CN113665411A - Battery box tray device, battery replacement equipment and battery replacement control method - Google Patents

Abstract

The invention discloses a battery box tray device, a battery replacement device and a battery replacement control method. The battery replacing equipment comprises the battery box tray device. The battery box is pulled to the extending mechanism or pushed out of the extending mechanism through the extending mechanism and the push box moving back and forth twice in the horizontal direction, so that the battery box is taken and placed from the side face of the electric automobile or the battery compartment, namely, the battery replacement work is completed from the side face. Meanwhile, the battery replacing equipment is greatly improved in safety and stability and battery replacing efficiency due to the fact that the battery replacing equipment stretches out and retracts in the horizontal direction.

Description

Battery box tray device, battery replacement equipment and battery replacement control method

Technical Field

The invention relates to a battery box tray device, a battery replacement device and a battery replacement control method.

Background

The electric automobile replaces oil with electricity, can realize zero emission and low noise, and is an important means for solving the problems of energy and environment. With the shortage of petroleum resources and the development of battery technology, the performance and the economical efficiency of electric vehicles are close to or even better than those of traditional fuel vehicles, and the electric vehicles are gradually 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. In the existing battery replacing facilities, the battery replacing efficiency is low, and meanwhile, the stability of the battery replacing facilities in the process of taking and placing the battery box is poor.

Disclosure of Invention

The invention aims to overcome the defects of low battery replacement efficiency and poor stability in the process of taking and placing a battery box of a battery box replacement facility in the prior art, and provides a battery box tray device, battery replacement equipment and a battery replacement control method.

The invention solves the technical problems through the following technical scheme:

a battery box tray device is characterized by comprising a tray, an extension mechanism and a pushing box, wherein the extension mechanism is connected to the tray and can extend and retract relative to an electric automobile or a battery compartment, and the pushing box is connected to the extension mechanism and can move along the extension mechanism relative to the electric automobile or the battery compartment so as to push and pull the battery box on the extension mechanism.

In this scheme, adopt above-mentioned structural style, through stretching out mechanism and two round trip movement of push-type cartridge on the horizontal direction with the battery box draw get stretch out the mechanism on or push out outside stretching out the mechanism, realized carrying out getting of battery box from the side of electric automobile or battery compartment and put, realize accomplishing from the side promptly and trade electric work. Meanwhile, due to the fact that the stretching mechanism and the electric automobile or the battery bin are horizontally stretched out and retracted, the aligning position is kept between the stretching mechanism and the electric automobile or the battery bin, the battery box is conveniently taken out and pushed, the safety and stability of battery replacing equipment are greatly improved, and the battery replacing efficiency is improved.

Preferably, the battery box tray device further comprises a first mounting plate, the first mounting plate is arranged on the extension mechanism and can extend out synchronously with the extension mechanism, a plurality of first auxiliary rollers are arranged on the first mounting plate, and the first auxiliary rollers act on the bottom wall of the battery box.

In this scheme, adopt above-mentioned structural style, bear the weight of the battery box through first mounting panel at the in-process of getting to put, guaranteed the stability of battery box at getting to put the in-process. Simultaneously, the outer peripheral face through a plurality of first auxiliary roller can contact with the diapire of battery box, removes the in-process at the battery box, reduces the frictional force between battery box and the first mounting panel, makes the removal of the relative first mounting panel of battery box more light, smooth and easy, and stability is higher.

Preferably, the two sides of the first mounting plate are respectively provided with a side connecting plate, and the two side connecting plates are perpendicular to the first mounting plate so as to limit the battery box to move between the two side connecting plates.

In this scheme, adopt above-mentioned structural style, two lateral part connecting plates can play limiting displacement, inject the removal orbit of battery box on first mounting panel between two lateral part connecting plates, have effectively avoided the battery box to produce the skew dislocation phenomenon at the in-process of getting to put, have improved the safety and stability who trades electrical equipment greatly.

Preferably, the inner side surfaces of the two side connecting plates are respectively provided with a second auxiliary roller, and the second auxiliary rollers act on the two side walls of the battery box.

In this scheme, adopt above-mentioned structural style, two lateral part connecting plates can contact with two lateral walls of battery box respectively through the outer peripheral face of the supplementary gyro wheel of second and remove the in-process at the battery box, reduce the frictional force between battery box and two lateral part connecting plates, make the removal of the relative first mounting panel of battery box more laborsaving, smooth and easy, and stability is higher.

Preferably, a first guide rail structure is arranged between the extending mechanism and the tray;

and/or a second guide rail structure is arranged between the extending mechanism and the push box.

In this scheme, adopt above-mentioned structural style, first guide rail structure plays the guide effect for stretch out the mechanism and can follow established direction and remove and can not produce the skew dislocation phenomenon, improved the accuracy and the stability of trading electrical equipment greatly.

In addition, the second guide rail structure plays a role in guiding, so that the disc pushing box can move along a given direction on the extending mechanism without offset and dislocation, and the accuracy and the stability of the battery replacing equipment are greatly improved.

Preferably, the pushing disc box is provided with a connecting unit, and the connecting unit is used for being connected with the battery box so as to push and pull the battery box.

In this scheme, adopt above-mentioned structural style, the pushing away dish box is connected with the battery box through the linkage unit for the pushing away dish box can drive the battery box and together remove when moving on stretching out the mechanism, thereby realizes the push-and-pull to the battery box.

Preferably, the connection unit comprises a magnetic element, and the magnetic element is used for generating attractive magnetic force with the battery box, so that the connection unit is fixedly connected with the battery box.

In this scheme, adopt above-mentioned structural style, simple structure, it is very convenient to use, and the control operation of being convenient for.

Preferably, the connection unit includes at least one engaging mechanism, and the engaging mechanism is configured to engage with the battery box, so as to realize that the connection unit is fixedly connected with the battery box.

In this scheme, adopt above-mentioned structural style, mutually support the block that forms high strength through block mechanism and battery box and be connected, connection stability is high, has effectively avoided the battery box to take place to break away from the phenomenon, has improved security and stability greatly. Meanwhile, the clamping mechanism is connected with the battery box in a clamping mode, the structure is simple, the weight is light, and therefore the overall weight of the battery replacing equipment and the overall weight of the battery box are effectively reduced. Moreover, the movable clamping mechanism can be fixedly connected with battery boxes with different specifications in a compatible mode.

Preferably, the battery box tray device further comprises an unlocking mechanism, the unlocking mechanism is connected to the extending mechanism and extends out along with the extending mechanism synchronously, and the unlocking mechanism is used for unlocking or locking the battery box in the battery bracket.

In this scheme, adopt above-mentioned structural style, when the relative electric automobile of extension mechanism or battery compartment stretched out the alignment, drive unlocking mechanism stretch out in step to with preset position, the unlocking mechanism of being convenient for directly carries out unblock or locking to the battery box in electric automobile or the battery compartment, has improved and has traded the electric efficiency height.

Preferably, the unlocking mechanism comprises a driving mechanism and an unlocking rod, the driving mechanism drives the unlocking rod to move so as to drive the locking mechanism to move, and the unlocking rod is used for driving the locking mechanism on the battery bracket to move so as to unlock or lock the battery box.

In the scheme, by adopting the structural form, the unlocking rod is driven by the driving mechanism to move so as to drive the locking mechanism to move, so that the battery box is unlocked or locked, the unlocking or locking precision is very high, and the battery replacement efficiency is improved; simultaneously, even if the unlocking or the locking of the locking mechanism cannot be caused by touch, the misoperation is effectively avoided, and the safety and the stability of the battery replacement equipment are greatly improved. And the unlocking rod drives the locking mechanism on the battery bracket to move so as to unlock or lock the battery box, so that the unlocking rod is prevented from directly acting on the outer shell of the battery box, the strength of the outer shell of the battery box is not affected, and the service life of the battery box is prolonged.

Preferably, the unlocking mechanism moves on the extension mechanism in a direction towards the battery bracket, so that the unlocking rod is matched with the unlocking piece on the battery bracket in position.

In this scheme, adopt above-mentioned structural style, continue to remove along the direction towards battery tray on stretching out the mechanism through release mechanism, make the unlocking lever that is located on stretching out the mechanism along unlocking lever axial displacement, further guarantee the accurate cooperation of unlocking lever and unlocking piece, improved the stability of trading electrical equipment greatly.

Preferably, the release mechanism still includes the connecting piece that can radially twist reverse, the both ends of connecting piece connect respectively in actuating mechanism with the unblock pole, actuating mechanism passes through the connecting piece drive the unblock pole is followed the axis of unblock pole is rotatory, just the connecting piece is in order to adapt to the radial displacement of unblock pole.

In this scheme, adopt above-mentioned structural style, can be at radial direction displacement through the connecting piece, can make the unlocking lever insert smoothly in the unlocking piece through the small radial displacement of connecting piece even under the situation that there is small positional deviation with the unlocking piece on the battery tray, improve the unlocking success rate, improved and trade electric efficiency.

Preferably, one end of the unlocking rod is used for being inserted into the unlocking piece, and the other end of the unlocking rod is connected to the driving mechanism and can move in the direction close to the driving mechanism.

In this scheme, adopt above-mentioned structural style, can remove along the direction that is close to actuating mechanism through the unblock pole on actuating mechanism for the unblock pole will remove on actuating mechanism when receiving the effort along the direction that is close to actuating mechanism, has effectively avoided rigid connection and has caused the damage of structure, and safety and stability is higher, long service life.

Preferably, the unlocking mechanism further comprises a detection unit, and the detection unit is used for detecting whether the unlocking rod moves in the direction close to the driving mechanism.

In this scheme, adopt above-mentioned structural style, can detect out through detecting element whether the unblock pole is located the unblock position of unblock piece, improved the safety and stability of trading electrical equipment at the electricity changing in-process greatly.

Preferably, the battery box tray device further comprises a positioning mechanism, the positioning mechanism is arranged on the end face, facing the electric automobile or the battery compartment, of the tray, and the positioning mechanism is used for positioning the unlocking mechanism to enable the unlocking mechanism and the unlocking piece on the battery bracket to complete positioning.

In this scheme, adopt above-mentioned structural style, fix a position whole battery box tray device through positioning mechanism for unlocking means can aim at the unlocking piece on the battery bracket accurately, guarantees unlocking efficiency, has improved the electric efficiency of trading electrical equipment greatly.

Preferably, the positioning mechanism comprises:

the two vision sensors are respectively used for carrying out image acquisition on a first position and a second position of the battery bracket so as to obtain a first image and a second image;

and the image processing module is used for carrying out image processing on the first image and the second image so as to obtain the position adjustment amount.

In the scheme, the structure is adopted, two images are collected in a visual mode and are combined with the reference image to perform image processing to obtain the position adjustment amount, and the positioning precision is greatly improved.

The battery replacing equipment is characterized by comprising the battery box tray device.

In this scheme, adopt above-mentioned structural style, can carry out getting of battery box from the side of electric automobile or battery compartment and put, realize trading the electric work from the side completion. Meanwhile, the safety stability of the battery replacing equipment is greatly improved, and the battery replacing efficiency is improved.

Preferably, the battery replacement equipment further comprises a position adjusting mechanism, and the position adjusting mechanism is used for adjusting the position of the unlocking mechanism according to at least one of the horizontal displacement amount, the vertical displacement amount and the rotation angle amount obtained by the positioning mechanism until the unlocking mechanism and the unlocking piece on the battery bracket complete positioning.

In this scheme, adopt above-mentioned structural style, can follow the position of three orientation to release mechanism and adjust, positioning accuracy is higher, ensures that release mechanism can aim at with the unlocking piece accuracy, improves and trades electric efficiency.

The battery replacement control method is characterized by comprising the following steps:

positioning the unlocking mechanism to complete positioning with the unlocking piece on the battery bracket;

the unlocking mechanism is driven to extend out towards the battery bracket until the unlocking piece is matched in place and is unlocked;

the push box is controlled to further extend towards the battery bracket so as to pull the battery box.

In this scheme, before release mechanism carries out the unblock to the battery package, make release mechanism and unblock piece accurate alignment through the location to improve the unblock efficiency of battery box, rethread push-disk cartridge fixes the battery box and pulls out the battery box after the unblock, improved extraction efficiency, and guaranteed the stability that the battery box removed at the extraction in-process.

The battery replacement control method is characterized by comprising the following steps:

positioning the unlocking mechanism to complete positioning with the unlocking piece on the battery bracket;

controlling the pushing box to further extend towards the battery bracket so as to push the battery box;

the drive release mechanism orientation battery tray stretch out to with the unblock piece matches and targets in place and locks.

In this scheme, adopt above-mentioned structural style, before installing the battery package, make release mechanism and deblocking piece accurate alignment through the location, then release the battery box, at the battery box release in-process, thereby release mechanism and deblocking piece match and target in place can carry out the locking to the battery box, have improved the installation and the locking efficiency of battery box, and guarantee the stability that the battery box removed in the propelling movement placing process.

On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.

The positive progress effects of the invention are as follows:

according to the battery box tray device, the battery replacing equipment and the battery replacing control method, the battery box is pulled to the extension mechanism or pushed out of the extension mechanism through the two times of back and forth movement of the extension mechanism and the battery pushing box in the horizontal direction, so that the battery box is taken from and placed on the side surface of an electric automobile or a battery cabin, namely, the battery replacing work is completed from the side surface. Meanwhile, the battery replacing equipment is greatly improved in safety and stability and battery replacing efficiency due to the fact that the battery replacing equipment stretches out and retracts in the horizontal direction.

Drawings

Fig. 1 is a schematic structural diagram of a battery swapping device in embodiment 1 of the present invention.

Fig. 2 is a schematic structural view of a battery box tray device according to embodiment 1 of the present invention.

Fig. 3 is another schematic structural diagram of a battery box tray device according to embodiment 1 of the present invention.

Fig. 4 is a schematic structural view of a positioning mechanism according to embodiment 1 of the present invention in use.

Fig. 5 is a schematic perspective view of an unlocking mechanism according to embodiment 1 of the present invention.

Fig. 6 is a schematic structural view of an unlocking mechanism according to embodiment 1 of the present invention.

Fig. 7 is a schematic sectional view taken along line a-a of fig. 6.

Fig. 8 is a schematic structural diagram of a disc cartridge according to embodiment 2 of the present invention.

Description of reference numerals:

tray 1

Extension mechanism 2

First mounting plate 21

First auxiliary roller 22

Side connecting plate 23

Second auxiliary roller 24

Pusher box 3

Magnetic element 31

Engaging mechanism 32

Drive member 33

First guide rail structure 4

Second guide rail structure 5

Vision sensor 6

Unlocking mechanism 7

Drive mechanism 71

Rotating unit 711

Drive unit 712

Sleeve 713

Unlocking lever 72

Second mounting plate 73

Third mounting plate 74

Connecting piece 75

First elastic member 751

First connecting sleeve 752

Second connecting sleeve 753

Detection unit 76

Second elastic member 77

Battery holder 10

First position 101

Second position 102

Detailed Description

The present invention will be more clearly and completely described below by way of examples and with reference to the accompanying drawings, but the present invention is not limited thereto.

Example 1

As shown in fig. 1 to 7, the present embodiment discloses a battery replacement device including a battery box tray apparatus. The battery box tray device comprises a tray 1, an extension mechanism 2 and a pushing disc box 3, wherein the extension mechanism 2 is connected to the tray 1 and can extend out and retract relative to an electric automobile or a battery compartment, and the pushing disc box 3 is connected to the extension mechanism 2 and can move relative to the electric automobile or the battery compartment along the extension mechanism 2 so as to push and pull the battery box on the extension mechanism 2.

When drawing the battery box, stretching out mechanism 2 will stretch out for electric automobile or battery compartment, and push away a set box 3 and stretch out forward and will be connected with the battery box, push away a set box 3 backward and draw the battery box and get to stretch out mechanism 2 on, later stretch out mechanism 2 will retract for electric automobile or battery compartment, realize drawing of battery box. When installing the battery box, stretching out mechanism 2 will stretch out for electric automobile or battery compartment, pushes away a set box 3 and moves forward for in pushing away battery box to electric automobile or battery compartment, later push away a set box 3 and move backward, stretching out mechanism 2 will retract for electric automobile or battery compartment, thereby realize the installation to the battery box.

Can draw the battery box through the cartridge 3 and get to stretch out on the mechanism 2 or push out outside stretching out the mechanism 2 to can carry out getting of battery box from the side of electric automobile or battery compartment and put, realize accomplishing from the side and trade electric work. Meanwhile, the stretching mechanism 2 is arranged on the tray 1 and can stretch out and retract relative to the electric automobile or the battery compartment, so that the distance between the stretching mechanism 2 and the electric automobile or the battery compartment is very small, the safety and stability of the battery replacing equipment are greatly improved, and the battery replacing efficiency is improved.

The battery box is pulled to the extension mechanism 2 or pushed out of the extension mechanism 2 through twice back and forth movements of the extension mechanism 2 and the push tray box 3 in the horizontal direction, so that the battery box is taken and placed from the side face of an electric automobile or a battery compartment, namely, the battery replacement work is completed from the side face. Meanwhile, due to the stretching out and retracting in the horizontal direction, the stretching out mechanism 2 and the electric automobile or the battery compartment are kept at the aligned position, so that the battery box is taken out and pushed conveniently, the safety and stability of the battery replacing equipment are greatly improved, and the battery replacing efficiency is improved.

As shown in fig. 2 and 3, a first rail structure 4 is provided between the extension mechanism 2 and the tray 1. The first guide rail structure 4 plays a role in guiding, so that the extension mechanism 2 can move along a given direction without offset and dislocation, and the accuracy and the stability of the battery replacing equipment are greatly improved. In this embodiment, two first rail structures 4 are disposed on the top surface of the tray 1, and two sides of the bottom surface of the extension mechanism 2 respectively move on the first rail structures 4 on the tray 1, so that the stability is higher.

A second guide rail structure 5 is arranged between the extension mechanism 2 and the disc pushing box 3. The second guide rail structure 5 plays a guiding role, so that the disc pushing box 3 can move along a given direction on the extending mechanism 2 without offset and dislocation, and the accuracy and the stability of the battery replacing equipment are greatly improved. In this embodiment, two second rail structures 5 are arranged on the top surface of the extension mechanism 2, and the bottom surface of the tray pushing box 3 moves on the two second rail structures 5 on the extension mechanism 2, so that the stability is higher.

The battery box tray device further comprises a first mounting plate 21, the first mounting plate 21 is arranged on the extension mechanism 2 and can synchronously extend out along with the extension mechanism 2, a plurality of first auxiliary rollers 22 are arranged on the first mounting plate 21, and the first auxiliary rollers 22 act on the bottom wall of the battery box. The battery box is supported by the first mounting plate 21 in the taking and placing process, so that the stability of the battery box in the taking and placing process is guaranteed. Meanwhile, in the process of taking and placing the battery box by the tray pushing box 3, the tray pushing box 3 can move on the first mounting plate 21 in a telescopic mode and drive the battery box to move together; the outer peripheral face through a plurality of first auxiliary roller 22 can contact with the diapire of battery box, and at the battery box removal in-process, reduce the frictional force between battery box and the first mounting panel 21, make the removal of battery box relative first mounting panel 21 more light, smooth and easy, stability is higher.

The two sides of the first mounting plate 21 are respectively provided with a side connecting plate 23, and the two side connecting plates 23 are arranged perpendicular to the first mounting plate 21 so as to limit the battery box to move between the two side connecting plates 23. Two lateral part connecting plates 23 can play limiting displacement, prescribe a limit to the battery box moving track on first mounting panel 21 between two lateral part connecting plates 23, have effectively avoided the battery box to produce skew dislocation phenomenon at the in-process of putting, have improved the safety and stability who trades electrical equipment greatly.

The inner side surfaces of the two side connecting plates 23 are respectively provided with a second auxiliary roller 24, and the second auxiliary rollers 24 act on two side walls of the battery box. When the battery box moves between two lateral connecting plates 23, the peripheral face of two lateral connecting plates 23 through second auxiliary roller 24 can contact with two lateral walls of the battery box respectively, and in the moving process of the battery box, the friction force between the battery box and the two lateral connecting plates 23 is reduced, so that the battery box moves more labor-saving and smooth relative to the first mounting plate 21, and the stability is higher.

The pushing box 3 is provided with a connecting unit which is used for being connected with the battery box, so that the battery box can be pushed and pulled. Adopt detachably connected mode between linkage element and the battery box, when pushing away set box 3 and being connected through linkage element and battery box for push away set box 3 will drive battery box together when moving on extension mechanism 2 and remove together, thereby realize the push-and-pull to the battery box. When the push disc box 3 needs to be separated from the battery box, the connecting unit is disconnected from the battery box, so that after the battery box is in place, the push disc box 3 loosens the battery box to continue subsequent operation, and repeated use is realized.

In the present embodiment, the connection unit includes a magnetic element 31, and the magnetic element 31 is used for generating attractive magnetic force with the battery box, so as to realize the fixed connection of the connection unit and the battery box. When the magnetic element 31 is in an activated state, the magnetic element 31 will generate a magnetic force and attract the battery box, so that the magnetic element 31 and the magnetic member on the battery box are attracted together, and the connection between the disc pushing box 3 and the battery box is realized. When the magnetic element 31 is in the inactive state, the magnetic force of the magnetic element 31 disappears, so that the disc pushing box 3 and the battery box can not generate magnetic force action, and the disc pushing box 3 and the battery box can be separated. Simple structure, convenient use and convenient control and operation.

The battery box tray device further comprises an unlocking mechanism 7, the unlocking mechanism 7 is connected to the extending mechanism 2 and extends out synchronously with the extending mechanism 2, and the unlocking mechanism 7 is used for unlocking or locking the battery box in the battery bracket 10. When the extending mechanism 2 extends and aligns relative to the electric automobile or the battery compartment, the unlocking mechanism 7 is driven to extend to a preset position synchronously, so that the unlocking mechanism 7 can directly unlock or lock the battery box in the electric automobile or the battery compartment conveniently, and the battery replacement efficiency is improved.

In order to achieve the effect of accurate positioning of the unlocking member on the battery carrier 10 with the unlocking mechanism 7. The battery box tray device further comprises a positioning mechanism, the positioning mechanism is arranged on the end face, facing the electric automobile or the battery compartment, of the tray 1, and the positioning mechanism is used for positioning the unlocking mechanism 7 to enable the unlocking mechanism and the unlocking piece on the battery bracket 10 to complete positioning. Positioning mechanism is used for detecting concrete position and realizing the location for release mechanism 7 can accurately connect the unblocking piece on battery bracket 10, and further realization battery box tray device's precision is high, has improved the safety and stability who trades electrical equipment greatly.

The positioning mechanism comprises an image processing module and two visual sensors 6, wherein the two visual sensors 6 are respectively used for carrying out image acquisition on a first position 101 and a second position 102 of the battery bracket 10 so as to obtain a first image and a second image; the image processing module performs image processing on the first image and the second image to obtain a position adjustment amount.

In specific implementation, referring to fig. 4, the two vision sensors 6 respectively acquire a first image of a first position 101 and a second image of a second position 102 on the battery tray 10 along the directions indicated by arrows, and the image processing module receives the first image and the second image and then performs image processing to obtain the position information of the battery tray 10. Two images are collected in a visual mode and are combined with the reference image to perform image processing to obtain a position adjustment amount, and the positioning precision is greatly improved.

The battery replacement equipment further comprises a position adjusting mechanism, and the position adjusting mechanism is used for adjusting the position of the unlocking mechanism 7 according to at least one of the horizontal displacement, the vertical displacement and the rotation angle acquired by the positioning mechanism until the unlocking piece on the unlocking mechanism 7 and the battery bracket 10 is positioned.

The positioning mechanism includes a position acquisition unit that also obtains a position adjustment amount based on the position information of the target device and the reference position information of the target device. The position acquisition unit performs image processing by the image processing module according to the images acquired by the two vision sensors 6 in real time and a preset reference image of the target device to obtain a position adjustment amount. I.e., the target device is the battery tray 10.

In an alternative embodiment, the position acquisition unit acquires the horizontal displacement amount based on the first image and the first reference image. According to an image processing algorithm, the position acquisition unit acquires a first horizontal displacement amount and a first vertical displacement amount according to the target position and the real-time position. By moving the vision sensor 6 by the first horizontal displacement amount and the first vertical displacement amount, the vision sensor 6 can be caused to capture an image that coincides with the first reference image. The process of obtaining the first horizontal displacement and the first vertical displacement of the vision sensor 6 by the position obtaining unit can be implemented by using algorithms already disclosed in the art, which can be implemented by those skilled in the art and will not be described herein again. The position acquisition unit takes the first horizontal displacement as the horizontal displacement, and can realize corresponding horizontal displacement by moving the corresponding horizontal displacement so as to be matched with the target device in the horizontal direction; similarly, by shifting the respective vertical displacement amount, a corresponding vertical displacement may be achieved to achieve matching with the target device in the vertical displacement direction.

In another alternative embodiment, the position acquisition unit acquires the horizontal displacement amount based on the second image and the second reference image. The position acquisition unit acquires a second horizontal displacement amount and a second vertical displacement amount from the second image and a pre-stored second reference image. By moving the vision sensor 6 by the second horizontal displacement amount and the second vertical displacement amount, the vision sensor 6 can be caused to capture an image that coincides with the second reference image. The position acquisition unit takes the second horizontal displacement as the horizontal displacement, and can realize corresponding horizontal displacement by moving the corresponding horizontal displacement so as to be matched with the target device in the horizontal direction; similarly, by shifting the respective vertical displacement amount, a corresponding vertical displacement may be achieved to achieve matching with the target device in the vertical displacement direction.

In another alternative embodiment, the reference location information of the target device is stored in the location acquisition unit in advance. The position obtaining unit obtains the position adjustment amount according to prestored reference position information of the target device and position information obtained in real time of the target device. Adjusting the two vision sensors 6 according to the position adjustment amount can cause the vision sensor 6 to capture an image that coincides with the first reference image and cause the other vision sensor 6 to capture an image that coincides with the second reference image.

As an alternative embodiment, when two vision sensors 6 are provided on the position adjustment mechanism, the vision sensor 6 is provided at a position corresponding to a first position a, and the other vision sensor 6 is provided at a position corresponding to a second position B, with a first predetermined distance between the first position a and the second position B and a second predetermined distance between the two. The position obtaining unit 503 performs image processing on the first image to obtain a first depth of field, which is a depth of field value of the first position a in the first image; the position acquisition unit performs image processing on the second image to obtain a second depth of field, and the second depth of field value is a depth of field value of a second position in the second image. The specific manner of obtaining the depth of field value by the position obtaining unit can be implemented by using algorithms disclosed in the art, which can be implemented by those skilled in the art, and is not described herein again. The position acquisition unit obtains a difference between the two depth of field values. The position acquisition unit can obtain the rotation angle amount according to the trigonometric function principle according to the difference of the depth of field values, the distance between the two vision sensors 6 and the distance between the first position a and the second position B. The position adjusting mechanism rotates to the corresponding direction according to the rotation angle, so that the target device and the position adjusting mechanism are parallel.

The visual positioning system can realize positioning control in multiple directions through at least one of horizontal displacement, vertical displacement and angular rotation to ensure the requirement of multi-dimensional positioning control.

During concrete implementation, the horizontal displacement amount, the vertical displacement amount and the rotation angle amount which need to be adjusted can be obtained by obtaining the position adjustment amount through the positioning mechanism, the position adjustment mechanism comprises a control unit, a horizontal moving unit, a vertical moving unit and a rotation unit, the control unit is in communication connection with the positioning mechanism, and therefore the positions of the unlocking mechanism 7 in the three directions of the horizontal direction, the vertical direction and the angle are adjusted according to at least one of the horizontal displacement amount, the vertical displacement amount and the rotation angle amount to complete the positioning of the unlocking mechanism 7, and therefore the unlocking piece on the unlocking mechanism 7 and the battery bracket is accurately aligned.

As shown in fig. 5, 6 and 7, the unlocking mechanism 7 includes a driving mechanism 71 and an unlocking lever 72, the driving mechanism 71 drives the unlocking lever 72 to move so as to drive the locking mechanism to move, and the unlocking lever 72 is used for driving the locking mechanism on the battery bracket 10 to move so as to unlock or lock the battery box. The locking, unlocking and driving are realized in a rotating and rotating mode in the embodiment, and in other embodiments, the locking, unlocking and driving can also be realized in other motion modes, such as axial expansion and contraction, radial displacement and the like.

The driving mechanism 71 is installed and connected to the bottom surface of the extension mechanism 2, and the unlocking member 72 is connected to the unlocking member of the battery bracket 10 in a matching manner to unlock or lock the battery box. The unlocking rod 72 is connected with an unlocking piece in a matching way, and the unlocking piece is connected with a locking mechanism on the battery bracket 10; the unlocking rod 72 is driven to rotate by the driving mechanism 71, and the unlocking piece is driven to rotate together by the rotation of the unlocking rod 72 to drive the locking mechanism to rotate, so that the unlocking or locking of the locking mechanism is realized.

The unlocking rod 72 is driven to rotate by the driving mechanism 71 to drive the locking mechanism to rotate, so that the battery box is unlocked or locked, the unlocking or locking precision is very high, and the battery replacement efficiency is improved; simultaneously, even if the unlocking or the locking of the locking mechanism cannot be caused by touch, the misoperation is effectively avoided, and the safety and the stability of the battery replacement equipment are greatly improved. And the unlocking rod 72 drives the locking mechanism on the battery bracket to move so as to unlock or lock the battery box, so that the unlocking rod 72 is prevented from directly acting on the outer shell of the battery box, the strength of the outer shell of the battery box is not affected, and the service life of the battery box is prolonged.

Wherein, can have the locked groove on the battery box, locking mechanism includes rotatory plug-in components, and rotatory plug-in components setting is on battery bracket, and rotatory plug-in components connect in the piece of deblocking. The unlocking piece will be driven to move by the movement of the unlocking rod 72, the rotating plug-in piece will be driven to rotate by the movement of the unlocking piece, and the rotating plug-in piece can be inserted into the lock groove or retracted outside the lock groove according to the difference of the rotating directions, so that the battery box can be locked or unlocked. The specific structure of the locking mechanism is not limited in this embodiment.

The unlocking mechanism 7 is moved on the protruding mechanism 2 in a direction toward the battery carrier 10, so that the unlocking lever 72 is matched in position with the unlocking piece on the battery carrier 10. Unlocking mechanism 7 is when using, unlocking mechanism 7 installation sets up on stretching out mechanism 2 and can be along with stretching out mechanism 2 and to the direction removal that is close to battery bracket 10, after stretching out mechanism 2 and removing to target in place, unlocking mechanism 7 continues to move along the direction towards battery bracket 10 on stretching out mechanism 2, also move along the unlocking piece direction that is close to on the battery bracket 10, make the unlocking lever 72 that is located on stretching out mechanism 2 along unlocking lever 72 axial displacement, further guarantee the accurate cooperation of unlocking lever 72 and unlocking piece, the stability of trading electrical equipment has been improved greatly.

In this embodiment, the unlocking mechanism 7 further includes a second mounting plate 73 and a third mounting plate 74, the driving mechanism 71 includes a rotating unit 711 and a driving unit 712, the second mounting plate 73 is mounted on the bottom surface of the extension mechanism 2, the driving unit 712 is connected to the second mounting plate 73, the third mounting plate 74 is slidably disposed on the second mounting plate 73, and the driving unit 712 drives the third mounting plate 74 to be slidable with respect to the second mounting plate 73. The rotating unit 711 is installed on the third installation plate 74, the rotating unit 711 is connected to the unlocking lever 72 through a sleeve 713 and is used for driving the unlocking lever 72 to rotate along the axis of the unlocking lever 72, and the battery box is locked and unlocked by the different rotating directions of the rotating unit 711. The modularization of the unlocking mechanism 7 is realized, and the unlocking mechanism 7 is more convenient to use. Meanwhile, the structure is simple, and the assembly is convenient.

The unlocking mechanism 7 further comprises a connecting piece 75 capable of being radially twisted, two ends of the connecting piece 75 are respectively connected to the driving mechanism 71 and the unlocking rod 72, the driving mechanism 71 drives the unlocking rod 72 to rotate along the axis of the unlocking rod 72 through the connecting piece 75, and the connecting piece 75 is used for adapting to the radial displacement of the unlocking rod 72.

There is also a case where the axis of the unlocking lever 72 and the axis of the unlocking member are not aligned correctly, that is, there is a slight positional deviation and they are not aligned in the same line. Connect in the rotation unit 711 of actuating mechanism 71 through the one end of connecting piece 75, the other end of connecting piece 75 is connected in unblock pole 72, under rotation unit 711 is connected on third mounting panel 74 motionless's circumstances, can be at radial direction displacement through connecting piece 75, even make unblock pole 72 have the situation of little position deviation with the unblock piece on the battery bracket, can make unblock pole 72 insert the unblock piece smoothly through the little radial displacement of connecting piece 75 in, improve the unblock success rate, the efficiency of changing electricity has been improved.

As shown in fig. 7, the connecting member 75 includes a first connecting sleeve 752, a first elastic member 751 and a second connecting sleeve 753 which are connected in this order, the lock release lever 72 is connected to the first connecting sleeve 752, and the drive mechanism 71 is connected to the second connecting sleeve 753. The first elastic piece 751 can displace in the radial direction, the driving mechanism 71, the first elastic piece 751 and the unlocking rod 72 are sequentially connected in series through the first connecting sleeve 752 and the second connecting sleeve 753, the unlocking mechanism 7 is ensured to be connected in the axial direction and rotate around the axis of the unlocking mechanism, the stability is higher, and the installation and the connection are convenient.

One end of the lock release lever 72 is for insertion into the lock release member, and the other end of the lock release lever 72 is connected to the drive mechanism 71 and is movable in a direction close to the drive mechanism 71. The unlocking mechanism 7 needs the unlocking rod 72 to be accurately inserted into the unlocking piece in a contraposition mode in the unlocking or locking process, when the unlocking piece is inserted in place, the unlocking rod 72 can abut against the unlocking piece, acting force in the direction close to the driving mechanism 71 can be applied to the unlocking rod 72 by the unlocking piece, the unlocking rod 72 can move on the driving mechanism 71 in the direction close to the driving mechanism 71, the unlocking rod 72 can move on the driving mechanism 71 when acting force in the direction close to the driving mechanism 71 is received, damage to the structure caused by rigid connection is effectively avoided, safety and stability are high, and the service life is long. Of course, when the lock release lever 72 is not inserted into the lock release member, the lock release member does not apply a force to the lock release lever 72 in a direction approaching the drive mechanism 71.

The unlocking mechanism 7 further includes a detection unit 76, and the detection unit 76 is configured to detect whether the unlocking lever 72 is moved in a direction to approach the driving mechanism 71. In the process of unlocking or locking the unlocking mechanism 7, the unlocking rod 72 needs to be inserted into the unlocking piece in an accurate alignment manner, the unlocking rod 72 can move in the direction close to the driving mechanism 71 due to the abutting acting force of the unlocking piece, the detection unit 76 detects that the unlocking rod 72 moves into the detection area of the detection unit 76, the unlocking rod 72 is indicated to be inserted into the unlocking piece, the operation of driving the unlocking rod 72 to rotate in the next step can be continued, if the detection unit 76 does not detect the unlocking rod 72 all the time, the fact that the unlocking rod 72 is staggered with the unlocking piece and is not inserted into the unlocking piece is indicated, and the unlocking rod 72 can be controlled to stop moving in the direction close to the unlocking piece. Whether the unlocking rod 72 is located at the unlocking position in the unlocking piece or not can be detected through the detection unit 76, the safety stability of the battery replacing device in the battery replacing process is greatly improved, the accurate control of the unlocking process is realized, namely, the unlocking rod 72 is unlocked or locked after reaching the unlocking position, the full-automatic accurate control is realized, manual adjustment is not needed, the unlocking efficiency is improved, and meanwhile, the collision misoperation caused by the fact that the unlocking rod 72 continuously moves towards the direction close to the battery bracket when the unlocking rod 72 is staggered with the unlocking piece is avoided.

The unlocking mechanism 7 comprises an axially telescopic second spring 77, which second spring 77 abuts against the connecting unit and/or the unlocking lever 72 for applying a force to the connecting unit and/or the unlocking lever 72 in a direction away from the drive mechanism 71. The acting force in the direction away from the driving mechanism 71 is applied to the connecting unit through the second elastic piece 77, so that when the unlocking rod 72 is touched by mistake, the unlocking rod 72 cannot move due to the acting force of the second elastic piece 77, the detection unit 76 is prevented from detecting the movement of the unlocking rod 72, the unlocking mechanism 7 is effectively prevented from being operated by mistake, and the safety and stability of the battery replacing equipment are greatly improved. Meanwhile, when the unlocking lever 72 enters the unlocking member on the battery bracket, the connecting unit and the unlocking lever 72 are restored to the initial position without external force by applying a force in a direction away from the driving mechanism 71 to the connecting unit and/or the unlocking lever 72 by the second elastic member 77, that is, when the unlocking lever 72 is separated from the unlocking member, the connecting unit and the unlocking lever 72 are brought to the initial position by the second elastic member 77.

The embodiment also discloses a battery swapping control method, which comprises the following steps: positioning the unlocking mechanism 7 to complete positioning with the unlocking piece on the battery bracket 10; the unlocking mechanism 7 is driven to extend out towards the battery bracket 10 until the unlocking piece is matched in place and is unlocked; the pusher housing 3 is controlled to further project toward the battery tray 10 to thereby pull the battery case.

When the battery box is extracted, the battery replacing device enables the unlocking piece on the unlocking mechanism 7 and the battery bracket 10 to be positioned through the positioning mechanism, then the driving unit 712 drives the third mounting plate 74 to move towards the battery bracket 10, the unlocking rod 72 is matched with the unlocking piece in place and connected with the unlocking piece, the rotating unit 711 drives the unlocking rod 72 to rotate and drives the unlocking piece to rotate, the locking mechanism is driven to rotate, and the unlocking of the locking mechanism is achieved. After the unblock is accomplished will control the shallow box 3 and remove towards battery tray 10, before release mechanism 7 unlocks the battery package, make release mechanism 7 and unblock piece accurate alignment through the location to improve the unblock efficiency of battery box, rethread shallow box 3 fixed battery box after the unblock and pull out the battery box, improved and drawn efficiency, and the stability that the battery box removed has been guaranteed at the extraction in-process.

The embodiment also discloses a battery swapping control method, which comprises the following steps: positioning the unlocking mechanism 7 to complete positioning with the unlocking piece on the battery bracket 10; controls the cartridge 3 to further project toward the battery tray 10 to push the battery case; the unlocking mechanism 7 is driven to extend out towards the battery bracket 10 until the unlocking piece is matched in place and locked.

When the battery box is pushed and placed by the battery replacing equipment, the unlocking mechanism 7 and the unlocking piece on the battery bracket 10 are positioned through the positioning mechanism, and after the battery box is accurately positioned, the battery pushing box 3 is controlled to move towards the battery bracket 10 to extend out, so that the battery box on the extending mechanism 2 is pushed out of the battery box tray device, and the battery box is pushed onto the battery bracket 10; then, the driving unit 712 drives the third mounting plate 74 to move toward the battery bracket 10, so that the unlocking rod 72 and the unlocking member are matched in place and connected, and then the rotating unit 711 drives the unlocking rod 72 to rotate and drives the unlocking member to rotate, so as to drive the locking mechanism to rotate, thereby locking the locking mechanism. Before installing the battery package, make release mechanism 7 and deblocking piece accurate alignment through the location, then release the battery box, at the battery box release in-process, thereby release mechanism 7 matches with the deblocking piece and targets in place and can lock the battery box, has improved the installation and the locking efficiency of battery box, and guarantees the stability that the battery box removed in the propelling movement placing process.

Example 2

The same parts of the battery replacement device in this embodiment as those in embodiment 1 will not be repeated, and only the differences will be described. As shown in fig. 8, the connection unit includes at least one engaging mechanism 32, and the engaging mechanism 32 is used for engaging with the battery box, so as to realize the fixed connection between the connection unit and the battery box.

When the engaging mechanism 32 and the battery box are engaged and connected, the disc pushing case 3 and the battery box are connected, and when the engaging mechanism 32 and the battery box are disconnected, the disc pushing case 3 and the battery box are disconnected. The clamping mechanism 32 and the battery box are matched with each other to form high-strength clamping connection, so that the connection stability is high, the phenomenon that the battery box is separated is effectively avoided, and the safety and the stability are greatly improved. Meanwhile, the clamping mechanism 32 is clamped and connected with the battery box, so that the structure is simple, the weight is light, and the whole weight of the battery replacing equipment and the whole weight of the battery box are effectively reduced. Moreover, the movable clamping mechanism 32 can be fixedly connected with battery boxes with different specifications.

The specific structure of the engaging mechanism 32 may not be limited, and the engaging mechanism 32 may have a hook, a snap ring, a slot, and the like, and the engaging mechanism 32 can be matched with a matching member on the battery box to realize engaging connection. The number and specific positions of the engaging mechanisms 32 are not limited, the number of the engaging mechanisms 32 may be multiple, and multiple engaging mechanisms 32 can move on the tray pushing box 3 through the driving part 33 respectively to connect or disconnect the engaging mechanisms 32 with or from matching parts matched with the battery box.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims (20)

1. A battery box tray device is characterized by comprising a tray, an extension mechanism and a pushing box, wherein the extension mechanism is connected to the tray and can extend and retract relative to an electric automobile or a battery compartment, and the pushing box is connected to the extension mechanism and can move along the extension mechanism relative to the electric automobile or the battery compartment so as to push and pull the battery box on the extension mechanism.

2. The battery box tray apparatus of claim 1, further comprising a first mounting plate disposed on the extension mechanism and extendable synchronously with the extension mechanism, wherein the first mounting plate is provided with a plurality of first auxiliary rollers that act on a bottom wall of the battery box.

3. The battery box tray arrangement of claim 2, wherein the first mounting plate is provided with side connecting plates on each side thereof, the two side connecting plates being arranged perpendicular to the first mounting plate to restrain the battery box for movement between the two side connecting plates.

4. The battery box tray device according to claim 3, wherein second auxiliary rollers are provided on inner side surfaces of the two side connecting plates, respectively, and the second auxiliary rollers act on both side walls of the battery box.

5. The battery box tray arrangement of claim 1, wherein a first rail structure is provided between the extension mechanism and the tray;

and/or a second guide rail structure is arranged between the extending mechanism and the push box.

6. The battery box tray apparatus of claim 1, wherein the pushing box has a connection unit thereon, the connection unit being adapted to connect with the battery box so as to push and pull the battery box.

7. The battery box tray apparatus of claim 6, wherein the connection unit comprises a magnetic element for generating an attractive magnetic force with the battery box, thereby fixedly connecting the connection unit with the battery box.

8. The battery box tray apparatus of claim 6, wherein the connecting unit comprises at least one engaging mechanism for engaging with the battery box, thereby fixedly connecting the connecting unit with the battery box.

9. The battery box tray apparatus of claim 1, further comprising an unlocking mechanism connected to the extension mechanism and extending synchronously with the extension mechanism, the unlocking mechanism for unlocking or locking the battery box within the battery tray.

10. The battery box tray apparatus of claim 9, wherein the unlocking mechanism comprises a driving mechanism and an unlocking rod, the driving mechanism drives the unlocking rod to move to drive the locking mechanism to move, and the unlocking rod is used for driving the locking mechanism on the battery bracket to move to unlock or lock the battery box.

11. The battery box tray arrangement of claim 10, wherein the unlocking mechanism moves on the extension mechanism in a direction toward the battery bracket to mate the unlocking lever in place with an unlocking member on the battery bracket.

12. The battery box tray device according to claim 10, wherein the unlocking mechanism further comprises a connecting member that can be twisted in a radial direction, both ends of the connecting member are connected to the driving mechanism and the unlocking lever, respectively, the driving mechanism drives the unlocking lever to rotate along an axis of the unlocking lever through the connecting member, and the connecting member is adapted to the radial displacement of the unlocking lever.

13. The battery box tray apparatus of claim 10, wherein one end of the unlocking lever is adapted to be inserted into the unlocking member, and the other end of the unlocking lever is connected to the driving mechanism and is movable in a direction close to the driving mechanism.

14. The battery box tray apparatus of claim 12, wherein the unlocking mechanism further comprises a detection unit for detecting whether the unlocking lever moves in a direction close to the driving mechanism.

15. The battery box tray apparatus according to claim 9, further comprising a positioning mechanism disposed on an end surface of the tray facing the electric vehicle or the battery compartment, the positioning mechanism being configured to position the unlocking mechanism to complete positioning with the unlocking member on the battery bracket.

16. The battery box tray apparatus of claim 15, wherein the positioning mechanism comprises:

the two vision sensors are respectively used for carrying out image acquisition on a first position and a second position of the battery bracket so as to obtain a first image and a second image;

and the image processing module is used for carrying out image processing on the first image and the second image so as to obtain the position adjustment amount.

17. A battery swapping apparatus, characterized in that it comprises a battery box tray device according to any of claims 1-16.

18. The battery swapping device of claim 17, further comprising a position adjustment mechanism configured to adjust a position of the unlocking mechanism according to at least one of the horizontal displacement, the vertical displacement, and the rotation angle obtained by the positioning mechanism until the unlocking mechanism and the unlocking member on the battery bracket are positioned.

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

positioning the unlocking mechanism to complete positioning with the unlocking piece on the battery bracket;

the unlocking mechanism is driven to extend out towards the battery bracket until the unlocking piece is matched in place and is unlocked;

the push box is controlled to further extend towards the battery bracket so as to pull the battery box.

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

positioning the unlocking mechanism to complete positioning with the unlocking piece on the battery bracket;

controlling the pushing box to further extend towards the battery bracket so as to push the battery box;

the drive release mechanism orientation battery tray stretch out to with the unblock piece matches and targets in place and locks.

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