CN114734867A - Battery taking and placing method and system - Google Patents
Battery taking and placing method and system Download PDFInfo
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- CN114734867A CN114734867A CN202210501971.9A CN202210501971A CN114734867A CN 114734867 A CN114734867 A CN 114734867A CN 202210501971 A CN202210501971 A CN 202210501971A CN 114734867 A CN114734867 A CN 114734867A
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000001514 detection method Methods 0.000 claims description 49
- 230000002159 abnormal effect Effects 0.000 claims description 14
- 239000000758 substrate Substances 0.000 claims 2
- 230000007423 decrease Effects 0.000 description 7
- 230000003466 anti-cipated effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
Abstract
The invention discloses a battery taking and placing method and system. The battery taking and placing method comprises the following steps: controlling the push rod to move relative to the tray; adjusting the height of the tray so that the height difference between one end of the tray close to the target object and the target object is within a threshold range; the tray and the target are used for supporting the battery, and the push rod is used for acting on the battery to enable the battery to be switched between being supported by the tray and being supported by the target. The battery taking and placing system comprises: a push rod, a tray and a controller; the controller is used for controlling the push rod to move relative to the tray; and the controller is also used for adjusting the height of the tray so that the height difference between one end of the tray close to the target object and the target object is within a threshold range. Therefore, the height (namely the theoretical height) of the tray is adjusted in real time, so that the battery cannot be clamped due to overlarge actual height difference between the tray and the target object, and the failure rate of battery replacement is reduced.
Description
The application is a divisional application of a Chinese patent application with the application date of 2018, 9 and 10 months and the application number of 2018110535881, and the name of the invention is 'method and system for taking and placing batteries'.
Technical Field
The invention relates to a battery taking and placing method and system.
Background
In the case of a power-change electric vehicle, it is necessary to replace a battery regularly or irregularly. Generally, the battery replacement device is fixed at a specified position, and the electric vehicle is controlled to stop near the battery replacement device for battery replacement. In addition, the battery replacement also comprises the step that the tray of the battery replacement equipment takes out the battery from the battery compartment, and the battery compartment is also provided with a battery supporting device.
The battery replacing step is that the tray of the battery replacing device extends to align with the battery supporting device on the electric automobile or the battery compartment, the push rod pulls the battery from the battery supporting device to the tray to realize the taking out of the old battery on the electric automobile or the taking out of the new battery on the battery compartment, and the push rod pushes the battery from the tray to the battery supporting device to realize the placing of the new battery on the electric automobile or the placing of the old battery on the battery compartment.
Because the weight of the battery is large, when the battery is positioned on the tray, the battery can press the tray downwards to cause elastic deformation, so that the actual height of the tray can be lower than the theoretical set height; when the battery is positioned on the battery supporting device of the electric automobile, the battery can move downwards to press the battery supporting device, and the elastic deformation of the tire can be changed, so that the height of the battery supporting device is changed.
When the battery is placed, as the battery on the tray gradually moves onto the battery supporting device, the bearing capacity of the tray gradually decreases, the deformation decreases, the pressing amount of the tray decreases, and the pressing amount of the battery supporting device increases; when the battery is taken out, as the battery on the battery supporting device gradually moves to the tray, the bearing capacity of the tray gradually increases, the deformation of the tray increases, the pressing-down capacity of the tray increases, and the pressing-down capacity of the battery supporting device decreases. That is, the actual height of the tray may actually change without adjusting the theoretical height of the tray. In addition, when the battery is taken and put, the tray is in a cantilever state, and one end of the tray close to the battery supporting device can be further deformed and pressed downwards.
Therefore, the tray and the battery supporting device are not aligned in height in the battery replacement process, so that the battery is clamped, and battery replacement failure can be caused under severe conditions.
Disclosure of Invention
The invention aims to overcome the defect that the height of a tray and a battery supporting device (namely a target object) is possibly not aligned during battery replacement in the prior art, so that a battery is clamped, and provides a battery taking and placing method and a battery taking and placing system.
The invention solves the technical problems through the following technical scheme:
a battery taking and placing method is characterized by comprising the following steps:
controlling the push rod to move relative to the tray; and
adjusting the height of the tray so that the height difference between one end of the tray close to the target object and the target object is within a threshold range; adjusting the height of the tray according to the position of the push rod; when the push rod extends out, the height of the tray is adjusted downwards, the push rod is controlled to extend out to push the battery to move relative to the tray, and therefore the battery is enabled to be supported by the tray to be supported by the target object;
and/or when the push rod retracts, the height of the tray is adjusted upwards, the push rod is controlled to retract to pull the battery to move relative to the tray, and therefore the battery is enabled to be supported by the target object to be supported by the tray; wherein the tray and the object are both used for supporting a battery, and the push rod is used for acting on the battery so as to switch the battery between being supported by the tray and being supported by the object.
Among the above-mentioned technical scheme, can judge the position of battery according to the position of push rod to can judge the weight that the tray bore, thereby can confirm the anticipated height of tray, thereby can adjust the tray height to anticipated height. When the push rod extends out, the tray is lifted up compared with the initial full load state because the bearing of the tray is smaller and smaller; alignment can be maintained by lowering the height of the tray downward. When the push rod retracts, the tray is reduced in height compared with the initial empty state due to the fact that the tray bears larger and larger load, and if the height of the tray is not adjusted actively; alignment can be maintained by adjusting the height of the tray upward.
Preferably, the height of the adjusting tray is specifically: the height of the tray is adjusted at a preset speed.
In the technical scheme, the preset speed can be determined according to factors such as the structure and the size of the battery, the push-pull speed of the push rod and the like, and the height of the tray can be controlled by a simple method.
Preferably, the battery taking and placing method further comprises the following steps:
and determining the position of the push rod according to the parameters of a servo motor for driving the push rod to move.
In the technical scheme, the push rod moves under the driving of the servo motor, and the parameters of the servo motor are easy to obtain, so that the position of the push rod can be conveniently determined.
Preferably, the height of the adjusting tray is specifically:
acquiring an expected movement direction of the tray; and
adjusting the height of the tray in a direction opposite to the direction of intended movement of the tray when a positioning element does not detect a reference element;
wherein the expected moving direction of the tray is downward when the load of the tray becomes large, and upward when the load of the tray becomes small; the positioning element and the reference element are oppositely arranged, one of the positioning element and the reference element is arranged on the tray, and the other of the positioning element and the reference element is arranged on the target object.
In the technical scheme, the height of the tray can be adjusted in real time according to whether the reference element is detected by the positioning element. In the process that the push rod retracts to switch the battery from being supported by the target object to being supported by the tray: initially, the tray is aligned with the target (i.e., the height difference is within a threshold range), and the reference element can be detected by the positioning element; as the tray becomes loaded, the tray is pressed down more (so the intended direction of movement is downward); until the positioning element does not detect the reference element, indicating that the tray and the target are no longer aligned (i.e., the height difference exceeds the threshold range), the tray needs to be adjusted upward. And in the process that the push rod extends out to switch the battery from being supported by the tray to being supported by the target object: initially, the tray is aligned with the target (i.e., the height difference is within a threshold range), and the reference element can be detected by the positioning element; as the load of the pallet becomes smaller, the pallet depression decreases (so the intended direction of movement is upward); until the positioning element does not detect the reference element, indicating that the tray and the target are no longer aligned (i.e., the height difference exceeds the threshold range), the tray needs to be lowered.
Preferably, the positioning element is a laser positioning instrument, and the reference element is a reflector.
In the above technical solution, the positioning element may be installed on the tray side, and the reference element may be installed on the object side; or the positioning element can be arranged on the object side, and the reference element can be arranged on the tray side; the reflector can assist the laser positioning instrument to work. Preferably, when the push rod is extended, the end of the tray close to the target object is higher than the target object or is flush with the target object; and/or, when the push rod retracts, the end of the tray close to the target object is lower than the target object or is flush with the target object.
In the technical scheme, when the push rod extends out, the battery moves from the tray to the target object, and the target object is flush with the tray or lower than the target object, so that the battery can further conveniently move; when the push rod retracts, the battery moves from the target object to the tray, and the target object is flush with the tray or higher so that the movement of the battery can be further facilitated.
Preferably, the battery taking and placing method further comprises the following steps:
and pre-adjusting the height of the tray before controlling the push rod to move relative to the tray, so that the height difference between the end of the tray close to the target object and the target object is within the threshold range.
By adopting the arrangement, the tray is aligned with the target object in the initial state.
Preferably, the step of pre-adjusting the height of the tray before controlling the push rod to move relative to the tray comprises the following steps:
adjusting the end of the tray near the object to be higher than or level with the object before the push rod is extended;
and/or, before the push rod retracts, adjusting the end of the tray close to the target to be lower than or level with the target.
In the technical scheme, when the push rod extends out, the battery moves from the tray to the target object, so that the battery can be further conveniently moved by adjusting the position before the push rod extends out until the target object is flush with the tray or the target object is lower; when the pusher is retracted, the battery moves from the object onto the tray, so adjusting to the object flush with the tray or higher before retraction can further facilitate movement of the battery.
Preferably, the battery taking and placing method further comprises the following steps:
acquiring a positioning detection state of a positioning sensor; the positioning detection state is used for indicating whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used for indicating the distance between the positioning position of the push rod and the battery;
and judging whether the positioning detection state is that the positioning distance signal is not detected, if so, stopping the movement of the push rod and/or indicating abnormal information.
In the technical scheme, the positioning sensor can detect whether the push rod normally acts on the battery, and in an abnormal condition (such as the condition without the battery), the push rod stops moving and/or indicates abnormal information to prevent errors.
Preferably, the acquiring of the positioning detection state of the positioning sensor specifically includes: acquiring the positioning detection states of at least two positioning sensors, wherein the at least two positioning sensors are arranged at intervals;
the step of determining whether the positioning detection state is that the positioning distance signal is not detected specifically includes: and judging whether the positioning detection state of at least one positioning sensor is that the positioning distance signal is not detected.
Among the above-mentioned technical scheme, two positioning sensor make detect more accurate.
A battery handling system, comprising: a push rod, a tray and a controller;
the controller is used for controlling the push rod to move relative to the tray; the controller is further used for adjusting the height of the tray, so that the height difference between one end, close to the target object, of the tray and the target object is within a threshold value range; the controller is used for adjusting the height of the tray according to the position of the push rod; the controller is used for adjusting the height of the tray downwards when the push rod extends out, and the controller is used for controlling the push rod to extend out to push the battery to move relative to the tray so that the battery is switched from being supported by the tray to being supported by the target;
and/or the controller is used for adjusting the height of the tray upwards when the push rod retracts, and the controller is used for controlling the push rod to retract so as to pull the battery to move relative to the tray, so that the battery is switched from being supported by the target object to being supported by the tray;
the tray and the object are both used for supporting a battery, and the push rod is used for acting on the battery so that the battery can be switched between being supported by the tray and being supported by the object.
In the technical scheme, the position of the battery can be judged according to the position of the push rod, so that the weight borne by the tray can be judged, the expected height of the tray can be determined, and the height of the tray can be adjusted to the expected height. When the push rod extends out, the tray is lifted up compared with the initial full load state because the bearing of the tray is smaller and smaller; alignment can be maintained by lowering the height of the tray downward. When the push rod retracts, the tray is reduced in height compared with the initial empty state due to the fact that the tray bears larger and larger load, and the height of the tray is not actively adjusted; alignment can be maintained by adjusting the height of the tray upward. Preferably, the controller is configured to adjust the height of the tray at a predetermined speed.
In the technical scheme, the preset speed can be determined according to factors such as the structure and the size of the battery, the push-pull speed of the push rod and the like, and the height of the tray can be controlled by a simple method.
Preferably, the battery taking and placing system further comprises: the servo motor is used for driving the push rod to move, and the controller is further used for determining the position of the push rod according to parameters of the servo motor.
In the technical scheme, the push rod moves under the driving of the servo motor, and the parameters of the servo motor are easy to obtain, so that the position of the push rod can be conveniently determined.
Preferably, the controller is used for adjusting the height of the tray, and comprises:
the controller is used for acquiring the expected movement direction of the tray; and
the controller is used for adjusting the height of the tray in a direction opposite to the expected movement direction of the tray when the reference element is not detected by the positioning element;
wherein the expected moving direction of the tray is downward when the load of the tray becomes large, and upward when the load of the tray becomes small; the positioning element and the reference element are oppositely arranged, one of the positioning element and the reference element is arranged on the tray, and the other of the positioning element and the reference element is arranged on the target object.
In the technical scheme, the height of the tray can be adjusted in real time according to whether the reference element is detected by the positioning element. In the process that the push rod retracts to switch the battery from being supported by the target object to being supported by the tray: initially, the tray is aligned with the target (i.e., the height difference is within a threshold range), and the reference element can be detected by the positioning element; as the load on the pallet becomes greater, the pallet is pressed more (so the intended direction of movement is downward); until the positioning element does not detect the reference element, indicating that the tray and the target are no longer aligned (i.e., the height difference exceeds the threshold range), the tray needs to be adjusted upward. And in the process that the push rod extends out to switch the battery from being supported by the tray to being supported by the target object: initially, the tray is aligned with the target (i.e., the height difference is within a threshold range), and the reference element can be detected by the positioning element; as the load of the pallet becomes smaller, the pallet depression decreases (so the intended direction of movement is upward); until the positioning element does not detect the reference element, indicating that the tray and the target are no longer aligned (i.e., the height difference exceeds the threshold range), the tray needs to be lowered.
Preferably, the positioning element is a laser positioning instrument, and the reference element is a reflector.
In the above technical solution, the positioning element may be installed on the tray side, and the reference element may be installed on the object side; or the positioning element may be mounted on the object side and the reference element may be mounted on the tray side; as long as the reflector can assist the laser positioning instrument to work. Preferably, the controller is configured to make the end of the tray close to the target object higher than or flush with the target object when the push rod is extended; and/or the controller is used for enabling the end of the tray close to the target object to be lower than the target object or level with the target object when the push rod retracts.
In the technical scheme, when the push rod extends out, the battery moves from the tray to the target object, and the target object is flush with the tray or lower than the target object, so that the battery can further conveniently move; when the push rod retracts, the battery moves from the target object to the tray, and the target object is flush with the tray or higher so that the movement of the battery can be further facilitated.
Preferably, the controller is further configured to preset the height of the tray before controlling the push rod to move relative to the tray, so that the height difference between the end of the tray close to the target object and the target object is within the threshold range.
By adopting the arrangement, the tray is aligned with the target object in the initial state.
Preferably, the controller is used for presetting the height of the tray before controlling the push rod to move relative to the tray, and comprises:
the controller is used for adjusting the end of the tray close to the target object to be higher than or level with the target object before the push rod extends out;
and/or the controller is used for adjusting the end of the tray close to the target object to be lower than or level with the target object before the push rod retracts.
In the technical scheme, when the push rod extends out, the battery moves from the tray to the target object, so that the battery can be further conveniently moved by adjusting the position before the push rod extends out until the target object is flush with the tray or the target object is lower; when the pusher is retracted, the battery moves from the object onto the tray, so adjusting to the object flush with the tray or higher before retraction can further facilitate movement of the battery.
Preferably, the battery taking and placing system further comprises: a positioning sensor;
the controller is also used for acquiring the positioning detection state of the positioning sensor; the positioning detection state is used for indicating whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used for indicating the distance between the positioning position of the push rod and the battery;
the controller is further used for judging whether the positioning detection state is that the positioning distance signal is not detected, and if so, stopping the movement of the push rod and/or indicating abnormal information.
In the technical scheme, the positioning sensor can detect whether the push rod normally acts on the battery, and in an abnormal condition (such as the condition without the battery), the push rod stops moving and/or indicates abnormal information to prevent errors.
Preferably, the battery taking and placing system comprises: at least two positioning sensors which are arranged at intervals; the controller is used for acquiring the positioning detection states of at least two positioning sensors; and is
The controller is configured to determine whether the positioning detection state is that the positioning distance signal is not detected, specifically: the controller is used for judging whether the positioning detection state of at least one positioning sensor is that the positioning distance signal is not detected.
Among the above-mentioned technical scheme, two positioning sensor make detect more accurate.
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:
in the battery taking and placing method and the battery taking and placing system, the height (namely the theoretical height) of the tray is adjusted in real time in the battery replacement process so as to ensure that the height difference between the tail end of the tray (namely the actual height) and a target object (namely a battery supporting device on an electric automobile or a battery cabin) is within a threshold range, thereby ensuring that the battery cannot be clamped due to overlarge actual height difference between the tray and the target object and reducing the failure rate of battery replacement.
Drawings
Fig. 1 is a schematic flow chart of a battery taking and placing method according to embodiment 1 of the present invention.
Fig. 2 is a schematic flow chart illustrating a battery pick-and-place method according to embodiment 2 of the present invention.
Fig. 3 is a schematic flow chart illustrating a battery pick-and-place method according to embodiment 3 of the present invention.
Fig. 4 is a schematic flow chart illustrating a battery pick-and-place method according to embodiment 4 of the present invention.
Fig. 5 is a schematic flow chart illustrating a battery pick-and-place method in embodiment 5 of the present invention.
Fig. 6 is a schematic frame diagram of a battery taking and placing system according to embodiment 6 of the present invention.
Fig. 7 is a schematic structural diagram of a tray and a push rod of the battery pick-and-place system according to embodiment 6 of the invention.
Description of reference numerals:
s101, S102, S103, S104, S105, S106: step (ii) of
S201, S202, S203, S204, S205, S206: step (ii) of
S301, S302, S303, S304, S305, S306: step (ii) of
S401, S402, S403, S404, S405, S406: step (ii) of
S501, S502, S503, S504, S505, S506: step (ii) of
60: battery taking and placing system
610: push rod
611: battery sucker
612: knock pin
620: tray
630: controller
640: servo motor
650: positioning sensor
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1, the battery taking and placing method includes the following steps:
step S101, pre-adjusting the height of the tray so that the height difference between the end of the tray close to the target object and the target object is within a threshold range, which specifically is in this embodiment: and adjusting one end of the tray close to the target object to be higher than or level with the target object. Wherein, tray and object are all used for supporting the battery. The threshold range is ± 2 mm.
And S102, controlling the push rod to move relative to the tray. In this embodiment, step S102 specifically includes: the push rod is controlled to extend to push the battery to move relative to the tray, so that the battery is switched from being supported by the tray to being supported by the target.
Step S103, adjusting the height of the tray so that the height difference between one end of the tray close to the target object and the target object is within a threshold range. The step S103 of adjusting the tray height specifically includes: the height of the tray is adjusted at a preset speed. The preset speed can be determined according to factors such as the structure and the size of the battery, the push-pull speed of the push rod and the like, and the height of the tray can be controlled by a simple method. In addition, in step S103, the adjusting of the tray height specifically includes: the height of the tray is adjusted downwards. When the push rod extends out, because the bearing of the tray is smaller and smaller, if the height of the tray is not actively adjusted, the height of the tray is increased compared with that of the tray when the tray is initially fully loaded; alignment can be maintained by lowering the height of the tray downward. In step S103, the step of making the height difference between the end of the tray close to the target object and the target object within a threshold range is specifically as follows: so that the end of the tray near the target is higher than or level with the target. Because the battery moves from the tray to the target when the push rod is extended, the target is flush with the tray or lower than the target to further facilitate movement of the battery.
Step S104: and acquiring the positioning detection state of the positioning sensor. The positioning detection state is used for indicating whether the positioning sensor detects a positioning distance signal or not, and the positioning distance signal is used for indicating the distance between the positioning position of the push rod and the battery. In this embodiment, step S104 specifically includes: and acquiring the positioning detection states of at least two positioning sensors. Wherein, two at least positioning sensor intervals set up, can all set up in the locating position of push rod. At least two positioning sensors make the detection more accurate.
Step S105, judging whether the positioning detection state is that the positioning distance signal is not detected. In this embodiment, step S105 specifically includes: and judging whether the positioning detection state of at least one positioning sensor is that the positioning distance signal is not detected. If yes, go to step S106; if not, the step S104 is continued.
Step S106, the push rod stops moving and indicates abnormal information. The position sensor may detect whether the push rod is normally applied to the battery, and in an abnormal case (e.g., in the absence of the battery), stop the movement and indicate abnormal information to prevent error.
In the above, steps S104-S106 are listed after steps S101-S103 for convenience of description. However, it should be understood by those skilled in the art that in alternative embodiments, steps S104-S106 may occur prior to steps S101-S103, concurrently with steps S101-S103, or without an explicit precedence relationship with steps S101-S103. Other embodiments of the invention are also similar.
In the battery replacement process, the height (namely the theoretical height) of the tray is adjusted in real time to ensure that the height difference between the tail end of the tray (namely the actual height) and a target object (namely a battery supporting device on an electric automobile or a battery cabin) is within a threshold range, so that the battery can be prevented from being clamped due to overlarge actual height difference between the tray and the target object, and the failure rate of battery replacement is reduced.
Example 2
The method for taking and placing the battery of the present embodiment is substantially similar to that of embodiment 1, and the difference is mainly that: the battery taking and placing method in embodiment 1 is a push rod extending method, and the battery taking and placing method in this embodiment is a push rod retracting method. As shown in fig. 2, the battery taking and placing method of the present embodiment includes the following steps:
step S201, pre-adjusting the height of the tray so that the height difference between the end of the tray close to the target object and the target object is within a threshold range, which specifically is in this embodiment: and adjusting one end of the tray close to the target object to be lower than or level with the target object. Wherein, tray and object are all used for supporting the battery. The threshold range is ± 2 mm.
And S202, controlling the push rod to move relative to the tray. In this embodiment, step S202 specifically includes: the push rod is controlled to retract so as to pull the battery to move relative to the tray, so that the battery is switched from being supported by the target object to being supported by the tray.
Step S203, adjusting the height of the tray so that the height difference between one end of the tray close to the target object and the target object is within a threshold range. The step S203 of adjusting the tray height specifically includes: the height of the tray is adjusted at a predetermined speed. The preset speed can be determined according to factors such as the structure and the size of the battery, the push-pull speed of the push rod and the like, and the height of the tray can be controlled by a simple method. In addition, in step S203, the adjusting of the tray height specifically includes: the height of the tray is adjusted upwards. Because the tray bears more and more weight when the push rod retracts, if the height of the tray is not actively adjusted, the height of the tray is reduced compared with that of the tray when the push rod is in an initial idle state; alignment can be maintained by adjusting the height of the tray upward. In step S203, the step of making the height difference between the end of the tray close to the target object and the target object within a threshold range is specifically as follows: so that the end of the tray near the target is lower or level with the target. Because the battery moves from the object to the tray when the pusher is retracted, the object is flush with the tray or higher up to further facilitate movement of the battery.
Step S204: and acquiring the positioning detection state of the positioning sensor. The positioning detection state is used for indicating whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used for indicating the distance between the positioning position of the push rod and the battery. In this embodiment, step S204 specifically includes: and acquiring the positioning detection states of at least two positioning sensors. Wherein, at least two positioning sensors are arranged at intervals.
Step S205, determining whether the positioning detection state is that the positioning distance signal is not detected. In this embodiment, step S205 specifically includes: and judging whether the positioning detection state of at least one positioning sensor is that the positioning distance signal is not detected. If yes, go to step S206; if not, the process continues to step S204.
Step S206, the push rod stops moving and indicates abnormality information.
Example 3
As shown in fig. 3, the battery taking and placing method of the present embodiment includes the following steps:
step S301, the height of the tray is preset, so that the height difference between one end, close to the target, of the tray and the target is within a threshold range.
And step S302, controlling the push rod to move relative to the tray.
Step S303, adjusting the height of the tray so that the height difference between the end of the tray close to the target object and the target object is within a threshold range. In this embodiment, the height of the adjusting tray is specifically: adjusting the height of the tray according to the position of the push rod; namely: the position of the battery can be judged according to the position of the push rod, so that the weight borne by the tray can be judged, the expected height of the tray can be determined, and the height of the tray can be adjusted to the expected height. In step S303, the position of the push rod is determined based on the parameter of the servo motor that drives the push rod to move. Therefore, the push rod moves under the driving of the servo motor, and the parameters of the servo motor are easy to obtain, so that the position of the push rod can be conveniently determined.
Step S304: and acquiring the positioning detection state of the positioning sensor.
Step S305, determining whether the positioning detection state is that the positioning distance signal is not detected. If yes, go to step S306; if not, the step S304 is continued.
And step S306, stopping the movement of the push rod.
Example 4
The battery taking and placing method of the embodiment is substantially similar to that of the embodiment 1, and is a push rod extending method, and the difference is mainly that: the manner of adjusting the height of the tray is different. As shown in fig. 4, the battery taking and placing method of the present embodiment includes the following steps:
step S401, pre-adjusting the tray height, that is: and adjusting one end of the tray close to the target object to be higher than or level with the target object.
And S402, controlling the push rod to extend to push the battery to move relative to the tray, so that the battery is switched from being supported by the tray to being supported by the target object.
Step S403, adjusting the tray height, specifically: acquiring an expected movement direction of the tray; when the positioning element does not detect the reference element, the height of the tray is adjusted in a direction opposite to the intended direction of movement of the tray. In this embodiment, the load on the tray is reduced and the desired direction of movement of the tray is upward due to the extension of the push rod. The positioning element and the reference element are oppositely arranged, one of the positioning element and the reference element is arranged on the tray, and the other of the positioning element and the reference element is arranged on the target object. In this embodiment, specifically, the positioning element is a laser positioning apparatus, and the reference element is a reflector. The positioning element may be mounted on the tray side and the reference element may be mounted on the object side. In step S403, initially, the tray is aligned with the target (i.e. the height difference is within the threshold), and the positioning element can detect the reference element; as the load of the pallet becomes smaller, the pallet depression decreases (so the intended direction of movement is upward); until the positioning element detects no reference element, indicating that the tray is no longer aligned with the target (i.e., the height difference exceeds the threshold range), the tray needs to be lowered.
Step S404: and acquiring the positioning detection states of at least two positioning sensors.
Step S405, determining whether the positioning detection state of at least one positioning sensor is that the positioning distance signal is not detected. If yes, go to step S406; if not, the process continues to step S404.
Step S406, the pusher stops moving and indicates abnormal information.
Example 5
The battery taking and placing method of the present embodiment is substantially similar to that of embodiment 2, and is a push rod retracting method, and the difference is mainly that: the manner of adjusting the height of the tray is different. As shown in fig. 5, the battery taking and placing method of the present embodiment includes the following steps:
step S501, pre-adjusting the height of the tray, namely: and adjusting one end of the tray close to the target object to be lower than or level with the target object.
And step S502, controlling the push rod to retract so as to pull the battery to move relative to the tray, so that the battery is switched from being supported by the target object to being supported by the tray.
Step S503, adjusting the tray height, specifically: acquiring an expected movement direction of the tray; when the positioning element does not detect the reference element, the height of the tray is adjusted in a direction opposite to the intended direction of movement of the tray. In this embodiment, the load of the pallet becomes large due to the retraction of the push rod, and the expected moving direction of the pallet is downward. The positioning element and the reference element are oppositely arranged, one of the positioning element and the reference element is arranged on the tray, and the other of the positioning element and the reference element is arranged on the target object. In this embodiment, specifically, the positioning element is a laser positioning apparatus, and the reference element is a reflector. The positioning element may be mounted on the object side and the reference element may be mounted on the tray side. In step S503, initially, the tray is aligned with the target object (i.e. the height difference is within the threshold range), and the positioning component can detect the reference component; as the tray becomes loaded, the tray is pressed down more (so the intended direction of movement is downward); until the positioning element does not detect the reference element, indicating that the tray and the target are no longer aligned (i.e., the height difference exceeds the threshold range), the tray needs to be adjusted upward.
Step S504: and acquiring the positioning detection states of at least two positioning sensors.
Step S505, it is determined whether the positioning detection state of at least one positioning sensor is that the positioning distance signal is not detected. If yes, go to step S506; if not, continue to step S504.
Step S506, the pusher stops moving and indicates abnormal information.
Example 6
As shown in fig. 6-7, a battery handling system 60 includes: push rod 610, tray 620, controller 630, servo motor 640, positioning sensor 650 (specifically at least two positioning sensors 650). Both the tray 620 and the object are used to support a battery, and the push rod 610 is used to act on the battery to switch the battery between being supported by the tray 620 and being supported by the object. The push rod 610 has a battery suction cup 611 and a knock pin 612 for mutual positioning and fixing with the battery. The target object is a battery supporting device of an electric automobile or a battery supporting device of a battery compartment. The servo motor 640 is used to drive the push rod 610 to move (specifically, to move perpendicular to the plane of fig. 7). At least two positioning sensors 650 are spaced apart.
The battery taking and placing system 60 of this embodiment 6 can be specifically used for performing the battery taking and placing methods in embodiments 1 to 5.
The controller 630 is used for controlling the push rod 610 to move relative to the tray 620; and the controller 630 is configured to adjust the height of the tray 620 such that the height difference between the end of the tray 620 close to the target and the target is within a threshold range. The threshold range is ± 2 mm.
Wherein, the controller 630 is used for adjusting the height of the tray 620 at a preset speed; alternatively, the controller 630 is configured to determine the position of the push rod 610 according to the parameters of the servo motor 640, and to adjust the height of the tray 620 according to the position of the push rod 610; or the controller 630 is used to acquire an expected moving direction of the tray 620 and to adjust the height of the tray 620 in a direction opposite to the expected moving direction of the tray 620 when the reference element is not detected by the positioning element. Wherein, when the load of the tray 620 becomes large, the expected moving direction of the tray 620 is downward, and when the load of the tray 620 becomes small, the expected moving direction of the tray 620 is upward; the positioning element and the reference element are disposed opposite to each other, one of the positioning element and the reference element is disposed on the tray 620, and the other of the positioning element and the reference element is disposed on the target. The positioning element is a laser positioning instrument, and the reference element is a reflector.
The controller 630 is used for controlling the push rod 610 to move relative to the tray 620, and includes: the controller 630 is used for controlling the push rod 610 to extend to push the battery to move relative to the tray 620, so that the battery is supported by the tray 620 and is switched to be supported by the target; and/or, the controller 630 is used to control the push rod 610 to retract to pull the battery to move relative to the tray 620, so that the battery is switched from being supported by the object to being supported by the tray 620. The controller 630 is used for making one end of the tray 620 close to the target object higher than or level with the target object when the push rod 610 is extended; and/or, the controller 630 is configured to make an end of the tray 620 close to the target lower or flush with the target when the push rod 610 is retracted.
The controller 630 is used to adjust the height of the tray 620, and includes: the controller 630 is used for lowering the height of the tray 620 downward when the push rod 610 is extended; and/or, the controller 630 is used to adjust the height of the tray 620 upward when the push rod 610 is retracted.
The controller 630 is further configured to pre-adjust the height of the tray 620 before controlling the push rod 610 to move relative to the tray 620, so that the height difference between the end of the tray 620 close to the target and the target is within a threshold range. The controller 630 is used for presetting the height of the tray 620 before controlling the push rod 610 to move relative to the tray 620, and comprises: the controller 630 is used to adjust an end of the tray 620 near the target to be higher than or level with the target before the push rod 610 is extended; and/or, the controller 630 is used to adjust an end of the tray 620 near the target to be lower than or level with the target before the push rod 610 is retracted.
The controller 630 is further configured to acquire a location detection state of the location sensor 650; the location detection state is used to indicate whether the location sensor 650 detects a location distance signal indicating a distance between the location position of the push rod 610 and the battery. The controller 630 is further configured to determine whether the positioning detection state is that the positioning distance signal is not detected, and if so, stop the movement of the push rod 610 and/or indicate abnormal information.
The controller 630 is configured to acquire the positioning detection states of at least two positioning sensors 650; and the controller 630 is configured to determine whether the positioning detection state is that the positioning distance signal is not detected, specifically: the controller 630 is configured to determine whether the positioning detection status of at least one positioning sensor 650 is that no positioning distance signal is detected.
In describing the present invention, an embodiment may be provided with multiple figures, and reference numerals for like parts of the same embodiment are not necessarily shown in each figure; it will be appreciated by those skilled in the art that while one or more of the figures in an embodiment are described, they may be understood in conjunction with other figures in the embodiment; it will be understood by those skilled in the art that when no specific reference is made to which figure the text specifically corresponds, the text can be understood in conjunction with all of the figures in the embodiment.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
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 that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (18)
1. A battery taking and placing method is characterized by comprising the following steps:
controlling the push rod to move relative to the tray; and
adjusting the height of the tray so that the height difference between one end of the tray close to the target object and the target object is within a threshold range; adjusting the height of the tray according to the position of the push rod; when the push rod extends out, the height of the tray is adjusted downwards, the push rod is controlled to extend out to push the battery to move relative to the tray, and therefore the battery is enabled to be supported by the tray to be supported by the target object;
and/or when the push rod retracts, the height of the tray is adjusted upwards, the push rod is controlled to retract to pull the battery to move relative to the tray, and therefore the battery is enabled to be supported by the target object to be supported by the tray;
wherein the tray and the object are both used for supporting a battery, and the push rod is used for acting on the battery so as to switch the battery between being supported by the tray and being supported by the object.
2. The method of claim 1, wherein the adjusting the tray height specifically comprises: the height of the tray is adjusted at a preset speed.
3. The method of claim 1, wherein the step of removing the battery from the substrate,
the battery taking and placing method further comprises the following steps:
and determining the position of the push rod according to the parameters of a servo motor for driving the push rod to move.
4. The method of claim 1, wherein the adjusting the tray height specifically comprises:
acquiring an expected movement direction of the tray; and
adjusting the height of the tray in a direction opposite to the direction of intended movement of the tray when a positioning element does not detect a reference element;
wherein the expected moving direction of the tray is downward when the load of the tray becomes large, and upward when the load of the tray becomes small; the positioning element and the reference element are oppositely arranged, one of the positioning element and the reference element is arranged on the tray, and the other of the positioning element and the reference element is arranged on the target object;
preferably, the positioning element is a laser positioning instrument, and the reference element is a reflector.
5. The battery taking and placing method according to claim 1, wherein when the push rod is extended, the end of the tray close to the target is higher than the target or is flush with the target; and/or, when the push rod retracts, the end of the tray close to the target object is lower than the target object or is flush with the target object.
6. The battery pick-and-place method of claim 1, further comprising the steps of:
and pre-adjusting the height of the tray before controlling the push rod to move relative to the tray, so that the height difference between the end of the tray close to the target object and the target object is within the threshold range.
7. The method of claim 6, wherein the step of removing the battery from the substrate comprises,
the step of presetting the height of the tray before controlling the push rod to move relative to the tray comprises the following steps:
adjusting the end of the tray near the object to be higher than or level with the object before the push rod is extended;
and/or, before the push rod retracts, adjusting the end of the tray close to the target object to be lower than the target object or level with the target object.
8. The battery handling method of any of claims 1-7, further comprising:
acquiring a positioning detection state of a positioning sensor; the positioning detection state is used for indicating whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used for indicating the distance between the positioning position of the push rod and the battery;
and judging whether the positioning detection state is that the positioning distance signal is not detected, if so, stopping the movement of the push rod and/or indicating abnormal information.
9. The method according to claim 8, wherein the acquiring the positioning detection status of the positioning sensor specifically comprises: acquiring the positioning detection states of at least two positioning sensors, wherein the at least two positioning sensors are arranged at intervals;
the step of determining whether the positioning detection state is that the positioning distance signal is not detected specifically includes: and judging whether the positioning detection state of at least one positioning sensor is that the positioning distance signal is not detected.
10. A battery handling system, comprising: a push rod, a tray and a controller;
the controller is used for controlling the push rod to move relative to the tray; the controller is further used for adjusting the height of the tray, so that the height difference between one end of the tray close to the target object and the target object is within a threshold range; the controller is used for adjusting the height of the tray according to the position of the push rod; the controller is used for adjusting the height of the tray downwards when the push rod extends out, and the controller is used for controlling the push rod to extend out to push the battery to move relative to the tray so that the battery is switched from being supported by the tray to being supported by the target;
and/or the controller is used for adjusting the height of the tray upwards when the push rod retracts, and the controller is used for controlling the push rod to retract so as to pull the battery to move relative to the tray, so that the battery is switched from being supported by the target object to being supported by the tray; the tray and the target are used for supporting a battery, and the push rod is used for acting on the battery to enable the battery to be switched between being supported by the tray and being supported by the target.
11. The battery handling system of claim 10, wherein the controller is configured to adjust the height of the tray at a predetermined speed.
12. The battery handling system of claim 10, further comprising: the servo motor is used for driving the push rod to move, and the controller is further used for determining the position of the push rod according to parameters of the servo motor.
13. The battery handling system of claim 10, wherein the controller is configured to adjust a tray height, comprising:
the controller is used for acquiring the expected movement direction of the tray; and
the controller is used for adjusting the height of the tray in a direction opposite to the expected movement direction of the tray when the reference element is not detected by the positioning element;
wherein the expected moving direction of the tray is downward when the load of the tray becomes large, and upward when the load of the tray becomes small; the positioning element and the reference element are oppositely arranged, one of the positioning element and the reference element is arranged on the tray, and the other of the positioning element and the reference element is arranged on the target object;
preferably, the positioning element is a laser positioning instrument, and the reference element is a reflector.
14. The battery handling system of claim 10, wherein the controller is configured to cause the end of the tray proximate to the target to be higher than or flush with the target when the pushrod is extended; and/or the controller is used for enabling the end of the tray close to the target object to be lower than the target object or level with the target object when the push rod retracts.
15. The battery handling system of claim 10, wherein the controller is further configured to pre-adjust the tray height before controlling the movement of the pusher relative to the tray such that the difference in height between the end of the tray near the target and the target is within the threshold range.
16. The battery handling system of claim 15,
the controller is used for presetting the height of the tray before controlling the push rod to move relative to the tray, and comprises:
the controller is used for adjusting the end of the tray close to the target object to be higher than or level with the target object before the push rod is extended;
and/or the controller is used for adjusting the end of the tray close to the target object to be lower than or level with the target object before the push rod retracts.
17. The battery handling system of any one of claims 10-16, further comprising: a positioning sensor;
the controller is also used for acquiring the positioning detection state of the positioning sensor; the positioning detection state is used for indicating whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used for indicating the distance between the positioning position of the push rod and the battery;
the controller is further used for judging whether the positioning detection state is that the positioning distance signal is not detected, and if yes, stopping the push rod to move and/or indicating abnormal information.
18. The battery handling system of claim 17, wherein the battery handling system comprises: at least two positioning sensors which are arranged at intervals; the controller is used for acquiring the positioning detection states of at least two positioning sensors; and is
The controller is configured to determine whether the positioning detection state is that the positioning distance signal is not detected, specifically: the controller is used for judging whether the positioning detection state of at least one positioning sensor is that the positioning distance signal is not detected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210501971.9A CN114734867A (en) | 2018-09-10 | 2018-09-10 | Battery taking and placing method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210501971.9A CN114734867A (en) | 2018-09-10 | 2018-09-10 | Battery taking and placing method and system |
| CN201811053588.1A CN110884386B (en) | 2018-09-10 | 2018-09-10 | Battery taking and placing method and system |
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| CN201811053588.1A Division CN110884386B (en) | 2018-09-10 | 2018-09-10 | Battery taking and placing method and system |
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| CN114734867A true CN114734867A (en) | 2022-07-12 |
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| CN202210503573.0A Pending CN114834302A (en) | 2018-09-10 | 2018-09-10 | Battery taking and placing method and system |
| CN202210501971.9A Pending CN114734867A (en) | 2018-09-10 | 2018-09-10 | Battery taking and placing method and system |
| CN201811053588.1A Active CN110884386B (en) | 2018-09-10 | 2018-09-10 | Battery taking and placing method and system |
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| WO (1) | WO2020052560A1 (en) |
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| CN113895293A (en) * | 2020-07-06 | 2022-01-07 | 奥动新能源汽车科技有限公司 | Control method for taking and placing battery pack |
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| CN1261319C (en) * | 2004-11-11 | 2006-06-28 | 北京电巴科技有限公司 | Electric public transport system |
| EP2463162B1 (en) * | 2010-12-07 | 2016-03-30 | Carbike GmbH | System for supplying energy for electric vehicles |
| CN102152776B (en) * | 2011-03-07 | 2013-10-09 | 国电南瑞科技股份有限公司 | Battery replacing system and battery replacing method of electromobile battery replacing station |
| CN102700513B (en) * | 2012-06-29 | 2015-02-04 | 山东鲁能智能技术有限公司 | Battery replacement robot with mobile temporary storage frame and battery replacement method |
| CN103661304B (en) * | 2012-09-18 | 2015-11-25 | 国家电网公司 | Battery replacement device and battery change system |
| SE1350769A1 (en) * | 2013-06-25 | 2014-08-26 | Sten Corfitsen | Method and apparatus for replacing a battery in a vehicle |
| CN107225955B (en) * | 2013-09-26 | 2019-08-23 | 日本电产三协株式会社 | The control method of battery altering robot, battery change system and battery altering robot |
| CN105000001B (en) * | 2015-07-28 | 2017-03-29 | 国网山东省电力公司电力科学研究院 | A kind of chassis of electric passenger vehicle battery change system and change method for electrically |
| CN108128285A (en) * | 2017-04-01 | 2018-06-08 | 上海电巴新能源科技有限公司 | The transhipment control system of rechargeable battery changes electric control system and its method |
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2018
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| WO2020052560A1 (en) | 2020-03-19 |
| CN110884386A (en) | 2020-03-17 |
| CN114834302A (en) | 2022-08-02 |
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