CN113910971A

CN113910971A - Battery replacement positioning control system, battery replacement equipment and control method

Info

Publication number: CN113910971A
Application number: CN202111302366.0A
Authority: CN
Inventors: 黄春华
Original assignee: Aulton New Energy Automotive Technology Co Ltd; Shanghai Dianba New Energy Technology Co Ltd
Current assignee: Aulton New Energy Automotive Technology Co Ltd; Shanghai Dianba New Energy Technology Co Ltd
Priority date: 2017-12-29
Filing date: 2017-12-29
Publication date: 2022-01-11
Anticipated expiration: 2037-12-29
Also published as: CN109987065B; CN109987065A; CN113895303B; CN113910970A; CN113910971B; CN113895303A; CN113895302A; CN113910970B; CN113895302B; CN113910967B; CN113910967A

Abstract

The invention provides a battery replacement positioning control system, battery replacement equipment and a battery replacement control method, wherein a rotating mechanism is positioned below a battery tray seat and drives the battery tray seat to rotate; the rotation detection unit and the telescopic detection unit are arranged on the battery tray, the rotation detection unit detects the angle between the battery tray and a reference object and is communicated with the rotation mechanism, and the telescopic detection unit detects the distance between the battery tray and the reference object and is communicated with the tray telescopic mechanism; when the disc pushing box moves backwards beyond the limit position, the rear detection unit sends a signal to the disc pushing driving mechanism, and the disc pushing driving mechanism confirms whether the disc pushing box stops moving backwards or not. Through setting up detecting element such as rotatory detecting element, flexible detecting element, back detecting element, realized the accurate positioning of battery tray at flexible in-process, improved the holistic accuracy and the security of system.

Description

Battery replacement positioning control system, battery replacement equipment and control method

The application is a divisional application of Chinese patent application with application date of 2017, 12 and 29, application number of 201711482879.8, entitled "battery replacement positioning control system, battery replacement equipment and control method".

Technical Field

The invention relates to a battery replacement positioning control system.

The invention also relates to a battery replacement device comprising the battery replacement positioning control system.

The invention also relates to a battery replacement positioning control method.

Background

The electric automobile replaces oil with electricity, can realize zero emission and low noise, and is an important means for solving the problems of energy and environment. With the shortage of petroleum resources and the development of battery technology, the performance and the economical efficiency of electric vehicles are close to or even better than those of traditional fuel vehicles, and the electric vehicles are gradually popularized and applied worldwide. A new generation of energy-saving and environment-friendly automobiles represented by electric automobiles is a necessary trend in the development of the automobile industry. As an important premise and foundation for large-scale popularization and application of electric automobiles, development of electric automobile battery charging and replacing technology and construction of electric automobile battery charging and replacing facilities attract extensive attention of all parties.

The battery box of the electric automobile can be positioned at the bottom of the automobile and also can be positioned at the side of the automobile. For example, the battery box of the electric bus is generally provided in plural, and the plural battery boxes are respectively located on both sides of the electric bus. When the battery replacing device replaces a battery from the side face of the electric automobile, the battery tray is required to be stretched out to take out a battery box in the electric automobile, then the battery box is rotated to the battery storage rack, and the old battery box is put into the battery storage rack; and taking out the new battery box from the battery storage rack and then putting the new battery box into a battery compartment of the electric automobile. In the above replacement process, the position of the battery tray in the battery replacement process needs to be accurately positioned, so as to ensure the accuracy and efficiency of battery box replacement.

Disclosure of Invention

The invention aims to overcome the defect that a control system for accurately positioning a battery tray is lacked in the battery replacement process in the prior art, and provides a battery replacement positioning control system, battery replacement equipment and a control method.

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

the invention provides a battery replacement positioning control system, which comprises:

the battery tray is arranged in the battery tray seat, the battery tray seat is provided with an outlet for the battery tray to extend out, the tray extending mechanism drives the battery tray to extend and retract on the battery tray seat, and one end, which can extend out of the battery tray seat, of the battery tray is an extending end;

the rotating mechanism is positioned below the battery tray seat and drives the battery tray seat to rotate;

the battery tray detection device comprises a rotation detection unit and a telescopic detection unit, wherein the rotation detection unit and the telescopic detection unit are arranged on the battery tray, the rotation detection unit detects the angle between the battery tray and a reference object and is communicated with the rotating mechanism, and the telescopic detection unit detects the distance between the battery tray and the reference object and is communicated with the tray telescopic mechanism;

the disc pushing box is mounted on the battery tray; the disc pushing box moves on the battery tray under the drive of the disc pushing drive mechanism;

the rear detection unit sends a signal to the disc pushing driving mechanism when the disc pushing box moves backwards beyond a limit position, and the disc pushing driving mechanism confirms whether the disc pushing box stops moving backwards or not; the rear detection unit comprises a rear in-place detection part and a rear alarm detection part, and the distance from the detection position of the rear in-place detection part to the extension end is smaller than the distance from the detection position of the rear alarm detection part to the extension end.

In the technical scheme, the position of the battery tray is adjusted through the rotation detection unit and the telescopic detection unit, so that the battery tray can be over against the battery replacement position in the battery replacement process, and the accuracy and the success rate of the battery replacement process are ensured; the rear detection unit is used for detecting whether the disc pushing box moves backwards beyond a limit position or not; the detection positions of the rear in-place detection part and the rear alarm detection part are sequentially arranged along the backward moving direction of the disc pushing box, when the disc pushing box works abnormally and moves backwards beyond a limit position, the disc pushing box still continues to retract even if the rear in-place detection part does not detect, the rear alarm detection part at a subsequent position can also detect, and the overall safety of the system is improved.

Preferably, the rotation detection unit comprises two first proximity switches, the two first proximity switches are symmetrically arranged at two sides of the extending end, and the first proximity switches measure the distance between the first proximity switches and the reference object; when the distances between the two first proximity switches and the reference object are equal, the first proximity switches send rotation stopping signals to the rotating mechanism, and the rotating mechanism suspends the rotation of the battery tray seat.

In the technical scheme, when the distances between the two first proximity switches and the reference object are equal, the extending end of the battery tray is opposite to the reference object (namely, the battery replacement position), and the battery replacement operation can be carried out.

Preferably, the telescopic detection unit comprises a second proximity switch, and the second proximity switch is positioned on the end face of the extending end; when the distance between the second proximity switch and the reference object reaches a preset value, the second proximity switch sends a stretching stopping signal to the tray stretching mechanism, and the tray stretching mechanism suspends stretching action of the battery tray.

In the technical scheme, when the second proximity switch measures that the distance between the second proximity switch and the reference object reaches the preset value, the fact that the extending end of the battery tray reaches the preset position is indicated, and the extending end of the battery tray is in butt joint with the battery replacement position, so that the battery box can move smoothly between the battery tray and the battery replacement position.

Preferably, the battery replacement positioning control system further comprises a position adjusting mechanism, the position adjusting mechanism is connected with the rotating mechanism, and the position adjusting mechanism adjusts the position of the rotating mechanism.

In the technical scheme, the position adjusting mechanism adjusts the position of the rotating mechanism, and the positions of the battery tray seat and the battery tray above the rotating mechanism are also adjusted.

Preferably, the battery replacement positioning control system further comprises a position detection unit fixed to the battery tray base, the position detection unit detecting a position of the battery tray base relative to the reference object and communicating with the position adjustment mechanism.

In the technical scheme, the position detection unit detects the position of the battery tray seat relative to the reference object and feeds back the position to the position adjusting mechanism, and the position adjusting mechanism adjusts the positions of the rotating mechanism, the battery tray seat and the battery tray so as to enable the battery tray seat to correspond to the position of the reference object.

Preferably, the position detection unit comprises at least one laser positioning instrument, the reference object is provided with at least one reflector, and each laser positioning instrument corresponds to one reflector; when the laser energy emitted by the laser positioning instrument is reflected by the corresponding reflector, the laser positioning instrument sends an in-place signal to the position adjusting mechanism, and the position adjusting mechanism adjusts the position of the rotating mechanism until the battery tray seat corresponds to the position of the reference object.

In the technical scheme, before the battery tray extends out, the relative position between the battery tray seat and the reference object can be confirmed through the position of the laser positioning instrument after being reflected by the reflector, and then the position of the rotating mechanism is adjusted through the position adjusting mechanism until the position of the battery tray seat corresponds to the position of the reference object.

Preferably, the number of the laser positioning instruments is two, and the two laser positioning instruments are respectively positioned on two sides of the battery tray seat.

In this technical scheme, in order to guarantee that the location of battery tray seat is accurate, the quantity of laser positioning appearance can be established to two, and two laser positioning appearance are located the both sides of battery tray seat respectively.

Preferably, the battery replacement positioning control system further includes a front detection unit, when the battery tray retracts beyond a limit position, the front detection unit sends a signal to the tray telescoping mechanism, and the tray telescoping mechanism determines whether the battery tray stops retracting.

In this technical scheme, preceding detecting element is used for detecting whether battery tray withdraws beyond the limit position.

Preferably, the front detection unit includes a front limit detection portion and a front limit detection portion, and a distance from a detection position of the front limit detection portion to the protruding end is greater than a distance from a detection position of the front limit detection portion to the protruding end.

In this technical scheme, the detection position of preceding limit detection portion, preceding limit detection portion arranges from beginning to end along battery tray's flexible direction, works unusually as battery tray, and when the withdrawal surpassed limit position, even preceding limit detection portion did not detect, leads to battery tray still to continue the withdrawal, and the preceding limit detection portion of follow-up position can also detect, has improved the holistic security of system.

Preferably, the front limit detection part comprises a front limit detection block and a front limit sensor, the front limit detection block is positioned on one surface of the battery tray facing the battery tray seat, and the front limit sensor is positioned on one surface of the battery tray seat facing the battery tray; the front limit sensor detects the front limit detection block, the front limit sensor sends a front limit signal to the tray telescoping mechanism, and the tray telescoping mechanism confirms whether the battery tray stops retracting.

In this technical scheme, current spacing sensor detects preceding spacing detection piece, shows that battery tray withdrawal exceeds the limit position, and tray telescopic machanism will confirm whether battery tray stops the action of withdrawing.

Preferably, the front limit detecting unit includes a front limit detecting block located on a surface of the battery tray facing the battery tray seat, and a front limit sensor located on a surface of the battery tray seat facing the battery tray; when the front limit sensor detects the front limit detection block, the front limit sensor sends a front limit signal to the tray telescoping mechanism, and the tray telescoping mechanism confirms whether the battery tray stops retracting.

In the technical scheme, the current limit sensor detects the front limit detection block to indicate that the battery tray retracts to reach the limit position, and the tray telescoping mechanism confirms whether the battery tray stops retracting.

Preferably, the battery replacement positioning control system further comprises a rear limit detection unit, when the battery tray extends beyond a limit position, the rear limit detection unit sends a signal to the tray telescoping mechanism, and the tray telescoping mechanism determines whether the battery tray stops extending.

In this technical scheme, back limit detecting element is used for detecting whether battery tray stretches out beyond the limit position.

Preferably, the rear limit detection unit includes a rear limit detection block and a rear limit sensor, the rear limit detection block is located on a surface of the battery tray facing the battery tray seat, and the rear limit sensor is located on a surface of the battery tray seat facing the battery tray; the rear limit sensor detects the rear limit detection block, the rear limit sensor sends a rear limit signal to the tray telescoping mechanism, and the tray telescoping mechanism confirms whether the battery tray stops extending.

In the technical scheme, when the rear limit sensor detects the rear limit detection block and indicates that the battery tray extends to reach the limit position, the tray telescopic mechanism confirms whether the battery tray stops retracting.

Preferably, a distance sensor is arranged on the disc pushing box, and the distance sensor detects the distance between the disc pushing box and the reference object and communicates with the disc pushing driving mechanism.

In the technical scheme, the distance sensor detects the distance between the disc pushing box and the reference object and feeds the distance back to the disc pushing driving mechanism, and the disc pushing driving mechanism adjusts the position of the disc pushing box on the battery tray according to the measurement data of the distance sensor, so that the battery tray can be just connected with a moving object (such as a battery box) in the battery replacing process, and the accuracy and the success rate of the battery replacing process are ensured.

Preferably, the battery replacement positioning control system further comprises a front-in-place unit, when the disc pushing box moves forwards beyond a limit position, the front-in-place unit sends a signal to the disc pushing driving mechanism, and the disc pushing driving mechanism confirms whether the disc pushing box stops moving forwards or not.

In the technical scheme, the front-in-place unit is used for detecting whether the disc pushing box moves forwards beyond a limit position.

Preferably, the front-in-place unit comprises a front-in-place detection block and a front-in-place sensor, the front-in-place detection block is positioned on one side of the battery tray, which faces the tray pushing box, and the front-in-place sensor is positioned on one side of the tray pushing box, which faces the battery tray; the front in-place sensor detects the front in-place detection block, the front in-place sensor sends a front in-place signal to the disc pushing driving mechanism, and the disc pushing driving mechanism confirms whether the disc pushing box stops moving forwards or not.

In the technical scheme, the current in-place sensor detects the front in-place detection block to indicate that the disc pushing box moves forwards beyond a limit position, and the disc pushing driving mechanism confirms whether the disc pushing box stops moving forwards or not.

Preferably, the rear in-place detection part comprises a rear in-place detection block and a rear in-place sensor, the rear in-place detection block is positioned on one surface of the battery tray, which faces the disc pushing box, and the rear in-place sensor is positioned on one surface of the disc pushing box, which faces the battery tray; the rear in-place sensor detects the rear in-place detection block, the rear in-place sensor sends a rear in-place signal to the disc pushing driving mechanism, and the disc pushing driving mechanism confirms whether the disc pushing box stops moving backwards or not.

In the technical scheme, when the rear in-place sensor detects the rear in-place detection block, the disc pushing box is indicated to move backwards beyond a limit position, and the disc pushing driving mechanism confirms whether the disc pushing box stops moving backwards or not.

Preferably, the rear alarm detection part comprises a rear alarm detection block and a rear alarm sensor, the rear alarm detection block is positioned on one surface of the battery tray facing the push disc box, and the rear alarm sensor is positioned on one surface of the push disc box facing the battery tray; the rear alarm sensor detects the rear alarm detection block, the rear alarm sensor sends a rear alarm signal to the disc pushing driving mechanism, and the disc pushing driving mechanism confirms whether the disc pushing box stops moving backwards or not.

In the technical scheme, when the rear alarm sensor detects the rear alarm detection block, the disc pushing box is shown to move backwards to reach the alarm position, and the disc pushing driving mechanism confirms whether the disc pushing box stops moving backwards or not.

Preferably, the surface of the push box facing the reference object is further provided with a third proximity switch; the third proximity switch measures a distance between the cartridge and the moving object when the cartridge is coupled with the moving object and is retracted; and when the third proximity switch measures that the moving object is separated from the disc pushing box, the third proximity switch sends a separation alarm signal to the disc pushing driving mechanism.

In the technical scheme, the third proximity switch is used for detecting whether a moving object (such as a battery box) connected to the disc pushing box is separated from the disc pushing box or not.

Preferably, the battery replacement positioning control system further comprises an in-place protection sensor, the in-place protection sensor is located on an end face of an outlet of the battery tray seat, and when no moving object is detected within a detection range of the in-place protection sensor, the in-place protection sensor sends a starting signal to the rotating mechanism.

In the technical scheme, when the in-place protection sensor cannot detect the moving object, the moving object is installed in place or completely retracted into the battery tray seat, and the system can be started to perform the next action.

The invention also provides a battery replacement device which comprises the battery replacement positioning control system.

In the technical scheme, the battery replacing and positioning control system can realize accurate installation and removal of the battery box.

The invention also provides a battery replacement positioning control method, which is a control method of the battery replacement positioning control system, and comprises the following steps:

the rotating mechanism drives the battery tray seat to rotate in place, and the battery tray extends out of the reference object;

when the rotation detecting unit detects the reference object, the protruding speed of the battery tray is reduced; the rotation detection unit sends a signal to the rotating mechanism according to the measured angle, and the rotating mechanism controls the battery tray seat to rotate until the battery tray is opposite to the reference object;

the tray telescopic mechanism drives the battery tray to continuously extend out, and the telescopic detection unit detects the distance between the battery tray and the reference object;

when the telescopic detection unit detects that the distance between the battery tray and the reference object reaches a preset value, the telescopic detection unit sends a signal to the tray telescopic mechanism, and the tray telescopic mechanism controls the battery tray to stop extending.

In the technical scheme, the accurate positioning in the battery tray extending process can be realized through the steps.

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

The positive progress effects of the invention are as follows:

according to the battery replacement positioning control system, the battery replacement equipment and the battery replacement control method, the rotation detection unit, the telescopic detection unit, the rear detection unit and other detection units are arranged, so that the accurate positioning of the battery tray in the telescopic process is realized, and the overall accuracy and safety of the system are improved.

Drawings

Fig. 1 is a schematic structural diagram of a battery replacement positioning control system according to the present invention.

Fig. 2 is a schematic structural diagram of the battery replacement positioning control system shown in fig. 1.

Fig. 3 is a schematic connection diagram of a tray retracting mechanism of the battery replacement positioning control system shown in fig. 1.

Fig. 4 is a schematic connection diagram of the rotating mechanism of the battery replacement positioning control system shown in fig. 1.

Fig. 5 is a schematic connection diagram of a position adjustment mechanism of the battery replacement positioning control system shown in fig. 1.

Fig. 6 is a schematic connection diagram of the push disk drive mechanism of the battery replacement positioning control system shown in fig. 1.

Fig. 7 is a schematic structural diagram of a front detection unit and a rear limit detection unit of the battery replacement positioning control system shown in fig. 1.

Fig. 8 is a schematic structural diagram of a front detection unit and a rear limit detection unit of the battery replacement positioning control system shown in fig. 1.

Fig. 9 is a schematic structural diagram of a front positioning unit and a rear detection unit of the battery replacement positioning control system shown in fig. 1.

Description of the reference numerals

Battery tray seat 1

First guide rail 11

Battery tray 2

Extension end 21

Second guide rail 22

Tray telescoping mechanism 3

Rotating mechanism 4

Rotation detecting unit 5

First proximity switch 51

Expansion detection unit 6

Second proximity switch 61

Position adjusting mechanism 7

Position detection unit 8

Laser locator 81

Front detecting unit 9

Front limit detection part 91

Front limit detection block 911

Front limit sensor 912

Front limit detection unit 92

Front limit detection block 921

Front limit sensor 922

Rear limit detecting unit 10

Rear limit detection block 101

Rear limit sensor 102

Cartridge 20

Push disk drive mechanism 30

Front-to-back unit 40

Front in-place detection block 401

Front position sensor 402

Rear detecting unit 50

Rear in-place detection part 501

Rear in-place detection block 511

Rear in-place sensor 512

Rear alarm detection unit 502

Rear alarm detection block 521

Rear alarm sensor 522

Third proximity switch 60

In-place protection sensor 70

Distance sensor 80

Detailed Description

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

As shown in fig. 1 to 6, the battery replacement positioning control system of the present invention includes a battery tray seat 1, a battery tray 2, a tray telescoping mechanism 3, a rotating mechanism 4, a rotation detection unit 5 and a telescoping detection unit 6, wherein the battery tray 2 is installed in the battery tray seat 1, the battery tray seat 1 has an outlet for the battery tray 2 to extend out, the tray telescoping mechanism 3 drives the battery tray 2 to extend and retract on the battery tray seat 1, and one end of the battery tray 2, which can extend out of the battery tray seat 1, is an extending end 21; the rotating mechanism 4 is positioned below the battery tray seat 1, and the rotating mechanism 4 drives the battery tray seat 1 to rotate; the rotation detecting unit 5 and the extension detecting unit 6 are provided on the battery tray 2, the rotation detecting unit 5 detects an angle between the battery tray 2 and a reference object and communicates with the rotating mechanism 4, and the extension detecting unit 6 detects a distance between the battery tray 2 and the reference object and communicates with the tray extending mechanism 3.

The battery tray seat 1 may be provided therein with a first guide rail 11, the battery tray 2 is mounted on the first guide rail 11, and the battery tray 2 moves on the first guide rail 11. Tray telescopic machanism 3 can be the structure of motor, drive belt, also can be the structure of motor, gear, rack, or other drive mechanism, and tray telescopic machanism 3 drives battery tray 2 and removes on first guide rail 11.

The rotating mechanism 4 may be composed of a motor, a relatively rotating disk, or other transmission mechanism capable of realizing the rotation of an object.

The angle between the battery tray 2 and a reference object is detected through the rotation detection unit 5 and fed back to the rotation mechanism 4, and the rotation mechanism 4 adjusts the angles of the battery tray seat 1 and the battery tray 2 according to the rotation detection unit 5, so that the battery tray 2 can be just opposite to a battery replacement position in a battery replacement process, and the accuracy and the success rate of the battery replacement process are ensured.

The distance between the battery tray 2 and a reference object is detected through the telescopic detection unit 6, and is fed back to the tray telescopic mechanism 3, the tray telescopic mechanism 3 adjusts the length of the battery tray 2 extending out of the battery tray seat 1 according to the telescopic detection unit 6, so that the battery tray 2 can just stretch to the position connected with the battery replacement position in the battery replacement process, and the accuracy and the success rate of the battery replacement process are ensured.

As shown in fig. 5, the battery replacement positioning control system further includes a position adjusting mechanism 7, the position adjusting mechanism 7 is connected to the rotating mechanism 4, and the position adjusting mechanism 7 adjusts the position of the rotating mechanism 4. The position adjusting mechanism 7 adjusts the position of the rotating mechanism 4, and also adjusts the positions of the battery tray seat 1 and the battery tray 2 located above the rotating mechanism 4. The position adjusting mechanism 7 can adjust the position of the rotating mechanism 4 up, down, left and right, or incline the rotating mechanism 4, and the position adjusting mechanism 7 can adjust the position through various transmission mechanisms such as a motor and a transmission chain.

As shown in fig. 5, the battery replacement positioning control system further includes a position detection unit 8, the position detection unit 8 is fixed to the battery tray base 1, and the position detection unit 8 detects the position of the battery tray base 1 with respect to the reference object and communicates with the position adjustment mechanism 7. The position detecting unit 8 detects the position of the battery tray base 1 with respect to the reference object and feeds back the position to the position adjusting mechanism 7, and the position adjusting mechanism 7 adjusts the positions of the rotating mechanism 4, the battery tray base 1, and the battery tray 2 so that the battery tray base 1 corresponds to the position of the reference object.

As shown in fig. 1 to 2 and 8, the battery replacement positioning control system further includes a disc pushing box 20 and a disc pushing driving mechanism 30, wherein the disc pushing box 20 is mounted on the battery tray 2; the disc-pushing box 20 moves on the battery tray 2 under the drive of the disc-pushing drive mechanism 30; the cartridge 20 is provided with a distance sensor 80, and the distance sensor 80 detects the distance between the cartridge 20 and a reference object and communicates with the disc-pushing drive mechanism 30.

The pusher box 20 may be connected to a moving object (e.g., a battery box), push the moving object to a reference object (e.g., a battery replacement position), and pull the moving object back to the battery tray 2. The battery tray 2 is provided with a second guide rail 22, and the tray pushing box 20 moves on the second guide rail 22. The disc-pushing driving mechanism 30 may be a motor, a belt, a motor, a gear, a rack, or other transmission mechanism, and the disc-pushing driving mechanism 30 drives the disc-pushing box 20 to move on the second guide rail 22.

The distance sensor 80 detects the distance between the disc pushing box 20 and the reference object and feeds the distance back to the disc pushing driving mechanism 30, and the disc pushing driving mechanism 30 adjusts the position of the disc pushing box 20 on the battery tray 2 according to the measurement data of the distance sensor 80, so that the disc pushing box 20 can be just connected with a moving object (such as a battery box) in the battery replacing process, and the accuracy and the success rate of the battery replacing process are ensured.

As shown in fig. 1 and 8, one embodiment of the rotation detecting unit 5 is: the rotation detection unit 5 comprises two first proximity switches 51, one end of the battery tray 2, which can extend out of the battery tray seat 1, is an extension end 21, the two first proximity switches 51 are symmetrically arranged on two sides of the extension end 21, and the first proximity switches 51 measure the distance between the first proximity switches 51 and a reference object; when the distances between the two first proximity switches 51 and the reference object are equal, the first proximity switches 51 send a rotation stop signal to the rotation mechanism 4, and the rotation mechanism 4 suspends the rotation of the battery tray base 1.

When the distances between the two first proximity switches 51 and the reference object are equal, it is described that the protruding end 21 of the battery tray 2 faces the reference object (i.e., the battery replacement position), and the battery replacement operation can be performed.

The rotation detecting unit 5 may employ other measuring devices for measuring a relative angle, such as an angle measuring instrument, an angle measuring sensor, and the like, in addition to the two first proximity switches 51.

As shown in fig. 1 and 8, one specific embodiment of the stretch detecting unit 6 is: the telescopic detection unit 6 comprises a second proximity switch 61, one end of the battery tray 2, which can extend out of the battery tray seat 1, is an extension end 21, and the second proximity switch 61 is positioned on the end face of the extension end 21; when the distance between the second proximity switch 61 and the reference object reaches a predetermined value, the second proximity switch 61 sends a stop extension signal to the tray retracting mechanism 3, and the tray retracting mechanism 3 suspends the extension operation of the battery tray 2.

When the second proximity switch 61 measures that the distance between the second proximity switch 61 and the reference object reaches the predetermined value, it indicates that the protruding end 21 of the battery tray 2 has reached the predetermined position, and the protruding end 21 of the battery tray 2 is abutted to the battery replacement position, so that the battery box can be smoothly moved between the battery tray 2 and the battery replacement position.

The extension/contraction detecting means 6 may be a measuring device for measuring a relative distance, other than the second proximity switch 61.

As shown in fig. 1 and 8, one specific embodiment of the position detection unit 8 is: the position detection unit 8 comprises at least one laser positioning instrument 81, at least one reflecting plate is arranged on the reference object, and each laser positioning instrument 81 corresponds to one reflecting plate; when the laser energy emitted by the laser positioning instrument 81 is reflected by the corresponding reflector, the laser positioning instrument 81 sends a signal to the position adjusting mechanism 7, and the position adjusting mechanism 7 adjusts the position of the rotating mechanism 4 until the battery tray seat 1 corresponds to the position of the reference object.

Before the battery tray 2 extends out, the relative position between the battery tray seat 1 and a reference object can be confirmed through the position of the laser positioning instrument 81 after being reflected by the reflector, and the position of the rotating mechanism 4 is adjusted through the position adjusting mechanism 7 until the position of the battery tray seat 1 corresponds to the position of the reference object.

In order to ensure accurate positioning of the battery tray seat 1, the number of the laser positioning instruments 81 can be two, and the two laser positioning instruments 81 are respectively positioned at two sides of the battery tray seat 1.

As shown in fig. 3, in order to prevent the battery tray 2 from being extended or retracted beyond the limit position, the battery replacement positioning control system is further provided with a front detection unit 9 and a rear limit detection unit 10.

Preceding detecting element 9 is used for detecting whether battery tray 2 withdraws beyond the limit position, and when battery tray 2 withdraws beyond the limit position, preceding detecting element 9 sends the signal and gives tray telescopic machanism 3, and tray telescopic machanism 3 confirms whether battery tray 2 stops the action of retracting. If the battery tray 2 does not stop the retraction, the tray retracting mechanism 3 takes a compulsory measure to stop the battery tray 2 and give an alarm.

In order to ensure the detection success rate of the front detection unit 9, the front detection unit 9 includes a front limit detection part 91 and a front limit detection part 92, and the distance from the detection position of the front limit detection part 91 to the protruding end 21 is greater than the distance from the detection position of the front limit detection part 92 to the protruding end 21. The detection positions of the front limit detection part 91 and the front limit detection part 92 are arranged in the front-back direction of the battery tray 2, when the battery tray 2 works abnormally and retracts beyond the limit position, even if the front limit detection part 91 does not detect, the battery tray 2 still continues to retract, the front limit detection part 92 at the subsequent position can also detect, and the overall safety of the system is improved.

A specific structure of the front limit detecting part 91 is shown in fig. 7 to 8. The front limit detection unit 91 includes a front limit detection block 911 and a front limit sensor 912, the front limit detection block 911 is located on one surface of the battery tray 2 facing the battery tray seat 1, and the front limit sensor 912 is located on one surface of the battery tray seat 1 facing the battery tray 2; the front limit sensor 912 detects the front limit detection block 911, the front limit sensor 912 transmits a front limit signal to the tray retracting mechanism 3, and the tray retracting mechanism 3 confirms whether the battery tray 2 stops retracting. When the current limit sensor 912 detects the front limit detection block 911, indicating that the battery tray 2 is retracted beyond the limit position, the tray retracting mechanism 3 determines whether or not the battery tray 2 stops the retracting operation.

A specific structure of the front limit detecting unit 92 is shown in fig. 7 to 8. The front limit detection part 92 comprises a front limit detection block 921 and a front limit sensor 922, wherein the front limit detection block 921 is positioned on one surface of the battery tray 2 facing the battery tray seat 1, and the front limit sensor 922 is positioned on one surface of the battery tray seat 1 facing the battery tray 2; when the front limit sensor 922 detects the front limit detection block 921, the front limit sensor 922 transmits a front limit signal to the tray retracting mechanism 3, and the tray retracting mechanism 3 confirms whether or not the battery tray 2 stops the retracting operation. The current limit sensor 922 detects the front limit detection block 921 indicating that the battery tray 2 is retracted to the limit position, and the tray retracting mechanism 3 confirms whether the battery tray 2 stops the retracting operation.

Rear limit detecting element 10 is used for detecting whether battery tray 2 stretches out beyond the limit position, and when battery tray 2 stretched out beyond the limit position, rear limit detecting element 10 sent the signal and gives tray telescopic machanism 3, and tray telescopic machanism 3 confirms whether battery tray 2 stops the action of stretching out. If the battery tray 2 does not stop extending, the tray extension mechanism 3 takes a compulsory measure to stop the battery tray 2 and give an alarm.

A specific structure of the rear limit detecting unit 10 is shown in fig. 7 to 8. The rear limit detection unit 10 comprises a rear limit detection block 101 and a rear limit sensor 102, wherein the rear limit detection block 101 is positioned on one surface of the battery tray 2 facing the battery tray seat 1, and the rear limit sensor 102 is positioned on one surface of the battery tray seat 1 facing the battery tray 2; the rear limit sensor 102 detects the rear limit detection block 101, the rear limit sensor 102 sends a rear limit signal to the tray retracting mechanism 3, and the tray retracting mechanism 3 confirms whether the battery tray 2 stops the extending operation. When the rear limit sensor 102 detects the rear limit detection block 101, indicating that the battery tray 2 is extended to the limit position, the tray retracting mechanism 3 confirms whether the battery tray 2 stops the extending operation.

As shown in fig. 6, in order to prevent the disc cartridge 20 from moving forward or backward beyond a limit position, the battery replacement positioning control system is further provided with a front-to-position unit 40 and a rear detection unit 50.

The front-in-place unit 40 is used for detecting whether the disc-pushing box 20 moves forwards beyond the limit position, when the disc-pushing box 20 moves forwards beyond the limit position, the front-in-place unit 40 sends a signal to the disc-pushing drive mechanism 30, and the disc-pushing drive mechanism 30 confirms whether the disc-pushing box 20 stops moving forwards. If the disc-pushing box 20 does not stop moving forward, the disc-pushing drive mechanism 30 will take a compulsory measure to stop the disc-pushing box 20 and give an alarm.

One specific structure of the front-to-back unit 40 is shown in fig. 9. The front-in-place unit 40 includes a front-in-place detection block 401 and a front-in-place sensor 402, the front-in-place detection block 401 being located on a side of the battery tray 2 facing the cartridge 20, the front-in-place sensor 402 being located on a side of the cartridge 20 facing the battery tray 2; the front-in-position sensor 402 detects the front-in-position detection block 401, the front-in-position sensor 402 sends a front-in-position signal to the disc-pushing drive mechanism 30, and the disc-pushing drive mechanism 30 confirms whether the disc-pushing cartridge 20 stops moving forward. When the previous-position sensor 402 detects the previous-position detection block 401, indicating that the cartridge 20 has moved forward beyond the limit position, the disc-pushing drive mechanism 30 will confirm whether the cartridge 20 has stopped moving forward.

The rear detection unit 50 is used to detect whether the disc-pushing box 20 moves backward beyond the limit position, and when the disc-pushing box 20 moves backward beyond the limit position, the rear detection unit 50 sends a signal to the disc-pushing drive mechanism 30, and the disc-pushing drive mechanism 30 confirms whether the disc-pushing box 20 stops moving backward. If the push disk box 20 does not stop moving backward, the push disk drive mechanism 30 will take a compulsory measure to stop the push disk box 20 and issue an alarm.

In order to ensure the detection success rate of the rear detection unit 50, the rear detection unit 50 includes a rear in-position detection portion 501 and a rear alarm detection portion 502, and the distance from the detection position of the rear in-position detection portion 501 to the extension end 21 is smaller than the distance from the detection position of the rear alarm detection portion 502 to the extension end 21. The detection positions of the rear in-place detection part 501 and the rear alarm detection part 502 are sequentially arranged along the backward movement direction of the disc pushing box 20, when the disc pushing box 20 works abnormally and moves backwards beyond a limit position, even if the rear in-place detection part 501 does not detect, the disc pushing box 20 still continues to retract, the rear alarm detection part 502 at a subsequent position can also detect, and the overall safety of the system is improved.

A specific structure of the rear-reaching-position detecting section 501 is shown in fig. 9. The rear in-place detection section 501 includes a rear in-place detection block 511 and a rear in-place sensor 512, the rear in-place detection block 511 being located on a side of the battery tray 2 facing the cartridge 20, and the rear in-place sensor 512 being located on a side of the cartridge 20 facing the battery tray 2; the rear in-position sensor 512 detects the rear in-position detection block 511, the rear in-position sensor 512 sends a rear in-position signal to the disc-pushing drive mechanism 30, and the disc-pushing drive mechanism 30 confirms whether the disc-pushing cartridge 20 stops moving backward. When the rear-reach sensor 512 detects the rear-reach detection block 511 indicating that the cartridge 20 has moved rearward beyond the limit position, the disc-pushing drive mechanism 30 will confirm whether the cartridge 20 has stopped moving rearward.

A specific structure of the rear alarm detection unit 502 is shown in fig. 9. The rear alarm detection part 502 comprises a rear alarm detection block 521 and a rear alarm sensor 522, wherein the rear alarm detection block 521 is positioned on the side of the battery tray 2 facing the push box 20, and the rear alarm sensor 522 is positioned on the side of the push box 20 facing the battery tray 2; the rear alarm sensor 522 detects the rear alarm detection block 521, the rear alarm sensor 522 transmits a rear alarm signal to the disc-pushing drive mechanism 30, and the disc-pushing drive mechanism 30 confirms whether the disc-pushing housing 20 stops moving backward. When the rear alarm sensor 522 detects the rear alarm detection block 521 indicating that the disc cartridge 20 has moved backward to the alarm position, the disc drive mechanism 30 will confirm whether the disc cartridge 20 stops moving backward.

The front and rear

reach detecting blocks

401 and 511 may be arranged in a line in the moving direction of the pusher tray 20 and arranged in front of and behind each other. Thus, the front-in-place sensor 402 and the rear-in-place sensor 512 may share one sensor, i.e., the sensor may function as both the front-in-place sensor 402 and the rear-in-place sensor 512.

The rear alarm detecting block 521 has a long bar shape and extends in the moving direction of the push tray 20. The long strip-shaped rear alarm detection block 521 ensures that the rear alarm sensor 522 can detect the rear alarm detection block 521 in a longer time, increases the induction time of the rear alarm sensor 522 and increases the overall safety of the system.

As shown in fig. 1 and 8, the surface of the pusher housing 20 facing the reference object is further provided with a third proximity switch 60, and the third proximity switch 60 is used for detecting whether a moving object (e.g., a battery box) connected to the pusher housing 20 is detached from the pusher housing 20. That is, the third proximity switch 60 measures the distance between the disc cartridge 20 and the moving object while the disc cartridge 20 is connected to the moving object and is retracted; when the third proximity switch 60 measures that the moving object is detached from the disc cartridge 20, the third proximity switch 60 sends an detachment alarm signal to the disc drive mechanism 30. After receiving the disengagement alarm signal, the pusher tray driving mechanism 30 stops the movement of the pusher tray 20, alarms, and waits for further processing.

As shown in fig. 1 and 8, the battery replacement positioning control system further includes a position protection sensor 70, the position protection sensor 70 is located on the end face of the outlet of the battery tray seat 1, and when no moving object is detected within the detection range of the position protection sensor 70, the position protection sensor 70 sends an activation signal to the rotating mechanism 4. When the in-position protection sensor 70 does not detect the moving object, indicating that the moving object is installed in position, or has been fully retracted into the battery tray seat 1, the system may be activated for further action.

The control method of the battery replacement positioning control system comprises the following steps:

s1, the rotating mechanism 4 drives the battery tray seat 1 to rotate in place, and the battery tray 2 extends out of the reference object;

s2, when the rotation detecting unit 5 detects the reference object, the projecting speed of the battery tray 2 is slowed down; the rotation detection unit 5 sends a signal to the rotation mechanism 4 according to the measured angle, and the rotation mechanism 4 controls the battery tray seat 1 to rotate until the battery tray 2 is opposite to the reference object;

s3, the tray stretching mechanism 3 drives the battery tray 2 to stretch out continuously, and the stretching detection unit 6 detects the distance between the battery tray 2 and a reference object;

and S4, when the telescopic detection unit 6 detects that the distance between the battery tray 2 and the reference object reaches a preset value, the telescopic detection unit 6 sends a signal to the tray telescopic mechanism 3, and the tray telescopic mechanism 3 controls the battery tray 2 to stop extending.

Through the above steps, accurate positioning during the extension of the battery tray 2 can be achieved, and after the battery tray 2 is extended to the proper position, the tray pushing box 20 is driven by the tray pushing driving mechanism 30 to move forward on the battery tray 2, and the distance between the tray pushing box 20 and the reference object is detected by the distance sensor 80. When the distance between the cartridge 20 and the reference object reaches a preset value, the cartridge drive mechanism 30 controls the cartridge 20 to stop protruding forward.

Before the battery tray 2 extends towards the reference object, the position of the battery tray seat 1 relative to the reference object can be detected by the position detection unit 8, and the positions of the rotating mechanism 4, the battery tray seat 1 and the battery tray 2 are adjusted by the position adjusting mechanism 7, so that the battery tray seat 1 corresponds to the position of the reference object. The position detection unit 8 realizes coarse positioning of the entire battery tray holder 1 and the battery tray 2. And in the extending process of the battery tray 2, the rotation detection unit 5 and the telescopic detection unit 6 realize the fine positioning of the battery tray 2.

In the process that the battery tray 2 extends towards the reference object, if the battery tray 2 extends beyond the limit position, the rear limit detection unit 10 can detect and send a signal to the tray telescopic mechanism 3, and the tray telescopic mechanism 3 takes a compulsory measure to stop the battery tray 2 and give an alarm.

If the disc-pushing box 20 moves forward beyond the limit position during the forward movement of the disc-pushing box 20 on the battery tray 2, the front-to-back unit 40 can detect and send a signal to the disc-pushing driving mechanism 30, and the disc-pushing driving mechanism 30 will take a forcible measure to stop the disc-pushing box 20 and give an alarm.

When the battery tray 2 extends to the reference direction to a certain position, the tray pushing box 20 moves forwards on the battery tray 2 to a certain position, and after the preset action is completed, the tray pushing box 20 needs to move backwards to a certain position, and the battery tray 2 retracts into the battery tray seat 1.

If the disc-pushing box 20 moves backwards beyond the limit position during the backward movement of the disc-pushing box 20, the rear detection unit 50 can detect and send a signal to the disc-pushing driving mechanism 30, and the disc-pushing driving mechanism 30 will take a mandatory measure to stop the disc-pushing box 20 and issue an alarm.

In the process of retracting the battery tray 2 into the battery tray seat 1, if the battery tray 2 retracts beyond a limit position, the front detection unit 9 can detect and send a signal to the tray telescoping mechanism 3, and the tray telescoping mechanism 3 takes a forcible measure to stop the battery tray 2 and give an alarm.

When the battery replacement positioning control system and the battery replacement positioning control method are applied to the battery replacement equipment, the reference object is the battery installation bin, and the moving object is the battery box.

The present invention is not limited to the above-described embodiments, and any changes in shape or structure thereof fall within the scope of the present invention. The scope of the present invention is defined by the appended claims, and those skilled in the art can make various changes or modifications to the embodiments without departing from the principle and spirit of the present invention, and such changes and modifications fall within the scope of the present invention.

Claims

1. A battery replacement positioning control system, comprising:

2. The battery replacement positioning control system of claim 1, wherein: the rotation detection unit comprises two first proximity switches, the two first proximity switches are symmetrically arranged on two sides of the extending end, and the first proximity switches measure the distance between the first proximity switches and the reference object; when the distances between the two first proximity switches and the reference object are equal, the first proximity switches send rotation stopping signals to the rotating mechanism, and the rotating mechanism suspends the rotation of the battery tray seat.

3. The battery replacement positioning control system of claim 1, wherein: the telescopic detection unit comprises a second proximity switch, and the second proximity switch is positioned on the end face of the extending end; when the distance between the second proximity switch and the reference object reaches a preset value, the second proximity switch sends a stretching stopping signal to the tray stretching mechanism, and the tray stretching mechanism suspends stretching action of the battery tray.

4. The battery replacement positioning control system of claim 1, wherein: the battery replacement positioning control system further comprises a position adjusting mechanism, the position adjusting mechanism is connected with the rotating mechanism, and the position adjusting mechanism adjusts the position of the rotating mechanism.

5. The battery replacement positioning control system of claim 4, wherein: the battery replacement positioning control system further comprises a position detection unit, wherein the position detection unit is fixed on the battery tray seat, and the position detection unit detects the position of the battery tray seat relative to the reference object and communicates with the position adjusting mechanism.

6. The battery replacement positioning control system of claim 5, wherein: the position detection unit comprises at least one laser positioning instrument, the reference object is provided with at least one reflecting plate, and each laser positioning instrument corresponds to one reflecting plate; when the laser energy emitted by the laser positioning instrument is reflected by the corresponding reflector, the laser positioning instrument sends an in-place signal to the position adjusting mechanism, and the position adjusting mechanism adjusts the position of the rotating mechanism until the battery tray seat corresponds to the position of the reference object.

7. The battery replacement positioning control system of claim 6, wherein: the number of the laser positioning instruments is two, and the two laser positioning instruments are respectively positioned on two sides of the battery tray seat.

8. The battery replacement positioning control system of claim 1, wherein: the battery replacement positioning control system further comprises a front detection unit, when the battery tray retracts beyond a limit position, the front detection unit sends a signal to the tray telescoping mechanism, and the tray telescoping mechanism confirms whether the battery tray stops retracting.

9. The battery replacement positioning control system of claim 8, wherein: the front detection unit comprises a front limit detection part and a front limit detection part, and the distance from the detection position of the front limit detection part to the extending end is greater than the distance from the detection position of the front limit detection part to the extending end.

10. The battery replacement positioning control system of claim 9, wherein: the front limit detection part comprises a front limit detection block and a front limit sensor, the front limit detection block is positioned on one surface of the battery tray facing the battery tray seat, and the front limit sensor is positioned on one surface of the battery tray seat facing the battery tray; the front limit sensor detects the front limit detection block, the front limit sensor sends a front limit signal to the tray telescoping mechanism, and the tray telescoping mechanism confirms whether the battery tray stops retracting.

11. The battery replacement positioning control system of claim 9, wherein: the front limit detection part comprises a front limit detection block and a front limit sensor, the front limit detection block is positioned on one surface of the battery tray facing the battery tray seat, and the front limit sensor is positioned on one surface of the battery tray seat facing the battery tray; when the front limit sensor detects the front limit detection block, the front limit sensor sends a front limit signal to the tray telescoping mechanism, and the tray telescoping mechanism confirms whether the battery tray stops retracting.

12. The battery replacement positioning control system of claim 1, wherein: the battery replacement positioning control system further comprises a rear limit detection unit, when the battery tray extends out of a limit position, the rear limit detection unit sends a signal to the tray telescopic mechanism, and the tray telescopic mechanism confirms whether the battery tray stops extending.

13. The battery replacement positioning control system of claim 12, wherein: the rear limit detection unit comprises a rear limit detection block and a rear limit sensor, the rear limit detection block is positioned on one surface, facing the battery tray seat, of the battery tray, and the rear limit sensor is positioned on one surface, facing the battery tray, of the battery tray seat; the rear limit sensor detects the rear limit detection block, the rear limit sensor sends a rear limit signal to the tray telescoping mechanism, and the tray telescoping mechanism confirms whether the battery tray stops extending.

14. The battery replacement positioning control system of claim 1, wherein: and a distance sensor is arranged on the disc pushing box, detects the distance between the disc pushing box and the reference object and communicates with the disc pushing driving mechanism.

15. The battery replacement positioning control system of claim 1, wherein: the battery replacement positioning control system also comprises a front in-place unit, when the disc pushing box moves forwards beyond a limit position, the front in-place unit sends a signal to the disc pushing driving mechanism, and the disc pushing driving mechanism confirms whether the disc pushing box stops moving forwards or not.

16. The battery replacement positioning control system of claim 15, wherein: the front in-place unit comprises a front in-place detection block and a front in-place sensor, the front in-place detection block is positioned on one surface, facing the tray pushing box, of the battery tray, and the front in-place sensor is positioned on one surface, facing the battery tray, of the tray pushing box; the front in-place sensor detects the front in-place detection block, the front in-place sensor sends a front in-place signal to the disc pushing driving mechanism, and the disc pushing driving mechanism confirms whether the disc pushing box stops moving forwards or not.

17. The battery replacement positioning control system of claim 1, wherein: the rear in-place detection part comprises a rear in-place detection block and a rear in-place sensor, the rear in-place detection block is positioned on one surface, facing the tray pushing box, of the battery tray, and the rear in-place sensor is positioned on one surface, facing the battery tray, of the tray pushing box; the rear in-place sensor detects the rear in-place detection block, the rear in-place sensor sends a rear in-place signal to the disc pushing driving mechanism, and the disc pushing driving mechanism confirms whether the disc pushing box stops moving backwards or not.

18. The battery replacement positioning control system of claim 1, wherein: the rear alarm detection part comprises a rear alarm detection block and a rear alarm sensor, the rear alarm detection block is positioned on one surface, facing the battery tray, of the battery tray, and the rear alarm sensor is positioned on one surface, facing the battery tray, of the battery tray; the rear alarm sensor detects the rear alarm detection block, the rear alarm sensor sends a rear alarm signal to the disc pushing driving mechanism, and the disc pushing driving mechanism confirms whether the disc pushing box stops moving backwards or not.

19. The battery replacement positioning control system of claim 1, wherein: the surface of the tray pushing box facing the reference object is also provided with a third proximity switch; the third proximity switch measures a distance between the cartridge and the moving object when the cartridge is coupled with the moving object and is retracted; and when the third proximity switch measures that the moving object is separated from the disc pushing box, the third proximity switch sends a separation alarm signal to the disc pushing driving mechanism.

20. The battery replacement positioning control system of claim 1, wherein: the battery replacement positioning control system further comprises an in-place protection sensor, the in-place protection sensor is located on the end face of the outlet of the battery tray seat, and when a moving object cannot be detected in the detection range of the in-place protection sensor, the in-place protection sensor sends a starting signal to the rotating mechanism.

21. The utility model provides a trade electric equipment which characterized in that: the battery replacement equipment comprises the battery replacement positioning control system as claimed in any one of claims 1-20.

22. A battery replacement positioning control method, which is the control method of the battery replacement positioning control system according to any one of claims 1 to 20, characterized by comprising: