CN113895286A

CN113895286A - Cartridge and battery pack locking judgment method

Info

Publication number: CN113895286A
Application number: CN202010642718.6A
Authority: CN
Inventors: 张建平; 吉毅; 文超; 仇丹梁
Original assignee: Aulton New Energy Automotive Technology Co Ltd
Current assignee: Aulton New Energy Automotive Technology Co Ltd
Priority date: 2020-07-06
Filing date: 2020-07-06
Publication date: 2022-01-07
Anticipated expiration: 2040-07-06
Also published as: CN113895286B; CN118124448A

Abstract

The invention discloses a disc pushing box and a battery pack locking judgment method, wherein the disc pushing box is arranged on a battery tray of a battery replacing device and used for pushing or pulling a battery pack between the battery tray and a battery bracket; the detection module is used for detecting the contact state of the connecting part and the battery pack and is electrically connected to the control module. The invention judges whether the battery pack is locked on the battery bracket by detecting whether the connecting part is contacted with the battery pack. When the battery pack is in an unlocked state, the battery pack can move along with the disc pushing box, and the connecting part is in contact with the battery pack. When the battery pack is in a locked state, the battery pack cannot move along with the disc pushing box, and the connecting part is not in contact with the battery pack. Through the contact state of detection module direct induction connecting portion and battery package, whole machine is automatic to be operated, and the accuracy is high, need not the manual work and handles, improves work efficiency.

Description

Cartridge and battery pack locking judgment method

Technical Field

The invention relates to the field of electric automobiles, in particular to a push plate box and a battery pack locking judgment method.

Background

With social development and scientific and technological progress, electric vehicles are more and more popular with consumers, and the current electric vehicles mainly comprise a direct-charging type electric vehicle and a quick-change type electric vehicle. In the quick-change mode, the battery pack needs to be quickly replaced by means of a battery replacement station, and a battery replacement device of the battery replacement station takes out the battery pack in the electric automobile and places the battery pack in a battery bin for charging, or places the battery pack in the battery bin in the electric automobile.

In order to ensure that the battery pack can not move after being placed on a battery bracket of an electric automobile or a battery cabin and normally provide power for the battery automobile or normally charge the battery automobile, the battery pack can be locked with the battery bracket. However, in the automatic locking process, the battery pack may not be locked because the battery pack is not moved to a designated position, so that the battery pack may not operate normally. The tradition needs the manual work to judge whether the battery package locks on battery bracket, not only needs the consumption manpower, increases man-hour, and the manual work is difficult to the locking state of very first time discovery battery package moreover, can't in time handle.

Disclosure of Invention

The invention aims to overcome the defect that whether a battery pack is locked on a battery bracket cannot be automatically judged in the prior art, and provides a disc pushing box and a battery pack locking judging method.

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

a disc-pushing box provided on a battery tray of a battery replacement apparatus, the disc-pushing box being used to push or pull a battery pack between a battery tray and a battery tray in a battery compartment or an electric vehicle, the disc-pushing box comprising:

a cartridge body movably connected to the battery tray;

the connecting part is arranged on the side surface, facing the battery bracket, of the cartridge body and is used for being connected with the battery pack;

the control module is used for controlling the moving state of the tray pushing box body;

the detection module is used for detecting the contact state of the connecting part and the battery pack, and the detection module is electrically connected to the control module.

In the scheme, whether the battery pack is locked on the battery bracket is judged by detecting whether the connecting part of the push plate box is in contact with the battery pack. When the battery pack is in an unlocked state, the battery pack can move along with the disc pushing box, the battery pack and the connecting part are always in a connected state, and the connecting part is in contact with the battery pack. When the battery pack is in a locking state, the battery pack is locked on the battery bracket and cannot move along with the disc pushing box, the battery pack is disconnected with the connecting part, and the connecting part is not in contact with the battery pack. Through the contact state of detection module direct induction connecting portion and battery package, whole machine is automatic to be operated, and the accuracy is high, need not the manual work and handles, practices thrift the human cost, reduces man-hour, improves work efficiency.

Preferably, the connecting portion is movable with respect to the cartridge body, and the detection module detects a contact state of the connecting portion with the battery pack by detecting a moving state of the connecting portion.

In this scheme, when the battery package was in not locking state, the battery package can follow the box pushing tray and move together, and the battery package keeps being connected with connecting portion, and connecting portion keep relative static for the box pushing tray body, and detection module can't detect the motion state of connecting portion. When the battery pack is in a locking state, the battery pack is locked on the battery bracket and cannot move along with the tray pushing box, the connection part can move relative to the tray pushing box body due to the fact that the battery pack is not abutted, and the detection module detects the moving state of the connection part. Whether the connecting part is in contact with the battery pack or not is detected through the moving state of the connecting part, and the accuracy is high.

Preferably, the connecting portion includes a detection lever, and the detection module includes a proximity sensor for detecting a moving state of the detection lever.

In this scheme, when the battery package is in not locking state, the battery package can follow and push away the box dish and move together, and the battery package keeps being connected with connecting portion to an effort is applyed to the measuring pole all the time, makes the measuring pole can't produce the removal, and proximity sensor can't detect the removal state of measuring pole. When the battery pack is in a locking state, the battery pack is locked on the battery bracket and cannot move along with the push tray box, the acting force applied by the battery pack to the detection rod disappears, and the detection rod moves and is detected to be in a moving state by the proximity sensor.

Preferably, the connection part is connected with the surface attached to the battery pack, and the detection rod protrudes towards the battery pack in the direction of the connection surface by a preset length.

In this scheme, when the battery package was in not lock state, connect the face and laminate with the battery package all the time, above-mentioned setting makes the battery package and the laminating in-process of connecting the face, and the effort is applyed to the test rod all the time to the battery package to make the test rod can't produce the removal. When the battery package is in locking state, the battery package is not laminated with the connection face, and above-mentioned setting makes the effort of the battery package that the measuring stick received disappear, and the measuring stick can produce and remove. The proximity sensor detects a contact state of the connection part with the battery pack by detecting a moving state of the detection lever.

A battery pack locking judgment method is implemented based on the tray pushing box, the connecting part comprises an adsorption device, the battery pack locking judgment method is used for judging whether the battery pack is locked on the battery bracket, and the battery pack locking judgment method comprises the following steps:

step S1, controlling the adsorption force of the cartridge on the battery pack to reach a preset value;

and step S2, controlling the push disc box to retreat for a preset distance so as to judge the locking state of the battery pack.

In this scheme, utilize the pushing away the dish box and can produce absorbent function to the battery package, after the battery package locking is at the battery bracket, through the mode that adsorbs in the outside removal of the dish box that pushes away of battery package, detect the battery package and whether can follow the pushing away dish box and be shifted out from the battery bracket once more to the purpose of the locking state of judgement battery package has been realized. The scheme is realized by utilizing the existing structure, and is simple and reliable.

Preferably, the connecting portion further includes a detection lever, the detection module includes a proximity sensor, the detection lever is movable relative to the tray pushing case body and is configured to contact the battery pack, and the proximity sensor is configured to detect a movement state of the detection lever;

in the step S2, it is determined whether the battery pack is locked to the battery tray by detecting whether the proximity sensor detects the moving state of the detection lever;

after the proximity sensor detects the moving state of the detection rod, the battery pack is judged to be successfully locked; and when the proximity sensor does not detect the moving state of the detection rod, determining that the battery pack locking fails.

In this scheme, when battery package locking failed, the battery package was laminated with connecting the face all the time under the effect of the adsorption affinity of pushing away a set box to an effort is applyed to the measuring pole all the time, so that the measuring pole can't take place to remove, and proximity sensor can't detect the moving state of measuring pole. When the battery pack is locked successfully, the battery pack can not move under the action of the adsorption force of the disc pushing box, the battery pack is disconnected from the disc pushing box, the battery pack and the disc pushing box are separated, the battery pack is not in contact with the connecting portion, the force applied by the battery pack to the detection rod disappears, and therefore the detection rod can move and the moving state of the detection rod is detected by the proximity sensor.

Preferably, in the step S2, the preset distance for retracting the disc cartridge is greater than or equal to the moving stroke of the detection lever relative to the disc cartridge body.

In this scheme, because the detection lever is protruding towards the battery package direction for the connection face of connecting portion, before pushing away the dish box and not returning, the detection lever is in compressed state always, and above-mentioned operation makes the detection lever can get back to initial position to prevent that proximity sensor from misdetecting the state of detection lever and judging connecting portion and battery package contact, reinforcing battery package locking judgment method's accuracy.

Preferably, in the step S2, after the result of determining the locking state of the battery pack is that the battery pack is successfully locked, the method further includes the following steps: and controlling the disc pushing box to retreat.

In the scheme, after the battery pack is successfully locked, the battery pushing box is controlled to return to the initial position, the battery replacement operation is finished, and the reliability of the battery replacement process is guaranteed.

Preferably, after controlling the retraction of the tray pushing box, the method further comprises the following steps: and controlling the double-extending mechanism of the battery replacement equipment to retract.

In the scheme, after the tray pushing box returns, the double-extending mechanism of the battery replacing device is controlled to return, so that the operation of transporting the battery pack at one time is completed, and the reliability of the battery replacing process is ensured.

Preferably, in the step S2, after the battery pack locking is failed as a result of determining the locking state of the battery pack, the battery pack is locked to the battery tray again, and the steps S1 and S2 are performed.

In the scheme, after the battery pack is locked in failure, the battery pack needs to be locked on the battery bracket again to prevent the battery pack from moving on the battery bracket, so that the battery pack can be ensured to normally provide power for the electric automobile or be charged.

The positive progress effects of the invention are as follows: the invention judges whether the battery pack is locked on the battery bracket by detecting whether the connecting part of the push plate box is contacted with the battery pack. When the battery pack is in an unlocked state, the battery pack can move along with the disc pushing box, the battery pack and the connecting part are always in a connected state, and the connecting part is in contact with the battery pack. When the battery pack is in a locking state, the battery pack is locked on the battery bracket and cannot move along with the disc pushing box, the battery pack is disconnected with the connecting part, and the connecting part is not in contact with the battery pack. According to the invention, the detection module directly senses the contact state of the connecting part and the battery pack, the whole process is automatically operated by a machine, the accuracy is high, manual processing is not needed, the labor cost is saved, the working time is reduced, and the working efficiency is improved.

Drawings

Fig. 1 is a schematic perspective view of a battery swapping device according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view (i) of a battery tray according to an embodiment of the present invention.

Fig. 3 is a schematic front view of a power swapping device according to an embodiment of the present invention.

Fig. 4 is a schematic perspective view of a battery tray according to an embodiment of the invention (ii).

Fig. 5 is a partially enlarged view of a portion a in fig. 4.

Fig. 6 is a partial structural schematic view of a battery tray according to an embodiment of the invention.

Fig. 7 is a schematic top view of a battery tray according to an embodiment of the invention.

Fig. 8 is a partially enlarged view of a portion C in fig. 7.

Fig. 9 is a schematic view illustrating a connection relationship between a battery tray and a battery pack according to an embodiment of the invention.

Fig. 10 is a schematic diagram (one) illustrating a positional relationship between a battery tray and a battery pack according to an embodiment of the invention.

Fig. 11 is a schematic diagram (two) illustrating a positional relationship between a battery tray and a battery pack according to an embodiment of the invention.

Fig. 12 is a schematic diagram (iii) illustrating a positional relationship between a battery tray and a battery pack according to an embodiment of the invention.

Fig. 13 is a schematic perspective view (iii) of a battery tray according to an embodiment of the invention.

Fig. 14 is a partially enlarged view of a portion D in fig. 13.

Fig. 15 is a partially enlarged view of a portion B in fig. 4.

Fig. 16 is a partial structural schematic view of a battery tray and a battery pack according to an embodiment of the invention.

Fig. 17 is a schematic perspective view (iii) of a battery tray according to an embodiment of the present invention.

Description of reference numerals:

sky rail 701

Ground rail 702

Head rail guide wheel 703

Ground rail guide wheel 704

First vertical driver 61

Second vertical driver 62

Battery replacement actuating mechanism 803

First chain 706

First sprocket 611

Second chain 621

Second sprocket 622

Battery tray 803

Turntable 811

Rotary drive 812

Equipment frame 1

Unlocking mechanism 21

Cartridge 22, cartridge body 22a

Connecting part 23

Adsorption device 231, adsorption surface 2311

First connecting member 232

Sensing terminal 232a

Second connecting member 233

A detection rod 2331 and a return spring 2332

Movable part 234

Support rod 2341

Elastic element 2342

Retraction detection sensor 235

First detection module 241

Second detection module 242

Deceleration detector 243a

Reset detector 243b

Limit detecting member 243c

Second detecting member 244

Balance part 25

Push block 251

Adapting structure 252

Double extension mechanism 3

Side guide wheel 4

Battery pack 100

Detailed Description

The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.

The embodiment provides a tray pushing box which is applied to battery replacing equipment for replacing a battery pack. The battery replacing device comprises a battery tray for executing battery pack replacing operation, when an electric vehicle to be replaced stops, the battery replacing device and a battery bracket for fixing the battery pack on the electric vehicle complete positioning alignment operation, and the positioning alignment process relates to position adjustment of the battery tray in three dimensional directions, specifically in an X direction, a Y direction and a Z direction as shown in fig. 1. The X direction is a direction parallel to the traveling direction of the electric vehicle; the Y direction is the direction of the battery tray facing the body of the electric vehicle, and the battery tray and the battery bracket of the electric vehicle are in a corresponding state through the adjustment of the Y direction; the Z direction refers to the height direction of the battery tray, and the height of the battery tray is aligned with the height of a battery bracket on the electric vehicle through Z direction adjustment. The pushing box is particularly used for pushing or pulling a battery pack between a battery compartment or a battery bracket and a battery tray in an electric automobile.

As shown in fig. 1 to 17, the tray pushing box 22 is disposed on a battery tray 803 of the battery replacing device, the tray pushing box 22 moves along the Y direction (i.e., the front-back direction of the battery tray 803) relative to the battery tray 803 to achieve the function of taking and placing the battery pack 100, and the tray pushing box 22 includes a tray pushing box body 22a, a connecting portion 23, a control module, and a detection module.

The cartridge body 22a is movably attached to the battery tray 803; a connecting portion 23 is provided on a surface of the tray case body 22a on a side facing the battery tray, the connecting portion 23 being capable of connecting the battery pack 100 when in contact with the battery pack 100 to perform a function of taking out the battery pack 100 from the battery tray; the detection module is used for detecting the contact state of the connecting part 23 and the battery pack 100; the control module is electrically connected to the detection module, and is configured to control the moving state of the cartridge body 22a, and when the detection module detects that the contact between the cartridge body 22a and the battery pack 100 is completed, the control module controls the cartridge body 22a to execute the corresponding moving state.

When the battery pack 100 is in the unlocked state, the battery pack 100 moves together with the carriage 22, the battery pack 100 and the connection portion 23 are always kept in the connected state, and the connection portion 23 is in contact with the battery pack 100. When the battery pack 100 is in the locked state, the battery pack 100 is locked to the battery holder and does not move along with the cartridge 22, the battery pack 100 and the connection portion 23 are disconnected, and the connection portion 23 does not contact the battery pack 100. Through the contact state of detection module direct induction connecting portion 23 and battery package 100, whole machine is automatic to be operated, and the accuracy is high, need not the manual work and handles, practices thrift the human cost, reduces man-hour, improves work efficiency.

The connecting portion 23 is movable in the Y direction relative to the cartridge body 22a in this embodiment, and the detection module detects the displacement on the connecting portion 23 to determine the contact state and the connection state between the connecting portion 23 and the battery pack 100 based on the displacement.

When the battery pack 100 is in an unlocked state, the battery pack 100 can move along with the tray 22, the battery pack 100 is connected with the connecting portion 23, the connecting portion 23 is kept relatively still relative to the tray box body 22a, and the detection module cannot detect the moving state of the connecting portion 23. When the battery pack 100 is in the locked state, the battery pack 100 is locked to the battery holder and cannot move along with the cartridge 22, the connection portion 23 moves relative to the cartridge body 22a due to the loss of the abutment of the battery pack 100, and the detection module detects the moving state of the connection portion 23. Whether the connection part is in contact with the battery pack 100 is detected by the movement state of the connection part 23, and the accuracy is high.

Specifically, as shown in fig. 5 to 6, the connection portion 23 includes a first connection member 232 and a second connection member 233, the detection module correspondingly includes a first detection module 241 and a second detection module 242, the suction device 231 for realizing the suction connection function in the connection portion 23 is disposed on the first connection member 232, and the second connection member 233 is disposed on the suction surface 2311 of the suction device 231. The first detecting module 241 detects a first contact state of the first connecting member 232 with the battery pack 100, and the second detecting module 242 detects a second contact state of the second connecting member 233 with the battery pack 100.

The first and

second detection modules

241 and 242 in this embodiment are both sensors, and generate signals after the corresponding first and

second connection members

232 and 233 are in contact with the battery pack 100. Specifically, the second detecting module 242 is disposed on the suction surface 2311 of the suction device 231, and is used for generating a signal when the suction surface 2311 approaches the battery pack 100 (i.e., the second contact state).

As shown in fig. 6, the second connecting member 233 is disposed on the first connecting member 232 in a direction toward the battery tray along the tray pushing body 22a, and the second connecting member 233 is displaced relative to the first connecting member 232, so that the second detecting module 242 can detect a preliminary contact signal when the second connecting member 233 is displaced.

The second connector 233 includes a detection rod 2331, the detection rod 2331 passes through the adsorption device 231 and protrudes from the adsorption surface 2311 (i.e. the connection surface of the connection part 23) of the adsorption device 231 in the initial position (i.e. the position of the detection rod 2331 in fig. 8), the detection rod 2331 can move relative to the adsorption device 231 in the Y direction, and the second detection module 242 is disposed on the moving path of the detection rod 2331 to generate a corresponding signal based on the movement of the detection rod 2331.

Specifically, during the process of the push tray 22 approaching the battery pack 100, the end of the detection rod 2331 contacts the battery pack 100 first and is compressed to generate a preliminary contact signal. After that, when the battery pack 100 contacts the adsorption surface 2311 of the adsorption device 231, the adsorption device 231 and the first connector 232 can be further compressed to generate a bonding signal.

In addition, the second detection module 242 includes a proximity sensor, and the proximity sensor of the second detection module 242 achieves the purpose of determining the second contact state and generating a preliminary contact signal by detecting the moving state of the end of the detection rod 2331. In this embodiment, the detection rod 2331 has a longer length, the end of the detection rod passes through the first connecting member 232 and the portion of the push-tray body 22a for the first connecting member 232, the proximity sensor of the second detection module 242 is preferably disposed at a position as shown in fig. 6, which is used for detecting the displacement of the end of the detection rod 2331, and a return spring 2332 is further disposed on the detection rod 2331 for returning the detection rod 2331 to the initial position when the detection rod 2331 is not in contact with the battery pack 100.

As shown in fig. 10, it is a schematic view showing a positional relationship between the battery tray and the battery pack 100 when the tray pushing body 22a moves toward and approaches the battery pack 100 in the arrow direction in the drawing. As can be seen from the figure, the end of the detection rod 2331 is disposed to protrude from the adsorption surface 2311 for moving the detection rod 2331 in the direction of the second detection module 242 when the detection rod 2331 is in contact with the battery pack 100, and the second detection module 242 is disposed at the other end 2331a of the detection rod 2331.

As shown in fig. 11, when the dolly body 22a moves in the direction of the arrow toward the battery pack 100, the detection rod 2331 comes into contact with the battery pack 100 and is compressed, so that the second detection module 242 can detect the displacement of the end 2331a of the detection rod 2331, thereby generating a preliminary contact signal.

The present embodiment also provides a battery pack 100 locking determination method for determining whether the battery pack 100 is locked to the battery holder.

During the installation of the battery pack 100, the preliminary contact signal generated by the second detection module 242 may be used as a basis for determining whether the battery pack 100 is locked to the battery holder.

First, the suction force of the suction device 231 to the battery pack 100 is changed, for example, the power supply voltage of the suction device 231 is 24V, the generated suction force is 80kg, the power supply voltage of the suction device 231 is reduced to 5V, and the suction force is correspondingly reduced to 10 kg. At this time, although the suction device 231 maintains the suction connection with the battery pack 100, the degree of firmness of the suction connection is relatively low.

Thereafter, the pusher case 22 is controlled to be retracted by a predetermined distance, and whether a preliminary contact signal is issued is detected, and it is determined whether the locking of the battery pack 100 is successful or failed based on the detection.

Specifically, if the preliminary contact signal of the second connecting member 233 is detected, which indicates that an object still exists on the suction surface 2311 of the suction device 231, then, based on the received preliminary contact signal, it can be considered that: the battery pack 100 is also adsorbed on the adsorption device 231, and thus the locking mechanism of the battery holder is not successfully locked. At this time, it is necessary to lock the battery pack 100 to the battery holder again and perform the battery pack 100 locking determination method.

If the preliminary contact signal is not detected, it indicates that there is no object on the suction surface 2311 of the suction device 231, it can be considered that: the battery pack 100 is not adsorbed to the adsorption device 231 and the locking mechanism of the battery holder is successfully locked, resulting in the detachment of the battery pack 100 and the adsorption device 231 from each other under an adsorption force of 10 kg. At this time, the cartridge 22 can be controlled to continue to retract, and thereafter, the dual-extension mechanism 3 of the battery replacement apparatus can be controlled to retract.

However, reducing the adsorption force to 10kg is only one of the preferred adsorption parameters in this embodiment, and the above object can be achieved by connecting the battery pack 100 with other adsorption forces. Further, although the pusher case 22 in this embodiment is connected to the battery pack 100 by suction, in other embodiments, the connection portion 23 may be connected to the battery pack 100 by other connection methods, and the connection state of the connection portion 23 to the battery pack 100 is detected when the pusher case 22 is retracted by a certain distance, so as to achieve the purpose of detecting and determining whether the locking of the battery pack 100 is successful or failed.

Specifically, after the proximity sensor of the second detection module 242 detects the moving state of the detection rod 2331, it is determined that the locking of the battery pack 100 is successful; when the proximity sensor of the second detection module 242 does not detect the moving state of the detection rod 2331, it is determined that the locking of the battery pack 100 is failed.

When the battery pack 100 is not locked, the battery pack 100 is always attached to the attraction surface 2311 by the attraction force of the tray 22, and an action force is always applied to the detection rod 2331, so that the detection rod 2331 cannot move, and the proximity sensor of the second detection module 242 cannot detect the moving state of the detection rod 2331. When the battery pack 100 is successfully locked, the battery pack 100 does not move even under the suction force of the tray 22, the battery pack 100 and the tray 22 are disconnected from each other, the battery pack 100 does not contact the connecting portion 23, the force applied by the battery pack 100 to the detection rod 2331 is removed, the detection rod 2331 can move, and the proximity sensor of the second detection module 242 detects the movement state of the detection rod 2331.

In addition, in the step of controlling the cartridge 22 to be withdrawn by a certain distance, the so-called distance should be greater than the stroke of the movement of the detection lever 2331. In this embodiment, the moving distance of the supporting rod should be larger than that of the supporting rod, so that the first connecting member 232 and the second connecting member 233 are both in their initial positions (see fig. 8), and the first connecting member 232 and the second connecting member 233 are prevented from moving to the original position and are still in a compressed state, so that although the battery pack 100 is separated from the absorbing surface 2311, the first detecting module 241 and the second detecting module 242 can still generate corresponding signals.

As shown in fig. 1-3, the present invention further provides an electricity exchanging device, which is used for docking with a battery bracket (not shown in the drawings) to pick and place the battery pack 100 (see fig. 9), and the electricity exchanging device specifically includes a device frame 1, a battery tray 803, and a position adjusting mechanism, wherein the battery tray 803 is used for placing the battery pack 100 for the electricity exchanging operation, and can move relative to the battery tray 803 (see fig. 1, in this embodiment, the battery tray is moved in the Y direction), so as to achieve the purpose of picking or placing the battery pack 100 from the battery bracket in the Y direction. And the position adjusting mechanism includes a rotating mechanism, a horizontal moving mechanism, and a vertical moving mechanism for adjusting the position and angle of the battery tray 803 with respect to the battery carriage.

The rotating mechanism is used for adjusting the angle of the battery tray 803 according to the obtained angular rotation amount until each component on the battery tray 803 reaches a preset angle, the horizontal moving mechanism is used for performing horizontal adjustment according to the obtained horizontal displacement amount, and the vertical moving mechanism is used for performing vertical adjustment according to the obtained vertical displacement amount until each component on the battery tray 803 reaches a preset relative position relative to the battery bracket. Specifically, a position is reached where the unlocking mechanism on the battery tray 803 is aligned with the unlocking member on the battery tray.

The rotating mechanism specifically includes a turntable 811 and a rotating driver 812, the turntable 811 is sleeved on the bottom of the battery tray 803, and the rotating driver 812 is connected to the turntable 811 and is configured to drive the turntable 811 to drive the battery tray 803 to rotate according to the amount of angular rotation.

When the vehicle to be charged is parked on the parking space to be charged, if the parking state of the vehicle to be charged is angularly deviated from the accurate charging position, it is difficult for the double-extension mechanism 3 of the battery tray to be aligned with the battery bracket. After the battery replacement device of this embodiment obtains the parking state of the vehicle waiting for battery replacement and the angular deviation of the accurate battery replacement position, the posture of the battery tray 803 is adjusted in a rotating manner through the rotating mechanism, so that the posture of the battery tray 803 is matched with the parking state of the vehicle waiting for battery replacement, and thus, each component on the battery tray 803 is aligned with the battery bracket, and thus, the efficient and accurate battery replacement operation is realized.

The horizontal moving mechanism 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 shown in fig. 2, the track includes a head rail 701 and a ground rail 702, and the guide wheels include a head rail guide wheel 703 and a ground rail guide wheel 704. The top rail guide wheel 703 is provided corresponding to the top rail 701, and the ground rail guide wheel 704 is provided corresponding to the ground rail 702. The horizontal drivers respectively drive the sky rail guide wheel 703 to move along the sky rail 701 in the X-axis direction (i.e. the horizontal direction), and drive the ground rail guide wheel 704 to move along the ground rail 702, so that the overall horizontal movement of the battery replacement device is realized. As can be seen from FIG. 1, the X, Y and Z axes are perpendicular to each other. Fig. 1 shows a frame of the battery tray 803, a specific structure is not shown, and a specific structure of the power exchanging actuator is capable of being implemented by a person skilled in the art and is not described herein again.

When a vehicle to be replaced is parked on a parking space to be replaced, if the parking state of the vehicle to be replaced deviates from the accurate battery replacing position in the horizontal direction, the battery replacing device can move the battery tray 803 according to the obtained horizontal displacement, so that the battery tray 803 can be matched with the position of a battery bracket of the vehicle to be replaced in the horizontal direction, the accuracy is high, and the battery pack 100 can be accurately taken and placed. In this embodiment, the horizontal driver can automatically drive the battery tray 803 to move in the horizontal direction according to the horizontal displacement, and the matching of the rail and the guide rail can improve the efficiency and stability of the movement of the battery tray 803 in the horizontal direction.

The vertical moving mechanism specifically comprises a first vertical driver 61, a second vertical driver 62, a first lifting mechanism, a second lifting mechanism and a battery tray 803, 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 battery tray 803 so as to drive two ends of the battery tray 803 to move up and down; the first vertical driver is used for driving the first lifting mechanism according to a first vertical displacement amount obtained by the detection of the battery replacement equipment, and the second vertical driver is used for driving the second lifting mechanism according to a second vertical displacement amount obtained.

Specifically, the first lifting mechanism includes a first chain 706 and a first sprocket 611 disposed correspondingly, the first chain 706 drives the first sprocket 611 to move along the Z-axis direction (i.e. the vertical direction) under the driving of the first vertical driver 61, so as to drive the battery tray 803 to move along the vertical direction, the second lifting mechanism includes a second chain 621 and a second sprocket 622 disposed correspondingly, 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 battery tray 803 to move along the vertical direction.

When the vehicle to be subjected to battery replacement is parked on a parking space to be subjected to battery replacement, if the parking state of the vehicle to be subjected to battery replacement is deviated from the accurate battery replacement position in the vertical direction, the battery tray 803 is moved according to the obtained vertical displacement, so that the battery tray 803 can be matched with the position of a battery bracket of the vehicle to be subjected to battery replacement in the vertical direction, high precision is achieved, and accurate unlocking is guaranteed.

As shown in fig. 4 to 6, the battery tray 803 is provided with the double-protrusion mechanism 3, the unlocking mechanism 21, and the tray pushing case 22. The unlocking mechanism 21 is used for butting with a retrieval piece on the battery bracket so as to achieve the purpose of controlling the unlocking/locking state of the unlocking mechanism 21 on the battery bracket.

And the double-extension mechanism 3 is used for driving the battery tray 803 to approach the battery bracket, and the starting time of the double-extension mechanism 3 can be arranged after the battery replacing device reaches a preset relative position with respect to the battery bracket, so that the double-extension mechanism 3 can accurately drive the battery tray 803 to approach the battery bracket.

After the battery tray 803 is driven by the double-extension mechanism 3 to approach the battery tray 803, if the battery pack 100 is to be unlocked and taken out from the battery tray, two processes may be performed: one of them is to control the disc-pushing box 22 to move towards the battery pack 100 and determine whether the disc-pushing box 22 is completely contacted with the battery pack 100; and the other is to control the unlocking mechanism 21 to unlock or lock the battery carrier.

In this embodiment, the first process may be performed to control the disc-pushing box 22 to move toward the battery pack 100, and determine whether the disc-pushing box 22 is completely contacted with the battery pack 100. A preferred embodiment of the battery tray 803 and the tray pushing case 22 is provided herein for the purpose of determining whether the tray pushing case 22 is in contact with the battery pack 100.

The signal generated by the second detection module 242 is a preliminary contact signal, which is sent to the control module, so that the control module can know that the cartridge 22 is close to the battery pack 100. In this embodiment, the control module does not substantially change the moving state of the tray 22 after acquiring the preliminary contact signal generated by the sensor of the second detecting module 242.

And the first detecting module 241 makes a signal based on the movement of the first connector 232 (i.e., in the first contact state) after the adsorption device 231 provided on the first connector 232 is completely brought into contact with the battery pack 100, provided on the tray pushing body 22 a. Therefore, the signal generated by the first detecting module 241 is an attaching signal, and after the attaching signal is sent to the control module, the control module can know that (the adsorption surface 2311 of the adsorption device 231 of) the cartridge 22 has completely contacted the battery pack 100, and at this time, the control module can control the cartridge 22 to stop moving, so as to achieve the purpose of precise displacement control.

Preferably, the control module may be arranged to: only when both the preliminary contact signal and the fit signal are acquired, it is judged that the contact of the cartridge 22 with the battery pack 100 is completed, to further perform an operation of controlling the movement stop of the cartridge 22. This control scheme is intended to avoid the cartridge 22 stopping when it is not in contact with the battery pack 100 due to a false triggering of one of the first detection module 241 and the second detection module 242. In addition, it is further preferable that after the control module obtains the preliminary contact signal, the control module controls the cartridge 22 to decelerate so that the cartridge 22 can contact the battery pack 100 at a lower speed.

As shown in fig. 5, the first connecting member 232 is provided with an adsorption device 231 on a side facing the battery bracket, and the first connecting member 232 can be displaced along the Y direction relative to the tray pushing body 22a, so that the first detecting module 241 can obtain the above-mentioned attaching signal sent to the control module by detecting the displacement state of the first connecting member 232. Specifically, the connecting portion 23 further includes a movable portion 234, the first connecting member 232 is movable relative to the tray pushing body 22a by being connected to the movable portion 234, the movable portion 234 can also make the first connecting member 232 compressible in the moving direction of the tray pushing body 22a, and the sensor of the first detecting module 241 is disposed on a compression path of the movable portion 234 to detect the displacement of the first connecting member 232, and thus determine whether the first connecting member is in the first contact state.

The movable portion 234 specifically includes a sliding structure and an elastic structure, the first connecting element 232 is positioned on the tray pushing body 22a through the sliding structure of the movable portion 234, and the elastic structure and the first connecting element 232 together form a floating plate structure that is movable and compressible relative to the tray pushing body 22a, so that the adsorbing device 231 fixed on the first connecting element 232 can float in the Y direction relative to the tray pushing body 22 a.

When the battery pack 100 contacts the adsorption device 231, the sliding structure guides the first connection element 232 provided with the adsorption device 231 to move along the sliding path (i.e. Y direction), the first detection module 241 is disposed on the sliding path of the sliding structure and is configured to detect whether the first connection element 232 is compressed to a predetermined position, and if the first connection element 232 is compressed to the predetermined position, the adhesion signal is generated to the control module. The elastic structure applies a force to the first connecting member 232, so that the first connecting member 232 is driven by the elastic structure to return to the initial position (i.e. the position of the first connecting member 232 in fig. 8) when the adsorption device 231 on the first connecting member 232 is not in contact with the battery pack 100.

Specifically, as shown in fig. 5 and 6, the sliding structure includes four support rods with end limits, one end of each support rod is connected to the tray box body 22a, and the first connecting portion 23 is sleeved on the other end of each support rod through a through hole on the surface of the first connecting portion, so as to achieve the purpose of sliding on the support rods. The elastic structure includes elastic elements 2342, which are coil springs in this embodiment, the number of the elastic elements 2342 is equal to that of the support rods, the elastic elements 2342 are respectively sleeved on the support rods, one end of the elastic elements 2342 abuts against the tray pushing box body 22a, and the other end of the elastic elements 2342 abuts against the first connecting portion 23, so that the first connecting portion 23 can compress the elastic elements 2342 by approaching the tray pushing box body 22 a. In this embodiment, the first detecting module 241 includes a proximity sensor, and the proximity sensor detects a moving state of the end of the supporting rod to determine the first contact state and generate the attaching signal.

As shown in fig. 12, in the process that the tray pushing body 22a continues to move in the direction of the arrow toward the battery pack 100, since the battery pack 100 is completely fixed to the battery bracket, the pushing force of the tray pushing body 22a against the battery pack 100 becomes a reaction force of compressing the elastic element 2342 on the supporting rod 2341, so that the first connecting member 232 and the adsorbing device 231 move backward, and the ends to be detected 232a fixed on both sides of the first connecting member 232 move in the direction approaching the first detecting module 241, so that the first detecting module 241 can generate the fitting signal after detecting the displacement of the ends to be detected 232 a. As can be seen from fig. 12, the battery pack 100 is necessarily attached to the adsorption device 231 already when the attachment signal is generated.

After the adsorption means 231 located on the cartridge 22 is completely contacted with the battery pack 100, the adsorption means 231 is energized to adsorb the iron blocks on the battery pack 100. At this time, after the procedure of energizing the suction device 231 is performed and at least 1 second is delayed, and after the suction device 231 is ensured to completely suck the battery pack 100, the subsequent procedure of controlling the unlocking device to unlock the battery pack 100 is performed, so as to ensure that the battery pack 100 is reliably and safely connected to the cartridge 22.

The specific structure and principle of the unlocking mechanism 21 belong to the prior art, and therefore are not described herein again.

And then, the pushing box 22 is controlled to move back, as shown in fig. 9, so that the battery pack 100 is moved onto the battery tray 803 by the pushing box 22, during the process of moving the battery pack 100 back to the battery tray 803, the first image and the second image which are positioned at least at two positions on the battery tray can be collected by the image collecting module arranged on the battery tray 803, and a vertical adjustment amount is generated according to the first image and the second image, so that the purpose of adjusting the height of the battery replacing device to be matched with the height of the battery tray during the process of moving the battery pack 100 is realized by the vertical moving mechanism. Of course, during the execution of the battery pack 100 mounting method, when the tray pushing box 22 pushes the battery pack 100 into the battery tray, the height position between the battery tray 803 and the battery tray is adjusted in real time in such a manner that the vertical adjustment amount can be obtained, so as to avoid the situation that the battery pack 100 is jammed during the translation process of moving in or out.

In addition, after the battery pack 100 is completely retrieved, the tray 22 stops moving. At this time, the dual protrusion mechanism 3 can be retracted, and after the dual protrusion mechanism 3 is retracted, a vertically disposed retraction detection sensor 235 for detecting whether the dual protrusion mechanism 3 is fully retracted may be further provided at the front end of the battery tray 803. Specifically, after the double-protracting mechanism 3 is completely retracted, any object should not be detected within the detection range of the retraction detection sensor 235, and if so, it is judged that the retraction is successful, and the subsequent steps may be performed.

When the battery replacing device executes the installation process of the battery pack 100, the working principle of each component is substantially the same as the taking-out process of the battery pack 100, and repeated description is omitted here.

However, the above-described detection module for generating the attachment signal and the preliminary contact signal may also have and perform different functions during the installation of the battery pack 100 from those during the removal of the battery pack 100.

During the installation of the battery pack 100, the tray pushing box 22 needs to push the battery pack 100 to move in order to push the battery pack 100 to the battery bracket. The bonding signal generated by the first detecting module 241 can be used as a basis for determining that the battery pack 100 has been pushed to the battery holder. Specifically, the elastic element 2342 may be set to be relatively rigid, so that the elastic element 2342 cannot be compressed due to the resistance generated by the sliding of the battery pack 100 during the movement of the battery pack 100 pushed by the adsorption device 231, thereby generating the fit signal of the first detection module 241. When the tray pushing box 22 pushes the battery pack 100 to the battery bracket and to the proper position, the battery pack 100 cannot move, at this time, the acting force acting on the elastic element 2342 increases, so that the first connecting element 232 is compressed to generate a fitting signal, and the control module controls the tray pushing box 22 to stop moving based on the fitting signal, so that the tray pushing box 22 has the advantage of being capable of pushing the battery pack 100 to the proper position and accurately stopping in the installation process of the battery pack 100.

In addition, as shown in fig. 4 and 7, in the disc-pushing case 22 of the present embodiment, the detection module can also be used to detect whether the disc-pushing case 22 is located on the preset area of the battery tray 803, and when the detection module detects that the battery tray 803 is located on the preset area, the detection module can make the control module change the moving state of the disc-pushing case 22 by sending a signal to the control module electrically connected thereto. The so-called moving state includes acceleration, deceleration, stop, and the like.

Specifically, in the present embodiment, as shown in fig. 14, the detection module includes a pair of first detection member 243 and second detection member 244 which are engaged with each other, wherein the first detection member 243 is disposed on the battery tray 803, and the second detection member 244 is disposed on the tray pushing box 22. Specifically, the first detecting member 243 is a sensing block or a sensing belt, and is disposed on a surface of the battery tray 803 on a side facing the tray pushing case body 22a to form a so-called predetermined region on the surface of the battery tray 803.

Specifically, as shown in fig. 14, the second detecting member 244 in this embodiment is a proximity sensor, and a detecting end 244a of the end of the proximity sensor is disposed toward the surface of the battery tray 803 for detecting the preset area formed by the first detecting member 243, and determining whether the cartridge 22 is located in the preset area based on whether the second detecting member 244 sends a sensing signal. When the detecting end 244a of the second detecting member 244 approaches the first detecting member 243, the second detecting member 244 can generate a corresponding signal, so that the control module can change the moving state of the cartridge 22 for precise control.

Specifically, the preset region in this embodiment includes a deceleration region, a reset region, and a limit region. These regions are formed by different first detecting members 243, and are also detected by different second detecting members 244.

As shown in fig. 7, the first detecting member 243 for forming the deceleration area is a deceleration detecting member 243a provided on the battery tray 803 on the side facing the cartridge 22 and disposed near the battery tray. Specifically, as can be seen from fig. 7, the deceleration detecting member 243a is elongated and extends along the moving direction of the cartridge 22 toward the battery holder, and the control module is configured to drive the cartridge 22 to move in a deceleration manner when the deceleration area is detected by the second detecting member 244 provided on the cartridge body 22 a. The deceleration zone should be located at a position matching the distance that the cartridge 22 moves and contacts the battery pack 100. Specifically, the set position of the deceleration area should be set to: when the pusher housing 22 moves toward the battery pack 100 in the battery cradle, the pusher housing 22 moves into the deceleration section first to perform deceleration of the pusher housing 22 after the second detection member 244 sends a signal, and then the first and

second connection members

232 and 233 displace to generate the fitting signal and the preliminary contact signal, so that the pusher housing 22 stops moving.

As shown in fig. 13 and 14, the first detector 243 for forming the reset area is a reset detector 243b, and the reset detector 243b is installed in the battery tray 803 at a position between both ends in the moving direction of the push tray 22 and is disposed away from the battery tray. Specifically, the reset detecting element 243b is rectangular, and when the second detecting element 244 disposed on the cartridge body 22a detects the reset area, the control module is configured to drive the cartridge 22 to stop moving, so that the cartridge 22 can stop at a relatively precise position during the reset process, thereby improving the repeatability and reliability of the battery replacement device.

As shown in fig. 7, the first detecting member 243 for forming the limit area is a limit detecting member 243c, the limit detecting members 243c are two, and are respectively installed at positions between both ends in the moving direction of the tray pushing case 22 in the battery tray 803, and the relative deceleration detecting member 243a and the reset detecting member 243b are provided outside the battery tray 803. The limit area is provided to indicate the moving limit of the disc cartridge 22, and therefore, the two limit detectors 243c are provided at positions where the disc cartridge 22 does not enter during normal movement, that is, when the second detector 244 detects that the disc cartridge 22 enters the limit area, indicating that there is a problem with the operation of the battery replacement apparatus, the movement of the disc cartridge 22 should be stopped. Preferably, the operation of the whole battery replacement equipment can be stopped, and a fault alarm is sent out, so that a maintenance engineer can intervene and solve the problem.

In this embodiment, the second detecting member 244 is four proximity sensors to detect the deceleration detecting member 243a, the reset detecting member 243b and the two limit detecting members 243c, respectively, so that the second detecting member 244 and the first detecting member 243 are arranged in a one-to-one pairing manner, thereby avoiding the reliability risk caused by the repeated use of the sensors, and the four proximity sensors are arranged at four corners of the tray pushing box body 22a to correspond to the four first detecting members 243 (respectively, to form a structure including a deceleration area, a reset area and two limit areas).

It should be noted that, in the embodiment, when the second detecting element 244 detects that the cartridge 22 is located in the predetermined area, the control module does not have to be controlled to change the moving state of the cartridge 22, and the moving direction of the cartridge 22 relative to the battery tray 803 should be combined to make a unified determination.

For example, when the predetermined action of the pusher case 22 relative to the battery tray 803 is that the pusher case 22 is extended relative to the battery tray 803, the pusher case 22 should be controlled to decelerate if the second detecting member 244 detects that it is located in the deceleration area; when the second detecting member 244 detects that the cartridge 22 is located in the reset area, the cartridge 22 should not be controlled to stop, because the cartridge 22 may start from the reset area and start moving toward the deceleration area.

Conversely, when the cartridge 22 is retracted from the extended state by a predetermined action of the cartridge 22 with respect to the battery tray 803, the cartridge 22 should be controlled to stop if the second detection member 244 detects that it is located in the reset area; when the second detecting member 244 detects that the cartridge 22 is located in the deceleration zone, the cartridge 22 should not be controlled to decelerate, because the cartridge 22 may start from the deceleration zone and start moving in the direction of the reset zone.

While the priority of the signal of the second detecting part 244 detecting that the cartridge 22 is located in the limit area should be set to be highest, when the second detecting part 244 detects that the cartridge 22 is located in the limit area, the operation of the entire battery replacement apparatus should be stopped at once to avoid causing a safety accident.

As shown in fig. 7 and 15, the tray pushing case 22 in this embodiment further includes two balancing portions 25, and the connecting portion 23 is provided with one balancing portion 25 on each of two sides in the transverse direction (i.e., the direction X in fig. 7) of the tray pushing case body 22a, and the balancing portions 25 can balance the moving state of the battery pack 100 during pushing or pulling the battery pack 100, so that the battery pack 100 can be supported by the balancing portions 25 and the battery pack 100 can be kept in a relatively accurate moving posture under the pushing of the suction device 231 on the tray pushing case 22. Wherein, set up two balancing units 25 respectively in the equidistant position of both sides of connecting portion 23, can make balancing unit 25 the angle of rectifying the deviation the same to the both ends of battery package 100, no matter which direction skew of battery package 100 can both be corrected in time.

Here, the moving posture of the battery pack 100 refers to a position posture when the battery pack 100 moves between the battery tray 803 and the battery bracket, that is, an inclination when the battery pack 100 moves between the battery tray 803 and the battery bracket (see fig. 9, in this case, the position posture of the battery pack 100 is good), and when the moving posture of the battery pack 100 is poor, the battery pack 100 easily interferes with the side guide 4 of the battery tray 803 or the side guide of the battery bracket, and the battery pack 100 is stuck to the battery tray 803 or the battery bracket.

The connecting portion 23 in this embodiment is disposed at the middle position of the tray pushing body 22a along the X direction, and the two balance portions 25 are disposed at the positions on both sides of the connecting portion 23 at equal intervals, respectively, so that the two balance weights can relatively balance and support the battery pack 100.

Specifically, the side of the connection portion 23 facing the connection surface of the battery pack 100 (i.e., the suction surface 2311) is not flush with the balance surface of the balance portion 25 facing the battery pack 100. In addition, as shown in fig. 16, the connecting portion 23 protrudes from the pusher main body 22a to the first width D based on the moving direction (i.e., Y direction) of the pusher main body 22a toward the battery tray₁The balance part 25 protrudes from the cartridge body 22a by a second width D₂A first width D₁Greater than or equal to the second width D₂. Namely: the balance surface is disposed farther from the battery pack 100 than the adsorption surface 2311, and the connection portion 23 protrudes toward the battery pack 100 side than the balance portion 25, so that when the cartridge 22 is in contact with the battery pack 100 with a relatively normal moving posture, the adsorption surface 2311 of the connection portion 23 can be in contact with the battery pack 100 first, and only when the position posture of the battery pack 100 is poor (or a misalignment occurs), the surface of the battery pack 100 may be in contact with the balance portion 25, so that the moving state of the battery pack 100 is adjusted to be balanced by the balance portion 25.

The balancing part 25 in this embodiment includes a pushing block 251, the pushing block 251 is in a cubic shape, and a rectangular surface facing one side of the battery pack 100 is used for contacting the battery pack 100 to correct the moving posture of the battery pack 100. The abutting block 251 is mounted on the side of the disc-pushing case body 22a facing the battery bracket through the adapting structure 252, the abutting block 251 is used for contacting the battery pack 100, and the reaction force received by the balancing portion 25 for supporting the battery pack 100 can be directly exerted on the disc-pushing case body 22 by mounting the abutting block 251 on the disc-pushing case body 22 a. Preferably, the pushing block 251 is made of an elastic polyurethane material, so that the pushing block 251 has elasticity and support performance, wherein the purpose of the elasticity of the pushing block 251 is to enable the pushing block 251 to relieve a certain distance deviation through its own compression when the pushing block 251 is compressed (by the adsorption device 231 of) the connection portion 23, so as to avoid that the battery pack 100 cannot push the first connection member 232 and the second connection member 233 to compress due to the rigidity of the pushing block 251, so that the detection module triggers the attachment signal and the preliminary contact signal.

Preferably, the centers of the two balance portions 25 are not on the same straight line as the center of the connecting portion 23. In the present embodiment, as shown in fig. 17, the centers of the two balance portions 25 and the center of the connecting portion 23 are not on the same straight line L in the height direction (i.e., Z direction), that is: the two balance portions 25 are provided at different heights from the connecting portion 23. This arrangement makes the contact surfaces of the balance parts 25 and the battery pack 100 and the contact surfaces of the connection parts and the battery pack 100 not in the same direction, so as to enhance the stability of connection of the battery pack 100 and reduce the occurrence of displacement during movement of the battery pack 100.

It should be noted that the battery tray 803 and the tray pushing case 22 shown in the drawings of the present embodiment are only for illustrating specific structures. In addition, as shown in fig. 17, in order to facilitate the display of the internal structure of the disc cartridge 22, the outer casing of the disc cartridge 22 is hidden in the drawings other than fig. 17.

Claims

1. A disc-pushing box provided on a battery tray of a battery replacement apparatus, the disc-pushing box being used to push or pull a battery pack between a battery tray and a battery tray in a battery compartment or an electric vehicle, the disc-pushing box comprising:

a cartridge body movably connected to the battery tray;

2. The disc cartridge according to claim 1, wherein the connecting portion is movable with respect to the cartridge body, and the detection module detects the contact state of the connecting portion with the battery pack by detecting the moving state of the connecting portion.

3. The push tray box according to claim 2, wherein the connection portion includes a detection lever, and the detection module includes a proximity sensor for detecting a moving state of the detection lever.

4. The cartridge of claim 3, wherein a surface of the coupling portion, to which the battery pack is coupled, is a coupling surface, and the sensing lever protrudes toward the battery pack by a predetermined length compared to the coupling surface.

5. A battery pack locking judgment method implemented based on the tray pushing box according to claim 1, wherein the connecting portion includes an adsorption device, the battery pack locking judgment method is used for judging whether the battery pack is locked on the battery bracket, and the battery pack locking judgment method includes the steps of:

6. The battery pack locking determination method according to claim 5, wherein the connecting portion further includes a detection lever, the detection module includes a proximity sensor, the detection lever is movable relative to the tray pushing case body and is configured to contact the battery pack, and the proximity sensor is configured to detect a movement state of the detection lever;

7. The battery pack locking determination method according to claim 6, wherein in the step S2, the predetermined distance by which the cartridge is retracted is greater than or equal to a movement stroke of the detection lever relative to the cartridge body.

8. The battery pack locking determination method according to claim 5, wherein in the step S2, after the determination of the locking state of the battery pack results in successful locking of the battery pack, the method further comprises the steps of: and controlling the disc pushing box to retreat.

9. The battery pack locking judgment method according to claim 8, further comprising the step of, after controlling the tray pushing case to retreat: and controlling the double-extending mechanism of the battery replacement equipment to retract.

10. The battery pack locking judgment method according to claim 5, wherein in the step S2, after the locking of the battery pack fails as a result of the judgment of the locking state of the battery pack, the battery pack is locked to the battery tray again, and the steps S1 and S2 are performed.