CN113147489A

CN113147489A - Battery replacement system and battery replacement method

Info

Publication number: CN113147489A
Application number: CN202010066943.XA
Authority: CN
Inventors: 聂亮; 林晓斌; 杨宝玉
Original assignee: Hangzhou Botan Technology Engineering Co ltd
Current assignee: Hangzhou Botan Technology Engineering Co ltd
Priority date: 2020-01-20
Filing date: 2020-01-20
Publication date: 2021-07-23

Abstract

The invention discloses a battery replacement system, which comprises: a battery replacement parking area; the first accommodating area is positioned on one side of the battery replacement parking area and is provided with a first charging rack for providing a battery charging function; a second accommodating area; the first battery replacing robot is positioned on one side of the battery replacing parking area, is used for scanning a vehicle to be replaced, taking down a battery to be charged on the vehicle to be replaced, storing the battery to be charged on a first charging rack, and installing a fully charged battery on the battery replacing vehicle, and comprises a first main body and a first clamping device arranged on the first main body; and the second battery replacement robot. The invention also discloses a battery replacement method. The invention has reasonable layout and high space utilization rate, is convenient for the continuous operation of the whole battery replacement process and has higher battery replacement efficiency; the problem of lead to vacuum chuck gas leakage to throw off when utilizing the cylinder to pull out the battery is solved, guarantee taking out smoothly of battery.

Description

Battery replacement system and battery replacement method

Technical Field

The invention belongs to the technical field of battery replacement of electric automobiles, and particularly relates to a battery replacement system and a battery replacement method.

Background

Along with the increasingly outstanding environmental problems, electric vehicles are widely used, the battery replacement means that the electric vehicles take off empty batteries of the vehicles through battery replacement equipment and replace another group of fully charged power batteries to the energy supplement mode of the electric vehicles, the batteries of the electric vehicles are small in size, heavy in weight, troublesome in replacement operation, low in manual operation efficiency and high in cost.

The market improves the sealing component of the electric connector, for example, Chinese patent CN206516833 discloses a sealing element and a sealing component for the electric connector, which has simple structure and good sealing effect, and the plugging between the socket component and the plug component is convenient and labor-saving. In order to meet the waterproof requirement, the structure is applied to the connection between the battery and the battery compartment, namely a sealing ring is arranged between the battery compartment plug and the socket, the sealing ring isolates the internal space from the outside, negative pressure is easily formed after the temperature changes, and the plug-pull force is more than 500N, so that the battery compartment plug and the socket are difficult to separate.

The battery replacing structure on the market utilizes a clamp of a battery replacing robot to clamp a battery so as to separate the battery from a battery compartment, but the clamp adopts an air cylinder, the air cylinder is characterized in that power output has impact, and the impact power output is not beneficial to the damage of coupling force between a plug and a socket of the battery compartment when the air cylinder starts to pull out the battery after the clamp adsorbs the battery by a vacuum chuck, so that the vacuum chuck is leaked and separated, and the battery is taken out unsuccessfully.

In addition, chinese patent CN 103406911 discloses a clamping device, which comprises a main frame, a rail arranged on the main frame, holding claws arranged at two ends of the rail, lower suckers arranged in a line shape below the rail, upper suckers arranged in a line shape at the front end of the main frame, a positioning rod arranged between the lower suckers and the rail, and a stopper arranged on the rail. Above-mentioned structure is relatively more complicated, needs the cooperation of locating lever and stopper, embraces the claw and carries out the regulation of width along track movement, realizes pressing from both sides tightly of battery, has not only improved the cost of manufacture, and the structure of complicacy can increase the fault point moreover, and later maintenance is consuming time hard, and the volume is great relatively.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a battery replacement system and a battery replacement method which are reasonable in layout, easy to take out a battery and high in battery replacement efficiency.

The technical scheme adopted by the invention for solving the technical problems is as follows: a battery swapping system, comprising:

the battery replacement parking area is used for parking a vehicle to be replaced;

the first accommodating area is positioned on one side of the battery replacement parking area and is provided with a first charging rack for providing a battery charging function;

the second accommodating area is positioned at the other side of the battery replacement parking area and is provided with a second charging rack for providing a battery charging function;

the first battery replacing robot is positioned on one side of the battery replacing parking area, is used for scanning a vehicle to be replaced, taking down a battery to be charged on the vehicle to be replaced, storing the battery to be charged on a first charging rack, and installing a fully charged battery on the battery replacing vehicle, and comprises a first main body and a first clamping device arranged on the first main body;

the second battery replacing robot is located on the other side of the battery replacing parking area and used for scanning a vehicle to be replaced to position, taking down a battery to be charged on the vehicle to be replaced to store the battery to the second charging frame and installing a fully charged battery to the battery replacing vehicle.

The invention has reasonable layout and high space utilization rate, and is convenient for the implementation of the whole battery replacement process.

Furthermore, a first channel is arranged between the first accommodating area and the battery replacement parking area, and a second channel is arranged between the second accommodating area and the battery replacement parking area.

Further, the first clamping device comprises a frame-shaped body with a bearing plate at the bottom, a visual positioning mechanism which is arranged on the top surface of the body and used for detecting the position of a battery in the electric automobile, a telescopic pressing mechanism which can be abutted against the top surface of the battery through the body, a movable rod assembly which can horizontally reciprocate, a driving mechanism and a plurality of suckers which are connected with the movable rod assembly, wherein the suckers which are transversely arranged on the same connecting plate are at least divided into two groups, each group of suckers are respectively connected with a vacuum gas circuit which is controlled to be opened and closed by an electromagnetic valve box, and the vacuum gas circuits of the adjacent group of suckers are mutually independent.

According to the first clamping device, the position of the battery can be accurately positioned through the cooperation of the first battery replacing robot and the visual positioning mechanism, so that the position of the first clamping device can be simply and quickly integrally moved, the first clamping device can be accurately moved to the position of the battery, the structure of the first clamping device is greatly simplified, the structure is simple, and time and labor are saved during later maintenance; the sucking and discharging of the battery are controlled by at least two groups of vacuum gas circuits of the sucking disc, so that the situation that the sucking disc is invalid when the vacuum gas circuits are in failure can be effectively avoided, and the battery is more stably and effectively sucked; the first vision system is arranged on the first clamping device, so that the space of a separate field does not need to be occupied, and the problem that the first battery replacing robot interferes with the vision positioning system which is independently arranged in the motion process does not need to be considered.

Further, the driving mechanism comprises a first driving piece and a second driving piece which is arranged in a staggered manner with the first driving piece; the movable rod assembly comprises a fixed plate, a first guide assembly and a second guide assembly, the fixed plate can horizontally reciprocate under the drive of a first driving piece, the first guide assembly and the second guide assembly are respectively and vertically arranged on two sides of the fixed plate, the second driving piece is connected with the fixed plate, and the connecting plate can horizontally reciprocate under the drive of the second driving piece.

The first driving part drives the fixing plate to move in a first moving stroke, the second driving part drives the connecting plate to move in a second moving stroke, the moving distance of the connecting plate is the sum of the first moving stroke and the second moving stroke, and the overall size of the first clamping device is reduced while the moving distance of the sucker is guaranteed.

Furthermore, the first guide assembly comprises a first guide column and a first limit column, one end of the first guide column is connected with the fixing plate, the first limit column is used for the first guide column to penetrate through, and the first limit column is fixedly connected with the body; the second guide assembly comprises a second guide column and a second limiting column, one end of the second guide column is connected with the connecting plate, the second limiting column is used for the second guide column to penetrate through, and the first limiting column and the second limiting column are parallel and are perpendicular to the fixing plate.

First guide post and second guide post play the effect of guide direction and support, greatly increased the translation stability of fixed plate and connecting plate, first spacing post then becomes firm support to first guide post, and the spacing post of second forms firm support to the second guide post.

Furthermore, the number of the first guide posts and the second guide posts is two, and the first guide posts and the second guide posts are respectively and symmetrically arranged on two sides of the second driving piece. The symmetrical structure makes the first clamping device act more stably.

Furthermore, the number of the first driving parts is two, and the first driving parts are respectively arranged on two sides of the second driving part; the first driving piece is fixedly connected with a supporting plate which extends downwards from the top surface of the body.

Further, the suckers in the adjacent group are alternately arranged at intervals. Every group's sucking disc is laid along the connecting plate interval, can improve the stability of absorption for battery suction everywhere is more even, when also effectively preventing one of them vacuum gas circuit to break down, and the volume sucking disc that another vacuum gas circuit controlled concentrates on certain region, leads to the battery atress inhomogeneous.

Furthermore, the front part of the body is provided with a limiting claw mechanism for preventing the battery from being separated, and the limiting claw mechanism comprises a claw part which is rotationally connected with the body through a first rotating shaft, a second rotating shaft which is arranged on the claw part, a connecting piece which is rotationally connected with the second rotating shaft, and a power piece which is used for driving the connecting piece to horizontally move. The limiting claw mechanism can prevent the battery from sliding out from the opening in the front of the body under the action of centrifugal force when the first clamping device rotates by the first battery replacing robot.

Furthermore, the bearing plate is provided with a roller. The roller reduces the friction force between the battery and the body, so that the battery can be taken and placed more smoothly and labor-saving.

The invention also discloses a battery replacement method, which comprises the following steps:

1) driving the vehicle to be power-changed into a power-changing parking area;

2) a battery cabin of the vehicle to be replaced descends, and a battery replacing process is started;

3) the method comprises the steps that a first visual positioning mechanism is utilized to visually identify the position of a battery on one side of a vehicle to be replaced, and a battery space coordinate is obtained;

4) a plurality of suckers of the first clamping device adsorb the battery to be replaced;

5) the first battery replacement robot drives the first clamping device adsorbed with the battery to be replaced to integrally translate for a first stroke until the coupling force between the battery bin plug and the socket of the battery to be replaced is destroyed;

6) starting a driving mechanism of the first clamping device, taking out a battery to be replaced from the battery bin, and transferring the battery to a first charging frame;

7) and (4) placing the fully charged battery into a battery bin at the bottom of the vehicle to be replaced to finish the battery replacement.

Preferably, the second battery replacement robot and the first battery replacement robot synchronously perform steps 3) to 7).

The invention has the beneficial effects that: 1) the battery replacement system has the advantages that the layout is reasonable, the space utilization rate is high, the whole battery replacement process can be performed continuously, and the battery replacement efficiency is higher; 2) the clamping device is simple in structure, can be matched with a vision positioning mechanism and a battery replacing robot to accurately position the battery, and the battery can directly enter the body through the sucker, so that the structure of the clamping device is simplified, and time and labor are saved during later maintenance; the sucker is controlled by at least two vacuum gas circuits, so that the failure of the sucker when the vacuum gas circuits are in failure is avoided, and the safety performance is improved; the arrangement of the first driving piece and the second driving piece reduces the volume of the clamping device, saves the occupied space and enables the first battery replacement robot to drive the first clamping device to transfer more flexibly; 3) the problem of lead to vacuum chuck gas leakage to throw off when utilizing the cylinder to pull out the battery is solved, guarantee taking out smoothly of battery.

Drawings

Fig. 1 is a top view of the battery swapping system of the present invention.

Fig. 2 is a partial schematic view of a battery swapping system according to the present invention.

Fig. 3 is a top view of the battery swapping system (without a container) of the present invention.

Fig. 4 is a perspective view of a first battery replacement robot according to the present invention.

Fig. 5 is a front view of the first battery replacement robot of the present invention.

Fig. 6 is a first perspective view of the first clamping device of the present invention.

Fig. 7 is a side view schematically showing the first grasping apparatus according to the present invention.

Fig. 8 is a schematic bottom view of the first clamping device of the present invention.

Fig. 9 is a first schematic front view of the first clamping device of the present invention.

Fig. 10 is a schematic perspective view of the first clamping device of the present invention.

Fig. 11 is a second schematic front view of the first clamping device of the present invention.

Fig. 12 is a rear view schematically illustrating the first grasping apparatus according to the present invention.

Fig. 13 is a schematic top view of the first clamping device of the present invention.

FIG. 14 is a diagram illustrating a power swapping step according to the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 5, a battery swapping system includes a battery swapping parking area 91 for parking a battery swapping vehicle 92 to be swapped, a first accommodating area 93 located on one side of the battery swapping parking area 91, a second accommodating area 94 located on the other side of the battery swapping parking area 91, a first battery swapping robot 95 located between the first accommodating area 93 and the battery swapping vehicle 92 to be swapped, and a second battery swapping robot 96 located between the second accommodating area 94 and the battery swapping vehicle 92 to be swapped.

It is equipped with steel parking platform in trading electric parking area 91 to supplementary spacing, guarantee that vehicle parking position does not appear too much deviation, it can realize for prior art, no longer gives unnecessary details.

A first passage 971 convenient to pass is arranged between the first accommodating area 93 and the battery replacement parking area 91, a first sliding rail 981 is arranged in the first passage 971, the first sliding rail 981 is used as a running rail of a manual battery transport vehicle and used for loading and unloading power batteries and is generally used when a battery replacement system is newly built or closed, a plurality of first charging frames 931 used for charging the batteries, first temporary storage frames 932 used for storing batteries to be charged or fully charged batteries and a first control cabinet 933 are arranged in the first accommodating area 93, and the first control 933 is used for setting and issuing a battery replacement strategy and related data communication; in the embodiment, four first charging frames 931 and two first temporary storage frames 932 are enclosed to form a U-shaped structure with an opening facing the battery replacement parking area 91, and the two first charging frames 931 are symmetrically distributed as a group; the first temporary storage rack 932 is enabled when the first charging rack 931 is not in sufficient position.

For the integral transportation and installation, a first charging rack 931, a first temporary storage rack 932, a first control cabinet 933 in the first accommodation area 93, and a first robot control cabinet 953 for controlling the first swapping robot 95 are installed in advance inside the first standard container 934.

A second passage 972 convenient for passing is formed between the second accommodating area 94 and the battery replacement parking area 91, a second sliding rail 982 is arranged in the second passage 972, a plurality of second charging frames 941 used for charging batteries and a second temporary storage frame 942 used for storing batteries to be charged or fully charged are arranged in the second accommodating area 94; in this embodiment, four second charging frames 941 and two second temporary storage frames 942 are enclosed to form a U-shaped structure with an opening facing the battery replacement parking area 91, and two second charging frames 941 are symmetrically distributed as a group.

For the integral transportation and installation, a second charging rack 941, a second temporary storage rack 942 in the second accommodation area 94, and a second robot control cabinet 963 for controlling the second swapping robot 96 are mounted in advance inside the second standard container 944.

Of course, as shown in fig. 3, the layout of the first accommodating area 93 may also be changed, the four first charging frames 931 are disposed adjacent to each other, the two first temporary storage frames 932 are opposite to the two first charging frames 931, and the first slide rail 981 is disposed near the four first charging frames 931. Similarly, the layout in the second receiving area 94 is symmetrical to the layout in the first receiving area 93, and neither the first receiving area 93 nor the second receiving area 94 carries standard containers.

The first battery replacement robot 95 is configured to scan one side of the vehicle 92 to be replaced for positioning, then take down the battery to be charged on the vehicle 92 to be replaced and store the battery to be charged on the first charging frame 931, and mount the fully charged battery on the first charging frame 931 on the vehicle 92 to be replaced; the first battery replacing robot 95 includes a first main body 951 and a first clamping device 952, and the first main body 951 can drive the first clamping device 952 to move or rotate in an up, down, left, and right direction, which can be implemented in the prior art and will not be described again.

As shown in fig. 6-13, the first clamping device 952 includes a body 1 having a frame-shaped structure and forming a space for accommodating a battery, a visual positioning mechanism 2 (which is prior art and not described herein) for detecting a position of the battery in the electric vehicle is fixedly connected to a top surface of the body 1, and a connection plate 14 is further fixedly connected to a top surface of the body 1 near the position of the visual positioning mechanism 2, and the connection plate 14 can be connected to the first main body 951.

The bottom both sides of body 1 have the board 11 of accepting that is used for supporting the battery, the lower fixed surface of body 1 top surface is connected with backup pad 12, be connected with actuating mechanism 4 on backup pad 12, be connected with movable rod subassembly 3 on actuating mechanism 4, movable rod subassembly 3 can be along horizontal direction reciprocating motion under actuating mechanism 4's drive, the end connection of movable rod subassembly 3 has a connecting plate 52, all sucking discs 5 all transverse arrangement set up on connecting plate 52, this connecting plate 52 is parallel to each other with backup pad 12, sucking disc 5 is controlled by vacuum gas circuit 51, utilize vacuum gas circuit 51 to inhale the vacuum between sucking disc 5 and the battery after sucking disc 5 contacts the battery, make sucking disc 5 can take the battery, along with the reciprocating translation of movable rod subassembly 3 realization battery get and put. In order to facilitate the batteries to rapidly enter the body 1, a plurality of rollers 111 are uniformly arranged on the bearing plate 11, and the batteries can enter the body 1 through rolling friction; in order to prevent the battery from shaking in the vertical direction in the body 1, the sucking disc 5 is matched to form a more stable support for the battery, the top surface of the body 1 is provided with a telescopic abutting mechanism 7, the telescopic abutting mechanism 7 is provided with a telescopic piece capable of penetrating through the top surface of the body 1 and abutting against the top surface of the battery, and in the embodiment, the telescopic abutting mechanism 7 is of an air cylinder structure.

In order to avoid that all the suction cups 5 fail to suck the battery when the vacuum circuit 51 fails, the suction cups 5 are divided into at least two groups, as shown in fig. 9, in this embodiment, the suction cups 5 are divided into two groups, and the first group of suction cups 53 and the second group of suction cups 54 are alternately arranged at intervals, so that the first group of suction cups 53 and the second group of suction cups 54 can be arranged on the connecting plate 52 as large as possible, rather than being concentrated in a certain area of the connecting plate 52. The first group of suction cups 53 is connected to the first vacuum circuit 511, the second group of suction cups 54 is connected to the second vacuum circuit 512, the first vacuum circuit 511 is controlled by a first solenoid valve (located in the solenoid valve box 6), and the second vacuum circuit 512 is controlled by a second solenoid valve (located in the solenoid valve box 6), that is, the first vacuum circuit 511 and the second vacuum circuit 512 are independent.

The driving mechanism 4 comprises a first driving member 41 and a second driving member 42 arranged in parallel with the first driving member 41 but offset, and both the first driving member 41 and the second driving member 42 are of cylinder structures; the movable rod assembly 3 comprises a fixed plate 33 fixedly connected to the end of the piston rod of the first driving member 41, a first guiding assembly and a second guiding assembly vertically arranged on two sides of the fixed plate 33, the fixed plate 33 is fixedly connected with the second driving member 42, and the end of the piston rod of the second driving member 42 is fixedly connected with the connecting plate 52. In order to ensure the stability of the whole structure, the number of the first driving members 41 is two, and the first driving members 41 are respectively arranged at two sides of the second driving member 42, and the first driving members 41 are fixedly connected with the support plate 12.

When the driving mechanism 4 and the movable rod assembly 3 are matched to drive the sucker 5 to move horizontally, the first driving piece 41 firstly drives the second driving piece 42 and the fixed plate 33 to move forwards integrally through the extension of the piston rod, after the piston rod of the first driving piece 41 is extended completely, the sucker 5 finishes the movement of the first stroke, the fixed plate 33 keeps relatively static, the piston rod on the second driving piece 42 is extended, the sucker 5 is continuously driven to move forwards until the piston rod of the second driving piece 42 is extended completely, and the sucker 5 finishes the movement of the second stroke.

In order to improve the stability of the matching between the driving mechanism 4 and the movable rod assembly 3, one side edge of the fixed plate 33 is vertically connected with a first guide column 31 parallel to the piston rod of the first driving member 41, the first guide column extends in the direction away from the suction cup 5 and penetrates through a first limit column 32 on the support plate 12, the support plate 12 can be a structure separated from the support plate 12 fixedly connected with the first driving member 41, and can also be an integral structure, the first limit column 32 is a hollow cylindrical structure, and similarly, in order to ensure the stability of the structure, the other side edge of the fixed plate 33 is also symmetrically provided with the same structure, namely the number of the first guide columns 31 is two; the side of the connecting plate 52 opposite to the suction cup 5 is vertically connected with a second guide post 34 parallel to the piston rod of the second driving member 42, the second guide post 34 extends in the direction away from the suction cup 5, and passes through the second limiting post 35 on the fixing plate 33, the second limiting post 35 is also of a hollow cylindrical structure, similarly, in order to ensure the structural stability, the other side edge of the connecting plate 52 is also symmetrically provided with the same structure, namely the number of the second guide posts 34 is two, and the second guide posts 34 are close to the first guide posts 31. The first guiding column 31 and the first limiting column 32 form a first guiding assembly, and the second guiding column 34 and the second limiting column 35 form a second guiding assembly.

In order to prevent the battery from separating from the main body 1 from the opening at the front part of the main body 1 when the first clamping device is transferred by the first battery replacing robot 95, a limiting claw mechanism 8 is arranged on the main body 1, it comprises a claw part 82 which is rotationally connected with the side wall of the body 1 through a first rotating shaft 81, a second rotating shaft 83 which is parallel to the first rotating shaft 81 and is vertically arranged in the claw part 82, a connecting piece 84 connected with the second rotating shaft 83 in a rotating way, and a power piece 85 fixedly connected with the connecting piece 84 through a telescopic rod, wherein one end of the claw part 82 is connected with the first rotating shaft 81 in a rotating way, the other end of the claw part forms a hook part, the power piece 85 is an air cylinder, which, by the extension or retraction of the telescopic rod, pulls the connecting member 84 to move horizontally along the side wall of the body 1, thereby driving the claw part 82 to rotate around the second rotating shaft 83, after the battery enters the body 1, the hook part can rotate to extend into the body 1 and is abutted against the front end face of the battery, and the battery is prevented from separating from the body 1.

The working process of the first clamping device 952 is that the first clamping device is transferred to a position close to the electric vehicle by the first battery replacing robot 95, the position of the battery is accurately positioned by the visual positioning mechanism 2, the first clamping device is moved to a position just opposite to the battery, the first driving part 41 drives the fixing plate 33 and the second driving part 42 to integrally translate for a first time, the second driving part 42 drives the connecting plate 52 to continue to translate for a second time, so that the suction cup 5 is attached to the front end face of the battery, the vacuum air channel 51 is controlled by opening the electromagnetic valve in the electromagnetic valve box 6 to suck vacuum between the suction cup 5 and the battery, the piston rod of the second driving part 42 retracts for a second time, the piston rod of the first driving part 41 retracts to complete the translation for the first time, so that the battery is positioned in the body 1, the telescopic abutting mechanism 7 presses the top face of the battery, and the limiting claw mechanism 8 acts to press the claw part 82 against the front end face of the battery, and finally, the first battery replacement robot 95 integrally transfers the body 1 with the battery to be replaced.

The second battery replacement robot 96 is configured to, after scanning the other side of the vehicle 92 to be replaced for positioning, take down the battery to be charged on the vehicle 92 to be replaced and store the battery to be charged in the second temporary storage rack 942, and mount the fully charged battery on the second temporary storage rack 942 on the vehicle 92 to be replaced; the second swapping robot 96 includes a second main body 961 and a second grasping device 962, and the second main body 961 can carry the second grasping device 962 to move or rotate in the up, down, left, and right directions, which can be implemented in the prior art and will not be described again. The second grasping apparatus 962 has the same structure as the first grasping apparatus 952, and will not be described in detail.

A battery swapping method comprises the following steps:

1) driving a vehicle to be switched into a battery switching parking area;

2) the battery compartment of the vehicle to be replaced is descended, the four support legs are all stably landed, and the vehicle body is lifted;

3) the operator clears the personnel on site, and the security system starts working;

4) after the staff confirms that the vehicle can be subjected to battery replacement, if no obstacle exists on a station, no person exists on the vehicle and the like, a battery replacement button is pressed, the first battery replacement robot and the second battery replacement robot are powered on, and a battery replacement flow is started;

5) the method comprises the steps that a first visual positioning mechanism is utilized to visually identify the position of a battery on one side of a vehicle to be subjected to battery replacement, an acquired battery space coordinate signal is transmitted to a first robot control cabinet, meanwhile, a second visual positioning mechanism is utilized to visually identify the position of a battery on the other side of the vehicle to be subjected to battery replacement, and the acquired battery space coordinate signal is transmitted to a second robot control cabinet;

6) a sucker of a first clamping device on the first battery replacement robot adsorbs a battery to be replaced, a driving mechanism does not act temporarily, a first main body of the first battery replacement robot acts firstly to drive the first clamping device and the battery to be replaced to integrally and slowly translate for a short distance at a constant speed, namely, the first stroke is small until the coupling force between a plug and a socket of a battery compartment is damaged; a sucker of a second clamping device on the second battery replacement robot adsorbs a battery to be replaced, the driving mechanism does not act temporarily, and the second main body of the second battery replacement robot acts firstly to drive the second clamping device and the battery to be replaced to integrally and slowly translate for a short distance at a constant speed until the coupling force between the battery bin plug and the socket is damaged;

7) then starting a driving mechanism of the first clamping device, pulling out the battery to be replaced from the battery bin, and transferring the battery to a first charging frame; starting a driving mechanism of the second clamping device, pulling out the battery to be replaced from the battery bin, and transferring the battery to a second charging frame;

8) fully charged batteries on the first charging frame are placed into a battery bin at the bottom of the vehicle to be charged, and fully charged batteries on the second charging frame are placed into a battery bin at the bottom of the vehicle to be charged;

9) and if the number of the batteries is four, repeating the steps 6) -8) by the first battery replacing robot and the second battery replacing robot, and completing the whole vehicle battery replacement of the vehicle to be replaced.

10) The first battery replacement robot and the second battery replacement robot return to the initial standby positions and are powered off, and the security system is stopped;

11) and after the battery replacement is finished, the staff informs the user of the vehicle leaving the field.

The foregoing detailed description is intended to illustrate and not limit the invention, which is intended to be within the spirit and scope of the appended claims, and any changes and modifications that fall within the true spirit and scope of the invention are intended to be covered by the following claims.

Claims

1. A battery swapping system is characterized by comprising:

the battery replacement parking area (91) is used for parking a vehicle (92) to be replaced;

the first accommodating area (93) is positioned at one side of the battery replacing parking area (91) and is provided with a first charging frame (931) for providing a battery charging function;

the second accommodating area (94) is positioned at the other side of the battery replacing parking area (91) and is provided with a second charging rack (941) for providing a battery charging function;

the first battery replacing robot (95) is located on one side of the battery replacing parking area (91) and used for scanning a vehicle (92) to be replaced to locate, taking down a battery to be charged on the vehicle (92) to be replaced to store the battery to be charged on a first charging rack (931) and installing a full-charge battery on the vehicle (92) to be replaced, and the first battery replacing robot comprises a first main body (951) and a first clamping device (952) arranged on the first main body (951);

the second battery replacing robot (96) is located on the other side of the battery replacing parking area (91) and used for scanning the vehicle (92) to be replaced to locate, taking down a battery to be charged on the vehicle (92) to be replaced to store the battery to the second charging rack (941), and installing a fully charged battery to the vehicle (92) to be replaced, and the second battery replacing robot comprises a second main body (961) and a second clamping device (962) arranged on the second main body (961).

2. The battery swapping system of claim 1, wherein: a first channel (971) is arranged between the first accommodating area (93) and the battery replacing parking area (91), and a second channel (972) is arranged between the second accommodating area (94) and the battery replacing parking area (91).

3. The battery swapping system of claim 1, wherein: first clamp is got device (952) and is had frame shape body (1) of accepting board (11) including the bottom, locate body (1) top surface, visual positioning mechanism (2) for detecting battery position in the electric automobile, can pass flexible pressing means (7) that body (1) and battery top surface offset, but horizontal reciprocating motion's movable rod subassembly (3), actuating mechanism (4), and a plurality of sucking discs (5) that link to each other with movable rod subassembly (3), a plurality of sucking discs (5) of transverse arrangement on same connecting plate (52) divide into two sets ofly at least, vacuum gas circuit (51) that one is opened and close by solenoid valve case (6) control are connected respectively in every sucking disc (5), vacuum gas circuit (51) mutually independent of an adjacent set of sucking disc (5).

4. The battery swapping system of claim 3, wherein: the driving mechanism (4) comprises a first driving part (41) and a second driving part (42) which is arranged in a staggered mode with the first driving part (41); the movable rod assembly (3) comprises a fixing plate (33) capable of horizontally reciprocating under the driving of a first driving piece (41), and a first guide assembly and a second guide assembly which are respectively and vertically arranged on two sides of the fixing plate (33), the second driving piece (42) is connected with the fixing plate (33), and the connecting plate (52) can horizontally reciprocate under the driving of the second driving piece (42).

5. The battery swapping system of claim 4, wherein: the first guide assembly comprises a first guide column (31) and a first limiting column (32), one end of the first guide column (31) is connected with the fixing plate (33), the first limiting column (31) penetrates through the first limiting column (32), and the first limiting column (32) is fixedly connected to the body (1); the second guide assembly comprises a second guide column (34) with one end connected with the connecting plate (52) and a second limiting column (35) for the second guide column (34) to penetrate through, and the first limiting column (32) is parallel to the second limiting column (35) and is perpendicular to the fixing plate (33).

6. The battery swapping system of claim 5, wherein: the number of the first guide columns (31) and the number of the second guide columns (34) are two, and the first guide columns and the second guide columns are respectively and symmetrically arranged on two sides of the second driving piece (42).

7. The battery swapping system of claim 4, wherein: the number of the first driving parts (41) is two, and the first driving parts are respectively arranged on two sides of the second driving part (42); the first driving piece (41) is fixedly connected with a supporting plate (12) extending downwards from the top surface of the body (1).

8. The battery swapping system of claim 3, wherein: the front part of the body (1) is provided with a limiting claw mechanism (8) for preventing the battery from being separated, and the limiting claw mechanism comprises a claw part (82) which is rotationally connected with the body (1) through a first rotating shaft (81), a second rotating shaft (83) which is arranged on the claw part (82), a connecting piece (84) which is rotationally connected with the second rotating shaft (83), and a power piece (85) which is used for driving the connecting piece (84) to horizontally move.

9. A battery replacement method is characterized by comprising the following steps:

1) driving the vehicle to be power-changed into a power-changing parking area;

10. The battery replacement method according to claim 9, wherein: and the second battery replacing robot and the first battery replacing robot synchronously carry out steps 3-7).