CN113665414B - Battery pack take-out control method and battery pack installation control method - Google Patents
Battery pack take-out control method and battery pack installation control method Download PDFInfo
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- CN113665414B CN113665414B CN202010415433.9A CN202010415433A CN113665414B CN 113665414 B CN113665414 B CN 113665414B CN 202010415433 A CN202010415433 A CN 202010415433A CN 113665414 B CN113665414 B CN 113665414B
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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
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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
- B60L53/30—Constructional details of charging stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
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- 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
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- 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
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- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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Abstract
The invention discloses a battery pack taking-out control method and an installation method, which comprise the following steps: controlling the battery changing equipment to move to a position where an unlocking mechanism of the battery changing equipment is aligned with an unlocking piece on the battery bracket; controlling the unlocking mechanism to move towards the unlocking piece to be matched in place; and after the push-pull mechanism takes the battery pack, controlling the unlocking mechanism and unlocking. According to the battery pack taking-out control method and the battery pack installation control method, the battery pack is taken out by controlling the battery changing equipment to move, so that the unlocking mechanism arranged on the battery changing equipment is aligned with the unlocking piece arranged on the battery bracket, the battery pack arranged on the battery bracket is unlocked or locked by the unlocking mechanism arranged on the battery changing equipment in the process of taking out the battery pack by the battery changing equipment, the battery pack is moved relative to the battery bracket by the push-pull mechanism, the accuracy and the efficiency of unlocking or locking in the process of taking out the battery pack are improved by positioning, and the safety can be ensured.
Description
Technical Field
The invention relates to the field of power conversion, in particular to a battery pack taking-out control method and a battery pack installation control method.
Background
Electric vehicles are rapidly developed and are increasingly widely used. When the electric quantity is insufficient, a user can drive the electric vehicle into the power exchange station to replace the battery pack, and whether the battery pack is installed in place is a key whether the power exchange is successful or not.
When a battery pack is taken or placed from a battery bracket by a battery changing device, how to accurately align the battery changing device relative to the battery bracket becomes a key point for successful battery pack removal or placement. However, in the existing power conversion process, it is often difficult to quickly and accurately realize accurate positioning and docking of the power conversion equipment and the battery bracket, and in the process that the power conversion equipment takes out the discharge cell pack relative to the battery bracket, the stability of placement or taking out is difficult to be ensured, so that the stability of the power conversion process is low, the efficiency is low, potential safety hazards exist, and the like.
Disclosure of Invention
The invention aims to overcome the defects that in the prior art, accurate positioning and butt joint of battery replacement equipment and a battery bracket are difficult to quickly and accurately realize, and a battery pack is difficult to be reliably placed or taken out of the battery bracket, so that the battery replacement efficiency is low, the stability is low and the safety is poor.
The invention solves the technical problems by the following technical scheme:
a battery pack take-out control method for controlling a battery pack to be taken out from a battery compartment or an electric vehicle by a battery replacement device, the battery pack being locked to the battery compartment or a battery bracket in the electric vehicle, the battery pack take-out control method comprising the steps of:
controlling the battery changing equipment to move to a position enabling an unlocking mechanism of the battery changing equipment to be aligned with an unlocking piece on the battery bracket;
controlling the unlocking mechanism to move towards the unlocking piece to be matched in place and unlock;
and controlling a push-pull mechanism of the battery replacing device to be connected with the battery pack, and moving the battery pack from the battery bracket to the battery replacing device.
According to the battery pack taking-out control method, the battery replacement equipment is controlled to move, so that the unlocking mechanism arranged on the battery replacement equipment is aligned with the unlocking piece positioned on the battery bracket, the battery pack positioned on the battery bracket is unlocked by the unlocking mechanism arranged on the battery replacement equipment in the battery pack taking-out process through the battery replacement equipment, the unlocked battery pack is taken out through the push-pull mechanism, the unlocking accuracy and unlocking efficiency in the battery pack taking-out process are improved through positioning, the battery pack is taken out in a translation mode through the push-pull mechanism, the battery taking-out stability is guaranteed, damage to the battery pack is avoided, and the battery replacement safety is improved.
Preferably, the step of controlling the battery changing device to move to a position where the unlocking mechanism of the battery changing device is aligned with the unlocking piece on the battery bracket includes:
image acquisition is carried out on the first position and the second position of the battery bracket so as to obtain a first image and a second image;
performing image processing on the first image and the second image to obtain a position adjustment amount;
and controlling the battery replacing equipment to move to a position where the unlocking mechanism is aligned with the unlocking piece according to the position adjustment quantity.
The position adjustment quantity of the battery replacement equipment relative to the battery bracket is obtained in an image acquisition mode, and the position of the battery replacement equipment is adjusted based on the position adjustment quantity, so that the position accuracy of the battery replacement equipment relative to the battery bracket can be effectively improved, and the success rate of procedures such as unlocking and taking out a battery pack is ensured.
Preferably, the image processing of the first image and the second image to obtain the position adjustment amount includes a horizontal displacement amount or a vertical displacement amount or a rotation angle amount.
By detecting the position adjustment amount based on the direction of each degree of freedom of movement such as horizontal, vertical or rotation, the versatility of the position adjustment amount is improved, and the battery exchange device can easily adjust the position relative to the battery bracket based on the displacement amount or rotation amount.
Preferably, the power conversion device comprises a horizontal adjustment unit or a vertical adjustment unit or a rotation adjustment unit;
the step of controlling the battery replacing equipment to move to the position where the unlocking mechanism is aligned with the unlocking piece according to the position adjustment amount comprises the following steps:
controlling the horizontal adjustment unit to move according to the horizontal displacement; or alternatively, the first and second heat exchangers may be,
controlling the vertical adjustment unit to move according to the vertical displacement; or alternatively, the first and second heat exchangers may be,
the rotation adjustment unit is controlled to rotate according to the rotation angle amount.
After the specific components in the position adjustment quantity are obtained, based on different degrees of freedom directions, each motion degree component in the position adjustment quantity is respectively used as an adjustment basis of an adjustment unit of each motion degree in the battery exchange equipment, so that the purpose of controlling the battery exchange equipment to move to the relative alignment position of the unlocking mechanism and the unlocking piece based on the position adjustment quantity is more accurately achieved.
Preferably, before the step of acquiring the images of the first position and the second position of the battery bracket to obtain the first image and the second image, the method further comprises:
and controlling the battery replacing equipment to move to a rough positioning position for aligning an unlocking mechanism of the battery replacing equipment with an unlocking piece on the battery bracket based on a preset value.
Before the position of the battery replacement equipment relative to the battery bracket is accurately detected based on an image acquisition mode, the battery replacement equipment is moved to a rough positioning position, so that the displacement stroke in the accurate positioning process is reduced, and the positioning efficiency can be improved.
Preferably, the step of controlling the unlocking mechanism to move toward the unlocking member to be engaged in position and unlock includes:
controlling the unlocking mechanism to move towards the battery bracket, so that an unlocking rod of the unlocking mechanism is matched with the unlocking piece in place;
and driving the unlocking rod to drive the unlocking piece to move so as to unlock the locking mechanism for locking the battery pack.
In this scheme, drive the unlatching piece motion through the drive unlatching lever to transmit the displacement to locking mechanism, realize the purpose of the unblock battery package of locking mechanism. The unlocking mode has high unlocking precision and improves the power conversion efficiency; meanwhile, misoperation is effectively avoided, and safety and stability are greatly improved.
Preferably, in the step of controlling the unlocking mechanism to move towards the battery bracket to enable the unlocking rod and the unlocking piece to be matched in place, the extending mechanism of the battery replacing equipment is controlled to drive the unlocking mechanism to extend, and the unlocking mechanism is enabled to be close to the unlocking piece.
In this scheme, utilize the extending mechanism on the battery replacement equipment to drive release mechanism and stretch out to the position that is close to the battery bracket, be convenient for follow-up execution unblock operation, improve the unlocking efficiency, simplified the structure complexity of battery replacement equipment.
Preferably, before the step of driving the unlocking lever to drive the unlocking member to move so as to unlock the locking mechanism for locking the battery pack, the method further comprises: judging whether the unlocking rod is positioned in an unlocking matching part of the unlocking piece or not;
if yes, the unlocking rod is driven to move.
In this scheme, through judging whether the unblock pole is located the unblock matching spare and come as the benchmark of actuating the unblock pole motion, effectively avoid knowing the phenomenon that the locking lever takes place to drive the unblock pole motion when not being located the unblock matching spare, effectively avoided taking place the maloperation, improved the security stability in the power conversion in-process greatly.
Preferably, the step of controlling the push-pull mechanism of the battery changing device to be connected with the battery pack and moving the battery pack from the battery bracket to the battery changing device comprises the following steps:
controlling the push-pull mechanism to extend to be connected with the battery pack;
the push-pull mechanism is controlled to retract so as to pull the battery pack to the battery exchange device.
In this aspect, a preferred embodiment for retrieving a battery pack from a battery exchange device is provided.
A battery pack installation control method for controlling a battery replacement device to install a battery pack on a battery compartment or a battery bracket of an electric vehicle, the battery pack installation control method comprising the steps of:
controlling the battery changing equipment to move to a position where an unlocking mechanism of the battery changing equipment is aligned with an unlocking piece on the battery bracket;
controlling the unlocking mechanism to move towards the unlocking piece to be matched in position;
controlling a push-pull mechanism of the battery changing device to move the battery pack from the battery changing device to the battery bracket;
and controlling the unlocking mechanism to lock the unlocking piece, so that the battery pack is locked on the battery bracket.
According to the battery pack installation control method, the battery pack is placed on the battery bracket by the battery replacement equipment, the unlocking mechanism arranged on the battery replacement equipment is aligned with the unlocking piece positioned on the battery bracket by controlling the battery replacement equipment to lock the battery pack positioned on the battery bracket by the unlocking mechanism arranged on the battery replacement equipment, the unlocked battery pack is taken out by the push-pull mechanism, the locking accuracy and the locking efficiency in the battery pack installation process are improved by positioning, the battery pack is placed in the battery pack in a translation mode by the push-pull mechanism, the stability of battery taking out is ensured, the damage to the battery pack is avoided, and the battery replacement safety is improved.
Preferably, the step of controlling the battery changing device to move to a position where the unlocking mechanism of the battery changing device is aligned with the unlocking piece on the battery bracket includes:
image acquisition is carried out on the first position and the second position of the battery bracket so as to obtain a first image and a second image;
performing image processing on the first image and the second image to obtain a position adjustment amount;
and controlling the battery replacing equipment to move to a position where the unlocking mechanism is aligned with the unlocking piece according to the position adjustment quantity.
The position adjustment quantity of the battery replacement equipment relative to the battery bracket is obtained in an image acquisition mode, and the position of the battery replacement equipment is adjusted based on the position adjustment quantity, so that the position accuracy of the battery replacement equipment relative to the battery bracket can be effectively improved, and the success rate of procedures such as placing and locking a battery pack is guaranteed.
Preferably, the image processing of the first image and the second image to obtain the position adjustment amount includes a horizontal displacement amount or a vertical displacement amount or a rotation angle amount.
By detecting the position adjustment amount based on the direction of each degree of freedom of movement such as horizontal, vertical or rotation, the versatility of the position adjustment amount is improved, and the battery exchange device can easily adjust the position relative to the battery bracket based on the displacement amount or rotation amount.
Preferably, the power conversion device comprises a horizontal adjustment unit or a vertical adjustment unit or a rotation adjustment unit;
the step of controlling the battery replacing equipment to move to the position where the unlocking mechanism is aligned with the unlocking piece according to the position adjustment amount comprises the following steps:
controlling the horizontal adjustment unit to move according to the horizontal displacement; or alternatively, the first and second heat exchangers may be,
controlling the vertical adjustment unit to move according to the vertical displacement; or alternatively, the first and second heat exchangers may be,
the rotation adjustment unit is controlled to rotate according to the rotation angle amount.
The motion degree components in the position adjustment quantity are respectively used as adjustment basis of the adjustment units of the motion degrees in the battery exchange equipment, so that the purpose of controlling the battery exchange equipment to move to the relative alignment position of the unlocking mechanism and the unlocking piece based on the position adjustment quantity is more accurately realized.
Preferably, before the step of acquiring the images of the first position and the second position of the battery bracket to obtain the first image and the second image, the method further comprises:
and controlling the battery replacing equipment to move to a rough positioning position for aligning an unlocking mechanism of the battery replacing equipment with an unlocking piece on the battery bracket based on a preset value.
Before the position of the battery replacement equipment relative to the battery bracket is accurately detected based on an image acquisition mode, the battery replacement equipment is moved to a rough positioning position, so that the displacement stroke in the accurate positioning process is reduced, and the positioning efficiency can be improved.
Preferably, the step of controlling the unlocking mechanism to move toward the unlocking member to be engaged in position includes: controlling the unlocking mechanism to move towards the battery bracket, so that an unlocking rod of the unlocking mechanism is matched with the unlocking piece in place;
the step of controlling the unlocking mechanism to lock the unlocking piece so that the battery pack is locked on the battery bracket comprises the following steps of: and driving the unlocking rod to drive the unlocking piece to move along the direction opposite to the unlocking direction, so that the battery pack is locked on the battery bracket.
In this scheme, through the motion of drive unlocking lever along the direction opposite to the direction of motion when unblock drive unlocking piece to transmit the displacement to locking mechanism, realize the purpose of locking battery package of locking mechanism. The locking mode has high locking precision and improves the power conversion efficiency; meanwhile, misoperation is effectively avoided, and safety and stability are greatly improved.
Preferably, before the step of controlling the unlocking mechanism to lock the unlocking member to lock the battery pack on the battery bracket, the method further comprises: judging whether the unlocking rod is positioned in an unlocking matching part of the unlocking piece or not;
If yes, the unlocking rod is driven to move in the direction opposite to the unlocking direction.
In this scheme, through judging whether the unblock pole is located the unblock matching spare and come as the benchmark of actuating the unblock pole motion, effectively avoid knowing the phenomenon that the locking lever takes place to drive the unblock pole motion when not being located the unblock matching spare, effectively avoided taking place the maloperation, improved the security stability in the power conversion in-process greatly.
Preferably, the step of moving the battery pack from the battery exchange device to the battery bracket in the push-pull mechanism of the battery exchange device comprises: controlling the push-pull mechanism to move the battery pack from the battery replacing device to the battery bracket, so that the battery pack is in contact with a locking mechanism;
the step of controlling the unlocking mechanism to lock the unlocking piece so that the battery pack is locked on the battery bracket comprises the following steps of: and controlling the unlocking mechanism to lock a locking mechanism connected with the unlocking rod, so that the locking mechanism pulls the battery pack along the installation direction of the battery pack, and locks the battery pack on the battery bracket.
Through the in-process that carries out the locking to the battery package at drive locking mechanism, utilize locking mechanism to draw the battery package along the installation direction of battery package, realize improving the purpose of fixed reliability.
Meanwhile, in the process of pulling the battery pack along the installation direction of the battery pack, the displacement can be used for realizing electric connection between the battery pack and the battery bracket, so that the step of installing the battery pack is simplified.
Preferably, the step of moving the battery pack from the battery exchange device to the battery bracket in the push-pull mechanism of the battery exchange device comprises: and controlling the push-pull mechanism to extend so as to move the battery pack from the battery replacing device to the battery bracket.
In this aspect, a preferred embodiment for moving a battery pack onto a battery carrier is provided.
The invention has the positive progress effects that:
according to the battery pack taking-out control method and the battery pack installation control method, the battery exchange equipment is controlled to move, so that the unlocking mechanism arranged on the battery exchange equipment is aligned with the unlocking piece positioned on the battery bracket, the unlocking mechanism arranged on the battery exchange equipment is utilized to unlock or lock the battery pack positioned on the battery bracket in the process of taking out the battery pack through the battery exchange equipment, the battery pack is moved relative to the battery bracket through the push-pull mechanism, the accuracy and the efficiency of unlocking or locking in the process of taking out the battery pack are improved through positioning, the battery pack is taken out in a translation mode through the push-pull mechanism, the stability of taking out and putting the battery is ensured, damage to the battery pack is avoided, and the battery pack changing safety is improved.
Drawings
Fig. 1 is a flowchart of a battery pack handling control method according to an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a visual positioning system according to an embodiment of the invention.
Fig. 3 is a schematic diagram of a visual positioning system according to an embodiment of the invention for acquiring location information of a target device.
Fig. 4 is a flowchart (one) of step S11 of the battery pack handling control method according to an embodiment of the invention.
Fig. 5 is a schematic view of a first reference image of a visual positioning system according to an embodiment of the invention.
Fig. 6 is a schematic view of a first image of a visual positioning system according to an embodiment of the invention.
Fig. 7 is a schematic diagram of a visual positioning system according to an embodiment of the present invention for acquiring a first depth of field and a second depth of field.
Fig. 8 is a flowchart (second) of step S11 of the battery pack handling control method according to an embodiment of the invention.
Fig. 9 is a perspective view of a battery exchange device according to an embodiment of the present invention.
Fig. 10 is a front view of a part of a battery exchange device according to an embodiment of the present invention.
Fig. 11 is a schematic diagram of a rotation adjustment unit of a power conversion device according to an embodiment of the invention.
Fig. 12 is a flowchart of step S12 of the battery pack handling control method according to an embodiment of the present invention.
Fig. 13 is a schematic view illustrating a structure of a battery tray according to an embodiment of the present invention.
Fig. 14 is a schematic perspective view of an unlocking mechanism according to an embodiment of the invention.
Fig. 15 is a schematic structural diagram of an unlocking mechanism according to an embodiment of the invention.
Fig. 16 is a schematic cross-sectional view taken along line A-A in fig. 15.
Fig. 17 is an exploded view of an unlocking mechanism according to an embodiment of the present invention.
Fig. 18 is a flowchart of step S13 of the battery pack handling control method according to an embodiment of the present invention.
Fig. 19 is a flowchart of a battery pack installation control method according to an embodiment of the present invention.
Fig. 20 is a schematic structural view of a battery pack fixing system according to an embodiment of the present invention.
Fig. 21 is a schematic structural view of a bracket according to an embodiment of the present invention.
Fig. 22 is a partial enlarged view of a portion C in fig. 21.
Fig. 23 is a schematic structural view of a battery pack according to an embodiment of the present invention.
Fig. 24 is a partial enlarged view of a portion D in fig. 23.
Fig. 25 is a schematic diagram showing movement of a locking mechanism of a method for mounting a battery pack according to an embodiment of the present invention.
Reference numerals illustrate:
a first visual sensor 501, a second visual sensor 502, a position acquisition unit 503
Unlocking mechanism 802
Top rail guide wheel 703
Ground rail guide wheel 704
First vertical driver 61
Second vertical driver 62
Drive mechanism 1
First mounting plate 13
Unlocking lever 2
Waist-shaped hole 221
First elastic member 31
First connecting sleeve 32
Second connecting sleeve 33
Detection unit 4
Detection block 5
Second elastic member 6
Guide hole 71
Bushing 72
Second mounting plate 9
Rotary insert 311
Stop 312
A limiting part 3121, a holding cavity 3121a, an opening 3121b
Detailed Description
The invention is further illustrated by means of the following examples, which are not intended to limit the scope of the invention.
As shown in fig. 1, the present invention provides a battery pack taking control method for controlling a battery exchange device to take out a battery pack from a battery compartment or an electric vehicle, the battery pack being locked on a battery compartment or a battery bracket in the electric vehicle by a locking mechanism, the battery pack taking control method specifically comprising the steps of:
S11, controlling the battery replacement equipment to move to a position where an unlocking mechanism of the battery replacement equipment is aligned with an unlocking piece on the battery bracket;
s12, controlling the unlocking mechanism to move towards the unlocking piece to be matched in place and unlock;
and S13, controlling a push-pull mechanism of the battery exchange device to be connected with the battery pack, and moving the battery pack from the battery bracket to the battery exchange device.
According to the battery pack taking-out control method, the battery replacement equipment is controlled to move, so that the unlocking mechanism arranged on the battery replacement equipment is aligned with the unlocking piece positioned on the battery bracket, the battery pack positioned on the battery bracket is unlocked by the unlocking mechanism arranged on the battery replacement equipment in the battery pack taking-out process through the battery replacement equipment, the unlocked battery pack is taken out through the push-pull mechanism, the unlocking accuracy and unlocking efficiency in the battery pack taking-out process are improved through positioning, the battery pack is taken out in a translation mode through the push-pull mechanism, the battery taking-out stability is guaranteed, damage to the battery pack is avoided, and the battery replacement safety is improved.
That is, in the battery pack removal control method, it is not necessary to provide an unlocking mechanism for unlocking the lock mechanism on the battery holder, and it is only necessary to provide the unlocking mechanism on the battery exchange device. Therefore, for the charging and replacing station with a plurality of battery brackets, the requirement of unlocking the plurality of battery brackets and taking out the battery pack can be met only by arranging a single unlocking mechanism on a single battery replacing device, so that the structural complexity of the charging and replacing station can be reduced, and the unlocking reliability in the process of taking out the battery pack can be improved.
For step S11, how to accurately control the battery changer to move to a position where the unlocking mechanism of the battery changer aligns with the unlocking member on the battery bracket, a specific scheme based on image acquisition and identifying the position adjustment is provided herein, which is based on the visual positioning system 801 provided on the battery bracket of the battery changer.
Specifically, as shown in fig. 2, the visual positioning system 801 includes a first visual sensor 501, a second visual sensor 502, and a position acquisition unit 503.
The first vision sensor 501 is configured to acquire a first image of a first location of a target device; the second vision sensor 502 is used to acquire a second image of a second location of the target device. The position acquisition unit 503 is configured to obtain position information of the target device from the first image and the second image.
In implementation, as shown in fig. 3, the first vision sensor 501 acquires a first image of the target device in the direction indicated by the arrow, where the first image includes a first position a on the target device; the second vision sensor 502 acquires a second image of the target device in the direction indicated by the arrow, the second image including a second location B on the target device. The position acquisition unit 503 receives the first image and the second image, and then performs image processing to obtain position information of the target device.
The visual positioning system acquires an image of the target device based on the visual sensor, acquires the position information of the target device based on the image processing algorithm, and acquires higher positioning accuracy in a visual mode. When the visual positioning system is applied to the field of electric automobile battery replacement, accurate positioning of battery replacement equipment and a battery bracket can be realized quickly and accurately, reliability and accuracy are improved, and overall efficiency of battery pack taking and placing of the battery replacement equipment is ensured.
On this basis, the position acquisition unit 503 also obtains a position adjustment amount according to the position information of the target device and the reference position information of the target device, so that the visual positioning system 801 can effectively improve the accuracy of positioning.
Specifically, as shown in fig. 4, the step S11 of applying the visual positioning system 801 specifically includes the following steps:
s111, acquiring images of a first position and a second position of the battery bracket so as to obtain a first image and a second image;
s112, performing image processing on the first image and the second image to obtain a position adjustment amount;
and S113, controlling the battery replacement equipment to move to a position where the unlocking mechanism is aligned with the unlocking piece according to the position adjustment amount.
According to the scheme, the position adjustment quantity of the battery replacement equipment relative to the battery bracket is obtained in the mode of collecting the image, and the position of the battery replacement equipment is adjusted based on the position adjustment quantity, so that the position accuracy of the battery replacement equipment relative to the battery bracket can be effectively improved, and the success rate of procedures such as unlocking and taking out a battery pack is guaranteed.
In this embodiment, as an alternative embodiment of the visual positioning system 801, the position obtaining unit 503 performs image processing according to the images obtained by the first visual sensor 501 and the second visual sensor 502 in real time and the preset reference image of the target device, so as to obtain the position adjustment amount.
In an alternative embodiment, the position acquisition unit 503 acquires the horizontal displacement amount from the first image and the first reference image. Fig. 5 gives a schematic representation of the first reference image G1. The first reference image G1 is pre-stored in the position acquisition unit 503. The first reference image G1 includes a first location a on the target device. By analyzing the first reference image G1, the position acquisition unit 503 obtains the position of the corresponding pixel in the first reference image G1 of the first position a on the target device in the first reference image G1 as a reference for positioning, which is referred to as "target position" for convenience of description. The process of obtaining the target position by the position obtaining unit 503 may be implemented by using an algorithm already disclosed in the art, which is capable of being implemented by a person skilled in the art, and will not be described herein.
Fig. 6 gives a schematic representation of the first image G11. The first image G11 includes a first position a on the target device. By analyzing the first image G11, the position acquisition unit 503 obtains the position of the corresponding pixel in the first image G11 of the first position a on the target device in the first image G11, which is referred to as "real-time position" for convenience of explanation. The process of obtaining the target position by the position obtaining unit 503 may be implemented by using an algorithm already disclosed in the art, which is capable of being implemented by a person skilled in the art, and will not be described herein.
In an alternative embodiment, the position acquisition unit acquires the horizontal displacement amount from the first image and the first reference image. According to the image processing algorithm, the position acquisition unit 503 obtains a first horizontal displacement amount and a first vertical displacement amount of the first vision sensor 501 from the target position and the real-time position. By moving the first vision sensor 501 by the first horizontal displacement amount and the first vertical displacement amount, the first vision sensor 501 can be made to capture an image coincident with the first reference image G1. The process of obtaining the first horizontal displacement amount and the first vertical displacement amount of the first vision sensor 501 by the position obtaining unit 503 may be implemented by using an algorithm already disclosed in the art, which is capable of being implemented by a person skilled in the art, and will not be described herein. The position acquisition unit takes the first horizontal displacement amount as a horizontal displacement amount, and can realize corresponding horizontal displacement by moving the corresponding horizontal displacement amount so as to achieve matching with the target device in the horizontal direction; similarly, by moving the corresponding amount of the straight displacement, the corresponding straight displacement can be achieved to achieve matching with the target device in the straight direction.
In another alternative embodiment, the position acquisition unit acquires the horizontal displacement amount from the second image and the second reference image. The position acquisition unit 503 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 second vision sensor 502 by the second horizontal displacement amount and the second vertical displacement amount, the second vision sensor 502 can be made to capture an image coincident with the second reference image. The position acquisition unit takes the second horizontal displacement amount as a horizontal displacement amount, and can realize corresponding horizontal displacement by moving the corresponding horizontal displacement amount so as to achieve matching with the target device in the horizontal direction; similarly, by moving the corresponding amount of the straight displacement, the corresponding straight displacement can be achieved to achieve matching with the target device in the straight direction.
In another alternative embodiment, the reference position information of the target device is stored in the position acquisition unit 503 in advance. The position acquisition unit 503 obtains a position adjustment amount from pre-stored reference position information of the target device and position information acquired in real time to the target device. The first vision sensor 501 and the second vision sensor 502 are adjusted according to the position adjustment amount, so that the first vision sensor 501 can capture an image consistent with the first reference image and the second vision sensor 502 can capture an image consistent with the second reference image.
As an alternative embodiment, as shown in fig. 7, when the first visual sensor 501 and the second visual sensor 502 are disposed on the position adjustment mechanism 8, the first visual sensor 501 is disposed at a position corresponding to the first position a, and the second visual sensor 502 is disposed at a position corresponding to the second position B, with a first preset distance D3 between the first position a and the second position B, and a second preset distance L between the first visual sensor 501 and the second visual sensor 502. The position obtaining unit 503 performs image processing on the first image to obtain a first depth of field, where the first depth of field has a depth of field value D1 of a first position a in the first image; the position obtaining unit 503 performs image processing on the second image to obtain a second depth of field, and the second depth of field value is the depth of field value D2 of the second position B in the second image. The specific manner in which the position obtaining unit 503 obtains the depth value may be implemented by using an algorithm disclosed in the art, which is capable of being implemented by a person skilled in the art, and will not be described herein. The position acquisition unit 503 obtains a difference value d= |d2-d1| of two depth values. The position acquisition unit 503 can obtain the rotation angle θ according to the trigonometric function principle from the difference D of the depth values, the distance L between the first visual sensor 501 and the second visual sensor 502, and the distance D3 between the first position a and the second position B. The position adjustment mechanism 8 is rotated in the corresponding direction by the rotation angle amount θ, so that the target device 7 and the position adjustment mechanism 8 can be parallel.
The visual positioning system can realize positioning control in multiple directions through at least one of horizontal displacement, vertical displacement and angle rotation, so as to ensure the multi-dimensional positioning control requirement.
That is, in the image processing of the first image and the second image to obtain the position adjustment amount, specifically, it may include: the horizontal displacement amount, the vertical displacement amount, and the rotation angle amount distinguish the position adjustment amount in the directions through the three degrees of freedom of movement of horizontal, vertical, and rotation, so that the position adjustment amount obtained by analyzing the first image and the second image has versatility, so that the battery changing device adjusts the position with respect to the battery bracket based on the displacement amount or the rotation amount described above. The position adjustment amount may include only any one of a horizontal displacement amount, a vertical displacement amount, and a rotation angle amount, or may be a combination of two or all three of them.
On this basis, as shown in fig. 8, in step S113, controlling the battery exchange device to move to the position where the unlocking mechanism is aligned with the unlocking member according to the position adjustment amount may specifically include the following three schemes: controlling a horizontal adjustment unit of the battery exchange equipment to move according to the horizontal displacement in the position adjustment quantity; controlling a vertical adjustment unit in the battery exchange equipment to move according to the vertical displacement in the position adjustment quantity; and controlling a rotation adjusting unit in the power exchange equipment to rotate according to the rotation angle measurement in the position adjusting quantity. The aim of controlling the battery exchange equipment to move to the relative alignment position of the unlocking mechanism and the unlocking piece based on the position adjustment quantity is more accurately realized by taking each motion degree component in the position adjustment quantity as the adjustment basis of the adjustment unit of each motion degree in the battery exchange equipment.
Specifically, as shown in fig. 9, the battery exchange apparatus further includes a position adjustment mechanism for adjusting the position of the battery tray 100, and an unlocking mechanism 802 is mounted on the lower surface of the battery tray 100. The unlocking mechanism 802 is used for unlocking the battery pack locked on the battery bracket, and the position adjusting mechanism is used for adjusting the position of the unlocking mechanism 802 according to at least one of the horizontal displacement amount, the vertical displacement amount and the rotation angle amount acquired by the visual positioning system 801 until the unlocking mechanism 802 and the unlocking piece on the battery bracket are positioned.
Under the condition that the battery replacement equipment is applied to a battery replacement station, after the electric automobile enters the battery replacement station and is parked to a preset parking space, the battery replacement equipment moves towards a battery bracket of the electric automobile under the control of a position adjusting mechanism, and the position of an unlocking mechanism 802 is adjusted according to at least one of the horizontal displacement amount, the vertical displacement amount and the rotation angle amount of the battery bracket, which is acquired by a visual positioning system, until the unlocking mechanism 802 and an unlocking piece on the battery bracket are positioned.
As an alternative embodiment, the first visual sensor 501 and the second visual sensor 502 are provided on the battery tray 100. The position of the unlocking mechanism 802 is adjusted according to the position adjustment amount obtained by the visual positioning system 801, so that the unlocking mechanism 802 and the unlocking piece on the battery bracket can be positioned. The first visual sensor 501 and the second visual sensor 502 are arranged on the unlocking mechanism 802, so that the battery bracket position information acquired by the visual positioning system intuitively reflects the position relationship between the unlocking mechanism and the battery bracket, is beneficial to improving the positioning precision and is convenient for carrying out the power change operation.
In this embodiment, the position adjustment mechanism includes a control unit, a horizontal adjustment unit, a vertical adjustment unit, and a rotation adjustment unit, where the control unit is communicatively connected to the visual positioning system 801, so as to control the horizontal adjustment unit, the vertical adjustment unit, or the rotation adjustment unit to move to the adjustment position according to at least one of the horizontal displacement amount, the vertical displacement amount, and the rotation angle amount.
In order to realize horizontal movement, the horizontal adjustment unit specifically comprises a track, a guide wheel and a horizontal driver, wherein the horizontal driver is used for driving the guide wheel to move along the track according to the horizontal displacement. As an alternative embodiment, referring to fig. 7 and 8, the track includes a headrail 701 and a ground rail 702, and the guide wheels include a headrail guide wheel 703 and a ground rail guide wheel 704. The headrail guide wheel 703 is provided corresponding to the headrail 701, and the ground rail guide wheel 704 is provided corresponding to the ground rail 702. The horizontal drivers respectively drive the top rail guide wheels 703 to move along the top rail 701 in the X-axis direction (i.e., the horizontal direction), and drive the ground rail guide wheels 704 to move along the ground rail 702, thereby realizing the horizontal movement of the unlocking mechanism. In fig. 7, the X-axis, Y-axis, and Z-axis are perpendicular to each other. The frame of the power conversion actuator 803 is shown in fig. 10, and the specific structure of the power conversion actuator is not shown, and is realized by those skilled in the art, and will not be described herein.
The vertical displacement amount acquired by the visual positioning system 801 includes a first vertical displacement amount obtained from the first image and a second vertical displacement amount obtained from the second image.
As a specific embodiment, the vertical adjustment unit specifically includes a first vertical driver 61, a second vertical driver 62, a first lifting mechanism, a second lifting mechanism and a power exchange executing mechanism 803, where the first vertical driver is connected to the first lifting mechanism, the second vertical driver is connected to the second lifting mechanism, and the first lifting mechanism and the second lifting mechanism are respectively connected to two ends of the power exchange executing mechanism to drive two ends of the power exchange executing mechanism to lift and move; the first vertical driver is used for driving the first lifting mechanism according to the first vertical displacement amount, and the second vertical driver is used for driving the second lifting mechanism according to the second vertical displacement amount.
In particular, the first lifting mechanism includes a first chain 706 and a first sprocket 611 correspondingly disposed, and the first chain 706 drives the first sprocket 611 to move in a vertical direction (i.e. in a Z-axis direction) under the driving of the first vertical driver 61, so as to drive the power conversion actuator 803 to move in the vertical direction. The second lifting mechanism comprises a second chain 621 and a second sprocket 622 correspondingly arranged, and the second chain 621 drives the second sprocket 622 to move along the vertical direction under the driving of the second vertical driver 62 so as to drive the power conversion actuating mechanism 803 to move along the vertical direction.
In an alternative embodiment, as shown in fig. 11, the rotation adjustment unit specifically includes a turntable 811 and a rotation driver 812, where the turntable 811 is sleeved on the bottom of the power conversion actuator 803, and the rotation driver 812 is connected to the turntable 811 and is used to drive the turntable 811 to rotate the power conversion actuator 803 according to the rotation angle.
As shown in fig. 8, the process further includes step S110 before step S111: and controlling the power conversion equipment to move to a rough positioning position for aligning an unlocking mechanism of the power conversion equipment with an unlocking piece on the battery bracket based on a preset value.
Between the accurate detection of the position of the battery replacement equipment relative to the battery bracket based on the image acquisition mode, the battery replacement equipment is moved to a rough positioning position, so that the displacement stroke in the accurate positioning process is reduced, and the positioning efficiency can be improved.
As shown in fig. 12, the following steps may be specifically included in step S12:
s121, controlling the unlocking mechanism to move towards the battery bracket, so that the unlocking rod and the unlocking piece are matched in place;
s122, driving the unlocking rod to drive the unlocking piece to move, so that the locking mechanism of the locking battery pack is unlocked.
In this scheme, drive the unlatching piece motion through the drive unlatching lever to transmit the displacement to locking mechanism, realize the purpose of the unblock battery package of locking mechanism. The unlocking mode has high unlocking precision and improves the power conversion efficiency; meanwhile, misoperation is effectively avoided, and safety and stability are greatly improved.
Specifically, a scheme for implementing a specific structure of the unlocking mechanism is provided. As shown in fig. 13, the unlocking mechanism 802 is mounted on the lower surface of the battery tray 100, and the battery tray 100 specifically includes a tray body, an extension mechanism, and a push-pull mechanism 100a, the bottom of the extension mechanism being telescopically movable on the tray body in a first direction, the push-pull mechanism 100a being telescopically movable on the top of the extension mechanism in the first direction, the first direction being a direction approaching or separating from the battery box in the battery tray. The top of the extending mechanism is used for placing the battery box, the unlocking mechanism 802 is installed and arranged on the bottom surface of the extending mechanism, and the unlocking mechanism 802 is used for unlocking or locking the battery box in the battery bracket on the electric automobile.
As shown in fig. 14 to 17, the unlocking mechanism 802 specifically includes a driving mechanism 1 and an unlocking lever 2, the unlocking lever 2 being used to drive a locking mechanism on the battery bracket to rotate to unlock or lock the battery box; the driving mechanism 1 drives the unlocking rod 2 to rotate so as to drive the locking mechanism to rotate.
The driving mechanism 1 is installed and connected on an extending mechanism of the battery tray 100, and the unlocking rod 2 is matched and connected with an unlocking matching part of the locking mechanism to unlock or lock the battery box. The battery bracket is provided with an unlocking matching piece, the unlocking rod 2 is connected with the unlocking matching piece in a matching way, and the unlocking matching piece is connected with a locking mechanism on the battery bracket; the unlocking rod 2 is driven to rotate through the driving mechanism 1, and the unlocking matching piece is driven to rotate together by the rotation of the unlocking rod 2, so that the locking mechanism is driven to rotate, and unlocking or locking of the locking mechanism is realized. The unlocking rod 2 is driven to rotate by the driving mechanism 1 to drive the locking mechanism to rotate, so that the unlocking or locking of the battery box is realized, the unlocking or locking precision is very high, and the power conversion efficiency is improved; meanwhile, even if touch occurs, unlocking or locking of the locking mechanism can not be caused, misoperation is effectively avoided, and safety and stability of the battery replacement equipment are greatly improved.
The battery box can be provided with a locking groove, and the locking mechanism can be inserted into the locking groove or retracted out of the locking groove through rotation, so that the battery box can be locked or unlocked. The specific structure of the lock mechanism is not limited in this embodiment.
As shown in fig. 16 and 17, the unlocking lever 2 includes an insertion end 21, and the insertion end 21 is used to connect with a locking mechanism on a mating battery bracket. The extending mechanism drives the unlocking mechanism 802 to extend together in the extending process, and the insertion end 21 of the unlocking rod 2 is mutually connected and matched with the unlocking matching piece in an inserting mode, so that the unlocking mechanism 802 can unlock or lock the battery box; after the operation is completed, the insertion end 21 and the unlocking matching piece are disconnected with each other by retracting the extension mechanism, so that the separation is realized. The connection and disconnection are very convenient, the stability is high, and meanwhile, the structure is simple.
The outer surface of the insertion end 21 is provided with at least one abutting surface 211, an unlocking matching piece is arranged on the battery bracket and connected with the locking mechanism, the insertion end 21 is used for being inserted into the unlocking matching piece, and the abutting surface 211 is matched with the inner wall surface of the unlocking matching piece so as to drive the unlocking matching piece to rotate. When the unlocking rod 2 rotates, the abutting surface 211 is matched with the inner wall surface of the unlocking matching piece, so that the abutting surface 211 can apply acting force to the unlocking matching piece and drive the unlocking matching piece to rotate, and the locking mechanism is driven to rotate so as to unlock or lock the battery box. The unlocking matching piece is driven to rotate by applying acting force to the inner wall surface of the unlocking matching piece through the abutting surface 211, and the rotation stability is high. In this embodiment, the number of the abutting surfaces 211 is four, and the four abutting surfaces 211 enclose a square structure with each other, so that the rotation stability is higher. Of course, in other embodiments, the number of the abutting surfaces 211 is not limited, and the shapes of the abutting surfaces 211 enclosed by each other can drive the unlocking matching member to rotate only if the shapes are non-circular.
The end of the insertion end 21 remote from the driving mechanism 1 has a sliding guiding surface 212, and the sliding guiding surface 212 is connected to the abutment surface 211 for guiding the unlocking lever 2 to be inserted into the unlocking matching piece. The sliding guide surface 212 has a sliding guide function, and can adapt to small position deviation between the unlocking rod 2 and the unlocking matching piece through the sliding guide surface 212; when the insertion end 21 is inserted into the unlocking matching part, the sliding guide function is firstly achieved through the sliding guide surface 212, and the insertion end 21 is firstly inserted into the unlocking matching part, so that the abutting surface 211 can be ensured to stably enter the unlocking matching part even if the insertion end 21 has a small position deviation.
Since the outer surface of the insertion end 21 has a non-circular structure and the abutment surface 211 is required to be matched with the inner wall surface of the unlocking matching member, the insertion end 21 of the unlocking lever 2 needs to be accurately aligned for insertion. To achieve accurate alignment of the insertion end 21 into the unlocking matching member. The unlocking lever 2 has a connecting portion 22 at one end facing the driving mechanism 1, and a waist-shaped hole 221 is formed in the outer peripheral surface of the connecting portion 22, and the connecting portion 22 is connected to the driving mechanism 1 through the waist-shaped hole 221. The unlocking lever 2 is connected with the driving mechanism 1 through the connecting part 22, and the waist-shaped hole 221 extends along the outer peripheral surface of the connecting part 22, so that the connecting part 22 can be rotationally adjusted along the circumferential direction thereof during installation connection, and the unlocking lever 2 can be adjusted, so that the insertion end 21 is inserted into the unlocking matching piece to realize matching of the abutting surface 211 and the inner wall surface of the unlocking matching piece.
The connection portion 22 is provided with a connection groove 222 extending in the axial direction thereof, and the unlocking lever 2 is connected to the driving mechanism 1 through the connection groove 222. The connecting groove 222 extends inwards from the end face of the connecting part 22 towards the driving mechanism 1 along the axial direction thereof, so that the driving mechanism 1 can be connected with the connecting part 22 by being inserted into the connecting groove 222, and the installation and the connection are convenient; at the same time, the unlocking lever 2 is guaranteed to rotate along the axis, so that the unlocking mechanism 802 has higher stability in the unlocking or locking process.
As shown in fig. 14, the unlocking mechanism 802 further includes a connection unit 3, both ends of the connection unit 3 are respectively connected to the driving mechanism 1 and the unlocking lever 2, and the driving mechanism 1 drives the unlocking lever 2 to rotate along the axis of the unlocking lever 2 through the connection unit 3. The driving mechanism 1 drives the connecting unit 3 to rotate, and the connecting unit 3 drives the unlocking rod 2 to rotate, so that the unlocking rod 2 is guaranteed to rotate along the axis of the unlocking rod, and the unlocking mechanism 802 is higher in stability in the unlocking or locking process.
The unlocking rod 2 and the unlocking matching piece not only need to be rotationally adjusted in the circumferential direction of the unlocking rod 2, but also have the condition that the axis of the unlocking rod 2 and the axis of the unlocking matching piece are inaccurate in alignment, namely have small position deviation and are not in the same straight line. To achieve that the unlocking mechanism 802 can accommodate for misalignment. As shown in fig. 16, the connection unit 3 includes a first elastic member 31 which is rotatable in a radial direction, both ends of the first elastic member 31 are respectively connected to the driving mechanism 1 and the unlocking lever 2, and the first elastic member 31 accommodates the radial displacement of the unlocking lever 2. Under the condition that the driving mechanism 1 is fixed, the first elastic piece 31 can be displaced in the radial direction, so that the unlocking rod 2 can be matched and inserted into the unlocking matching piece, and the unlocking mechanism 802 is higher in stability in the unlocking or locking process.
The connecting unit 3 further comprises a first connecting sleeve 32 and a second connecting sleeve 33, two ends of the first elastic piece 31 are respectively connected with the first connecting sleeve 32 and the second connecting sleeve 33, the unlocking rod 2 is connected with the first connecting sleeve 32, and the driving mechanism 1 is connected with the second connecting sleeve 33. The driving mechanism 1, the first elastic piece 31 and the unlocking rod 2 are sequentially connected in series through the first connecting sleeve 32 and the second connecting sleeve 33, so that the unlocking mechanism 802 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. The first elastic member 31 may be a flexible shaft, and the first connecting sleeve 32 and the second connecting sleeve 33 may be made of metal.
The connecting unit 3 is slidably arranged on the driving mechanism 1 to drive the unlocking rod 2 along the direction approaching to the driving mechanism 1. The unlocking mechanism 802 is in the unlocking or locking process, the insertion end 21 of the unlocking rod 2 is required to be accurately aligned and inserted into the unlocking matching piece, when the unlocking rod 2 is inserted into the unlocking matching piece, the unlocking matching piece is mutually abutted against the unlocking matching piece, so that the unlocking matching piece can apply acting force to the unlocking rod 2 along the direction close to the driving mechanism 1, the unlocking rod 2 is slidably arranged on the driving mechanism 1 through the connecting unit 3, the connecting unit 3 can be driven to move on the driving mechanism 1 when the unlocking rod 2 receives acting force along the direction close to the driving mechanism 1, the structural damage caused by rigid connection is effectively avoided, the safety stability is higher, and the service life is long. Of course, when the insertion end 21 of the unlocking lever 2 is not inserted into the unlocking matching member, the unlocking matching member does not apply a force to the unlocking lever 2 in a direction approaching the driving mechanism 1.
The unlocking mechanism 802 further includes a detection unit 4, and the detection unit 4 is configured to detect whether the unlocking lever 2 moves in a direction approaching the driving mechanism 1. In the unlocking or locking process of the unlocking mechanism 802, the insertion end 21 of the unlocking rod 2 needs to be accurately aligned and inserted into the unlocking matching piece, the unlocking rod 2 can move along the direction close to the driving mechanism 1 due to the abutting acting force of the unlocking matching piece, the detection unit 4 detects the movement of the unlocking rod 2, the unlocking rod 2 is indicated to be inserted into the unlocking matching piece, and if the detection unit 4 detects the unlocking rod 2 to be not moved, the unlocking rod 2 is indicated to be misplaced with the unlocking matching piece and is not inserted into the unlocking matching piece. Whether the unlocking rod 2 is positioned at the unlocking position in the unlocking matching part can be detected through the detection unit 4, so that the safety stability of the battery replacement equipment in the battery replacement process is greatly improved.
The unlocking mechanism 802 further includes a detection block 5, the detection block 5 is connected to the connection unit 3, and the detection unit 4 is configured to detect the detection block 5, so as to detect whether the unlocking lever 2 is aligned with the locking mechanism. The detection block 5 is connected with the connecting unit 3, and when the unlocking rod 2 is aligned and inserted into the unlocking matching piece, the detection block 5 and the connecting unit 3 are driven to move along the direction approaching to the driving mechanism 1.
In this embodiment, in the initial state, the detection block 5 is not located at the detection position of the detection unit 4, and when the unlocking lever 2 is inserted into the unlocking matching member and aligns with the locking mechanism, the detection block 5 will move to the detection position of the detection unit 4, and the detection unit 4 can detect that the detection block 5 moves to the detection position, so that the unlocking lever 2 aligns with the locking mechanism; when the detection unit 4 does not detect that the detection block 5 moves to the detection position, it means that the lock release lever 2 is not aligned with the lock mechanism. The detection block 5 and the detection unit 4 are matched with each other to detect, so that the detection is accurate, misoperation is avoided, and the safety and stability of the battery replacement device are greatly improved. The detecting unit 4 may be an inductor, and the detecting block 5 may be an induction block.
The detection block 5 is sleeved on the connection unit 3. So that the installation and the arrangement of the detection block 5 are very convenient.
The drive mechanism 1 comprises a rotation unit 11, the rotation unit 11 being connected to the unit 3 by a sleeve 14 and being adapted to drive the unlocking lever 2 in rotation along the axis of the unlocking lever 2. The rotary unit 11 is connected with the second connecting sleeve 33 of the connecting unit 3 through the sleeve 14, so that matching, assembling and connection are facilitated, the unlocking mechanism 802 is enabled to be higher in stability in the unlocking or locking process by ensuring that the unlocking rod 2 rotates along the axis of the unlocking rod. Wherein the rotary unit 11 may be a screw driver.
Of course, for the detection of whether the unlocking lever 2 is inserted into the unlocking matching piece, it is also possible to detect whether the unlocking lever 2 is inserted into the unlocking matching piece by feedback of the moment, the number of rotations, when the rotation unit 11 drives the unlocking lever 2 to rotate.
As shown in fig. 17, the unlocking mechanism 802 further includes a first holder 7 having a guide hole 71 extending in the axial direction of the unlocking lever 2, and the connection unit 3 passes through the guide hole 71 and is movable within the guide hole 71. The guide hole 71 has a guide function, so that the connecting unit 3 moves along the axial direction of the unlocking rod 2, the phenomenon that the connecting unit 3 is offset and misplaced in the moving process is effectively avoided, and the safety and stability of the power exchange equipment are greatly improved.
As shown in fig. 16, a bushing 72 is provided between the first holder 7 and the connection unit 3. The bushing 72 serves as a protection, reduces wear of the connection unit 3 during movement, and effectively prolongs the service life of the unlocking mechanism 802.
As shown in fig. 15 and 16, the unlocking mechanism 802 includes a second elastic member 6 that is axially stretchable, and the second elastic member 6 abuts against the connection unit 3 for applying a force to the connection unit 3 in a direction away from the driving mechanism 1. When the detecting unit 4 detects that the detecting block 5 is at the detecting position, the detecting unit 4 will send out a signal and is used for controlling the rotating unit 11 to open, so as to drive the unlocking rod to rotate. The second elastic piece 6 applies the acting force to the connecting unit 3 along the direction away from the driving mechanism 1, so that when the connecting unit 3 and the unlocking rod 2 are in error touch, the detecting block 5 cannot move to the detecting position due to the acting force of the second elastic piece 6, misoperation of the unlocking mechanism 802 is effectively avoided, and safety and stability of the unlocking mechanism 802 are greatly improved.
In the present embodiment, both ends of the second elastic member 6 abut against the first support 7 and the connection unit 3, respectively, but of course, in other embodiments, the second elastic member 6 may abut against the unlocking lever 2 and serve to apply a force to the unlocking lever 2 in a direction away from the driving mechanism 1.
The second elastic piece 6 is a pressure spring, and the pressure spring is sleeved on the connecting unit 3. The second elastic piece 6 is sleeved on the connecting unit 3 through the pressure spring, so that the second elastic piece 6 cannot deviate in the using process, and the stability and the reliability are greatly improved; meanwhile, the installation and the arrangement are very convenient, and the structure is simple and the cost is low.
The unlocking mechanism 802 further comprises a second support 8, and the rotating unit 11 is arranged on the second support 8 in a penetrating manner. The rotary unit 11 is fixed on the second support 8, and is convenient to install and set and high in connection stability.
The drive mechanism 1 further comprises a drive unit 12 and a first mounting plate 13, the drive unit 12 being connected to the first mounting plate 13 and being adapted to drive the first mounting plate 13 to move in the axial direction of the unlocking lever 2. The driving unit 12 and the first mounting plate 13 are arranged on the extending mechanism and can move along the extending mechanism in the direction close to the battery bracket, and the driving unit 12 drives the first mounting plate 13 to enable the first mounting plate 13 to move along the axial direction of the unlocking lever 2 relative to the extending mechanism, namely along the direction close to the unlocking matching piece on the battery bracket, so that accurate matching of the unlocking lever 2 and the unlocking matching piece is further ensured, and the stability of the battery replacing equipment is greatly improved.
In this embodiment, the first support 7 and the second support 8 are both disposed on the first mounting plate 13, the unlocking mechanism 802 further includes the second mounting plate 9, the driving unit 12 is disposed on the second mounting plate 9, and the driving unit 12 drives the first mounting plate 13 to be slidable relative to the second mounting plate 9. The unlocking mechanism 802 is convenient to assemble and set, modularization of the unlocking mechanism 802 is achieved, and the unlocking mechanism 802 is more convenient to use.
At least one guide member 91 is provided between the first mounting plate 13 and the second mounting plate 9, and the first mounting plate 13 is moved in the axial direction of the lock release lever 2 by the guide member 91. The guide member 91 has a guide function, and the stability of the axial movement of the first mounting plate 13 on the second mounting plate 9 along the unlocking lever 2 is made higher by the guide member 91, so that the accuracy of the unlocking mechanism 802 is greatly improved.
In the present embodiment, the detecting unit 4 is disposed on the first mounting plate 13, the detecting block 5 is connected to the connecting unit 3, and the detecting unit 4 is configured to detect the detecting block 5 and to control the turning-on and turning-off of the rotating unit 11. The detection precision is high, and the installation and the setting are very convenient.
The unlocking mechanism 802 further includes a first sensor 92 and a second sensor 93, the first sensor 92 and the second sensor 93 are respectively disposed at two ends of the second mounting plate 9, and the first sensor 92 and the second sensor 93 are used for detecting the position of the first mounting plate 13 and controlling the on/off of the driving unit 12. The first mounting plate 13 moves on the second mounting plate 9 along the axial direction of the unlocking lever 2, when in use, the driving unit 12 drives the first mounting plate 13 to move in the direction of approaching the unlocking matching piece forwards, the first sensor 92 detects the limit position of approaching the first mounting plate 13 forwards, and meanwhile, the second sensor 93 is used for detecting the limit position of moving the first mounting plate 13 backwards, and the safety and stability of the unlocking mechanism 802 are further improved through the first sensor 92 and the second sensor 93.
In the specific structure of the unlocking mechanism 802, the unlocking mechanism 802 is docked to the unlocking matching member to drive the unlocking lever 2 to rotate in a rotary motion manner. Of course, the unlocking lever 2 of the unlocking mechanism 802 drives the unlocking member to move, not only in rotation, but also in other movement modes such as linear movement, so as to achieve the purpose of driving the locking mechanism to unlock the battery pack.
On the basis, in step S121, the extension mechanism of the battery replacing device may be controlled to drive the unlocking mechanism to extend, so that the unlocking mechanism is close to the unlocking member. As the projecting mechanism for driving the battery tray toward the direction approaching the battery tray, after the unlocking mechanism is provided below the battery tray, the projecting mechanism can be utilized to simultaneously achieve two purposes of approaching the battery tray toward the battery tray and the unlocking mechanism abutting against the unlocking mating member. The battery bracket is used for driving the unlocking mechanism 802 to extend, so that the unlocking mechanism 802 does not need to be provided with an additional extending structure, and the structural complexity of the battery replacing equipment is effectively reduced.
In addition, between step S121 and step S122, may further include: judging whether the unlocking rod 2 is positioned in an unlocking matching part of the unlocking piece or not; if yes, the unlocking lever 2 is driven to move.
That is, by adding the scheme for judging whether the unlocking rod 2 is in place between the step S121 and the step S122, the scheme is used as a reference for actuating the unlocking rod 2 to move, so that the phenomenon that the unlocking rod 2 is driven to move when the unlocking rod 2 is not positioned in the unlocking matching piece is effectively avoided, misoperation is effectively avoided, and the safety and stability in the power change process are greatly improved.
As shown in fig. 18, the following steps may be specifically included in step S13:
s131, controlling the push-pull mechanism to extend out to be connected with the battery pack;
and S132, controlling the push-pull mechanism to retract so as to pull the battery pack to the battery replacing equipment.
As shown in fig. 13, the push-pull mechanism 100a in this embodiment is disposed on the upper surface of the battery tray 100 and can horizontally move relative to the battery tray 100, and is specifically configured as a push-plate box, and the connection between the push-plate box and the battery pack is realized by means of a suction cup located on the side of the push-plate box facing the battery pack, and the push-pull mechanism 100a is connected with the battery pack during the process of taking out the battery pack, so that the stability of taking out the battery is ensured, and damage to the battery pack is avoided. Of course, in other embodiments, the push-pull mechanism 100a may be connected to the battery pack by means of other manners, such as a snap connection, for the purpose of pulling the battery pack.
As shown in fig. 19, the present invention also provides a battery pack mounting control method for controlling the above-described battery replacement apparatus to mount a battery pack on a battery bracket, the battery pack mounting control method comprising the steps of:
s21, controlling the battery replacement equipment to move to a position where an unlocking mechanism of the battery replacement equipment is aligned with an unlocking piece on the battery bracket;
s22, controlling the unlocking mechanism to move towards the unlocking piece to be matched in place;
s23, controlling a push-pull mechanism of the battery replacement equipment to move the battery pack from the battery replacement equipment to the battery bracket;
s24, controlling the unlocking mechanism to lock the unlocking piece, so that the battery pack is locked on the battery bracket.
According to the battery pack installation control method, the battery pack is placed on the battery bracket by the battery replacement equipment, the unlocking mechanism arranged on the battery replacement equipment is aligned with the unlocking piece positioned on the battery bracket by controlling the battery replacement equipment to lock the battery pack positioned on the battery bracket by the unlocking mechanism arranged on the battery replacement equipment, the unlocked battery pack is taken out by the push-pull mechanism, the locking accuracy and the locking efficiency in the battery pack installation process are improved by positioning, the battery pack is placed in the battery pack in a translation mode by the push-pull mechanism, the stability of battery taking out is ensured, the damage to the battery pack is avoided, and the battery replacement safety is improved.
Specifically, in step S21 of the battery pack installation control method, the same scheme as in step S11 of the battery pack removal control method described above may be adopted, that is: firstly, acquiring images of a first position A and a second position B of a battery bracket to obtain a first image and a second image; then, performing image processing on the first image and the second image to obtain a position adjustment amount; and finally, controlling the battery replacement equipment to move to a position where the unlocking mechanism is aligned with the unlocking piece according to the position adjustment quantity.
According to the scheme, the position adjustment quantity of the battery replacement equipment relative to the battery bracket is obtained through the mode of collecting the image, and the position of the battery replacement equipment is adjusted based on the position adjustment quantity, so that the position accuracy of the battery replacement equipment relative to the battery bracket can be effectively improved, and the success rate of procedures such as placing and locking a battery pack is guaranteed.
In particular, the above solution can be implemented by using the visual positioning system 801 of the battery exchange device as well. The visual positioning system 801 obtains a position adjustment amount by performing image processing on the first image and the second image, specifically including a horizontal displacement amount, a vertical displacement amount, and a rotation angle amount.
The step of controlling the battery changing device to move to the position where the unlocking mechanism is aligned with the unlocking piece according to the position adjustment amount comprises the following steps:
Controlling the horizontal adjustment unit to move according to the horizontal displacement; or controlling the vertical adjustment unit to move according to the vertical displacement; alternatively, the rotation adjustment means is controlled to rotate in accordance with the rotation angle amount.
The control of the battery exchange device based on the position adjustment quantity can be more accurately realized by taking each motion degree component in the position adjustment quantity as the adjustment basis of the adjustment unit of each motion degree in the battery exchange device, so that the battery exchange device can be accurately moved to the position where the unlocking mechanism is aligned with the unlocking piece, and the reliability of the whole battery exchange process is improved.
In addition, before the step of acquiring the images of the first position a and the second position B of the battery bracket to obtain the first image and the second image, the method may further include:
the battery changing device is controlled to move to a coarse positioning position that aligns the unlocking mechanism 802 of the battery changing device with the unlocking piece on the battery carrier based on the preset value.
Under the condition that the position of the battery replacement equipment relative to the battery bracket is accurately detected in a mode based on image acquisition, before the accurate detection is started, the battery replacement equipment is moved to a rough positioning position, so that the displacement stroke in the accurate positioning process is reduced, and the positioning efficiency can be improved.
Specifically, the step S22 of the battery pack installation control method includes: the unlocking mechanism 802 is controlled to move toward the battery bracket so that the unlocking lever 2 is engaged with the unlocking piece in place.
And in step S24, it includes: the unlocking rod 2 is driven to move in the direction opposite to the unlocking direction, so that the battery pack is locked on the battery bracket.
Specifically, under the condition that the unlocking rod 2 drives the unlocking piece to move along the opposite direction, the unlocking piece can be linked with the locking mechanism to lock the battery pack. In the specific scheme, the unlocking rod 2 is driven to drive the unlocking piece to move along the direction opposite to the moving direction during unlocking, so that the displacement is transmitted to the locking mechanism, and the purpose of locking the battery pack of the locking mechanism is achieved. The locking mode has high locking precision and improves the power conversion efficiency; meanwhile, misoperation is effectively avoided, and safety and stability are greatly improved.
Similarly, based on the detection mechanism for detecting whether the unlocking lever 2 is in place in the unlocking mechanism 802, the following steps may be further included before step S24 of the battery pack installation control method: judging whether the unlocking rod 2 is positioned in an unlocking matching part of the unlocking piece or not; if so, the unlocking lever 2 is driven to move in the direction opposite to the unlocking direction.
In this scheme, through judging whether unlocking lever 2 is located the unblock matching spare and come as the benchmark of actuating unlocking lever 2 motion, effectively avoid knowing that locking lever 2 takes place to drive the phenomenon that unlocking lever 2 moved when not being located the unblock matching spare, effectively avoided taking place the maloperation, improved the security stability in the power conversion in-process greatly.
The step S23 includes: the push-pull mechanism is controlled to move the battery pack from the battery changing device to the battery bracket, so that the battery pack is contacted with the locking mechanism. And further includes in the following step S24: the unlocking mechanism 802 is controlled to lock the lock mechanism connected to the unlocking lever 2, so that the lock mechanism pulls the battery pack in the mounting direction of the battery pack, and locks the battery pack to the battery bracket.
Through the in-process that carries out the locking to the battery package at drive locking mechanism, utilize locking mechanism to draw the battery package along the installation direction of battery package, realize improving the purpose of fixed reliability. Meanwhile, in the process of pulling the battery pack along the installation direction of the battery pack, the displacement can be used for realizing electric connection between the battery pack and the battery bracket, so that the step of installing the battery pack is simplified.
Specifically, provided herein is a specific structural arrangement for providing a battery bracket, a battery pack, and a locking mechanism:
As shown in fig. 20, it is a schematic structural view of the battery bracket 200, the battery pack 500, and the lock mechanism 301 used in the present embodiment. As can be seen from the figure, the locking mechanism 301 is disposed on the battery bracket 200, specifically, the locking mechanism 301 includes a rotating insert 311 and a limiting member 312, the rotating insert 311 is disposed on the battery bracket 200, and the limiting member 312 is correspondingly disposed on the battery pack 500, and when the battery pack 500 is disposed on the battery bracket 200, the rotating insert 311 is driven to rotate, so that the rotating insert 311 is limited or released by the limiting member 312 according to the rotation direction. The locking mechanism 301 serves the purpose of unlocking or locking the battery pack 500 to the battery bracket 200 by the action of rotating the rotary insert 311 in different directions. Compared with the traditional locking mechanism, the locking mechanism 301 has the advantages of more firm fixation, high reliability and the like. Meanwhile, the structure is simpler, and the daily maintenance and management are convenient.
It should be noted that, in the present embodiment, the rotary insert 311 is provided on the battery bracket 200, and the opposite stopper 312 is provided on the battery pack 500. However, in other embodiments, the rotary insert 311 may be disposed on the battery pack 500, and the stopper 312 is correspondingly disposed on the battery bracket 200, so as to achieve the purpose of locking and unlocking the position between the battery pack 500 and the battery bracket 200 through the rotation of the rotary insert 311 disposed on the battery pack 500.
As shown in fig. 21 to 24, an electrical connector 400 is provided at a contact surface of the battery pack 500 and the battery bracket 200, and the electrical connector 400 specifically includes a battery end electrical connector 410 provided at the contact surface of the battery pack 500 and a vehicle end electrical connector 420 provided at the contact surface of the battery bracket 200. The locking mechanism 301 is provided with the rotary plug 311 and the stopper 312 on the contact surface of the battery pack 500 and the contact surface of the battery bracket 200, that is, the installation position of the locking mechanism 301 coincides with the installation position of the electrical connector 400, so that when the positions of the battery pack 500 and the battery bracket 200 are locked by the locking mechanism 301, the connection state of the electrical connector 400 adjacent to the locking mechanism 301 is improved, and the electrical connection reliability of the battery pack 500 is further improved.
As shown in fig. 25, when the battery-side electrical connector 410 is inserted relative to the vehicle-side electrical connector 420, the rotary insert 311 rotates and is restrained by the restraining member 312, so that the position between the battery pack 500 and the battery bracket 200 is prevented from being locked by the locking mechanism 301 by realizing the position locking between the battery pack 500 and the battery bracket 200 during the mutual insertion of the electrical connectors 400, but the situation that the electrical connectors 400 are not inserted in place occurs. Further, when the battery end electrical connector 410 is inserted relative to the vehicle end electrical connector 420, the locking mechanism 301 can apply a tensile force to the limiting member 312 along the insertion direction of the electrical connector 400, so that the battery pack 500 and the battery bracket 200 can be further tightly attached by the tensile force, and the electrical connector 400 can be further ensured to be inserted in place.
It should be noted that, in the electrical connector 400 for a vehicle battery, the connection between the battery end electrical connector 410 and the vehicle end electrical connector 420 is usually tight, so that when the battery pack 500 is mounted or dismounted, the battery pack 500 needs to be inserted into or removed from the battery bracket 200 by using an external power exchanging device, and the main resistance to be overcome is the insertion and removal force on the electrical connector 400. The locking mechanism 301 can physically lock or unlock the battery pack 500 with respect to the battery bracket 200 by rotating, and can apply a corresponding pushing force or pulling force to the battery pack 500 by rotating, so as to overcome the above-mentioned insertion and extraction force of the electrical connector 400, thereby achieving the purpose of quick assembly and disassembly of the battery pack 500.
Meanwhile, since the locking mechanism 301 is disposed on the contact surface of the battery pack 500 and the battery bracket 200, the acting force applied by the locking mechanism 301 to the battery pack 500 can be directly transferred to the electrical connector 400 located on the contact surface, so that the situation that the shell of the battery pack 500 is deformed due to overlarge or uneven stress when the battery pack 500 is plugged into or plugged out of the traditional external power conversion equipment is avoided.
The rotary plug 311 includes a plug head 3111 and a driving portion 3112, the driving portion 3112 being connected to the plug head 3111, the driving portion 3112 serving to drive the plug head 3111 to rotate.
The stopper 312 has a receiving cavity 3121a, and the plug head 3111 of the rotary plug 311 is driven by the driving portion 3112 to enter or leave the receiving cavity 3121a in a rotary manner. When locking is desired, the insert head 3111 is rotated clockwise to enter the receiving cavity 3121a, after which the insert head 3111 achieves physical restraint of the receiving cavity 3121a against the rotating insert 311 by abutting against the inner wall of the receiving cavity 3121a.
Specifically, the plug head 3111 includes two parts of a lock head 3111a and a lock head rotating shaft 3111b, the lock head rotating shaft 3111b is disposed on the battery bracket 200, the lock head 3111a is connected to the lock head rotating shaft 3111b, the lock head 3111a is a part of the plug head 3111 directly entering the accommodating cavity 3121a, and the driving portion 3112 is connected to the lock head rotating shaft 3111b to drive the lock head 3111a to flip up and down along an axis of the lock head rotating shaft 3111b as a center, so as to achieve the purpose of linkage rotation.
Meanwhile, the stopper 312 includes a stopper portion 3121, the stopper portion 3121 having an opening 3121b and the above-described accommodation chamber 3121a, the opening 3121b being provided at a lower side position of the accommodation chamber 3121a along a direction perpendicular to the insertion direction of the electrical connector 400, the opening 3121b being for the insertion of the plug head 3111 into and out of the accommodation chamber 3121a by way of flipping. Further, when the card head 3111 is turned inside the accommodation cavity 3121a, the card head 3111 can apply pushing or pulling force to the wall surface of the accommodation cavity 3121a to realize the push-pull action of the battery pack 500 within a specified formation range by the turning motion while locking and unlocking.
How to transfer the rotation motion of the unlocking member to the locking mechanism 301, or specifically to the driving portion 3112 of the locking mechanism 301, so as to drive the plug-in unit head 3111 to turn over, may actually be implemented through a transmission mechanism such as a link mechanism or a screw nut, so as to convert the rotation motion of the unlocking member into the turning motion of the plug-in unit head 3111, and the specific transmission form and arrangement scheme thereof will not be described herein.
In addition, in step S23 of the battery pack installation control method, the battery pack is pushed from the battery exchange device to the battery bracket by a push-pull mechanism provided on the battery tray, and the specific procedure may include: the push-pull mechanism is controlled to extend out to move the battery pack from the battery changing device to the battery bracket, and in particular, the push-pull mechanism is arranged at the rear side of the battery pack, so that the battery pack can be moved onto the battery bracket only by pushing forward.
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 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 principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.
Claims (18)
1. A battery pack take-out control method for controlling a battery pack taken out of a battery compartment or an electric vehicle by a battery replacement device, the battery pack being locked to the battery compartment or a battery bracket in the electric vehicle, the battery pack take-out control method comprising the steps of:
controlling the battery changing equipment to move to a position enabling an unlocking mechanism of the battery changing equipment to be aligned with an unlocking piece on the battery bracket;
controlling the unlocking mechanism to move towards the unlocking piece to be matched in place, and driving the unlocking piece to rotate to unlock by controlling the unlocking mechanism;
and controlling a push-pull mechanism of the battery replacing device to be connected with the battery pack, and moving the battery pack from the battery bracket to the battery replacing device.
2. The battery pack removal control method according to claim 1, wherein the step of controlling the battery change device to move to a position where the unlocking mechanism of the battery change device is aligned with the unlocking piece on the battery bracket includes:
image acquisition is carried out on the first position and the second position of the battery bracket so as to obtain a first image and a second image;
performing image processing on the first image and the second image to obtain a position adjustment amount;
And controlling the battery replacing equipment to move to a position where the unlocking mechanism is aligned with the unlocking piece according to the position adjustment quantity.
3. The battery pack extraction control method according to claim 2, wherein the image processing of the first image and the second image to obtain the position adjustment amount includes a horizontal displacement amount or a vertical displacement amount or a rotation angle amount.
4. The battery pack take-out control method according to claim 3, wherein the power exchanging apparatus includes a horizontal adjustment unit or a vertical adjustment unit or a rotation adjustment unit;
the step of controlling the battery replacing equipment to move to the position where the unlocking mechanism is aligned with the unlocking piece according to the position adjustment amount comprises the following steps:
controlling the horizontal adjustment unit to move according to the horizontal displacement; or alternatively, the first and second heat exchangers may be,
controlling the vertical adjustment unit to move according to the vertical displacement; or alternatively, the first and second heat exchangers may be,
the rotation adjustment unit is controlled to rotate according to the rotation angle amount.
5. The battery pack extraction control method according to claim 2, further comprising, before the step of image capturing the first and second positions of the battery tray to obtain the first and second images:
And controlling the battery replacing equipment to move to a rough positioning position for aligning an unlocking mechanism of the battery replacing equipment with an unlocking piece on the battery bracket based on a preset value.
6. The battery pack removal control method according to claim 1, wherein the step of controlling the unlocking mechanism to move toward the unlocking piece to be engaged in place and unlock includes:
controlling the unlocking mechanism to move towards the battery bracket, so that an unlocking rod of the unlocking mechanism is matched with the unlocking piece in place;
and driving the unlocking rod to drive the unlocking piece to move so as to unlock the locking mechanism for locking the battery pack.
7. The battery pack removal control method according to claim 6, wherein in the step of controlling the unlocking mechanism to move toward the battery bracket so that the unlocking lever is engaged with the unlocking piece in place, the extending mechanism of the battery changing device is controlled to extend the unlocking mechanism so that the unlocking mechanism approaches the unlocking piece.
8. The battery pack removal control method according to claim 6, further comprising, before the step of driving the unlocking lever to move the unlocking piece to unlock the locking mechanism that locks the battery pack: judging whether the unlocking rod is positioned in an unlocking matching part of the unlocking piece or not;
If yes, the unlocking rod is driven to move.
9. The battery pack take-out control method according to claim 1, wherein the step of controlling the push-pull mechanism of the battery changer to be connected to the battery pack and moving the battery pack from the battery tray to the battery changer comprises:
controlling the push-pull mechanism to extend to be connected with the battery pack;
the push-pull mechanism is controlled to retract so as to pull the battery pack to the battery exchange device.
10. A battery pack installation control method for controlling a battery replacement device to install a battery pack on a battery compartment or a battery bracket of an electric vehicle, the battery pack installation control method comprising the steps of:
controlling the battery changing equipment to move to a position where an unlocking mechanism of the battery changing equipment is aligned with an unlocking piece on the battery bracket;
controlling the unlocking mechanism to move towards the unlocking piece to be matched in position;
controlling a push-pull mechanism of the battery changing device to move the battery pack from the battery changing device to the battery bracket;
and controlling the unlocking mechanism to lock the unlocking piece, so that the battery pack is locked on the battery bracket.
11. The battery pack installation control method according to claim 10, wherein the step of controlling the power changing device to move to a position where the unlocking mechanism of the power changing device is aligned with the unlocking piece on the battery bracket includes:
image acquisition is carried out on the first position and the second position of the battery bracket so as to obtain a first image and a second image;
performing image processing on the first image and the second image to obtain a position adjustment amount;
and controlling the battery replacing equipment to move to a position where the unlocking mechanism is aligned with the unlocking piece according to the position adjustment quantity.
12. The battery pack mounting control method according to claim 11, wherein the image processing of the first image and the second image to obtain the position adjustment amount includes a horizontal displacement amount or a vertical displacement amount or a rotation angle amount.
13. The battery pack installation control method according to claim 12, wherein,
the power conversion equipment comprises a horizontal adjustment unit or a vertical adjustment unit or a rotation adjustment unit;
the step of controlling the battery replacing equipment to move to the position where the unlocking mechanism is aligned with the unlocking piece according to the position adjustment amount comprises the following steps:
Controlling the horizontal adjustment unit to move according to the horizontal displacement; or alternatively, the first and second heat exchangers may be,
controlling the vertical adjustment unit to move according to the vertical displacement; or alternatively, the first and second heat exchangers may be,
the rotation adjustment unit is controlled to rotate according to the rotation angle amount.
14. The battery pack mounting control method of claim 11, further comprising, prior to the step of image capturing the first and second positions of the battery carrier to obtain the first and second images:
and controlling the battery replacing equipment to move to a rough positioning position for aligning an unlocking mechanism of the battery replacing equipment with an unlocking piece on the battery bracket based on a preset value.
15. The battery pack mounting control method according to claim 10, wherein the step of controlling the unlocking mechanism to move toward the unlocking member to be fitted in place includes: controlling the unlocking mechanism to move towards the battery bracket, so that an unlocking rod of the unlocking mechanism is matched with the unlocking piece in place;
the step of controlling the unlocking mechanism to lock the unlocking piece so that the battery pack is locked on the battery bracket comprises the following steps of: and driving the unlocking rod to drive the unlocking piece to move along the direction opposite to the unlocking direction, so that the battery pack is locked on the battery bracket.
16. The battery pack mounting control method according to claim 15, wherein before the step of controlling the unlocking mechanism to lock the unlocking member so that the battery pack is locked to the battery bracket, further comprising: judging whether the unlocking rod is positioned in an unlocking matching part of the unlocking piece or not;
if yes, the unlocking rod is driven to move in the direction opposite to the unlocking direction.
17. The battery pack mounting control method according to claim 15, wherein the step of controlling the push-pull mechanism of the battery change device to move the battery pack from the battery change device to the battery tray includes: controlling the push-pull mechanism to move the battery pack from the battery replacing device to the battery bracket, so that the battery pack is in contact with a locking mechanism;
the step of controlling the unlocking mechanism to lock the unlocking piece so that the battery pack is locked on the battery bracket comprises the following steps of: and controlling the unlocking mechanism to lock a locking mechanism connected with the unlocking rod, so that the locking mechanism pulls the battery pack along the installation direction of the battery pack, and locks the battery pack on the battery bracket.
18. The battery pack mounting control method according to claim 10, wherein the step of controlling the push-pull mechanism of the battery change device to move the battery pack from the battery change device to the battery bracket includes: and controlling the push-pull mechanism to extend so as to move the battery pack from the battery replacing device to the battery bracket.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010415433.9A CN113665414B (en) | 2020-05-15 | 2020-05-15 | Battery pack take-out control method and battery pack installation control method |
| PCT/CN2021/094066 WO2021228258A1 (en) | 2020-05-15 | 2021-05-17 | Battery pack removal control method and battery pack installation control method |
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| CN202010415433.9A CN113665414B (en) | 2020-05-15 | 2020-05-15 | Battery pack take-out control method and battery pack installation control method |
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| CN115056753B (en) * | 2022-04-16 | 2024-06-04 | 中国第一汽车股份有限公司 | Battery quick-change device with vehicle end control function, vehicle and method |
| CN115241957B (en) * | 2022-09-20 | 2022-12-20 | 江苏智泰新能源科技有限公司 | Energy storage device for transformer substation |
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