CN113459886A - Battery replacement method and battery replacement station - Google Patents

Battery replacement method and battery replacement station Download PDF

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Publication number
CN113459886A
CN113459886A CN202110963386.6A CN202110963386A CN113459886A CN 113459886 A CN113459886 A CN 113459886A CN 202110963386 A CN202110963386 A CN 202110963386A CN 113459886 A CN113459886 A CN 113459886A
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battery
position coordinate
replaced
grabbing mechanism
controlling
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CN202110963386.6A
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CN113459886B (en
Inventor
孟得建
宁子超
蒋建平
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Sany Lithium Energy Co ltd
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Sany Heavy Industry Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

According to the battery replacement method provided by the invention, the first position coordinate of the target standby battery and the second position coordinate of the battery to be replaced are obtained according to the established coordinate system, the third position coordinate at the intersection point of the connecting line of the first position coordinate and the second position coordinate and the movement track of the battery replacement equipment is determined, the battery replacement equipment is controlled to move to the third position coordinate to grab the target standby battery and the battery to be replaced, and the positions of the target standby battery and the battery to be replaced are exchanged. The battery replacement method provided by the invention can obtain the second position coordinate of the battery to be replaced, has low requirement on the parking position of the electric vehicle and strong adaptability, simultaneously captures the target standby battery and the battery to be replaced, and performs position exchange, thereby reducing the battery replacement steps. According to the battery replacement station provided by the invention, the control terminal can be used for controlling the battery replacement equipment to replace the target standby battery in the battery charging system and the battery to be replaced in the battery placement system according to the battery replacement method, so that the beneficial effects can be achieved.

Description

Battery replacement method and battery replacement station
Technical Field
The invention relates to the technical field of battery replacement, in particular to a battery replacement method and a battery replacement station.
Background
In recent years, with the shortage of petroleum resources and the development of battery technologies, new energy automobiles are rapidly developed, electric vehicles which rely on storage batteries as driving energy have no harmful gas emission pollution during running, have low noise, can realize zero emission and low noise, and are important means for solving energy and environmental problems. Electric vehicles have approached or even surpassed conventional fuel vehicles in terms of performance and economy, and are beginning to be popularized and applied worldwide. A new generation of energy-saving and environment-friendly automobiles represented by electric automobiles is a necessary trend in the development of the automobile industry.
As an important premise and foundation for large-scale popularization and application of electric automobiles, development of electric automobile battery charging and replacing technology and construction of electric automobile battery charging and replacing facilities attract extensive attention of all parties. The battery box of the electric automobile can be positioned at the bottom of the automobile and also can be positioned at the side of the automobile. The automobile is powered by the battery box. The matched electric vehicle charging and battery replacing facilities are put into use, and an electric vehicle charging and battery replacing system combining facilities such as a charging pile, a charging station, a battery replacing station, a distribution station and the like is formed step by step. Set into detachable with the battery box, the convenience is changed, but the general weight of battery box is big, the transport difficulty to the battery box needs the charging station to provide the battery charging outfit and saves and charge, so that electric automobile changes the battery box.
At present, most of the battery replacement stations in the market are in a crane top hanging type, the RGV side is in a grabbing type battery replacement mode, the adaptability to the parking position of a vehicle needing the battery replacement is poor, the battery replacement steps are multiple, and the battery replacement time is long.
Disclosure of Invention
The invention provides a battery replacing method, battery replacing equipment and a battery replacing station, which are used for overcoming the defects that the battery replacing equipment in the prior art is poor in adaptability to a vehicle parking position, multiple in battery replacing steps and long in battery replacing time, and the effects that a battery grabbing position is actively adjusted according to the vehicle parking position and the battery is rapidly replaced are achieved.
The invention provides a battery replacement method, which comprises the following steps:
establishing a coordinate system;
acquiring a first position coordinate of a target standby battery and a second position coordinate of a battery to be replaced according to the coordinate system;
determining a third position coordinate of an intersection point of a connecting line of the first position coordinate and the second position coordinate and a moving track of the battery swapping device;
controlling the battery replacement equipment to move to the third position coordinate;
and controlling the battery replacement equipment to grab the target standby battery and the battery to be replaced and carrying out position replacement.
According to the battery replacement method provided by the invention, before the obtaining of the first position coordinate of the target standby battery and the second position coordinate of the battery to be replaced according to the coordinate system, the method further comprises the following steps:
respectively detecting the electric quantity of the battery to be replaced and the electric quantity of each standby battery;
and determining the standby battery with the electric quantity higher than that of the battery to be replaced as a target standby battery.
According to the battery replacement method provided by the invention, the step of controlling the battery replacement equipment to grab the target standby battery and the battery to be replaced comprises the following steps:
controlling a first grabbing mechanism of the battery replacement equipment to grab the target standby battery corresponding to the first position coordinate;
controlling a second grabbing mechanism of the battery replacement equipment to grab the battery to be replaced corresponding to the second position coordinate;
and controlling a rotating arm of the battery replacing equipment to rotate, wherein the rotating arm drives the first grabbing mechanism and the second grabbing mechanism to rotate so as to realize the position exchange of the target standby battery and the battery to be replaced.
According to the battery replacement method provided by the present invention, the controlling the first grasping mechanism of the battery replacement device to grasp the target backup battery corresponding to the first position coordinate includes:
determining a rotation angle of a rotating arm of the battery replacing equipment and first displacement information of the first grabbing mechanism according to the third position coordinate and the first position coordinate;
controlling the first grabbing mechanism to grab the target standby battery according to the rotation angle and the first displacement information;
correspondingly, the controlling the second grabbing mechanism of the battery replacement device to grab the battery to be replaced corresponding to the second position coordinate includes:
determining a rotation angle of a rotating arm of the battery replacing equipment and second displacement information of the second grabbing mechanism according to the third position coordinate and the second position coordinate;
and controlling the second grabbing mechanism to grab the battery to be replaced according to the rotation angle and the second displacement information.
According to the battery replacing method provided by the invention, after the rotating arm drives the first grabbing mechanism and the second grabbing mechanism to rotate, the method further comprises the following steps:
controlling the first grabbing mechanism to place the target standby battery at a position corresponding to the second position coordinate according to the second displacement information;
and controlling the second grabbing mechanism to place the battery to be replaced at the corresponding position of the first position coordinate according to the first displacement information.
The invention also provides a battery replacement station, which comprises a control terminal, a battery charging system, a to-be-replaced battery placing system and battery replacement equipment;
the control terminal is used for controlling the battery replacement equipment to replace the target standby battery in the battery charging system and the battery to be replaced in the battery placement system according to the battery replacement method as claimed in any one of claims 1 to 5.
According to the battery replacement station provided by the invention, the battery replacement equipment comprises:
the walking frame is in communication connection with the control terminal and used for walking to the third position coordinate;
the rotating arm is horizontally arranged at the top end of the walking frame, a first rotary driving mechanism is arranged between the middle part of the rotating arm and the walking frame, and the first rotary driving mechanism is in communication connection with the control terminal and is used for driving the rotating arm to rotate along a vertical axis;
first snatch mechanism and second and snatch the mechanism, first snatch the mechanism with the second snatch the mechanism and be used for snatching respectively the target reserve battery with treat to trade the battery, first snatch the mechanism with the second snatchs the mechanism and all sets up on the swinging boom, and is located respectively the both sides of walking frame, first snatch mechanism and second snatch the mechanism homoenergetic and follow the extending direction translation of swinging boom, around vertical axis is rotatory and stretch out and draw back along vertical direction.
According to the power station provided by the invention, the first grabbing mechanism and the second grabbing mechanism both comprise:
the first linear driving mechanism and the second rotary driving mechanism are in communication connection with the control terminal, the first linear driving mechanism is used for driving the walking vehicle to move along the extending direction of the rotating arm, and the second rotary driving mechanism is used for driving the walking vehicle to rotate along a vertical axis;
and a second linear driving mechanism is arranged between the hand grip and the walking vehicle, the second linear driving mechanism is in communication connection with the control terminal, and the second linear driving mechanism is used for driving the hand grip to move along the vertical direction.
According to the power station provided by the invention, the bottom of the walking frame is provided with the rail wheels and the linear guide rail, and the walking frame walks on the linear guide rail through the rail wheels.
According to the battery replacement station provided by the invention, the to-be-replaced battery placement system comprises at least one parking space corresponding to the battery charging system.
The battery replacement method provided by the invention comprises the steps of obtaining a first position coordinate of a target standby battery and a second position coordinate of a battery to be replaced according to an established coordinate system, determining a third position coordinate at an intersection point of a connecting line of the first position coordinate and the second position coordinate and a moving track of a battery replacement device, controlling the battery replacement device to move to the third position coordinate, controlling the battery replacement device to simultaneously grab the target standby battery and the battery to be replaced, and exchanging the positions of the target standby battery and the battery to be replaced to finish a battery replacement action. The battery replacement method disclosed by the invention can obtain the second position coordinate of the battery to be replaced, has low requirement on the parking position of the electric vehicle and strong adaptability, and the target standby battery and the battery to be replaced are simultaneously grabbed and subjected to position exchange, so that the battery replacement steps are reduced, and the battery replacement speed is further accelerated.
The battery replacement station comprises the control terminal, the battery charging system, the to-be-replaced battery placing system and the battery replacement equipment, and the control terminal can be used for controlling the battery replacement equipment to replace the target standby battery in the battery charging system and the to-be-replaced battery in the to-be-replaced battery placing system according to the battery replacement method, so that the beneficial effects can be achieved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a battery replacement method according to the present invention;
FIG. 2 is a second schematic flow chart of a battery replacing method according to the present invention;
FIG. 3 is a third schematic flow chart of a battery replacing method according to the present invention;
FIG. 4 is a fourth schematic flow chart of a battery replacing method according to the present invention;
FIG. 5 is a fifth schematic flow chart of a battery replacing method according to the present invention;
FIG. 6 is a sixth schematic flow chart of a battery replacing method according to the present invention;
fig. 7 is a view illustrating a rotation angle and a position of each component of the power station according to the present invention;
fig. 8 is a schematic structural diagram of a battery replacement situation of the battery replacement station provided by the invention;
FIG. 9 is a schematic structural diagram of another battery replacement situation of the battery replacement station provided by the present invention;
fig. 10 is a top view of a power exchanging station provided with a parking space according to the present invention;
fig. 11 is a top view of a power exchanging station provided with a plurality of parking spaces according to the present invention;
reference numerals:
1: a walking frame; 2: a rotating arm; 3: a target backup battery;
4: a battery is to be replaced; 5: a walking vehicle; 6: a gripper;
7: a linear guide rail; 8: a parking space; 9: a battery compartment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
The battery replacement method of the present invention will be described below with reference to fig. 1 to 7.
Fig. 1 is a schematic flow chart of a battery replacement method according to the present invention.
As shown in fig. 1, a battery replacement method according to an embodiment of the present invention includes the following steps:
101. and establishing a coordinate system.
Determining a zero position of a coordinate system, and determining directions of an X axis and a Y axis, wherein the X axis and the Y axis can be arranged in parallel with the ground, the Y axis can be established on a moving track of the battery replacing equipment, one end of the moving track of the battery replacing equipment is the zero position, and the X axis is perpendicular to the Y axis.
102. And acquiring a first position coordinate of the target standby battery and a second position coordinate of the battery to be replaced according to the coordinate system.
Acquiring a first position coordinate of the target standby battery, wherein the first position coordinate can be (x)1，y1) ObtainingA second position coordinate of the battery to be replaced, wherein the second position coordinate can be (x)2，y2)。
103. And determining a third position coordinate at the intersection point of the connecting line of the first position coordinate and the second position coordinate and the movement track of the battery swapping device.
The third position coordinate may be (x)3，y3) Since the Y axis coincides with the movement locus of the battery replacement device, the third position coordinate is (0, Y)3) According to the formula (x)3-x1)/(x2-x1)＝(y3-y1)/(y2-y1) And coordinate the third position (0, y)3) And carrying in to obtain a third position coordinate.
104. And controlling the battery replacement device to move to the third position coordinate.
And controlling the battery replacement equipment to move to a third position coordinate position along the moving track to wait for battery replacement.
105. And controlling the battery replacement equipment to grab the standby battery and the battery to be replaced and carrying out position replacement.
And controlling the battery replacement equipment to simultaneously grab the target standby battery corresponding to the first position coordinate and the battery to be replaced corresponding to the second position coordinate, and after grabbing, controlling the battery replacement equipment to replace the target standby battery and the battery to be replaced in position to finish battery replacement.
The battery replacement method provided by the invention can automatically acquire the first position coordinate of the target standby battery, can automatically acquire the second position coordinate of the battery to be replaced after the electric automobile to be replaced is parked in place, can directly grab the target standby battery and the battery to be replaced simultaneously by controlling the battery replacement equipment and perform position replacement, and after the replacement, the target standby battery is placed at the second position coordinate, and the battery to be replaced is placed at the first position coordinate to complete the replacement. The battery replacement method provided by the invention can acquire the second position coordinate after the vehicle is parked in place, has lower requirement on the vehicle parking position and stronger adaptability, simultaneously grabs the target standby battery and the battery to be replaced, and simultaneously places the target standby battery and the battery to be replaced after the positions are changed, reduces the battery replacement steps and improves the battery replacement speed.
Fig. 2 is a second schematic flow chart of the battery replacement method provided by the present invention.
As shown in fig. 2, in an embodiment of the present invention, before the obtaining of the first position coordinate of the target backup battery and the second position coordinate of the battery to be replaced according to the coordinate system is performed, the following steps may be further included:
201. and respectively detecting the electric quantity of the battery to be replaced and each standby battery.
202. And determining the standby battery with the electric quantity higher than that of the battery to be replaced as a target standby battery.
And comparing the electric quantity of each backup battery with the electric quantity of the battery to be replaced respectively according to the detected electric quantities of the battery to be replaced and each backup battery, and determining the backup battery as a target backup battery when the electric quantity of a certain backup battery is detected to be larger than the electric quantity of the battery to be replaced. In a preferred embodiment, the standby battery with the largest electric quantity exceeding the electric quantity of the battery to be replaced is determined as the target standby battery.
Fig. 3 is a third schematic flow chart of a battery replacement method according to the present invention.
Referring to fig. 3, in an embodiment of the present invention, the step of controlling the battery replacement device to grab the target backup battery and the battery to be replaced includes:
301. controlling a first grabbing mechanism of the battery replacement equipment to grab a target standby battery corresponding to the first position coordinate;
and controlling a second grabbing mechanism of the battery replacement equipment to grab the battery to be replaced corresponding to the second position coordinate.
302. And controlling a rotating arm of the battery replacement equipment to rotate, and driving a first grabbing mechanism and a second grabbing mechanism to rotate by the rotating arm so as to realize the position exchange of the target standby battery and the battery to be replaced.
For step 301, two actions are performed simultaneously, which can increase the battery gripping speed.
Fig. 4 is a fourth schematic flow chart of the battery replacing method provided by the present invention, and fig. 5 is a fifth schematic flow chart of the battery replacing method provided by the present invention.
Referring to fig. 4, in an embodiment of the present invention, for a first grasping mechanism controlling a battery swapping device to grasp a target backup battery corresponding to a first position coordinate, the method includes the following steps:
401. and determining the rotation angle of the rotating arm of the battery replacing equipment and the first displacement information of the first grabbing mechanism according to the third position coordinate and the first position coordinate.
The third position coordinate is (0, y)3) The first position coordinate is (x)1，y1) According to α ═ arctan [ (y)1-y3)/x1]The rotation angle of the rotary arm is obtained as alpha according to
Figure BDA0003223065490000081
The distance a from the first grabbing mechanism to the third position coordinate along the length direction of the rotating arm can be obtained, and the distance a is the first displacement information.
402. And controlling the first grabbing mechanism to grab the target standby battery according to the rotation angle and the first displacement information.
And controlling the first grabbing mechanism to move to a position which is a distance a away from the third position coordinate according to the first displacement information, and grabbing the target standby battery at the position.
In the above step 401 and step 402, when the rotating arm drives the first grabbing mechanism to rotate, the rotation angle of the first grabbing mechanism relative to the vertical axis of the first grabbing mechanism is zero, and the first grabbing mechanism is in a rotation state relative to the rotating arm, and when the rotating arm rotates by an angle α, the first grabbing mechanism rotates by the angle α relative to the rotating arm.
Correspondingly, referring to fig. 5, controlling a second grabbing mechanism of the battery replacement device to grab a battery to be replaced corresponding to a second position coordinate includes the following steps:
403. and determining the rotation angle of the rotating arm of the battery replacing equipment and second displacement information of the second grabbing mechanism according to the third position coordinate and the second position coordinate.
The third position coordinate is (0, y)3) And the second position coordinate is (x)2，y2) According to β ═ arctan [ (y)2-y3)/x2]The rotation angle of the rotary arm can be obtained as beta, based on
Figure BDA0003223065490000091
And obtaining the distance b from the second grabbing mechanism to the third position coordinate along the length direction of the rotating arm, wherein the distance b is the second displacement information.
404. And controlling the second grabbing mechanism to grab the battery to be replaced according to the rotation angle and the second displacement information.
And controlling the first grabbing mechanism to move to a position which is b away from the third position coordinate according to the first displacement information, and grabbing the target standby battery at the position.
In the above steps 403 and 404, when the rotating arm drives the second grabbing mechanism to rotate, the rotation angle of the second grabbing mechanism relative to the vertical axis of the second grabbing mechanism is zero, and the second grabbing mechanism is in a rotating state relative to the rotating arm, and when the rotating arm rotates by the angle β, the second grabbing mechanism rotates by the angle β relative to the rotating arm.
Since the rotary arm is an integral structure, α is β.
Fig. 6 is a sixth schematic flow chart of the battery replacement method provided by the present invention.
Referring to fig. 6, in an embodiment of the present invention, after the rotating arm drives the first grabbing mechanism and the second grabbing mechanism to rotate, the method further includes the following steps:
501. controlling the first grabbing mechanism to place the target standby battery at a position corresponding to the second position coordinate according to the second displacement information;
502. and controlling a second grabbing mechanism to place the battery to be replaced at the corresponding position of the first position coordinate according to the first displacement information.
After the first grabbing mechanism grabs the target standby battery and the second grabbing mechanism grabs the battery to be replaced, the rotating arm of the battery replacing device needs to be controlled to rotate 180 degrees around the vertical axis.
After rotating 180 degrees, when controlling the first grabbing mechanism to place the target backup battery at the corresponding position of the second position coordinate and controlling the second grabbing mechanism to place the battery to be replaced at the corresponding position of the first position coordinate, the following situations can occur:
firstly, before the rotating arm rotates 180 degrees, a connecting line of a first position coordinate and a second position coordinate is perpendicular to a moving track of the battery replacing device, the first position coordinate and the second position coordinate are symmetrical about a third position coordinate, after the rotating arm rotates 180 degrees, the first grabbing mechanism corresponds to the second position coordinate, the second grabbing mechanism corresponds to the first position coordinate, and the first grabbing mechanism and the second grabbing mechanism do not need to be adjusted.
Secondly, before the rotating arm rotates for 180 degrees, a connecting line of the first position coordinate and the second position coordinate is perpendicular to a moving track of the battery replacing device, the first position coordinate and the second position coordinate are asymmetric about the third position coordinate, after the rotating arm rotates for 180 degrees, the distance between the first grabbing mechanism and the third position coordinate is adjusted from a to b, and the distance between the second grabbing mechanism and the third position coordinate is adjusted from b to a.
Thirdly, before the rotating arm rotates 180 degrees, a connecting line of the first position coordinate and the second position coordinate and a moving track of the battery replacing device are in a non-vertical state, the first position coordinate and the second position coordinate are symmetrical about the third position coordinate, at the moment, the first grabbing mechanism and the second grabbing mechanism are symmetrical about the third position coordinate, and the rotating angles of the first grabbing mechanism and the second grabbing mechanism about the axes of the first grabbing mechanism and the second grabbing mechanism are zero, so that after the rotating arm rotates 180 degrees, the first grabbing mechanism corresponds to the second position coordinate, the second grabbing mechanism corresponds to the first position coordinate, and the first grabbing mechanism and the second grabbing mechanism do not need to be adjusted.
Fourthly, before the rotating arm rotates for 180 degrees, a connecting line of the first position coordinate and the second position coordinate and a moving track of the battery replacing equipment are in a non-vertical state, the first position coordinate and the second position coordinate are asymmetric about the third position coordinate, and the rotating angles of the first grabbing mechanism and the second grabbing mechanism about the axes of the first grabbing mechanism and the second grabbing mechanism are zero, so that after the rotating arm rotates for 180 degrees, the distance from the first grabbing mechanism to the third position coordinate needs to be adjusted from a to b, and the distance from the second grabbing mechanism to the third position coordinate needs to be adjusted from b to a.
The battery replacement device provided by the present invention is described below, and the battery replacement device described below and the battery replacement method described above may be referred to correspondingly.
Referring to fig. 8 to 11, the battery replacement station provided by the present invention includes a control terminal, a battery charging system, a to-be-replaced battery placement system, and a battery replacement device, where the control terminal is configured to control the battery replacement device to perform position exchange on the target backup battery 3 in the battery charging system and the to-be-replaced battery 4 in the to-be-replaced battery placement system according to the above-mentioned battery replacement method.
The control terminal in the battery replacement station can control the battery replacement device to replace the target standby battery 3 in the battery charging system and the battery 4 to be replaced in the battery placement system according to the battery replacement method, so that the battery replacement station has the beneficial effects obtained by the battery replacement method.
In an embodiment of the present invention, the battery replacing device includes a walking frame 1, a rotating arm 2, a first grabbing mechanism, and a second grabbing mechanism. The walking frame 1 is used for driving the rotating arm 2, the first grabbing mechanism and the second grabbing mechanism to move along a preset moving track, the rotating arm 2 can rotate along a vertical axis to drive the first grabbing mechanism and the second grabbing mechanism to rotate, and the first grabbing mechanism and the second grabbing mechanism are used for grabbing and placing a target standby battery 3 and a battery 4 to be replaced.
The walking frame 1 can move to the third position coordinate under the control of the control terminal, and the walking frame 1 can be a vertical prism structure.
The swinging boom 2 can be the prismatic structure of horizontally, and swinging boom 2 sets up at the top of walking frame 1, and the central point of swinging boom 2 puts and is provided with first rotary driving mechanism between the top of walking frame 1, and first rotary driving mechanism can be the motor, and this motor and control terminal communication connection drive swinging boom 2 and rotate along vertical axis under control terminal's control.
The first mechanism and the second of snatching are located the both sides that swinging boom 2 is located walking frame 1 respectively, and the first mechanism and the second of snatching snatchs the below that the mechanism can be located swinging boom 2, and the first mechanism and the second of snatching snatchs the extending direction that the mechanism can follow swinging boom 2 and carries out rectilinear movement, can rotate around vertical axis, still can stretch out and draw back along vertical direction. The first grabbing mechanism and the second grabbing mechanism are identical in structure, the first grabbing mechanism is taken as an example, the first grabbing mechanism can be translated along the extending direction of the rotating arm 2 according to a first position coordinate, and can rotate along the vertical axis of the first grabbing mechanism according to the rotating angle of the rotating arm 2, so that the rotating angle of the first grabbing mechanism along the vertical axis of the first grabbing mechanism is zero, the first grabbing mechanism can also be vertically stretched according to the height difference between the first grabbing mechanism and the target backup battery 3, the target backup battery 3 is grabbed when the first grabbing mechanism is placed down, and the grabbing mechanism rises after being grabbed.
In an embodiment of the present invention, the first gripping mechanism and the second gripping mechanism have the same structure, and the first gripping mechanism includes a traveling vehicle 5 and a gripper 6.
A first linear driving mechanism and a second rotary driving mechanism are arranged between the walking vehicle 5 and the rotating arm 2. The first linear driving mechanism is used for driving the traveling carriage 5 to move linearly along the extending direction of the rotating arm 2, and the first linear driving mechanism may be a screw-nut mechanism driven by a motor. The second rotary driving mechanism is used for driving the walking vehicle 5 and the rotating arm 2 to rotate relatively, and the second rotary driving mechanism can be a reduction gear mechanism driven by a motor.
The gripper 6 is used for gripping the target standby battery 3 and the battery 4 to be replaced, the gripper 6 can be a manipulator, a second linear driving mechanism can be further arranged between the gripper 6 and the walking vehicle 5, and the second linear driving mechanism is used for driving the gripper 6 to move up and down in the vertical direction. The second linear driving mechanism can also be an electric telescopic rod or a telescopic cylinder and the like.
The motor for driving, the electric telescopic rod or the telescopic cylinder and the like are in communication connection with the control terminal.
In order to move the walking frame 1 along a predetermined trajectory, in one embodiment of the present invention, rail wheels and a linear guide 7 are provided at the bottom of the walking frame 1, and the walking frame 1 travels on the linear guide 7 through the rail wheels. The two linear guide rails 7 can be arranged in parallel, and the straight line between the two linear guide rails 7 is the moving track of the walking frame 1.
In one embodiment of the present invention, the above-mentioned system for placing the battery 4 to be replaced includes at least one parking space 8 corresponding to the battery charging system.
The battery charging system may comprise a plurality of battery bays 9, for example, 7 battery bays 9, arranged in a direction parallel to the movement trajectory of the walking frame 1.
The parking space 8 may include one, and a center point of the parking space 8 may be symmetrical to a center point of the fourth battery compartment 9 with respect to a moving trajectory of the traveling frame 1. When the battery is replaced, the vehicle to be replaced with the battery 4 is always parked at the parking space 8, and after the vehicle to be replaced is parked in place, the center point of the battery 4 to be replaced is superposed with the center point of the parking space 8.
When the target standby battery 3 is located at the fourth battery compartment 9, after the battery replacement process of the battery replacement station refers to the rotation of the rotating arm 2 by 180 degrees, the first grabbing mechanism is controlled to place the target standby battery 3 at the corresponding position of the second position coordinate, and the second grabbing mechanism is controlled to place the battery 4 to be replaced at the corresponding position of the first position coordinate, so that the first condition and the second condition correspond to each other.
When the target standby battery 3 is located in the other battery bin 9 except the fourth battery bin 9, after the battery replacing process of the battery replacing station refers to that the rotating arm 2 rotates 180 degrees, corresponding third and fourth conditions are achieved when the first grabbing mechanism is controlled to place the target standby battery 3 at the corresponding position of the second position coordinate and the second grabbing mechanism is controlled to place the battery 4 to be replaced at the corresponding position of the first position coordinate.
The number of parking spaces 8 may be the same as the number of battery bays 9, for example, the number is also 7, and a connecting line of the center points of 7 parking spaces 8 and a connecting line of the center points of 7 battery bays 9 are symmetrical with respect to the movement track of the traveling frame 1. And the electric vehicle to be replaced is parked in the corresponding parking space 8 according to the position of the target standby battery 3. When the vehicle with the battery 4 to be replaced is parked in place, the center point of the battery 4 to be replaced is superposed with the center point of the parking space 8, and the center point of the battery 4 to be replaced and the center point of the target backup battery 3 are symmetrical with respect to the moving track of the walking frame 1. And at the moment, after the battery replacing process of the battery replacing station refers to the rotation of the rotating arm 2 by 180 degrees, corresponding first and second conditions are achieved when the first grabbing mechanism is controlled to place the target standby battery 3 at the corresponding position of the second position coordinate and the second grabbing mechanism is controlled to place the battery 4 to be replaced at the corresponding position of the first position coordinate.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A battery replacement method, comprising:
establishing a coordinate system;
acquiring a first position coordinate of a target standby battery and a second position coordinate of a battery to be replaced according to the coordinate system;
determining a third position coordinate of an intersection point of a connecting line of the first position coordinate and the second position coordinate and a moving track of the battery swapping device;
controlling the battery replacement equipment to move to the third position coordinate;
and controlling the battery replacement equipment to grab the target standby battery and the battery to be replaced and carrying out position replacement.
2. The battery replacement method according to claim 1, wherein before acquiring the first position coordinate of the target backup battery and the second position coordinate of the battery to be replaced according to the coordinate system, the method further comprises:
respectively detecting the electric quantity of the battery to be replaced and the electric quantity of each standby battery;
and determining the standby battery with the electric quantity higher than that of the battery to be replaced as a target standby battery.
3. The battery replacement method according to claim 1, wherein the controlling the battery replacement device to grasp the target backup battery and the battery to be replaced comprises:
controlling a first grabbing mechanism of the battery replacement equipment to grab the target standby battery corresponding to the first position coordinate;
controlling a second grabbing mechanism of the battery replacement equipment to grab the battery to be replaced corresponding to the second position coordinate;
and controlling a rotating arm of the battery replacing equipment to rotate, wherein the rotating arm drives the first grabbing mechanism and the second grabbing mechanism to rotate so as to realize the position exchange of the target standby battery and the battery to be replaced.
4. The battery replacing method according to claim 3, wherein the controlling of the first grabbing mechanism of the battery replacing device to grab the target standby battery corresponding to the first position coordinate comprises:
determining a rotation angle of a rotating arm of the battery replacing equipment and first displacement information of the first grabbing mechanism according to the third position coordinate and the first position coordinate;
controlling the first grabbing mechanism to grab the target standby battery according to the rotation angle and the first displacement information;
correspondingly, the controlling the second grabbing mechanism of the battery replacement device to grab the battery to be replaced corresponding to the second position coordinate includes:
determining a rotation angle of a rotating arm of the battery replacing equipment and second displacement information of the second grabbing mechanism according to the third position coordinate and the second position coordinate;
and controlling the second grabbing mechanism to grab the battery to be replaced according to the rotation angle and the second displacement information.
5. The battery replacing method according to claim 4, wherein after the rotating arm drives the first grabbing mechanism and the second grabbing mechanism to rotate, the method further comprises:
controlling the first grabbing mechanism to place the target standby battery at a position corresponding to the second position coordinate according to the second displacement information;
and controlling the second grabbing mechanism to place the battery to be replaced at the corresponding position of the first position coordinate according to the first displacement information.
6. The power changing station is characterized by comprising a control terminal, a battery charging system, a to-be-changed battery placing system and power changing equipment;
the control terminal is used for controlling the battery replacement equipment to replace the target standby battery in the battery charging system and the battery to be replaced in the battery placement system according to the battery replacement method as claimed in any one of claims 1 to 5.
7. The swapping station of claim 6, wherein the swapping device comprises:
the walking frame is in communication connection with the control terminal and used for walking to the third position coordinate;
the rotating arm is horizontally arranged at the top end of the walking frame, a first rotary driving mechanism is arranged between the middle part of the rotating arm and the walking frame, and the first rotary driving mechanism is in communication connection with the control terminal and is used for driving the rotating arm to rotate along a vertical axis;
first snatch mechanism and second and snatch the mechanism, first snatch the mechanism with the second snatch the mechanism and be used for snatching respectively the target reserve battery with treat to trade the battery, first snatch the mechanism with the second snatchs the mechanism and all sets up on the swinging boom, and is located respectively the both sides of walking frame, first snatch mechanism and second snatch the mechanism homoenergetic and follow the extending direction translation of swinging boom, around vertical axis is rotatory and stretch out and draw back along vertical direction.
8. The swapping station of claim 7, wherein the first and second grasping mechanisms each comprise:
the first linear driving mechanism and the second rotary driving mechanism are in communication connection with the control terminal, the first linear driving mechanism is used for driving the walking vehicle to move along the extending direction of the rotating arm, and the second rotary driving mechanism is used for driving the walking vehicle to rotate along a vertical axis;
and a second linear driving mechanism is arranged between the hand grip and the walking vehicle, the second linear driving mechanism is in communication connection with the control terminal, and the second linear driving mechanism is used for driving the hand grip to move along the vertical direction.
9. The power station as claimed in claim 7, wherein the bottom of the walking frame is provided with rail wheels and a linear guide rail, and the walking frame walks on the linear guide rail through the rail wheels.
10. The swapping station of claim 6, wherein the to-be-swapped battery placement system comprises at least one parking space corresponding to the battery charging system.
CN202110963386.6A 2021-08-20 2021-08-20 Battery replacement method and battery replacement station Active CN113459886B (en)

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