CN113895288A

CN113895288A - Battery pack taking-out control method and battery pack installation control method

Info

Publication number: CN113895288A
Application number: CN202010642724.1A
Authority: CN
Inventors: 张建平; 周英富; 文超; 冯毅
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: CN113895288B

Abstract

The invention discloses a battery pack taking-out control method and a battery pack installation control method, which comprise the following steps: adjusting the position of the battery replacing equipment until the battery replacing equipment reaches a preset relative position relative to the battery bracket; controlling the battery replacement equipment to extend out and connect a battery pack, or moving the battery pack to the battery bracket; and controlling an unlocking mechanism of the battery replacement equipment to unlock or lock. According to the battery pack taking-out control method and the battery pack mounting control method, after the battery replacing device is aligned with the battery bracket, the battery replacing device is connected with the battery pack from the battery bracket or pushes the battery pack to the battery bracket, and then the unlocking mechanism is driven to unlock or lock the battery bracket, so that the battery pack can be taken out or mounted from the battery bracket smoothly and accurately, the accuracy and stability of the battery pack in the taking-out and mounting processes are ensured, and the battery replacing efficiency is improved.

Description

Battery pack taking-out control method and battery pack installation control method

Technical Field

The invention relates to the field of battery replacement, in particular to a battery pack taking-out control method and a battery pack installation control method.

Background

The electric vehicle is developed rapidly and is applied more and more widely. When the electric quantity is insufficient, a user can drive the electric vehicle into a battery replacing station to replace a battery pack, and whether the battery pack is installed in place is the key for successful battery replacement.

When the battery pack is taken out of or placed on the battery bracket through the battery replacing device, the key point for successfully taking out or placing the battery pack is how to accurately align the battery replacing device relative to the battery bracket. However, in the existing battery replacing process, it is often difficult to quickly and accurately achieve accurate positioning and docking of the battery replacing device and the battery bracket, and in the process of taking and placing the battery pack relative to the battery bracket by the battery replacing device, it is difficult to ensure the stability of placement or taking out, resulting in low stability, low efficiency, hidden safety and the like of the battery replacing process.

Disclosure of Invention

The invention aims to overcome the defects of low battery replacement efficiency, low stability and poor safety in the prior art, and provides a battery pack taking-out control method and a battery pack installation control method.

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

a battery pack taking-out control method is used for controlling battery pack taking-out of a battery compartment or an electric vehicle by a battery replacing device, the battery pack is locked on a battery bracket in the battery compartment or the electric vehicle, and the battery pack taking-out control method comprises the following steps:

adjusting the position of the battery replacement equipment until the battery replacement equipment reaches a preset relative position relative to the battery bracket;

controlling the battery replacement equipment to extend out and connect the battery pack;

controlling an unlocking mechanism of the battery replacement equipment to unlock;

and controlling the battery replacing equipment to take out the unlocked battery pack.

According to the battery pack taking-out control method, after the battery replacing device is aligned with the battery bracket, the battery replacing device is connected with the battery pack, then the battery pack is unlocked to enable the battery pack and the battery bracket to be unlocked, and finally the unlocked battery pack is taken out.

Preferably, the step of adjusting the position of the battery replacement device until the battery replacement device reaches a preset relative position with respect to the battery bracket includes the following steps:

acquiring a first image and a second image of at least two positions on a battery bracket of a vehicle to be replaced;

acquiring an angle rotation amount according to the first image and the second image;

controlling the battery replacing equipment to perform angle adjustment according to the angle rotation amount until the battery replacing equipment and the battery bracket reach a preset angle;

when the battery replacement equipment and the battery bracket reach a preset angle, acquiring a third image and a fourth image of at least two positions on the battery bracket;

acquiring a horizontal displacement and a vertical displacement according to the third image and the fourth image;

controlling the battery replacing equipment to perform horizontal adjustment according to the horizontal displacement quantity, and/or controlling the battery replacing equipment to perform vertical adjustment according to the vertical displacement quantity until the battery replacing equipment and the battery bracket reach a preset relative position.

In the scheme, the battery replacing device is used for adjusting the angle, and after the angle is adjusted in place, the battery replacing device is adjusted in the horizontal direction and the vertical direction, so that the battery replacing device and the battery bracket are positioned, the position adjusting process of the battery replacing device is simplified, and the positioning efficiency of the battery replacing device is improved.

Preferably, the step of controlling the battery replacement device to extend out and connect the battery pack comprises the following steps:

acquiring a third depth of field value of a position corresponding to the battery bracket in the third image or acquiring a fourth depth of field value of a position corresponding to the battery bracket in the fourth image;

and controlling the double-extending mechanism of the battery replacement equipment to extend according to the third depth of field value or the fourth depth of field value.

In the scheme, after the battery replacement equipment is positioned, the extending distance of the double extending mechanisms can be automatically and accurately controlled according to the acquired image, and the battery replacement accuracy and the battery replacement efficiency of the battery replacement equipment are improved.

controlling a tray pushing box of the battery replacing equipment to move towards the battery pack;

judging whether the contact between the disc pushing box and the battery pack is finished or not;

and if so, controlling the tray pushing box to stop moving and connecting the battery pack.

According to the method, when the disc pushing box is controlled to be close to and contact with the battery pack, the disc pushing box is controlled to stop moving according to whether the disc pushing box is in contact with the battery pack or not, so that the part of the disc pushing box, which is used for being connected with the battery pack, can accurately contact the battery pack, and the connection accuracy of the disc pushing box and the battery pack is improved.

Preferably, in the process of controlling the disc-pushing box to move towards the battery pack, when the disc-pushing box moves to a preset distance from the battery pack, the disc-pushing box is controlled to move at a reduced speed.

The method enables the pusher housing to decelerate before contact with the battery pack to maintain a relatively slow speed of contact with the battery pack. Meanwhile, before the tray pushing box is not in contact with the battery pack, the tray pushing box can move at a relatively high speed, so that the overall efficiency in the electricity taking and exchanging process is ensured.

Preferably, the step of determining whether the cartridge is in contact with the battery pack includes acquiring a preliminary contact signal triggered by preliminary contact between the cartridge and the battery pack and a bonding signal triggered by further contact between the cartridge and the battery pack, and determining that the cartridge is in contact with the battery pack when both the preliminary contact signal and the bonding signal are acquired.

The method effectively avoids the situation that the battery pack is not firmly connected due to the fact that the push-type box stops moving when not tightly and fully contacted with the battery pack, can improve the reliability of connection between the battery replacing equipment and the battery pack, and improves the battery replacing efficiency.

Preferably, after the step of controlling the battery replacement device to extend out and connect the battery pack, the method further includes:

and judging whether a tray pushing box of the battery replacing equipment is connected in place or not, and if so, executing a step of controlling an unlocking mechanism of the battery replacing equipment to unlock.

According to the method, before the step of unlocking by the unlocking mechanism of the battery replacing device, whether the push disc box is connected in place relative to the battery pack is determined, so that each step in the battery pack taking-out control method can be accurately executed, the battery pack is prevented from being unlocked under the condition that the battery replacing device is not connected in place with the battery pack, and the battery replacing reliability of the battery replacing device can be improved.

Preferably, the step of controlling an unlocking mechanism of the battery replacement device to unlock includes the following steps:

controlling the unlocking mechanism to move towards the unlocking piece of the battery bracket to be matched in place;

and controlling the unlocking mechanism to drive the unlocking piece to unlock.

In the method, in the process of taking out the battery pack through the battery replacing equipment, the battery pack on the battery bracket is unlocked by using the unlocking mechanism arranged on the battery replacing equipment, so that the unlocking accuracy is improved through the unlocking mode, and the battery replacing efficiency can be improved; meanwhile, misoperation is effectively avoided, and safety and stability are greatly improved.

Preferably, the step of controlling the battery replacement device to take out the unlocked battery pack includes the steps of:

and controlling the push tray box to retreat so as to drive the battery pack to synchronously move and take out from the battery bracket.

According to the method, after the battery pack on the battery bracket is unlocked by the unlocking mechanism, the battery pack after unlocking is taken out by using the tray pushing box connected to the battery pack, and the battery pack is taken out in a translation mode through the tray pushing box, so that the stability of taking out the battery is ensured, the damage to the battery pack is avoided, and the battery replacement safety is improved.

Preferably, during the process of retracting the push box, the height of the battery replacing device is adjusted to be matched with the height of the battery bracket.

According to the method, the height of the battery replacing equipment is adjusted to be matched with the height of the battery bracket in the retraction process of the tray pushing box, so that the situation that the battery pack is clamped in the pulling process due to the deviation of the battery bracket relative to the battery replacing equipment in the height direction in the process of moving the battery pack out of the battery bracket is avoided.

Preferably, after the step of controlling the tray pushing box to retract so as to drive the battery pack to move synchronously and take out the battery pack from the battery bracket, the method further includes:

and judging whether the disc pushing box is retracted in place, if so, controlling a double-extending mechanism of the battery replacement equipment to retract.

According to the method, under the condition that the battery pack is taken out from the battery bracket and returned to the proper position by the cartridge, the extending mechanism is controlled to return, so that the battery pack is safely taken out to the battery replacement equipment, and the battery replacement reliability of the battery replacement equipment can be improved.

A battery pack installation control method for controlling a battery replacing 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 replacing equipment to move the battery pack to the battery bracket;

and controlling an unlocking mechanism of the battery replacement equipment to lock.

According to the battery installation control method, after the battery replacing device is aligned with the battery bracket, the battery pack is pushed to the battery bracket by the battery replacing device, and then the unlocking mechanism is driven to lock the battery bracket, so that the battery pack can be smoothly and accurately installed on the battery bracket, accuracy and stability in the installation process of the battery pack are guaranteed, and the battery replacing efficiency is improved.

Preferably, the step of controlling the battery replacing device to move the battery pack onto the battery bracket comprises the steps of:

Preferably, after the step of controlling the extension of the dual-extension mechanism of the battery swapping device according to the third depth of field value or the fourth depth of field value, the method further includes:

and controlling a disc pushing box of the battery replacing equipment to push the battery pack to a battery bracket.

According to the method, the battery pack is pushed in place by controlling the disc pushing box after the double-stretching mechanism stretches out and accurately stretches out in place, so that the battery pack can be accurately installed on the battery bracket.

Preferably, the step of controlling the cartridge of the battery replacement device to push the battery pack onto the battery bracket comprises the following steps:

controlling the tray pushing box to push the battery pack to move towards the battery bracket;

judging whether the battery pack is pushed in place by the push box;

and if so, controlling the disc pushing box to stop moving.

The method controls the disc pushing box to continue moving or stop according to whether the battery pack is pushed in place or not, so that the disc pushing box can stop after the battery pack is pushed in place, the battery pack is further ensured to be located at an accurate position, and the reliability of the method is improved.

Preferably, the step of judging whether the cartridge pushes the battery pack in place comprises:

acquiring a preliminary contact signal triggered by the preliminary contact of the disc pushing box and the battery pack and a bonding signal triggered by the further contact of the disc pushing box and the battery pack, and judging that the disc pushing box pushes the battery pack in place when the preliminary contact signal and the bonding signal are acquired.

The method effectively avoids the situation that the battery pushing box stops pushing when the battery pack is not accurately fed into the battery bracket, so that the subsequent locking operation is influenced, and the battery replacement reliability of the battery replacement equipment is improved.

Preferably, in the process of controlling the tray pushing box to push the battery pack to move towards the battery bracket, the height of the battery replacing device is adjusted to be matched with the height of the battery bracket.

According to the method, the height of the battery replacing equipment is adjusted to be matched with the height of the battery bracket in the process that the tray pushing box moves towards the battery bracket, so that the situation that the battery pack is clamped in the pushing process due to the deviation of the battery bracket relative to the battery replacing equipment in the height direction in the process that the battery pack moves into the battery bracket is avoided.

Preferably, the step of controlling the unlocking mechanism of the battery replacement device to lock includes the following steps:

and controlling the unlocking mechanism to drive the unlocking piece to lock.

In the method, in the process of installing the battery pack to the battery bracket, the battery pack on the battery bracket is locked by using an unlocking mechanism arranged on the battery replacing equipment, so that the locking accuracy is improved in the locking mode, and the battery replacing efficiency can be improved; meanwhile, misoperation is effectively avoided, and safety and stability are greatly improved.

Preferably, the step of controlling the unlocking mechanism of the battery replacement equipment to lock comprises the following steps:

and judging whether the battery pack is locked on the battery bracket.

According to the method, whether the battery pack is locked or not is detected after the battery pack is installed, so that the battery pack is firmly and reliably installed on the battery bracket, and the hidden danger that the battery pack falls off is avoided.

Preferably, the step of determining whether the battery pack is locked to the battery bracket includes the steps of:

controlling the adsorption force of a tray pushing box of the battery replacing equipment on the battery pack to reach a preset value;

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

The method utilizes the function that the pushing disc box can adsorb the battery pack, and detects whether the battery pack can be moved out of the battery bracket again along with the pushing disc box by the mode that the pushing disc box adsorbed on the battery pack moves outwards after the battery pack is locked on the battery bracket, thereby realizing the purpose of judging the locking state of the battery pack. The scheme is realized by utilizing the existing structure, and is simple and reliable.

Preferably, 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:

controlling the disc pushing box to retreat;

and controlling the double-extending mechanism of the battery replacement equipment to retract.

According to the method, after the battery pack is ensured to be locked successfully, the push disc box and the double-extension mechanism of the battery replacement device are driven to return to the initial positions, so that the reliable implementation of the battery pack installation control method is ensured.

The positive progress effects of the invention are as follows:

according to the battery pack taking-out control method and the battery pack mounting control method, after the battery replacing device is aligned with the battery bracket, the battery replacing device is connected with the battery pack from the battery bracket or pushes the battery pack to the battery bracket, and then the unlocking mechanism is driven to unlock or lock the battery bracket, so that the battery pack can be taken out or mounted from the battery bracket smoothly and accurately, the accuracy and stability of the battery pack in the taking-out and mounting processes are guaranteed, and the battery replacing efficiency is improved.

Drawings

Fig. 1 is a flowchart illustrating a battery pack removal control method according to embodiment 1 of the present invention (a).

Fig. 2 is a flow chart of a battery pack removal control method according to embodiment 1 of the present invention (step two).

Fig. 3 is a flow chart of a battery pack removal control method according to embodiment 1 of the present invention (step three).

Fig. 4 is a flowchart illustrating a battery pack removal control method according to embodiment 1 of the present invention (step four).

Fig. 5 is a flowchart illustrating a battery pack removal control method according to embodiment 1 of the present invention (step five).

Fig. 6 is a flowchart illustrating a battery pack installation control method according to embodiment 1 of the present invention (a).

Fig. 7 is a flowchart illustrating a battery pack installation control method according to embodiment 1 of the present invention (step two).

Fig. 8 is a flowchart illustrating a battery pack installation control method according to embodiment 1 of the present invention (step three).

Fig. 9 is a flowchart illustrating a battery pack installation control method according to embodiment 1 of the present invention (step four).

Fig. 10 is a schematic perspective structure diagram of a battery swapping device in embodiment 2 of the present invention.

Fig. 11 is a schematic perspective view (a) of a battery tray according to embodiment 2 of the present invention.

Fig. 12 is a schematic front view of a power swapping device in embodiment 2 of the present invention.

Fig. 13 is a schematic perspective view of a battery tray according to embodiment 2 of the present invention (second).

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

Fig. 15 is a partial structural view of a battery tray according to embodiment 2 of the present invention.

Fig. 16 is a schematic top view of a battery tray according to embodiment 2 of the present invention.

Fig. 17 is a partially enlarged view of a portion C in fig. 16.

Fig. 18 is a schematic view of a connection relationship between a battery tray and a battery pack according to embodiment 2 of the present invention.

Fig. 19 is a schematic diagram (one) illustrating a positional relationship between a battery tray and a battery pack according to embodiment 2 of the present invention.

Fig. 20 is a schematic diagram (two) illustrating a positional relationship between the battery tray and the battery pack according to embodiment 2 of the present invention.

Fig. 21 is a schematic view (iii) showing a positional relationship between the battery tray and the battery pack according to embodiment 2 of the present invention.

Fig. 22 is a schematic perspective view (iii) of a battery tray according to embodiment 2 of the present invention.

Fig. 23 is a partially enlarged view of a portion D in fig. 22.

Fig. 24 is a partially enlarged view of a portion B in fig. 13.

Fig. 25 is a partial structural schematic diagram of a battery tray and a battery pack according to embodiment 2 of the invention.

Fig. 26 is a schematic perspective view (iii) of a battery tray according to embodiment 2 of the present invention.

Description of reference numerals:

image acquisition module 41

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.

Example 1

As shown in fig. 1, the present invention provides a battery pack taking-out control method for controlling a battery replacing device to take out a battery pack from a battery compartment or an electric vehicle, and locking the battery pack on a battery bracket in the battery compartment or the electric vehicle, the battery pack taking-out control method comprising the steps of:

s01, adjusting the position of the battery replacing equipment until the battery replacing equipment reaches a preset relative position relative to the battery bracket;

s02, controlling the battery replacement equipment to extend out and be connected with a battery pack;

s03, controlling an unlocking mechanism of the battery replacement equipment to unlock;

and S04, controlling the battery replacement equipment to take out the unlocked battery pack.

In step S01, the reaching of the preset relative position is that the battery swapping apparatus is moved to a position aligned with the battery tray.

According to the battery pack taking-out control method, after the battery replacing equipment is aligned with the battery bracket, the battery pack is connected, and then the unlocking mechanism is driven to unlock the battery bracket, so that the unlocked battery pack can be smoothly and accurately taken out of the battery bracket, and the accuracy, stability and efficiency in the battery pack taking-out process are guaranteed.

As shown in fig. 2, the step S01 may specifically include the following steps:

s011, acquiring a first image and a second image of at least two positions on a battery bracket of the electric vehicle to be replaced;

s012, obtaining the angle rotation amount according to the first image and the second image;

s013, controlling the battery replacing equipment to perform angle adjustment according to the angle rotation amount until the battery replacing equipment and the battery bracket reach a preset angle;

s014, when the battery replacement device and the battery bracket reach a preset angle, acquiring third images and fourth images of at least two positions on the battery bracket;

s015, acquiring a horizontal displacement and a vertical displacement according to the third image and the fourth image;

and S016, controlling the battery replacing device to perform horizontal adjustment according to the horizontal displacement, and/or controlling the battery replacing device to perform vertical adjustment according to the vertical displacement until the battery replacing device and the battery bracket reach a preset relative position.

In this embodiment, at least two positions on the battery bracket are not specifically limited, and the positions can be adjusted and selected according to actual requirements.

Further, in this embodiment, the battery replacement device performs angle adjustment according to the current relative position of the battery bracket, and performs adjustment in the horizontal direction and the vertical direction according to the current relative position of the battery bracket after the angle adjustment is in place, so that the battery replacement device and the battery bracket are positioned. After the angle of the battery replacing equipment is adjusted in place, namely after the battery replacing equipment is parallel to the battery bracket, the change of the relative angle between the battery replacing equipment and the battery bracket due to the displacement of the battery replacing equipment in the horizontal direction or the vertical direction can be avoided, so that the position adjusting process of the battery replacing equipment is simplified, and the positioning efficiency of the battery replacing equipment is improved.

The positioning method can automatically and accurately acquire the accurate position of the battery bracket of the battery replacing vehicle, so that the battery replacing equipment can be accurately positioned with the battery bracket of the battery replacing vehicle to disassemble and assemble the battery pack, and the battery replacing accuracy and the battery replacing efficiency are greatly improved.

As shown in fig. 3, after the alignment of the position between the battery replacement device and the battery bracket is achieved in step S01, the following steps may be embodied in step S02:

s021, acquiring a third depth of field value of the position corresponding to the battery bracket in the third image, or acquiring a fourth depth of field value of the position corresponding to the battery bracket in the fourth image;

s022, controlling the double-extending mechanism of the battery replacing equipment to extend out according to the third depth of field value or the fourth depth of field value.

Specifically, under the condition that the power conversion equipment is parallel to the battery bracket, a third depth of field value of a position corresponding to the battery bracket in the third image is equal to a fourth depth of field value of a position corresponding to the battery bracket in the fourth image, and the extending distance of the double extending mechanisms of the power conversion equipment can be determined according to the third depth of field value or the fourth depth of field value.

Thereafter, after step S022, the dual-extension mechanism of the battery swapping device extends and approaches the battery bracket, at which point the subsequent steps in step S02 may be continued:

s023, controlling a tray pushing box of the battery replacing equipment to move towards the battery pack;

and S024, judging whether the push disc box is contacted with the battery pack. If the result of judging whether the disc pushing box is contacted with the battery pack is yes, the disc pushing box is controlled to stop moving and is connected with the battery pack.

That is, in the scheme of taking the battery pack by the disc pushing box, after the double-extension mechanism approaches the battery bracket, the disc pushing box can be controlled to approach and contact the battery pack, and the disc pushing box can be controlled to stop moving based on whether the disc pushing box contacts the battery pack, so that the part of the disc pushing box for connecting the battery pack can accurately and reliably contact the battery pack, and the accuracy and reliability of connection between the disc pushing box and the battery pack are improved, and the implementation of the subsequent steps is facilitated.

Specifically, in the process of controlling the disc pushing box to move towards the battery pack, the disc pushing box can be controlled to move at a reduced speed when the disc pushing box moves to a preset distance away from the battery pack. The preset distance is smaller than the distance that the disc pushing box moves and contacts the battery pack, so that the speed of the disc pushing box can be reduced before the disc pushing box contacts the battery pack, the disc pushing box keeps a relatively slow speed to contact the battery pack, and meanwhile, the disc pushing box can move at a relatively fast speed before the disc pushing box does not contact the battery pack, so that the overall efficiency in the power taking and changing process is ensured.

Preferably, in step S024, the step of determining whether the cartridge is completely contacted with the battery pack specifically includes:

the preliminary contact signal that acquires the dish pushing box and the preliminary contact of battery package and the laminating signal that dish pushing box and battery package further contact triggered, when preliminary contact signal and laminating signal all obtained then, judge that the dish pushing box and battery package contact are accomplished.

That is to say, in the method, the disc pushing box is considered to be in contact with the battery pack after the two signals, namely the initial contact signal and the fit signal, are received, and the disc pushing box is driven to stop moving, so that the situation that the disc pushing box stops moving when not in contact with the battery pack due to false triggering of a single signal and cannot be reliably connected with the battery pack is avoided, and the power replacement reliability of the power replacement device can be improved. Conversely, if only one of the preliminary contact signal and the fit signal is triggered during the movement of the tray pusher, and the other signal is not triggered later, it is basically determined that the apparatus has a failure, and thus a process of checking whether the apparatus is operating normally should be performed. The preliminary contact signal and the fitting signal in the method refer to trigger signals at different positions of the disc cartridge, and these signals can be realized by arranging sensors at different positions of the disc cartridge, and the like.

Preferably, between step S02 and step S03, after the tray pushing case contacts and connects the battery pack, the following steps may be further included:

and S025, judging whether the disc pushing box is connected in place relative to the battery pack, and if so, executing a step of controlling an unlocking mechanism of the battery replacement device to unlock, namely executing step S03.

By adding the detection step, whether the disc pushing box is connected in place relative to the battery pack is determined before the unlocking mechanism of the battery replacing device performs the unlocking step, so that each step in the battery pack taking-out control method can be accurately performed.

As shown in fig. 4, the step of controlling the unlocking mechanism of the battery replacement device to unlock at step S03 further includes the following steps:

s031, control the unlocking mechanism to move to the matched position towards the unlocking piece of the battery bracket;

s032, controlling the unlocking mechanism to drive the unlocking piece to unlock.

According to the battery pack taking-out control method, in the process of taking out the battery pack through the battery replacing equipment, the battery pack on the battery bracket is unlocked through the unlocking mechanism arranged on the battery replacing equipment, so that the unlocking accuracy is improved through the unlocking mode, and the battery replacing efficiency can be improved; meanwhile, misoperation is effectively avoided, and safety and stability are greatly improved. The structure of the unlocking mechanism is present in the prior art, and therefore, is not described in detail herein.

As shown in fig. 5, the step of controlling the battery replacement device to take out the unlocked battery pack in step S04 may specifically include the following steps:

and S041, controlling the push tray box to retreat so as to drive the battery pack to synchronously move and take out the battery pack from the battery bracket.

Through foretell scheme, after release mechanism unblocks the battery package that lies in on the battery bracket, utilize to connect the battery package that pushes away after the dish box will unblock in the battery package and take out to improve the unblock accuracy and the unblock efficiency of taking out the battery package in-process through the location, take out the battery package with the translation mode through pushing away the dish box in addition, guarantee the stability that the battery took out, avoid causing the damage to the battery package, improve and trade electric safety.

Preferably, during the retraction of the tray pusher in step S041, the height of the battery replacement device may be adjusted to match the height of the battery holder.

In particular, this step is carried out in order to keep the height of the battery changing device matched to the battery carrier during the removal of the battery pack from the battery carrier, in order to avoid jamming of the battery pack against the battery changing device or the battery carrier during the removal. The reason why the height deviation occurs in the process that the battery bracket is withdrawn relative to the battery replacing device in the tray pushing box is that the battery bracket is arranged on a vehicle with a suspension function, when the battery pack is moved out relative to the battery bracket, the whole weight of the vehicle is gradually lightened, and at the moment, the height of the vehicle can rise under the suspension function, so that the height deviation occurs in the battery bracket relative to the battery replacing device. The scheme is set for solving the situation, namely, the battery replacing device is moved upwards correspondingly in height so as to be matched with the height of the battery bracket, and therefore the battery pack can be prevented from being clamped due to an overlarge included angle formed between the battery pack and the battery bracket, and the battery pack is guaranteed to be taken out smoothly.

Specifically, the height of the power exchanging device may be adjusted in real time during the retraction of the tray pushing box, or may be adjusted once after the tray pushing box is retracted by a certain distance, so as to compensate for the height of the battery tray rising due to losing part of the weight of the battery pack.

In addition, after the step of controlling the tray pushing box to retract to drive the battery pack to move synchronously and take out the battery pack from the battery bracket in step S041, the method further includes the following steps: and S042, judging whether the disc pushing box is retracted in place, and if so, controlling the dual-extending mechanism of the battery replacing equipment to retract.

By the step, after the fact that the push tray box returns to the position is confirmed, the double-extending mechanism of the battery replacing device is driven to return, and the battery replacing reliability of the battery replacing device is improved.

As shown in fig. 6, the present invention further provides a battery pack installation control method for controlling a battery replacing device to install a battery pack on a battery bracket to achieve locking between the battery pack and the battery bracket, the battery pack installation control method including the following steps:

s11, adjusting the position of the battery replacing equipment until the battery replacing equipment reaches a preset relative position relative to the battery bracket;

s12, controlling the battery replacing equipment to move the battery pack to the battery bracket;

and S13, controlling an unlocking mechanism of the battery replacement equipment to lock.

According to the battery installation control method, after the battery replacing device is aligned with the battery bracket, the battery pack is pushed to the battery bracket by the battery replacing device, and then the unlocking mechanism is driven to lock the battery bracket, so that the battery pack can be smoothly and accurately installed on the battery bracket, and accuracy, stability and efficiency in the installation process of the battery pack are guaranteed.

As shown in fig. 7, the step S11 may specifically include the following steps:

s111, acquiring a first image and a second image of at least two positions on a battery bracket of the electric vehicle to be replaced;

s112, acquiring an angle rotation amount according to the first image and the second image;

s113, controlling the battery replacement equipment to perform angle adjustment according to the angle rotation amount until the battery replacement equipment and the battery bracket reach a preset angle;

s114, when the battery replacing equipment and the battery bracket reach a preset angle, acquiring a third image and a fourth image of at least two positions on the battery bracket;

s115, acquiring a horizontal displacement and a vertical displacement according to the third image and the fourth image;

and S116, controlling the battery replacing device to perform horizontal adjustment according to the horizontal displacement, and/or controlling the battery replacing device to perform vertical adjustment according to the vertical displacement until the battery replacing device and the battery bracket reach a preset relative position.

The implementation of the above steps is identical to S011 to S016 in the battery pack removal control method. Therefore, in the process of installing the battery pack, the battery replacing device also carries out angle adjustment according to the current relative position of the battery bracket, and after the angle adjustment is in place, the battery replacing device carries out adjustment in the horizontal direction and the vertical direction according to the current relative position of the battery bracket, so that the battery replacing device and the battery bracket are positioned. After the angle of the battery replacing device is adjusted in place, namely after the battery replacing device is parallel to the battery bracket, the change of the relative angle between the battery replacing device and the battery bracket due to the displacement of the battery replacing device in the horizontal direction or the vertical direction is avoided, so that the position adjusting process of the battery replacing device is simplified, and the positioning efficiency of the battery replacing device is improved.

As shown in fig. 8, after the alignment of the position between the battery replacement device and the battery bracket is achieved in step S11, the following steps may be embodied in step S12:

s121, acquiring a third depth of field value of the position corresponding to the battery bracket in the third image or acquiring a fourth depth of field value of the position corresponding to the battery bracket in the fourth image;

and S122, controlling the double-extending mechanism of the battery replacement equipment to extend according to the third depth of field value or the fourth depth of field value.

On this basis, when step S122 is executed to enable the dual-extending mechanism to extend accurately to the right position, the following steps may be further executed: and the battery pushing box controlling the battery replacing equipment pushes the battery pack to the battery bracket. Wherein this step can be further subdivided into performing the steps of:

s123, controlling the disc pushing box to push the battery pack to move towards the battery bracket;

s124, judging whether the disc pushing box pushes the battery pack in place or not;

if the determination result in step S123 is yes, the cartridge is controlled to stop moving.

That is to say, the method controls the disc pushing box to move or stop continuously according to whether the battery pack is pushed in place, so that the disc pushing box can stop after the battery pack is pushed in place, and the battery pack is ensured to be located at an accurate position, thereby further improving the reliability of the method.

In the method for judging whether the battery pack is pushed in place, a sensor can be arranged on the battery replacement equipment or the battery bracket. For example, a contact sensor is arranged inside an end plate of the battery bracket, and the contact sensor can be triggered when the contact sensor is contacted with the battery pack so as to send a stop signal to control the tray pushing box to stop moving. The detailed description of the embodiments is omitted here since they fall within the scope of the prior art.

In step S123, during the process that the tray pushing box pushes the battery pack to move, as implemented in step S041 in the above battery pack taking-out control method, during the moving process of the tray pushing box, the height of the battery replacing device is adjusted to match the height of the battery bracket, so as to avoid the problem that the height of the battery bracket deviates from the height of the battery replacing device due to the fact that the overall weight of the battery bracket rises due to the movement of the battery pack, and the height of the vehicle falls under the suspension action.

In addition, in step S124, a preliminary contact signal triggered by the preliminary contact between the disc cartridge and the battery pack and a bonding signal triggered by the further contact between the disc cartridge and the battery pack are obtained as the judgment basis. When the preliminary contact signal and the fitting signal are both acquired, it can be judged that the cartridge pushes the battery pack in place.

As shown in fig. 9, in step S13, the following steps may be specifically included:

s131, controlling the unlocking mechanism to move to the matched position towards the unlocking piece of the battery bracket;

and S132, controlling an unlocking mechanism to drive an unlocking piece to lock.

According to the battery pack installation control method, in the process of installing the battery pack to the battery bracket, the battery pack on the battery bracket is locked by the unlocking mechanism arranged on the battery replacing equipment, so that the locking accuracy is improved through the locking mode, and the battery replacing efficiency can be improved; meanwhile, misoperation is effectively avoided, and safety and stability are greatly improved.

The above-mentioned specific embodiment of the battery pack locking is substantially the same as the flow of step S031 and step S032 in the battery pack taking-out control method, except that in the battery pack installation control method, the unlocking mechanism is used to drive the unlocking piece to lock, and if the unlocking mechanism is used to drive the unlocking piece to unlock by moving in a certain direction, in the method, the unlocking mechanism drives the unlocking piece to lock by moving in the opposite direction.

After step S132 is performed, it may be determined whether the battery pack is locked on the battery holder. If the locking is found to be failed, the battery pack mounting steps can be repeated, and the battery pack is mounted on the battery bracket again through the power exchange equipment, so that the situation of locking failure is fundamentally avoided, and the battery pack is firmly and reliably mounted on the battery bracket.

Specifically, the step of determining whether the battery pack is locked to the battery holder may specifically include the following steps:

s133, controlling the adsorption force of a disc pushing box of the battery replacing device on the battery pack to reach a preset value;

and S134, controlling the push box to retreat for a preset distance so as to judge the locking state of the battery pack.

Specifically, when the battery pack is judged to be locked, if the battery pack is moved out along with the disc pushing box, the battery pack is not successfully locked; if the battery pack is not moved out along with the cartridge but is separated from the cartridge by the locking force of the battery holder, the battery pack is successfully locked.

Further, after the locking state of the battery pack is judged and the judgment result shows that the battery pack is successfully locked, the method also comprises the following steps:

s135, controlling the push disc box to retreat;

and S136, controlling the double-extending mechanism of the battery replacement equipment to retract.

Therefore, after the battery pack is ensured to be locked successfully, the push disc box and the double-extension mechanism of the battery replacement device are driven to return to the initial position.

If the locking state of the battery pack is determined and the battery pack is failed to be locked, the above steps S12 and S13 can be repeated to lock the battery pack on the battery bracket again by using the tray pushing box of the battery replacing device. When the operations are carried out for multiple times, the judgment results are that the battery pack is failed to be locked, so that the battery replacement equipment can send out an error signal, and maintenance personnel can conveniently intervene in the battery replacement process.

Example 2

As shown in fig. 10-12, the present invention further provides an electricity exchanging apparatus, which is used for docking with a battery bracket (not shown in the figures) to pick and place the battery pack 100 (see fig. 18), and the electricity exchanging apparatus specifically includes an apparatus frame 1, a battery tray 803, and a position adjusting mechanism, wherein the battery tray 803 is used for placing the battery pack required for performing the electricity exchanging operation, and can move relative to the battery tray 803 along the front-back direction of the battery tray 803 (see fig. 10, the front-back direction of the battery tray 803 in this embodiment is the Y direction), so as to achieve the purpose of picking or placing the battery pack from the battery bracket along 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 tray.

The directions in this embodiment may refer to the X direction, the Y direction, and the Z direction shown in fig. 1. Wherein the X direction is a direction parallel to a 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 a battery bracket of the electric vehicle are in a corresponding state through adjustment of the Y direction; the Z direction is the height direction of the battery tray, and the battery replacing equipment enables the height of the battery tray to be flush with the height of a battery bracket on the electric vehicle through Z direction adjustment.

The rotating mechanism is used for adjusting the angle of the battery tray 803 according to the obtained angle 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 achieved 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 replaced is parked on the parking space to be replaced, if the parking state of the vehicle to be replaced is angularly deviated from the accurate battery replacement position, the double-extension mechanism 3 of the battery push tray is difficult to align with the battery bracket. After the battery replacement device of this embodiment obtains the angle deviation between the parking state of the vehicle to be replaced and the accurate power 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 to be replaced, and each component on the battery tray 803 is aligned with the battery bracket, thereby realizing efficient and accurate battery replacement operation.

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. 11, 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 in FIG. 10, the X, Y and Z axes are perpendicular to each other. The frame of the battery tray 803 is shown in fig. 10, and the specific structure of the power changing actuator, which can be realized by those skilled in the art, 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 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.

The angular rotation amount, the horizontal displacement amount, and the vertical displacement amount required by the position adjustment mechanism can be realized by acquiring the first image and the second image at least two positions on the battery tray by the image acquisition module 41 disposed on the battery tray 803 of the battery replacement device, and the specific embodiment is already described in embodiment 1, and therefore, the details are not repeated herein.

As shown in fig. 13 to 15, the battery tray 803 is provided with the double-protrusion mechanism 3, the unlocking mechanism 21, and the tray pushing case 22. The tray pushing box 22 moves along the Y direction relative to the battery tray 803 to achieve the function of taking and placing the battery pack, the tray pushing box 22 includes a tray pushing box body 22a and a connecting portion 23, the connecting portion 23 is disposed on the surface of the tray pushing box body 22a facing one side of the battery tray, and the connecting portion 23 can be connected with the battery pack when contacting the battery pack to achieve the function of taking the battery pack out of the battery tray. The unlocking mechanism 21 is used for being in butt joint with the 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 is to be unlocked and taken out from the battery tray, two steps can be performed: one of them is to control the disc-pushing box 22 to move towards the battery pack and judge whether the disc-pushing box 22 is in contact with the battery pack; 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, and determine whether the disc-pushing box 22 is in contact with the battery pack. 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.

The cartridge 22 may include a detection module for detecting a contact state of the cartridge body 22a with the battery pack and a control module; 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 cartridge body 22a is completely contacted with the battery pack, the control module controls the cartridge body 22a to execute the corresponding moving state.

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

Specifically, as shown in fig. 14 and 15, 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 is used to detect a first contact state of the first connecting member 232 with the battery pack, and the second detecting module 242 is used to detect a second contact state of the second connecting member 233 with the battery pack.

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. 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 (i.e., the second contact state). Therefore, 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. 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 link 232 (i.e., in the first contact state) after the adsorption device 231 provided on the first link 232 is completely brought into contact with the battery pack, provided on the tray pushing body 22 a. Therefore, the signal generated by the first detecting module 241 is a bonding signal, and after the bonding 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, and at this time, the control module can control the cartridge 22 to stop moving, so as to achieve the purpose of accurate 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 disc cartridge 22 with the battery pack is completed, to further perform an operation of controlling the disc cartridge 22 to stop moving. This control scheme is intended to avoid the cartridge 22 stopping when it is not in contact with a battery pack 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 at a low speed.

As shown in fig. 14, the first connector 232 is provided with an adsorption device 231 on a side facing the battery bracket, and the first connector 232 can be displaced along the Y direction relative to the tray pushing body 22a, so that the first detection module 241 can obtain the above-mentioned attaching signal sent to the control module by detecting the displacement state of the first connector 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 accordingly 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 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, a bonding 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. 17) when the adsorption device 231 on the first connecting member 232 is not in contact with the battery pack.

Specifically, as shown in fig. 14 and 15, 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 supporting rods, the elastic elements 2342 are respectively sleeved on the supporting rods, one end of the elastic element 2342 abuts against the disc-pushing case body 22a, and the other end of the elastic element 2342 abuts against the first connecting portion 23, so that the first connecting portion 23 can compress the elastic element 2342 by the approaching movement of the disc-pushing case 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. 15, the second connecting member 233 is disposed on the first connecting member 232 along the direction of the tray pushing body 22a toward the battery tray, 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 of the adsorption device 231 when in the initial position (i.e., the detection rod 2331 is in the position of fig. 17), the detection rod 2331 can move relative to the adsorption device 231 along 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 pushing tray 22 to approach the battery pack, the end of the detecting rod 2331 contacts the battery pack first and is compressed to generate the preliminary contact signal. Thereafter, when the battery pack is in contact with the suction surface 2311 of the suction device 231, the suction device 231 and the first connector 232 can be further compressed to generate a fit signal.

In addition, the second detection module 242 also includes a proximity sensor, and the proximity sensor of the second detection module 242 can detect the moving state of the end of the detection rod 2331 to determine the second contact state and generate a preliminary contact signal. 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 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. 15, 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 driving the detection rod 2331 to return to the initial position when the detection rod 2331 is not in contact with the battery pack.

As shown in fig. 19, it is a schematic view showing a positional relationship between the battery tray and the battery pack 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 sensing rod 2331 is disposed to protrude from the adsorption surface 2311 for moving the sensing rod 2331 in the direction of the second sensing module 242 when the sensing rod 2331 is in contact with the battery pack, and the second sensing module 242 is disposed at the other end 2331a of the sensing rod 2331.

As shown in fig. 20, 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.

Thereafter, as shown in fig. 21, 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 detect the displacement of the ends to be detected 232a and generate the attaching signal. As can be seen from fig. 21, the battery pack 100 is necessarily already attached to the adsorption device 231 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 powering on 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 is performed, so as to ensure that the battery pack 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.

Thereafter, the pusher housing 22 is controlled to move back, as shown in fig. 18, to move the battery pack 100 onto the battery tray 803 via the pusher housing 22. During the process of moving the battery pack 100 back to the battery tray 803, the first image and the second image at least at two positions on the battery bracket can be acquired by the image acquisition 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 bracket during the process of moving the battery pack is realized by the vertical moving mechanism. Of course, during the execution of the battery pack installation method, when the tray pushing box 22 pushes the battery pack 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 battery pack from being jammed during the translation process of moving in or out.

In addition, after the battery pack is completely retrieved, the tray pushing case 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 detecting 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-extension 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 determined that the retraction is successful, and the subsequent steps may be performed.

When the battery pack installation process is executed by the battery replacing equipment, the working principle of each part is substantially the same as that of the battery pack taking-out process, and repeated description is omitted here.

However, the 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 than during the removal of the battery pack, and the following is exemplified here:

during the battery pack installation process, the tray pushing box 22 needs to push the battery pack to move to push the battery pack 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 has been pushed to the battery holder. Specifically, the elastic element may be set to be relatively hard, so that the elastic element cannot be compressed due to the resistance generated by the sliding of the battery pack during the process of pushing the battery pack to move by the adsorption device 231, thereby generating the attachment signal by the first detection module 241. When the tray pushing box 22 pushes the battery pack to the battery bracket and is in place, the battery pack cannot move, at the moment, the acting force acting on the elastic element is increased, so that the first connecting piece 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 to be in place and accurately stopping in the battery pack installation process.

In addition, in the battery pack installation process, after the unlocking mechanism 21 locks the battery pack on the battery bracket, the preliminary contact signal generated by the second detection module 242 may be used as a basis for determining whether the battery pack has been locked on the battery bracket.

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

Thereafter, the pusher case 22 is controlled to retreat a certain distance, and whether a preliminary contact signal is issued is detected, and based on this, it is determined whether the locking of the battery pack is successful or failed.

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 is also attracted to the adsorption device 231 and thus the locking mechanism of the battery carrier is not successfully locked. At this time, the unlocking mechanism 21 and the tray pusher 22 on the battery tray 803 can be continuously controlled to perform the battery pack mounting process.

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

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 with other adsorption forces. Further, although the pusher case 22 in this embodiment is connected to the battery pack by suction, in other embodiments, the connection portion 23 may be connected to the battery pack by another connection method, and the connection state between the connection portion 23 and the battery pack may be detected when the pusher case 22 is retracted by a certain distance, so as to detect and determine whether the battery pack is successfully locked or unsuccessfully locked.

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. 17), 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 is separated from the absorbing surface 2311, the first detecting module 241 and the second detecting module 242 can still generate corresponding signals.

In addition, as shown in fig. 13 and 16, 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 send a signal to the control module electrically connected thereto, so that the control module changes the moving state of the disc-pushing case 22. Wherein the so-called moving states include acceleration, deceleration, stop, etc.

Specifically, in the present embodiment, as shown in fig. 23, the detecting module includes a pair of first detecting member 243 and second detecting member 244 which are engaged with each other, wherein the first detecting member 243 is disposed on the battery tray 803, and the second detecting 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. 23, 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. 16, 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 near the battery holder means. Specifically, as can be seen from fig. 16, 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. Specifically, the set position of the deceleration area should be set to: when the cartridge 22 moves toward the pack located in the battery cradle, the cartridge 22 moves into the deceleration area first to perform deceleration of the cartridge 22 after the second detection member 244 sends a signal, and then the displacement of the first and

second connection members

232 and 233 generates the fit signal and the preliminary contact signal so that the cartridge 22 stops moving.

As shown in fig. 22 and 23, the first detecting member 243 for forming the reset area is a reset detecting member 243b, and the reset detecting member 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 power exchanging apparatus.

As shown in fig. 16, 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 an error 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 risk of reliability caused by recycling of the sensors, and the four proximity sensors are arranged at four corners of the tray pushing body 22a to correspond to the four first detecting members 243 (respectively forming a region including the deceleration region, the reset region and the two limit regions).

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 housing 22 relative to the battery tray 803 is to extend the pusher housing 22 relative to the battery tray 803, the pusher housing 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 decelerated because the cartridge 22 may start from the deceleration zone and start moving toward 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. 16 and 24, 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. 16) of the tray pushing case body 22a, and the balancing portions 25 can balance the moving state of the battery pack in the process of pushing or pulling the battery pack, so that the battery pack can be held in a relatively accurate moving posture by the balancing portions 25 supporting the battery pack under the pushing action 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 refers to a position posture when the battery pack moves between the battery tray 803 and the battery tray, that is, an inclination when the battery pack moves between the battery tray 803 and the battery tray (see fig. 18, in this case, the position posture of the battery pack 100 is good), and when the moving posture of the battery pack is poor, the battery pack easily interferes with the side guide wheel 4 of the battery tray 803 or the side guide wheel of the battery tray, and the battery pack is stuck to the battery tray 803 or the battery tray.

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 balancing portions 25 are respectively disposed at the positions on the two sides of the connecting portion 23 at equal intervals, so that the two balancing blocks can relatively balance and support the battery pack.

Specifically, the side of the connection portion 23 facing the connection surface of the battery pack (i.e., the suction surface 2311) is not flush with the balance surface of the balance portion 25 facing the battery pack. On the basis of this, as shown in fig. 25, the connecting portion 23 protrudes from the cartridge main body 22a to the first width D based on the moving direction (i.e., Y direction) of the cartridge main body 22a toward the battery holder₁The 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 than the adsorption surface 2311, and the connection part 23 protrudes toward the battery pack 100 side than the balance part 25, so that when the cartridge 22 is in contact with a battery pack with a relatively normal moving posture, the adsorption surface 2311 of the connection part 23 can be in contact with the battery pack 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 part 25, so that the moving state of the battery pack 100 is adjusted to be balanced by the balance part 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 is used for contacting with the battery pack to correct the moving posture of the battery pack. The abutting block 251 is mounted on the side of the tray main body 22a facing the battery bracket through the adapting structure 252, the abutting block 251 is used for contacting the battery pack, and the reaction force received by the balancing portion 25 for supporting the battery pack can be directly exerted on the tray main body 22 by mounting the abutting block 251 on the tray main 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 pushing block 251 having elasticity 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 cannot push the first connection member 232 and the second connection member 233 to compress due to the pushing block 251 being rigid, so that the detection module triggers the attaching 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. 25, 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 offset from the installation height of the connecting portion 23. The structure can ensure that the contact surfaces of the balance part 25 and the battery pack and the contact surfaces of the connecting part and the battery pack are not in the same direction, so that the stability of the connection of the battery pack is enhanced, and the deviation generated in the moving process of the battery pack is reduced.

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. 26, 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. 26.

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 illustration only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims

1. A battery pack taking-out control method is used for controlling battery pack taking-out of a battery bin or an electric vehicle by a battery replacing device, and the battery pack is locked on a battery bracket in the battery bin or the electric vehicle, and is characterized by comprising the following steps:

adjusting the position of the battery replacing equipment until the battery replacing equipment reaches a preset relative position relative to the battery bracket;

2. The battery pack removal control method according to claim 1, wherein the step of adjusting the position of the battery swapping device until the battery swapping device reaches a preset relative position with respect to the battery bracket includes the steps of:

3. The battery pack removal control method according to claim 2, wherein the step of controlling the battery replacement device to extend and connect the battery pack includes the steps of:

acquiring a third depth of field value of the position corresponding to the battery bracket in the third image or acquiring a fourth depth of field value of the position corresponding to the battery bracket in the fourth image;

4. The battery pack removal control method according to claim 3, wherein the step of controlling the battery replacement device to extend and connect the battery pack includes the steps of:

5. The battery pack removal control method according to claim 4, wherein the movement of the tray pusher is controlled to decelerate when the tray pusher is moved to a predetermined distance from the battery pack in the process of controlling the movement of the tray pusher toward the battery pack.

6. The battery pack removal control method according to claim 4, wherein the step of determining whether or not the cartridge is completely in contact with the battery pack includes acquiring a preliminary contact signal triggered by preliminary contact between the cartridge and the battery pack and an attachment signal triggered by further contact between the cartridge and the battery pack, and determining that the cartridge is completely in contact with the battery pack when both the preliminary contact signal and the attachment signal are acquired.

7. The battery pack removal control method according to claim 1, further comprising, after the step of controlling the battery replacement device to extend and connect the battery pack:

8. The battery pack removal control method according to claim 7, wherein the step of controlling an unlocking mechanism of the battery replacement device to unlock includes the steps of:

and controlling the unlocking mechanism to drive the unlocking piece to unlock.

9. The battery pack removal control method according to claim 8, wherein the step of controlling the battery replacement device to remove the unlocked battery pack includes the steps of:

10. The battery pack removal control method according to claim 9, wherein the height of the battery replacement device is adjusted to match the height of the battery tray during retraction of the cartridge.

11. The method for controlling removal of a battery pack according to claim 10, wherein after the step of controlling the tray pushing case to retract so as to move the battery pack synchronously and remove the battery pack from the battery tray, the method further comprises:

12. A battery pack installation control method is used for controlling a battery replacing device to install a battery pack on a battery compartment or a battery bracket of an electric vehicle, and is characterized by comprising the following steps:

13. The battery pack installation control method of claim 12, wherein the step of adjusting the position of the battery swapping device until the battery swapping device reaches a preset relative position with respect to the battery bracket comprises the steps of:

14. The battery pack mounting control method according to claim 13, wherein the step of controlling the battery replacement device to move the battery pack onto the battery bracket includes the steps of:

15. The battery pack installation control method of claim 14, wherein after the step of controlling the extension of the dual-extension mechanism of the battery swapping device according to the third depth of field value or the fourth depth of field value, the method further comprises:

16. The battery pack installation control method of claim 15, wherein the step of controlling a cartridge of the battery replacement device to push the battery pack onto a battery tray comprises the steps of:

judging whether the battery pack is pushed in place by the push box;

and if so, controlling the disc pushing box to stop moving.

17. The battery pack installation control method of claim 16, wherein the step of determining whether the cartridge pushes the battery pack in place comprises:

the method comprises the steps of obtaining a primary contact signal triggered by the primary contact of the disc pushing box and the battery pack and a laminating signal triggered by the further contact of the disc pushing box and the battery pack, and judging that the disc pushing box pushes the battery pack in place when the primary contact signal and the laminating signal are obtained.

18. The battery pack installation control method according to claim 16, wherein in controlling the tray pushing box to push the battery pack to move toward the battery bracket, the height of the battery replacement device is adjusted to match the height of the battery bracket.

19. The battery pack installation control method of claim 12, wherein the step of controlling the unlocking mechanism of the battery swapping device to lock comprises the steps of:

and controlling the unlocking mechanism to drive the unlocking piece to lock.

20. The battery pack installation control method of claim 12, wherein the step of controlling the unlocking mechanism of the battery swapping device to lock comprises the following steps:

and judging whether the battery pack is locked on the battery bracket.

21. The battery pack mounting control method according to claim 20, wherein the step of determining whether the battery pack is locked to the battery bracket includes the steps of:

22. The battery pack installation control method according to claim 21, further comprising the step of, after the result of determining the locked state of the battery pack is that the battery pack locking is successful:

controlling the disc pushing box to retreat;