CN113895288B

CN113895288B - Battery pack take-out control method and battery pack installation control method

Info

Publication number: CN113895288B
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: 2024-04-02
Anticipated expiration: 2040-07-06
Also published as: CN113895288A

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 with the battery pack, or moving the battery pack to the battery bracket; and controlling an unlocking mechanism of the battery replacing equipment to unlock or lock. According to the battery pack taking-out control method and the battery pack installation control method, after the battery pack is aligned with the battery bracket, the battery pack is connected with the battery bracket or pushed to the battery bracket by the battery pack, and then the unlocking mechanism is driven to unlock or lock the battery bracket, so that the battery pack can be taken out or installed from the battery bracket smoothly and accurately, the accuracy and stability of the battery pack taking-out and installation process are ensured, and the battery pack conversion efficiency is improved.

Description

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

Technical Field

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

Background

Electric vehicles are rapidly developed and are increasingly widely used. When the electric quantity is insufficient, a user can drive the electric vehicle into the power exchange station to replace the battery pack, and whether the battery pack is installed in place is a key whether the power exchange is successful or not.

When a battery pack is taken or placed from a battery bracket by a battery changing device, how to accurately align the battery changing device relative to the battery bracket becomes a key point for successful battery pack removal or placement. However, in the existing power conversion process, it is often difficult to quickly and accurately realize the accurate positioning and docking of the power conversion equipment and the battery bracket, and in the process that the power conversion equipment takes out the battery pack from the battery bracket, the stability of placement or taking out is difficult to be ensured, so that the stability of the power conversion process is low, the efficiency is low, potential safety hazards exist, and the like.

Disclosure of Invention

The invention aims to overcome the defects of low power conversion 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 by the following technical scheme:

a battery pack take-out control method for controlling a battery pack to be taken out from a battery compartment or an electric vehicle by a battery replacement device, the battery pack being locked to the battery compartment or a battery bracket in the electric vehicle, the battery pack take-out control method comprising the steps of:

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 power conversion equipment to extend out and be connected with the battery pack;

controlling an unlocking mechanism of the battery changing 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 replacement equipment is aligned with the battery bracket, the battery replacement equipment is connected with the battery pack, then the battery pack is unlocked to enable the battery pack to be unlocked with the battery bracket, finally the unlocked battery pack is taken out, the battery replacement process is reasonable, the battery pack can be taken out of the battery bracket smoothly and accurately, and the battery replacement efficiency is improved.

Preferably, the step of adjusting the position of the battery replacing device until the battery replacing 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 electrified;

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

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

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;

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

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

In the scheme, the battery replacement equipment performs angle adjustment, and after the angle adjustment is in place, the adjustment in the horizontal direction and the vertical direction is performed, so that the battery replacement equipment and the battery bracket are positioned, the position adjustment flow of the battery replacement equipment is simplified, and the positioning efficiency of the battery replacement equipment is improved.

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

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

and controlling the double extending mechanisms of the battery replacing 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 extension distance of the double extension mechanisms can be automatically and accurately controlled according to the acquired image, so that the battery replacement accuracy and the battery replacement efficiency of the battery replacement equipment are improved.

controlling the push disc box of the power changing equipment to move towards the battery pack;

judging whether the push disc box is in contact with the battery pack or not;

if yes, the pushing disc box is controlled to stop moving and connected with the battery pack.

According to the method, when the push disc box is controlled to approach and contact with the battery pack, the push disc box is controlled to stop moving according to whether the push disc box contacts with the battery pack or not, so that the part, connected with the battery pack, of the push disc box can accurately contact with the battery pack, and the connection accuracy of the push disc box and the battery pack is improved.

Preferably, in the process of controlling the push disc box to move towards the battery pack, when the push disc box moves to be at a preset distance from the battery pack, the push disc box is controlled to move in a decelerating manner.

The method allows the push-plate case to be slowed down prior to contact with the battery pack to maintain a relatively slow speed of contact with the battery pack. Meanwhile, before the push disc box is not contacted with the battery pack, the push disc box can move at a relatively high speed, so that the overall efficiency in the power taking and changing process is ensured.

Preferably, the step of judging whether the tray pushing box is contacted with the battery pack comprises the steps of acquiring a preliminary contact signal triggered by the preliminary contact of the tray pushing box with the battery pack and a laminating signal triggered by the further contact of the tray pushing box with the battery pack, and judging that the tray pushing box is contacted with the battery pack when the preliminary contact signal and the laminating signal are acquired.

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

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

and judging whether the push disc box of the battery replacing equipment is connected in place, and if so, executing the step of controlling the unlocking mechanism of the battery replacing equipment to unlock.

According to the method, before the step of unlocking the unlocking mechanism of the battery replacement equipment, 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 replacement equipment is not connected in place with the battery pack, and the battery replacement reliability of the battery replacement equipment can be improved.

Preferably, the step of controlling the unlocking mechanism of the battery exchange 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 position;

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 exchange equipment, the unlocking mechanism arranged on the battery exchange equipment is utilized to unlock the battery pack positioned on the battery bracket, so that the unlocking accuracy is improved in the unlocking mode, and the battery exchange efficiency can be improved; meanwhile, misoperation is effectively avoided, and safety and stability are greatly improved.

Preferably, the step of controlling the battery pack to be removed from the battery pack after unlocking the battery pack comprises the steps of:

and controlling the push disc box to retract 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 positioned on the battery bracket is unlocked through the unlocking mechanism, the unlocked battery pack is taken out by utilizing the push disc box which is connected with the battery pack, and the battery pack is taken out in a translation mode through the push disc box, so that the stability of battery taking out is ensured, damage to the battery pack is avoided, and the power conversion safety is improved.

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

According to the method, the height of the battery pack is adjusted to be matched with the height of the battery bracket in the process of retracting the push disc 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 pack in the height direction in the process of removing the battery pack from the battery bracket is avoided.

Preferably, after the step of controlling the push disc box to retract to drive the battery pack to synchronously move and take out from the battery bracket, the method further comprises:

and judging whether the disc pushing box is retracted to be in position, and if so, controlling the dual-extension mechanism of the battery replacing equipment to retract.

According to the method, under the condition that the pushing disc box takes out the battery pack from the battery bracket and returns to the position, the extending mechanism is controlled to return again, so that the battery pack is safely taken out to the battery replacing equipment, and the battery replacing reliability of the battery replacing equipment can be improved.

A battery pack installation control method for controlling a battery replacement device to install a battery pack on a battery compartment or a battery bracket of an electric vehicle, the battery pack installation control method comprising the steps of:

controlling the battery changing device to move the battery pack onto the battery bracket;

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

According to the battery installation control method, after the battery replacing equipment is aligned with the battery bracket, the battery replacing equipment pushes the battery pack to the battery bracket firstly, 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, the accuracy and the stability of the battery pack in the installation process are ensured, and the battery replacing efficiency is improved.

Preferably, the step of controlling the battery changing device to move the battery pack onto the battery bracket includes the steps of:

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

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

According to the method, after the double-extension mechanism extends out and extends out accurately to the position, the push disc box is controlled to push the battery pack to the position, so that the battery pack can be mounted on the battery bracket accurately.

Preferably, the step of controlling the push tray box of the battery changing device to push the battery pack onto the battery bracket comprises the following steps:

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

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

if yes, the push disc box is controlled to stop moving.

According to the method, whether the battery pack is pushed in place or not is used as a basis to control the push disc box to continue moving or stopping, so that the push disc box can stop after the battery pack is pushed in place, and further the battery pack is ensured to be positioned at an accurate position, so that the reliability of the method is improved.

Preferably, the step of determining whether the push tray box pushes the battery pack into place includes:

acquiring a preliminary contact signal of the push disc box and the preliminary contact trigger of the battery pack and a laminating signal of the push disc box and the further contact trigger of the battery pack, and judging that the push disc box pushes the battery pack in place when the preliminary contact signal and the laminating signal are acquired.

The method effectively avoids the condition that the pushing disc box stops pushing when the battery pack is not accurately sent into the battery bracket to influence the subsequent locking operation, and improves the power changing reliability of the power changing equipment.

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

According to the method, the height of the battery pack is adjusted to be matched with the height of the battery bracket in the process that the pushing disc 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 pack 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 exchange device to lock comprises 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 on the battery bracket, the unlocking mechanism arranged on the battery replacing equipment is utilized to lock the battery pack positioned on the battery bracket, so that the locking accuracy is improved in a 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-changing device to lock comprises the following steps:

and judging whether the battery pack is locked on the battery bracket or not.

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 of falling of the battery pack is avoided.

Preferably, the step of judging whether the battery pack is locked to the battery bracket comprises the steps of:

controlling the adsorption force of the pushing disc box of the battery changing equipment to reach a preset value;

And controlling the push disc box to retract a preset distance to judge the locking state of the battery pack.

According to the method, the function of adsorbing the battery pack by the push disc box is utilized, after the battery pack is locked on the battery bracket, whether the battery pack is moved out of the battery bracket again along with the push disc box is detected in a mode that the push disc box adsorbed on the battery pack moves outwards, and therefore the aim of judging the locking state of the battery pack is achieved. The scheme is realized by utilizing the existing structure, and is simple and reliable.

Preferably, when the result of judging the locking state of the battery pack is that the battery pack is successfully locked, the method further comprises the following steps:

controlling the push disc box to retract;

and controlling the double extending mechanisms of the power conversion equipment to retract.

According to the method, after the successful locking of the battery pack is ensured, the push disc box and the double-extension mechanism of the battery replacement equipment are driven to retract to the initial position, so that the reliable implementation of the battery pack installation control method is ensured.

The invention has the positive progress effects that:

according to the battery pack taking-out control method and the battery pack installation control method, after the battery pack is aligned with the battery bracket, the battery pack is connected with the battery bracket or pushed to the battery bracket by the battery pack, and then the unlocking mechanism is driven to unlock or lock the battery bracket, so that the battery pack can be taken out or installed from the battery bracket smoothly and accurately, the accuracy and stability of the battery pack taking-out and installation process are guaranteed, and the battery pack replacement efficiency is improved.

Drawings

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

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

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

Fig. 4 is a flow chart (fourth) of the battery pack removal control method according to embodiment 1 of the present invention.

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

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

Fig. 7 is a flow chart (ii) of a battery pack mounting control method according to embodiment 1 of the present invention.

Fig. 8 is a flowchart (iii) of the battery pack installation control method of embodiment 1 of the present invention.

Fig. 9 is a flow chart (fourth) of the battery pack installation control method of embodiment 1 of the present invention.

Fig. 10 is a schematic perspective view of a power conversion device according to embodiment 2 of the present invention.

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

Fig. 12 is a schematic front view of the battery exchange apparatus according to embodiment 2 of the present invention.

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

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

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

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

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

Fig. 18 is a schematic diagram showing the 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) of the positional relationship between the battery tray and the battery pack according to embodiment 2 of the present invention.

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

Fig. 21 is a schematic diagram (iii) of the 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 the battery tray of embodiment 2 of the present invention.

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

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

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

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

Reference numerals illustrate:

image acquisition module 41

Head rail 701

Ground rail 702

Top rail guide wheel 703

Ground rail guide wheel 704

First vertical driver 61

Second vertical driver 62

Power conversion actuator 803

First chain 706

First sprocket 611

Second chain 621

Second sprocket 622

Battery tray 803

Turntable 811

Rotation driver 812

Equipment frame 1

Unlocking mechanism 21

Push disk case 22, push disk case body 22a

Connection portion 23

Adsorption device 231, adsorption surface 2311

First connector 232

Sensing end 232a

Second connector 233

Check rod 2331, return spring 2332

Movable portion 234

Support bar 2341

Elastic element 2342

Retraction detection sensor 235

First detection module 241

Second detection module 242

Deceleration detecting member 243a

Reset detection member 243b

Limit detecting member 243c

Second detecting member 244

Balance portion 25

Push block 251

Switching structure 252

Double-extension mechanism 3

Side guide wheel 4

Battery pack 100

Detailed Description

The invention is further illustrated by means of 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 take-out control method for controlling a battery exchange device to take out a battery pack from a battery compartment or an electric vehicle and to lock the battery pack on a battery bracket in the battery compartment or the electric vehicle, the battery pack take-out control method comprising the steps of:

S01, adjusting the position of the battery replacement equipment until the battery replacement equipment reaches a preset relative position relative to the battery bracket;

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

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

s04, controlling the battery replacement equipment to take out the unlocked battery pack.

The reaching of the preset relative position in step S01 means that the battery replacing device is moved to a position aligned with the battery bracket.

According to the battery pack taking-out control method, after the battery pack 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 of the battery pack taking-out process are ensured.

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

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

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

s013, controlling the power conversion equipment to conduct angle adjustment according to the angle rotation amount until the power conversion equipment and the battery bracket reach a preset angle;

S014, 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;

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

s016, controlling the power conversion equipment to perform horizontal adjustment according to the horizontal displacement and/or controlling the power conversion equipment to perform vertical adjustment according to the vertical displacement until the power conversion equipment 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 exchange device performs an angle adjustment according to the current relative position with the battery bracket, and performs an adjustment in the horizontal direction and the vertical direction according to the current relative position with the battery bracket after the angle adjustment is in place, so that the battery exchange device and the battery bracket are positioned. After the angle of the battery replacement equipment is adjusted in place, namely after the battery replacement equipment is parallel to the battery bracket, the change of the relative angle between the battery bracket and the battery replacement equipment caused by the displacement of the battery replacement equipment in the horizontal direction or the vertical direction is avoided, so that the position adjustment flow of the battery replacement equipment is simplified, and the positioning efficiency of the battery replacement equipment is improved.

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

As shown in fig. 3, after the alignment of the positions between the battery-powered device and the battery carrier is achieved in step S01, the following steps may be implemented in step S02:

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

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

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

After that, after step S022, the double-protrusion mechanism of the battery changer protrudes and approaches the battery bracket, at which time the subsequent steps in step S02 may be continued to be performed:

s023, controlling a push disc box of the battery changing device to move towards the battery pack;

s024, judging whether the push disc box is in contact with the battery pack or not. And if the contact between the push disc box and the battery pack is judged to be finished, controlling the push disc box to stop moving and connecting the battery pack.

That is, in the scheme of taking the battery pack through the push tray box, after the double-extension mechanism approaches the battery bracket, the push tray box can be controlled to approach and contact the battery pack, and the push tray box is controlled to stop moving based on whether the push tray box contacts the battery pack or not, so that the part of the push tray box for connecting the battery pack can accurately and reliably contact the battery pack, thereby improving the accuracy and reliability of connection between the push tray box and the battery pack, and facilitating implementation of subsequent steps.

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

Preferably, in the step of judging whether the push box is in contact with the battery pack at step S024, specifically including:

and acquiring a preliminary contact signal triggered by preliminary contact between the push disc box and the battery pack and a laminating signal triggered by further contact between the push disc box and the battery pack, and judging that the contact between the push disc box and the battery pack is completed when the preliminary contact signal and the laminating signal are acquired.

That is, in the method, after the two signals, namely the preliminary contact signal and the attaching signal, are received, the push disc box is considered to be in contact with the battery pack, and the push disc box is driven to stop moving, so that the situation that the push disc box stops moving when the push disc box does not contact with the battery pack due to false triggering of a single signal is avoided, the push disc box cannot be reliably connected with the battery pack, and the power changing reliability of the power changing equipment can be improved. Conversely, if only one of the preliminary contact signal and the bonding signal is triggered during the movement of the push disk cartridge and the other signal is not triggered at a later time, the apparatus is basically determined to have a fault, so that a process of checking whether the apparatus is normally operated should be performed. The preliminary contact signals and the attaching signals in the method refer to trigger signals at different positions of the push disc box, the signals can be realized by arranging sensors at different positions of the push disc box, and the like, and specific embodiments belong to the prior art, so that the description is omitted herein.

Preferably, between step S02 and step S03, i.e., after the push-up case contacts and connects the battery pack, the following steps may be further included:

s025, judging whether the push disc box is connected in place relative to the battery pack, if yes, executing the step of controlling the unlocking mechanism of the power changing equipment to unlock, namely executing the step S03.

By adding this detection step, before the unlocking step is executed by the unlocking mechanism of the battery exchange 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.

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

s031, controlling the unlocking mechanism to move towards the unlocking piece of the battery bracket to be matched in place;

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 replacement equipment, the unlocking mechanism arranged on the battery replacement equipment is utilized to unlock the battery pack positioned on the battery bracket, so that the unlocking accuracy is improved through the unlocking mode, and the battery replacement efficiency can be improved; meanwhile, misoperation is effectively avoided, and safety and stability are greatly improved. The structure of the unlocking mechanism exists in the prior art, and therefore, the description thereof is omitted here.

In addition, as shown in fig. 5, the step of controlling the battery exchange device to take out the unlocked battery pack in step S04 may specifically include the steps of:

s041, controlling the push disc box to retract so as to drive the battery pack to synchronously move and take out from the battery bracket.

Through foretell scheme, after unlocking mechanism carries out the unblock to the battery package that is located on the battery bracket, utilize the pushing away the dish box that has been connected in the battery package to take out the battery package after the unblock to through the location, improved the unblock accuracy and the unlocking efficiency of taking out the battery package in-process, moreover through pushing away the dish box and taking out the battery package with the translation mode, guarantee the stability that the battery took out, avoid causing the damage to the battery package, improve the security of changing electricity.

Preferably, during the retraction of the push box in step S041, the height of the battery changing device may be adjusted so as to match the height of the battery carrier.

In particular, this step is performed in order to keep the height of the battery exchange device matched to the battery carrier during removal of the battery pack from the battery carrier, so as to avoid jamming of the battery pack with respect to the battery exchange device or battery carrier during removal. The reason why the battery bracket generates the height deviation in the process of retracting the push disc box relative to the battery replacing device is that the battery bracket is arranged on a vehicle with a suspension, when the battery pack moves out relative to the battery bracket, the whole weight of the vehicle gradually becomes light, and at the moment, the height of the vehicle can rise under the suspension effect, so that the height deviation of the battery bracket relative to the battery replacing device is caused. The above-mentioned scheme just sets up in order to solve this condition, moves up the height of trading the electric equipment correspondingly to with the high phase-match of battery bracket, like this, can avoid blocking because forming too big contained angle between battery package and the battery bracket, thereby guarantee that the battery package takes out smoothly.

Specifically, the adjustment of the height of the battery exchange device may be performed in real time during the retraction of the disc pushing box, or may be performed in a single adjustment after the disc pushing box is retracted by a specific distance, so as to compensate for the increase of the height of the battery bracket caused by the loss of part of the weight of the battery pack.

In addition, in step S041, after the step of controlling the push disc box to retract to drive the battery pack to synchronously move and take out from the battery bracket, the method further comprises the following steps: s042, judging whether the disc pushing box is retracted, if yes, controlling the dual-extension mechanism of the battery replacing device to retract.

By setting this step, after confirming that the push disc box is retracted in place, the double-extension mechanism of the power changing device is driven to retract, so that the power changing reliability of the power changing device is improved.

As shown in fig. 6, the present invention also provides a battery pack installation control method for controlling a battery pack to be installed on a battery bracket by a battery exchange device to achieve locking between the battery pack and the battery bracket, the battery pack installation control method comprising the steps of:

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

S12, controlling the battery replacement equipment to move the battery pack to the battery bracket;

s13, controlling an unlocking mechanism of the battery replacement equipment to lock.

According to the battery installation control method, after the battery replacing equipment is aligned with the battery bracket, the battery replacing equipment pushes the battery pack to the battery bracket, 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 the accuracy, stability and efficiency of the battery pack in the installation process are guaranteed.

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

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

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

s113, controlling the power conversion equipment to perform angle adjustment according to the angle rotation amount until the power conversion 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 amount and a vertical displacement amount according to the third image and the fourth image;

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

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

As shown in fig. 8, after the alignment of the positions between the battery-powered device and the battery carrier is achieved in step S11, the following steps may be implemented in step S12:

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

and S122, controlling the dual-extension mechanism of the battery exchange equipment to extend according to the third depth of field value or the fourth depth of field value.

On this basis, after step S122 is performed so that the dual-extension mechanism can be accurately extended in place, the following may be further performed: the pushing disc box of the battery changing device is controlled to push the battery pack onto the battery bracket. Wherein the steps may be further subdivided into implementing the steps of:

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

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

if the determination in step S123 is yes, the push box is controlled to stop moving.

That is, the method takes whether the battery pack is pushed in place as a basis to control the push disc box to continue moving or stop, so that the push disc box can stop after the battery pack is pushed in place, and further the battery pack is ensured to be positioned at an accurate position, so that the reliability of the method is further improved.

In the method for judging whether the battery pack is pushed in place, a sensor can be arranged on the battery replacing equipment or the battery bracket. For example, a contact sensor is provided inside the end plate of the battery bracket, and the contact sensor can be triggered when contacting the battery pack to send a stop signal to control the push disk box to stop moving. The specific embodiments thereof are not described herein in detail, as they fall within the scope of the prior art.

In step S123, during the process of pushing the battery pack by the pushing tray, as implemented in step S041 in the above-mentioned battery pack removal control method, the height of the battery replacing device may be adjusted so as to match the height of the battery bracket during the process of pushing the tray, so as to avoid the problem that the overall weight of the battery bracket increases due to the movement of the battery pack, so that the height of the vehicle drops under the suspension effect, thereby causing the height deviation of the battery bracket relative to the battery replacing device.

In addition, in step S124, a preliminary contact signal triggered by the preliminary contact between the pushing disc box and the battery pack and a bonding signal triggered by the further contact between the pushing disc box and the battery pack are obtained as judgment bases. When the preliminary contact signal and the attaching signal are both acquired, it can be judged that the push tray box 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 towards the unlocking piece of the battery bracket to be matched in place;

s132, controlling the unlocking mechanism to drive the unlocking piece to lock.

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

The specific embodiment of the battery pack locking is substantially the same as the flow of step S031 and step S032 in the battery pack removal control method, except that in the battery pack installation control method, the unlocking mechanism is used for driving the unlocking member to perform locking, and if the unlocking mechanism is used for driving the unlocking member to perform unlocking by moving in a certain direction, in the method, the unlocking mechanism is used for driving the unlocking member to perform locking by moving in an opposite direction.

After step S132 is performed, it may be determined whether the battery pack is locked to the battery bracket. If the locking failure is found, the battery pack mounting step can be repeated, and the battery pack is mounted on the battery bracket again through the battery replacement equipment, so that the occurrence of the locking failure is fundamentally avoided, and the firm and reliable mounting of the battery pack on the battery bracket is ensured.

Specifically, in the step of judging whether the battery pack is locked to the battery bracket, the following steps may be specifically included:

s133, controlling the adsorption force of a pushing disc box of the battery replacement equipment to reach a preset value;

s134, controlling the push disc box to retract towards a preset distance so as to judge the locking state of the battery pack.

Specifically, when judging whether the battery pack is locked or not, if the battery pack is moved out along with the push disc box, the battery pack is successfully unlocked; the battery pack is locked successfully if it is not removed with the push case but is separated from the push case by the locking force of the battery bracket.

Further, after the locking state of the battery pack is judged and the battery pack is successfully locked as a result of the judgment, the method further comprises the following steps:

s135, controlling the push disc box to retract;

s136, controlling the double extending mechanisms of the battery changing equipment to retract.

Therefore, after the successful locking of the battery pack is ensured, the push disc box and the double-extension mechanism of the battery replacement device are driven to retract to the initial positions.

If the locking state of the battery pack is determined and the battery pack fails, the steps S12 and S13 may be repeated to lock the battery pack on the battery bracket again by using the push disc case of the battery exchange device. When the above operation is implemented for a plurality of times, the battery pack locking failure is judged, so that the power conversion equipment can send out an error signal, and maintenance personnel can conveniently intervene in the power conversion flow.

Example 2

As shown in fig. 10 to 12, the present invention also provides a battery changing device for interfacing with a battery tray (not shown in the drawings) to take out a battery pack 100 (see fig. 18), the battery changing device specifically including a device frame 1, a battery tray 803, and a position adjusting mechanism, the battery tray 803 being configured to hold a battery pack required for performing a battery changing operation and being movable relative to the battery tray 803 in a front-rear direction of the battery tray 803 (see fig. 10, the front-rear direction of the battery tray 803 being a Y-direction) for the purpose of taking out or holding the battery pack from the battery tray in the Y-direction. And the position adjusting mechanism includes a rotation 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 the running direction of the electric vehicle; the Y direction refers to the direction of the battery tray towards the body of the electric vehicle, and the battery tray and the battery bracket of the electric vehicle are in a corresponding state through the adjustment of the Y direction; the Z direction refers to the height direction of the battery tray, and the battery changing device enables the height of the power Chi Tuopan to be flush with the height of the battery tray 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 part on the battery tray 803 reaches a preset angle, the horizontal moving mechanism is used for carrying out horizontal adjustment according to the obtained horizontal displacement amount, and the vertical moving mechanism is used for carrying out vertical adjustment according to the obtained vertical displacement amount until each part on the battery tray 803 reaches a preset relative position relative to the battery bracket. Specifically, a position is reached in which the unlocking mechanism on the battery tray 803 is aligned with the unlocking piece on the battery tray.

The rotating mechanism specifically comprises a turntable 811 and a rotating driver 812, the turntable 811 is sleeved at the bottom of the electric Chi Tuopan 803, and the rotating driver 812 is connected to the turntable 811 and is used for driving the turntable 811 to drive the battery tray 803 to rotate according to the angular rotation amount.

When the vehicle to be replaced is parked on the parking space in preparation for the replacement of the battery, if there is an angular deviation of the parking state of the vehicle to be replaced from the accurate replacement position, the double-extension mechanism 3 of the battery pushing tray will have difficulty in aligning the battery bracket. After the power exchanging device of the embodiment obtains the angle deviation between the parking state of the vehicle to be exchanged and the accurate power exchanging position, the posture of the battery tray 803 is adjusted in a rotating mode through the rotating mechanism, so that the posture of the battery tray 803 is matched with the parking state of the vehicle to be exchanged, all components on the power Chi Tuopan 803 are aligned with the battery bracket, and efficient and accurate power exchanging operation is achieved.

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 headrail 701 and a ground rail 702, and the guide wheels include a headrail guide wheel 703 and a ground rail guide wheel 704. The headrail guide wheel 703 is provided corresponding to the headrail 701, and the ground rail guide wheel 704 is provided corresponding to the ground rail 702. The horizontal drivers respectively drive the top rail guide wheels 703 to move along the top rail 701 in the X-axis direction (i.e. the horizontal direction), and drive the ground rail guide wheels 704 to move along the ground rail 702, so that the horizontal movement of the whole power conversion equipment is realized. As can be seen from fig. 10, the X-axis, Y-axis, and Z-axis are perpendicular to each other. The frame of the battery tray 803 is shown in fig. 10, and the specific structure of the power conversion actuator is not shown, and can be implemented by those skilled in the art, and will not be described here again.

When the vehicle to be replaced is parked on the parking space for replacement, if the parking state of the vehicle to be replaced deviates from the accurate power replacing position in the horizontal direction, the power replacing equipment can move the battery tray 803 according to the obtained horizontal displacement, so that the battery tray 803 is matched with the position of the battery bracket of the vehicle to be replaced in the horizontal direction, the accuracy is high, and the guarantee is provided for accurately acquiring the discharge cell pack. 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 efficiency and stability of the movement of the battery tray 803 in the horizontal direction can be improved by the cooperation of the rails and the guide tracks.

The vertical movement 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, wherein the first vertical driver is connected with the first lifting mechanism, the second vertical driver is connected with the second lifting mechanism, and the first lifting mechanism and the second lifting mechanism are respectively connected with two ends of the battery tray 803 to drive the 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 obtained through detection of the power conversion equipment, and the second vertical driver is used for driving the second lifting mechanism according to a second vertical displacement obtained through detection of the power conversion equipment.

Specifically, the first lifting mechanism comprises a first chain 706 and a first sprocket 611 correspondingly arranged, the first chain 706 is driven by the first vertical driver 61 to drive the first sprocket 611 to move along the Z-axis direction (i.e. to drive the battery tray 803 to move along the vertical direction), the second lifting mechanism comprises a second chain 621 and a second sprocket 622 correspondingly arranged, and the second chain 621 is driven by the second vertical driver 62 to drive the second sprocket 622 to move along the vertical direction to drive the battery tray 803 to move along the vertical direction.

When the vehicle to be replaced is parked on the parking space for power replacement, if the parking state of the vehicle to be replaced is deviated from the accurate power replacement position in the vertical direction, the electric power Chi Tuopan 803 is moved according to the obtained vertical displacement, so that the battery tray 803 is matched with the position of the battery bracket of the vehicle to be replaced in the vertical direction, the accuracy is high, and the guarantee is provided for accurate unlocking.

The angular rotation amount, the horizontal displacement amount and the vertical displacement amount required for adjusting the position adjustment mechanism may be achieved by the image acquisition module 41 disposed on the battery tray 803 of the battery exchange device acquiring the first image and the second image at least two positions on the battery tray, and the specific embodiment is described in embodiment 1, so that details thereof are not repeated herein.

As shown in fig. 13 to 15, the battery tray 803 is provided with a double projecting mechanism 3, an unlocking mechanism 21, and a push tray 22. The pushing tray 22 moves along the Y direction relative to the battery tray 803 to achieve the function of taking out and discharging the battery pack, the pushing tray 22 includes a pushing tray body 22a and a connection portion 23, the connection portion 23 is disposed on a surface of the pushing tray body 22a facing the battery tray, and the connection portion 23 can connect the battery pack when contacting the battery pack to achieve the function of taking out the battery pack from the battery tray. And the unlocking mechanism 21 is used for being in butt joint with a search piece on the battery bracket so as to realize the purpose of controlling the unlocking/locking state of the unlocking mechanism 21 on the battery bracket.

And the dual extension mechanism 3 is used to drive the battery tray 803 to approach the battery tray, the activation timing of the dual extension mechanism 3 may be arranged after the battery changing device reaches a preset relative position with respect to the battery tray, so that the dual extension mechanism 3 can accurately drive the battery Chi Tuopan 803 to approach the battery tray.

After the battery tray 803 is moved closer to the battery tray 803 by the double-protrusion mechanism 3, if the battery pack is to be unlocked from the battery tray and taken out, two steps may be performed: one is to control the push disc box 22 to move towards the direction of the battery pack and judge whether the push disc box 22 is in contact with the battery pack or not; the other is to control the unlocking mechanism 21 to unlock or lock the battery bracket.

In this embodiment, the first step of controlling the movement of the push tray 22 in the direction of the battery pack and determining whether the push tray 22 is in contact with the battery pack is performed. A preferred implementation structure of the battery tray 803 and the push box 22 is provided herein for the purpose of determining whether the push box 22 is in contact with the battery pack.

The push disc box 22 may include a detection module and a control module, wherein the detection module is used for detecting the contact state of the push disc box body 22a and the battery pack; the control module is electrically connected to the detection module, and is configured to control the movement state of the push disc box body 22a, and when the detection module detects that the push disc box body 22a is in contact with the battery pack, the control module controls the push disc box body 22a to execute the corresponding movement state.

In this embodiment, the connection portion 23 is movable along the Y-direction relative to the push-plate case body 22a, and the detection module detects the displacement of the connection portion 23 to determine the contact state and the connection state between the connection portion 23 and the battery pack based on the displacement.

Specifically, as shown in fig. 14 and 15, the connection part 23 includes a first connection member 232 and a second connection member 233, and the detection module includes a first detection module 241 and a second detection module 242, respectively, the adsorption device 231 for implementing the adsorption connection function in the connection part 23 is disposed on the first connection member 232, and the second connection member 233 is disposed on the adsorption surface 2311 of the adsorption device 231. The first detecting module 241 is used for detecting a first contact state of the first connecting piece 232 and the battery pack, and the second detecting module 242 is used for detecting a second contact state of the second connecting piece 233 and the battery pack.

The first detection module 241 and the second detection module 242 in this embodiment are both sensors, and generate signals after the corresponding first connection member 232 and second connection member 233 are in contact with the battery pack. Specifically, the second detecting module 242 is disposed on the adsorption surface 2311 of the adsorption device 231, and is used for generating a signal when the adsorption surface 2311 approaches the battery pack (i.e., the second contact state). Therefore, the signal generated by the second detecting module 242 is a preliminary contact signal, and after the preliminary contact signal is sent to the control module, the control module can learn that the push disc box 22 has approached the battery pack. In this embodiment, the control module does not substantially change the moving state of the push disc case 22 after acquiring the preliminary contact signal generated by the sensor of the second detecting module 242.

And the first detecting module 241 causes the adsorption device 231 provided on the push-disc cartridge body 22a to generate 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 in contact with the battery pack. Therefore, the signal generated by the first detecting module 241 is an attaching signal, and after the attaching signal is sent to the control module, the control module can learn that (the adsorption surface 2311 of the adsorption device 231 of) the push disc box 22 is completely contacted with the battery pack, and at this time, the control module can control the push disc box 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 sticking signal are acquired, it is judged that the contact of the push box 22 with the battery pack is completed, to further perform an operation of controlling the push box 22 to stop moving. The purpose of this control scheme is to avoid false triggering of one of the first detection module 241 and the second detection module 242, which would cause the push box 22 to stop when it is not in contact with the battery pack. Further, it is also preferable that the control module controls the push box 22 to move at a reduced speed after acquiring the preliminary contact signal so that the push box 22 can be contacted with the battery pack at a low speed.

As shown in fig. 14, an adsorption device 231 is disposed on a side of the first connecting member 232 facing the battery bracket, and the first connecting member 232 can be displaced along the Y direction relative to the push-disc box body 22a, so that the first detecting module 241 can obtain the above-mentioned attaching signal sent to the control module by detecting the displacement state of the first connecting member 232. Specifically, the connecting portion 23 further includes a movable portion 234, where the first connecting member 232 is connected to the movable portion 234 so as to be movable relative to the push box body 22a, and the movable portion 234 can also enable the first connecting member 232 to be compressible in the moving direction of the push box body 22a, and the sensor of the first detecting module 241 is disposed on the compressing path of the movable portion 234, so as to detect the displacement condition of the first connecting member 232, and determine whether the first connecting member 232 is in the first contact state.

The movable portion 234 specifically includes a sliding structure and an elastic structure, and the first connecting member 232 is positioned on the push disc box body 22a through the sliding structure of the movable portion 234, and the sliding structure, the elastic structure and the first connecting member 232 together form a floating plate structure that is movable and compressible relative to the push disc box body 22a, so that the adsorption device 231 fixed on the first connecting member 232 can float along the Y direction relative to the push disc box body 22 a.

When the battery pack contacts the adsorption device 231, the sliding structure guides the first connection member 232 provided with the adsorption device 231 to move along the sliding path (i.e., Y direction), and the first detection module 241 is disposed on the sliding path of the sliding structure and is used for detecting whether the first connection member 232 is compressed to a predetermined position, and if the first connection member 232 is compressed to the predetermined position, a fitting signal is generated to the control module. The elastic structure applies a force to the first connecting member 232, so that the adsorption device 231 on the first connecting member 232 returns to the initial position (i.e. the position of the first connecting member 232 in fig. 17) by the elastic structure when not contacting with the battery pack.

Specifically, as shown in fig. 14 and 15, the sliding structure includes four support rods having end limits, one ends of the support rods are connected to the push-disc box body 22a, and the first connection portion 23 is sleeved on the other ends of the support rods through holes on the surfaces thereof, so as to achieve the purpose of sliding on the support rods. The elastic structure includes an elastic element 2342, in this embodiment, a coil spring, where the number of the elastic elements 2342 and the supporting rod are the same, the elastic elements 2342 are respectively sleeved on the supporting rod, one end of the elastic element 2342 abuts against the pushing disc box 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 relative to the approaching motion of the pushing disc box body 22 a. In this embodiment, the first detection module 241 includes a proximity sensor, and the proximity sensor detects a moving state of an end of the support rod, so as to achieve the purpose of judging the first contact state and generating the attaching signal.

As shown in fig. 15, the second connection member 233 is disposed on the first connection member 232 along the direction of pushing the cartridge body 22a toward the battery bracket, and the second connection member 233 is displaced relative to the first connection member 232 such that the second detection module 242 can detect the preliminary contact signal when the second connection member 233 is displaced.

The second connection member 233 includes a detection rod 2331, where 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 position of the detection rod 2331 in 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 moving condition of the detection rod 2331.

Specifically, during the process of pushing the disc 22 to approach the battery pack, the end of the detecting rod 2331 is first contacted with the battery pack, and then compressed, so as to generate a preliminary contact signal. After that, when the battery pack contacts the adsorption surface 2311 of the adsorption device 231, the adsorption device 231 and the first connector 232 can be further compressed to generate a fitting signal.

In addition, the second detecting module 242 also includes a proximity sensor, and the proximity sensor of the second detecting module 242 achieves the purpose of judging the second contact state and generating the preliminary contact signal by detecting the moving state of the end of the detecting rod 2331. In this embodiment, the detecting rod 2331 has a longer length, and the end of the detecting rod 2331 passes through the first connecting member 232 and the portion of the push-disc box body 22a for the first connecting member 232, and the preferred setting position of the proximity sensor of the second detecting module 242 is shown in fig. 15, which is used for detecting the end displacement condition of the detecting rod 2331, and a return spring 2332 is further provided on the detecting rod 2331, so as to drive the detecting rod 2331 to return to the initial position when the detecting rod 2331 is not in contact with the battery pack.

As shown in fig. 19, the position relationship between the battery tray and the battery pack is schematically shown when the push-plate case body 22a moves in the arrow direction toward and approaches the battery pack 100. As can be seen from the figure, the end of the detecting rod 2331 is provided protruding from the adsorption surface 2311 so that the detecting rod 2331 moves in the direction of the second detecting module 242 when the detecting rod 2331 contacts the battery pack, and the second detecting module 242 is provided at the other side end 2331a of the detecting rod 2331.

As shown in fig. 20, when the push case body 22a moves in the direction of the arrow toward the battery pack 100, the detection rod 2331 contacts 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.

Then, as shown in fig. 21, in the process that the push-up case body 22a continues to move in the direction of the arrow toward the battery pack 100, since the battery pack 100 is completely fixed on the battery bracket, the pushing force of the push-up case body 22a to the battery pack 100 becomes a reaction force of the elastic member 2342 on the compression support bar 2341, so that the first connection member 232 and the adsorption device 231 move backward, and the ends 232a to be detected fixed at both sides of the first connection member 232 move in a direction approaching the first detection module 241, so that the first detection module 241 can generate the attaching signal after detecting the displacement of the ends 232a to be detected. As can be seen from fig. 21, the battery pack 100 must have been attached to the adsorption device 231 at the time of generating the attaching signal.

After the adsorption device 231 on the push-disc case 22 is completely in contact with the battery pack 100, the adsorption device 231 is energized to adsorb the iron pieces on the battery pack 100. At this time, the process of powering on the adsorption device 231 may be performed first and after a delay of at least 1 second, after ensuring that the adsorption device 231 has completely sucked the battery pack 100, the subsequent process of controlling the unlocking device to unlock the battery pack may be performed, so as to ensure that the battery pack is reliably and safely connected to the push tray 22.

The specific structure and principle of the unlocking mechanism 21 are in the category of the prior art, and therefore are not described herein.

Thereafter, the push box 22 is controlled to move back as shown in fig. 18 so that the battery pack 100 is moved onto the battery tray 803 by the push box 22. During the process of moving the battery pack 100 back to the battery tray 803, the image acquisition module arranged on the battery tray 803 can acquire the first image and the second image at least at two positions on the battery bracket, and based on the first image and the second image, a vertical adjustment amount is generated, so that the purpose of adjusting the height of the battery replacement device to be matched with the height of the battery bracket during the process of moving the battery pack out is achieved through the vertical movement mechanism. Of course, during the execution of the battery pack mounting method, when the pushing tray 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 a manner that the vertical adjustment amount can be obtained, so as to avoid the situation that the battery pack is jammed during the translation of the battery pack moving in or out.

In addition, the push-disc case 22 stops moving after the battery pack is completely retrieved. At this time, the double extension mechanism 3 can be retracted, and after the double extension mechanism 3 is retracted, a retraction detection sensor 235 provided vertically at the front end of the battery tray 803 may be further provided for detecting whether the double extension mechanism 3 is fully retracted. Specifically, after the double-extension mechanism 3 is fully retracted, no object should be detected within the detection range of the retraction detection sensor 235, and if so, the retraction is judged to be successful, and the subsequent steps may be performed.

When the battery pack installation process is executed, the working principle of each component is approximately the same as that of the battery pack removal process, and the repeated description is omitted.

However, the above-mentioned detection module for generating the fit signal and the preliminary contact signal may also have and perform functions different from those in the battery pack removal process during the battery pack installation process, for example, as follows:

during the battery pack installation process, the push plate case 22 needs to push the battery pack to move to push the battery pack to the battery bracket. The attaching signal generated by the first detecting module 241 may be used as a basis for determining that the battery pack has been pushed to the battery bracket. Specifically, the elastic element may be set to be harder, so that the resistance generated by sliding of the battery pack during the process of pushing the battery pack to move by the adsorption device 231 cannot enable the elastic element to be compressed, thereby enabling the first detection module 241 to generate the fitting signal. When the pushing disc box 22 pushes the battery pack to the battery bracket and is in place, the battery pack cannot move, at this time, 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 pushing disc box 22 to stop moving based on the fitting signal, so that the pushing disc box 22 has the advantage of being capable of pushing the battery pack in place and accurately stopping in the battery pack installation process.

In addition, during the installation of the battery pack, after the unlocking mechanism 21 locks the battery pack to the battery bracket, the preliminary contact signal generated by the second detecting module 242 may be used as a basis for determining whether the battery pack is already locked to the battery bracket.

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

Then, the push box 22 is controlled to retract by a certain distance, whether a preliminary contact signal is sent or not is detected, and whether the battery pack is locked or not is judged according to the preliminary contact signal.

Specifically, if the preliminary contact signal of the second connecting member 233 is detected, it indicates that an object is still present on the adsorbing surface 2311 of the adsorbing device 231, and at this time, based on the received preliminary contact signal, it can be considered that: the battery pack is also adsorbed to the adsorption means 231, and thus the locking mechanism of the battery bracket is not successfully locked. At this time, the unlocking mechanism 21 and the push tray 22 on the battery tray 803 may be continuously controlled to perform the battery pack mounting process.

If the preliminary contact signal is not detected, it is indicated that there is no object on the adsorbing surface 2311 of the adsorbing device 231, it can be considered that: the battery pack is not adsorbed on the adsorption device 231, and the locking mechanism of the battery bracket is successfully locked, resulting in the separation of the battery pack and the adsorption device 231 from each other under an adsorption force of 10 kg. At this time, the push box 22 is controlled to be continuously retracted, and then the double-extension mechanism 3 of the battery changing device is controlled to be retracted.

However, the reduction of the adsorption force to 10kg is only a preferable adsorption parameter in the present embodiment, and the above object can be similarly achieved by connecting the battery pack with other adsorption force. Further, although the push box 22 in the present embodiment connects the battery packs by adsorption, in other embodiments, the connection portion 23 may be connected to the battery packs by other connection methods, and the connection condition of the connection portion 23 to the battery packs is detected when the push box 22 is retracted by a certain distance, so as to achieve the purpose of detecting and judging whether the battery packs are locked successfully or failed.

In addition, in the step of controlling the push box 22 to retract by a certain distance, the so-called distance should be larger than the stroke of the movement of the detection lever 2331. In this embodiment, the movement stroke of the support rod should be larger than that of the support rod, so that the first connecting piece 232 and the second connecting piece 233 are in respective initial positions (see fig. 17), and the first connecting piece 232 and the second connecting piece 233 are prevented from moving to be in a compressed state, so that the first detection module 241 and the second detection module 242 can still generate corresponding signals although the battery pack is separated from the adsorption surface 2311.

In addition, as shown in fig. 13 and 16, in the push disc case 22 of the present embodiment, the detection module can also be used to detect whether the push disc 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 push disc case 22. Among these, the so-called movement states include acceleration, deceleration, stopping, and the like.

Specifically, in the present embodiment, as shown in fig. 23, the detection module includes a pair of first detection members 243 and second detection members 244 that cooperate, wherein the first detection members 243 are disposed on the battery tray 803 and the second detection members 244 are disposed on the push box 22. Specifically, the first detecting member 243 is an induction block or an induction belt, and is provided on the surface of the battery tray 803 on the side facing the push case body 22a, so as to form a so-called preset area on the surface of the battery tray 803.

Specifically, as shown in fig. 23, the second detecting member 244 in the present embodiment is a proximity sensor, and a detecting end 244a at the end thereof is disposed towards the surface of the battery tray 803, so as to detect a preset area formed by the first detecting member 243, and determine whether the push box 22 is located in the preset area based on whether the second detecting member 244 emits an induction 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 changes the moving state of the push disc box 22, and the purpose of precise control is achieved.

Specifically, the preset area in the present embodiment includes a deceleration area, a reset area, and a limit area. Wherein these areas are each formed by a different first detecting element 243 and also each detected by a different second detecting element 244.

As shown in fig. 16, the first detecting member 243 for forming the deceleration region is a deceleration detecting member 243a, which is provided on the side of the battery tray 803 facing the push tray 22 and is disposed in proximity to the battery tray. Specifically, as can be seen from fig. 16, the deceleration detecting member 243a is elongated and extends along the direction of movement of the push disk case 22 toward the battery bracket, and the control module is configured to drive the push disk case 22 to move at a reduced speed when the deceleration area is detected by the second detecting member 244 provided on the push disk case body 22 a. The deceleration zone should be positioned to match the distance the push-disc cartridge 22 moves and contacts the battery pack. Specifically, the setting position of the deceleration region should be set as: when the push disc 22 moves toward the battery pack located at the battery bracket, the push disc 22 moves into the deceleration area first to perform deceleration of the push disc 22 after the second detecting member 244 sends out a signal, and then the first and second connecting members 232 and 233 are displaced to generate the fitting signal and the preliminary contact signal, so that the push disc 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 member 243b is rectangular, and after the second detecting member 244 disposed on the push disc box body 22a detects the reset area, the control module is configured to drive the push disc box 22 to stop moving, so as to enable the push disc box 22 to stop at a relatively accurate position during the reset process, so as to improve the repeatability and reliability of the power exchange device.

As shown in fig. 16, the first detecting members 243 for forming the limit area are limit detecting members 243c, two of which limit detecting members 243c are respectively installed at positions between both ends in the moving direction of the push tray 22 in the battery tray 803, and the relative deceleration detecting member 243a and the reset detecting member 243b are provided at the outer side of the battery tray 803. The limit area is provided for the purpose of indicating the limit of movement of the push box 22, and therefore, the two limit detecting pieces 243c are provided at positions which are areas into which the push box 22 does not enter at the time of normal movement, that is, when the second detecting piece 244 detects that the push box 22 enters the limit area, it is indicated that there is a problem in the operation of the battery exchange apparatus, and the push box 22 should be stopped from moving at this time. Preferably, the operation of the entire battery exchange device can also be stopped and a false alarm can be raised to allow the maintenance engineer to intervene and solve the problem.

In this embodiment, the second detecting elements 244 are four proximity sensors, so as to be respectively used for detecting the speed-reducing detecting element 243a, the reset detecting element 243b and the two limit detecting elements 243c, so that the second detecting elements 244 and the first detecting elements 243 are arranged in a one-to-one pairing manner, thereby avoiding the reliability risk caused by repeated use of the sensors, and the four proximity sensors are respectively arranged at four corner positions of the pushing tray box body 22a so as to respectively correspond to the four first detecting elements 243 (respectively used for forming the speed-reducing area, the reset area and the two limit areas).

It should be specifically noted that, in this embodiment, when the second detecting member 244 detects that the push disc case 22 is located in the preset area, the control module is not necessarily controlled to change the moving state of the push disc case 22, but should be combined with the moving direction of the push disc case 22 relative to the preset action generated by the battery tray 803, so as to perform the judgment in a unified manner.

For example, when the preset motion of the push disc case 22 relative to the battery tray 803 is that the push disc case 22 protrudes relative to the battery tray 803, if the second detecting member 244 detects that the push disc case 22 is located in the deceleration region, the push disc case 22 should be controlled to decelerate; when the second detecting member 244 detects that it is located in the reset area, the push box 22 should not be controlled to stop because the push box 22 may be just started from the reset area and start to move in the direction of the deceleration area at this time.

In contrast, when the preset motion of the push box 22 with respect to the battery tray 803 is that the push box 22 is retracted from the extended state, the push box 22 should be controlled to stop if the second detecting member 244 detects that it is located in the reset region; when the second detecting member 244 detects that it is located in the deceleration region, the push box 22 should not be controlled to decelerate because the push box 22 may be just started from the deceleration region and start to move in the direction of the reset region at this time.

And the signal priority of the second detecting member 244 detecting that the push disc cartridge 22 is located in the limit area should be set to be highest, when the second detecting member 244 detects that the push disc cartridge 22 is located in the limit area, the operation of the entire power exchanging apparatus should be stopped at once to avoid the occurrence of a safety accident.

As shown in fig. 16 and 24, the pushing disc box 22 in this embodiment further includes two balancing parts 25, where the two sides of the connecting part 23 along the transverse direction (i.e., the X direction in fig. 16) of the pushing disc box body 22a are respectively provided with one balancing part 25, and the balancing parts 25 can balance the moving state of the battery pack during pushing or pulling the battery pack, so that the battery pack can be supported by the balancing parts 25 under the pushing of the adsorption device 231 on the pushing disc box 22, and maintain a relatively accurate moving posture of the battery pack. Wherein, the two balancing parts 25 are respectively arranged at equidistant positions on two sides of the connecting part 23, so that the deviation correcting angles of the balancing parts 25 to two ends of the battery pack 100 are the same, and the deviation of the battery pack 100 in any direction can be corrected in time.

The moving posture of the battery pack refers to a position posture of the battery pack when the battery pack moves between the battery tray 803 and the battery bracket, that is, a tilting state of the battery pack when the battery pack moves between the battery tray 803 and the battery bracket (see fig. 18, in which 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 4 of the battery tray 803 or the side guide of the battery bracket, so that the battery pack is jammed on the battery tray 803 or the battery bracket.

The connecting portion 23 in the present embodiment is disposed at a middle position of the push box body 22a along the X direction, and the two balancing portions 25 are disposed at equally spaced positions on both sides of the connecting portion 23, respectively, so that the two balancing weights can relatively balance and support the battery pack.

Specifically, the connection portion 23 faces the connection surface of the battery packI.e., the adsorption surface 2311) and the balancing portion 25 are not on the same plane toward the balancing surface of the battery pack. In addition, as shown in fig. 25, the connection portion 23 protrudes from the push case body 22a by a first width D in the moving direction (i.e., Y direction) of the push case body 22a toward the battery holder ₁ The balance portion 25 protrudes from the push box body 22a to a second width D ₂ First width D ₁ Greater than or equal to the second width D ₂ . Namely: the balancing surface is disposed further away from the adsorption surface 2311 than the battery pack, and the connection portion 23 protrudes toward one side of the battery pack 100 relative to the balancing portion 25, so that when the pushing disc box 22 contacts the battery pack with a normal moving posture, the adsorption surface 2311 of the connection portion 23 can contact the battery pack first, and only when the position posture of the battery pack 100 is poor (or a dislocation occurs), the surface of the battery pack 100 may contact the balancing portion 25, so that the moving state of the battery pack 100 is adjusted to be balanced by the balancing portion 25.

The balance portion 25 in the present embodiment includes a pushing block 251, the pushing block 251 having a cubic shape, and a rectangular surface facing one side of the battery pack for making contact with the battery pack to correct the moving posture of the battery pack. The pushing block 251 is mounted on the side of the pushing box body 22a facing the battery bracket through the switching structure 252, the pushing block 251 is used for contacting with the battery pack, and the reaction force applied by the balancing part 25 to support the battery pack can be directly applied to the pushing box 22 body by mounting the pushing block 251 on the pushing box body 22 a. Preferably, the pushing block 251 is made of a polyurethane material with elasticity, so that the pushing block 251 has elasticity and support property at the same time, wherein the purpose of the pushing block 251 with elasticity is to enable the pushing block 251 to alleviate a certain distance deviation through self compression when the (adsorption device 231 of the) connecting portion 23 is compressed, so as to avoid that the pushing block 251 is rigid and the battery pack cannot push the first connecting piece 232 and the second connecting piece 233 to compress, so that the detection module triggers the attaching signal and the primary contact signal.

Preferably, the centers of the two balance portions 25 are not collinear with the center of the connecting portion 23. In this 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 parts 25 are offset from the connecting part 23 in the installation height. The contact surface of the balance part 25 and the battery pack and the contact surface 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 deflection generated in the moving process of the battery pack is reduced.

It should be noted that the battery tray 803 and the push tray 22 shown in the drawings of the present embodiment are merely for illustrating specific structures. In addition, as shown in fig. 26, for the convenience of showing the internal structure in the push box 22, the outer casing of the push box 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 example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.

Claims

1. A battery pack take-out control method for controlling a battery pack to be taken out from a battery compartment or an electric vehicle by a battery replacement device, the battery pack being locked to the battery compartment or a battery bracket in the electric vehicle, the battery pack take-out control method comprising the steps of:

further, controlling an unlocking mechanism of the battery changing equipment to unlock;

controlling the battery pack unlocked by the battery replacing equipment;

wherein, the step of controlling the battery replacing device to extend out and be connected with the battery pack comprises the following steps:

acquiring a preliminary contact signal of a push disc box of the battery replacement device and a preliminary contact trigger of the battery pack and a bonding signal of the push disc box of the battery replacement device and a further contact trigger of the battery pack, and judging that the push disc box of the battery replacement device and the battery pack are in contact when the preliminary contact signal and the bonding signal are acquired.

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

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

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

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

judging whether the push disc box is in contact with the battery pack or not;

5. The battery pack take-out control method according to claim 4, wherein the push-up case is controlled to move at a reduced speed when the push-up case moves to a predetermined distance from the battery pack in the process of controlling the push-up case to move toward the battery pack.

6. 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:

7. The battery pack removal control method according to claim 6, wherein the step of controlling the unlocking mechanism of the battery exchange apparatus to unlock comprises the steps of:

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

8. The battery pack removal control method according to claim 7, wherein the step of controlling the battery replacement device to remove the unlocked battery pack includes the steps of:

9. The battery pack take-out control method according to claim 8, wherein the height of the battery changing device is adjusted to match the height of the battery tray during the retraction of the push-out tray.

10. The battery pack removal control method according to claim 9, wherein after the step of controlling the push-out tray to retract to bring the battery pack into synchronous movement and removal from the battery tray, further comprising:

and judging whether the push disc box is retracted to be in position, and if so, controlling the dual-extension mechanism of the battery replacing equipment to retract.

11. A battery pack installation control method for controlling a battery replacement device to install a battery pack on a battery compartment or a battery bracket of an electric vehicle, the battery pack installation control method comprising the steps of:

further, controlling an unlocking mechanism of the battery changing equipment to lock;

wherein the step of controlling the battery changing device to move the battery pack onto the battery bracket comprises the following steps:

acquiring a preliminary contact signal of a push disc box of the battery replacing device and a preliminary contact trigger of the battery pack and a bonding signal of the push disc box of the battery replacing device and a further contact trigger of the battery pack, and judging that the push disc box of the battery replacing device pushes the battery pack in place when the preliminary contact signal and the bonding signal are acquired.

12. The battery pack mounting control method according to claim 11, wherein the step of adjusting the position of the battery changing device until the battery changing device reaches a preset relative position with respect to the battery bracket comprises the steps of:

13. The battery pack mounting control method according to claim 12, wherein the step of controlling the battery change device to move the battery pack onto the battery carrier comprises the steps of:

14. The battery pack mounting control method according to claim 13, further comprising, after the step of controlling the double-extension mechanism extension of the battery exchange device according to the third depth of view value or the fourth depth of view value:

15. The battery pack mounting control method of claim 14, wherein the step of controlling the push tray of the battery changer to push the battery pack onto the battery carrier comprises the steps of:

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

if yes, the push disc box is controlled to stop moving.

16. The battery pack mounting control method of claim 15, wherein the height of the battery changing device is adjusted to match the height of the battery carrier in controlling the push-plate case to push the battery pack in the direction of the battery carrier.

17. The battery pack installation control method according to claim 11, wherein the step of controlling the unlocking mechanism of the battery changing device to lock includes the steps of:

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

18. The battery pack installation control method according to claim 11, wherein the step of controlling the unlocking mechanism of the battery changing device to lock includes the steps of:

and judging whether the battery pack is locked on the battery bracket or not.

19. The battery pack mounting control method according to claim 18, wherein the step of determining whether the battery pack is locked to the battery bracket comprises the steps of:

20. The battery pack installation control method according to claim 19, further comprising the steps of, after the result of judging the locked state of the battery pack is that the battery pack is successfully locked:

controlling the push disc box to retract;