pull mechanism comprises a female head piece (25), the female head piece (25) can reciprocate in the second horizontal direction and can reciprocate in the first horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction.

9. The swapping station of claim 8, 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.

10. The power station according to claim 9, wherein the avoidance plug mechanism further comprises a second moving member (26), the female member (25) is fixedly arranged on the second moving member (26), and the second moving member (26) is slidably arranged on the second avoidance plug mechanism guide rail (24).

11. The method for controlling the lateral discharge of the battery pack in the battery replacing station is characterized in that the full-charge battery pack on the battery pack storage rack (10) is mounted to a vehicle to be replaced by the battery replacing station according to any one of claims 1 to 10, and the method comprises the following steps:

s21, taking out a fully charged battery pack from the battery pack storage rack (10) by a floating mechanism at an operation end of the battery replacing device, and clamping the fully charged battery pack with a battery pack clamping position (121);

s22, acquiring a battery pack fork installation point space coordinate;

s24, moving the operation end towards the spatial coordinate of the battery pack fork-assembling point until the fully charged battery pack on the floating mechanism is contacted with a vehicle body battery pack bracket of the vehicle to be subjected to battery replacement;

and S25, after the operation end installs the full-charge battery pack to the vehicle to be changed, the operation end resets.

12. The battery replacing station side discharging control method according to claim 11, wherein the step S25 includes:

13. The battery swapping station side discharge package control method according to claim 11, wherein the battery swapping station further comprises a control system and a 3D camera, and the step S22 comprises: