CN114834297A - Battery pack taking and placing method - Google Patents
Battery pack taking and placing method Download PDFInfo
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- CN114834297A CN114834297A CN202210494022.2A CN202210494022A CN114834297A CN 114834297 A CN114834297 A CN 114834297A CN 202210494022 A CN202210494022 A CN 202210494022A CN 114834297 A CN114834297 A CN 114834297A
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- battery
- battery pack
- controlling
- push
- clamping
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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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
The invention discloses a battery pack taking and placing method, which is characterized in that a discharge battery pack is taken from a battery compartment of an electric automobile or a battery replacing station through a push-pull device on a battery replacing device, wherein the push-pull device comprises a clamping mechanism matched with a battery side clamping part on the battery pack; the battery pack taking and placing method comprises the following steps: controlling the push-pull device to extend out of the clamping mechanism; the control clamping mechanism is fixedly connected with the battery side clamping part in a clamping way; the push-pull device is controlled to retract into the clamping mechanism so as to pull the battery pack. According to the battery pack taking and placing method, the battery pack is pulled through the clamping and fixing connection of the clamping mechanism and the battery side clamping part, the connection strength is high, the battery pack is not easy to disengage, the stability of taking and placing the battery pack is effectively improved, and the taking and placing efficiency is improved. Moreover, the battery pack clamping device is simple in structure, the movable clamping mechanism can be also compatible with the fixed connection with various battery packs with different specifications, and the battery pack clamping device is particularly suitable for a side battery replacement mode, namely the battery packs are taken and placed from the side surface of the electric vehicle; the overall weight is effectively reduced.
Description
The application is a divisional application of Chinese patent application with the application date of 2020, 4 and 3, and the application number of 2020102606435, entitled "method for taking and placing battery pack".
Technical Field
The invention relates to a battery pack taking and placing method.
Background
Electric vehicles replace oil with electricity, realize zero emission and low noise, are important means for solving energy and environmental problems, and have begun to be gradually popularized and applied worldwide. However, the battery of the electric vehicle has a limited driving range and needs to be charged in time, and each charging takes an hour or even several hours, which severely restricts the popularization of the electric vehicle. In order to solve the problems, the quick-change electric automobile gradually appears, so that the electric automobile can be driven to a special power exchanging station only when the battery is in a power shortage state, the power shortage battery is disassembled, and a full-charge battery is installed to continue driving.
At present, in a battery changing station, when a battery pack on an electric automobile is changed by a battery pack changing tray mechanism, the battery pack changing tray mechanism needs to take and place and transport the battery pack between the electric automobile and a battery cabin. When the push-pull device on the battery pack replacement tray mechanism takes and places the battery pack, the push-pull device and the magnetic part of the battery pack are adsorbed together, so that the battery pack is locked; and dragging the battery pack to the tray to realize the extraction of the battery pack. The push-pull device pushes the battery pack out of the tray, then the magnetic force of the push-pull device disappears, and the push-pull device and the battery pack can be separated. Because adopt the magnetic force effect absorption to be in the same place between push-and-pull device and the battery package, and the weight of battery package is up to several hundred kilograms, this just needs to install the magnetic force spare that weighs two kilograms additional on the battery package, leads to the battery package to change tray mechanism and the whole weight of battery package all very heavy. In addition, the adoption of a magnetic adsorption mode leads to lower connection stability and easily leads to the falling-off phenomenon of the battery pack.
Disclosure of Invention
The invention aims to overcome the defects that the whole weight of an extraction device and a battery pack is large, the connection stability is low and the battery pack is easy to fall off due to the fact that the extraction device and the battery pack are adsorbed together by the magnetic force in the prior art, and provides a battery pack taking and placing method.
The invention solves the technical problems through the following technical scheme:
a method for taking and putting battery pack is to take the discharged battery pack from the battery cabin of an electric automobile or a battery changing station by a push-pull device on a battery changing device, wherein the push-pull device comprises a clamping mechanism matched with a battery side clamping part on the battery pack,
the method is characterized by comprising the following steps:
controlling the push-pull device to extend out of the clamping mechanism;
controlling the clamping mechanism to be clamped and fixedly connected with the battery side clamping part;
and controlling the push-pull device to retract into the clamping mechanism so as to pull the battery pack.
In this scheme, through block fixed connection in order to draw the battery package of getting of block mechanism and battery side block portion, joint strength is high, is difficult for breaking away, has effectively improved the stability of getting to put the battery package, has improved and has got and put efficiency, and stability is high at the operation in-process. Moreover, the battery pack clamping device is simple in structure, the movable clamping mechanism can be also compatible with the fixed connection with various battery packs with different specifications, and the battery pack clamping device is particularly suitable for a side battery replacement mode, namely the battery packs are taken and placed from the side surface of the electric vehicle; the overall weight is effectively reduced.
Preferably, the engaging mechanism has one of the following engaging portions: a relatively or oppositely movable coupling projection, a relatively or oppositely movable coupling groove; the battery side clamping part is provided with a connecting groove or a connecting bulge matched with the clamping part;
controlling the clamping mechanism to be clamped and fixedly connected with the battery side clamping part comprises the following steps:
controlling the relative or opposite movement of the connecting projection of the clamping part to ensure that the connecting projection is mutually clamped and connected with the connecting groove of the battery side clamping part matched with the connecting projection;
or the connecting groove of the clamping part is controlled to move relatively or reversely so as to be mutually clamped and connected with the connecting bulge of the battery side clamping part matched with the connecting bulge.
In this scheme, realize the block through connecting arch and spread groove and be connected or the phase separation, simple structure, processing preparation is convenient, and light in weight. Meanwhile, the battery pack is effectively prevented from being separated; the stable connection of the clamping mechanism and the battery side clamping part is ensured, and the connection stability is higher.
Preferably, before controlling the push-pull device to retract the engaging mechanism to pull the battery pack, the method further comprises: detecting whether the clamping mechanism is clamped, fixed and connected in place or not;
if so, retracting the clamping mechanism.
In the scheme, whether the clamping mechanism is clamped and fixedly connected in place or not is detected, so that the phenomenon that the clamping mechanism moves backwards when not clamped and fixedly connected to cause misoperation is effectively avoided, the phenomenon that a battery pack drops is also avoided, and the safety and stability of the battery replacing system in the process of taking and placing the battery pack are greatly improved.
Preferably, before controlling the push-pull device to extend out of the clamping mechanism, the method further comprises: detecting whether the clamping mechanism is in a disengagement state;
and if so, stretching out the clamping mechanism.
In the scheme, whether the clamping mechanism is in the separation state or not is detected, the clamping mechanism is adjusted to be in the state of being clamped and connected with the battery side clamping part in advance, the connection efficiency of the clamping mechanism and the battery side clamping part is guaranteed, and the safety and stability of the battery replacing system in the process of taking and placing the battery pack are greatly improved.
Preferably, the controlling the push-pull device to extend out of the clamping mechanism comprises: and extending the clamping mechanism to a first position at a first speed, and continuously extending the clamping mechanism to a position where the clamping mechanism is fixedly connected with the battery pack in a clamping manner at a second speed, wherein the first speed is higher than the second speed.
In the scheme, the working efficiency of the battery replacing system in replacing the battery pack is improved by controlling the speed of the push-pull device extending out of the clamping mechanism.
Preferably, after the second speed is continuously extended out of the engaging mechanism to the engaging and fixing connection position with the battery pack, the engaging mechanism is controlled to be engaged and fixed with the battery side engaging portion.
In the scheme, the stable connection of the clamping mechanism and the battery side clamping part is ensured, and the stability is greatly improved.
Preferably, the battery replacement device comprises a protruding mechanism and a bracket, the protruding mechanism is arranged on the bracket and can move telescopically relative to the bracket, the push-pull device is arranged on the protruding mechanism and can move telescopically relative to the protruding mechanism,
before controlling the push-pull device to extend out of the clamping mechanism, the method further comprises the following steps: controlling the extension mechanism to extend towards the battery pack;
controlling the push-pull device to retract into the clamping mechanism so as to pull the battery pack, and then the method further comprises the following steps: and detecting whether the clamping mechanism is clamped, fixedly connected and in place, and if so, controlling the extending mechanism to retract to the bracket.
In this scheme, stretch out the mechanism and stretch out towards the battery package for the interval of stretching out between mechanism and the battery package is very little, is convenient for to the extraction of battery package, and stability is higher.
In addition, the phenomena of misoperation, overturning, falling and the like caused by the fact that the clamping mechanism is not clamped and fixedly connected in place are effectively avoided, and the safety and stability of the battery pack taking and placing process of the battery replacing system are greatly improved.
Preferably, the battery replacement equipment further comprises a rotating mechanism arranged at the bottom of the bracket,
after controlling the retraction of the extension mechanism onto the carriage, the method further comprises: detecting whether the extension mechanism retracts to the position;
if yes, the rotating mechanism is controlled to drive the bracket to drive the extending mechanism to synchronously rotate for a preset angle.
In the scheme, the stretching mechanism is effectively prevented from rotating under the condition that the stretching mechanism is not retracted in place, the damage to the battery replacing system is effectively avoided, and the safety and stability of the battery replacing system in the process of taking and placing the battery pack are greatly improved.
Preferably, the method for taking and placing the battery pack further comprises the following steps:
and controlling the push-pull device to push the battery pack to be away from the extending mechanism.
In this scheme, through control push-and-pull device on stretching out mechanism forward movement, the lug on the push-and-pull device will support and lean on in the battery package and break away from out and trade electrical equipment, has realized that the propelling movement of battery package is placed.
Preferably, the controlling the push-pull device to push the battery pack to leave the extending mechanism further comprises: controlling the clamping mechanism to be separated from the battery side clamping part;
controlling the push-pull device to retract into the clamping mechanism;
and controlling the extending mechanism to retract to the bracket.
In this scheme, stretch out the mechanism and will no longer expose outside the bracket, get and put the battery package efficient. Meanwhile, reset is realized, the next battery replacement operation is convenient to execute, and repeated use is convenient.
Preferably, after controlling the engaging mechanism to disengage from the battery-side engaging portion, the method further includes: detecting whether the clamping mechanism is in a disengagement state;
and if so, controlling the push-pull device to retract the clamping mechanism.
In the scheme, whether the clamping mechanism is in the separation state or not is detected, the phenomenon that the battery pack drops due to the fact that the clamping mechanism moves backwards in the separation state is effectively avoided, and the safety stability of the battery replacing system in the battery pack taking and placing process is greatly improved.
Preferably, the battery replacement equipment comprises a first extension mechanism, a second extension mechanism and a turnover mechanism, wherein the first extension mechanism and the second extension mechanism are vertically fixed and are arranged to be turned over coaxially, the turnover mechanism is used for driving the first extension mechanism and the second extension mechanism to be turned over synchronously, the push-pull device is arranged on the first extension mechanism and is arranged to be capable of moving telescopically relative to the first extension mechanism,
before controlling the push-pull device to extend out of the clamping mechanism, the method further comprises the following steps: controlling the first extending mechanism to extend towards the battery pack located in the electric vehicle,
after controlling the push-pull device to retract the clamping mechanism so as to pull the battery pack, the method further comprises the following steps: and controlling the first extending mechanism to retract.
In this scheme, first mechanism orientation of stretching out is located the battery package of electric automobile and stretches out for the interval between first mechanism of stretching out and the battery package is very little, is convenient for to the drawing of battery package, and stability is higher.
In addition, the first extending mechanism is controlled to retract, so that the first extending mechanism is not exposed out of the base, and the safety and stability of the battery replacing equipment in taking and placing the battery pack are improved.
Preferably, after the first extension mechanism is retracted, it is detected whether the battery pack abuts against the second extension mechanism as the first extension mechanism is retracted,
if yes, the turnover mechanism is controlled to drive the first stretching mechanism and the second stretching mechanism to turn over.
In the scheme, the battery pack is effectively prevented from being overturned in a non-retracted state, and the safety and stability of the battery replacing system in the process of taking and placing the battery pack are greatly improved.
Preferably, after controlling the turnover mechanism to drive the first extending mechanism and the second extending mechanism to turn over, the method further includes:
and controlling the second stretching mechanism to stretch out so as to realize pushing and placing of the battery pack.
In this scheme, tilting mechanism drive first extension mechanism and second and stretch out the mechanism upset after targetting in place to will control the second and stretch out the mechanism and stretch out to place with the propelling movement that realizes the battery package, effectively avoided the battery package phenomenons such as the upset, drop, improved the safety and stability of trading the electrical system and getting the battery package in-process greatly.
Preferably, after controlling the second extending mechanism to extend to push and place the battery pack, the method includes the following steps:
and controlling the second extension mechanism to retract.
In this scheme, avoided the second to stretch out partial structure of mechanism and stretched out outside the base, improved and traded the safety and stability of electric system in getting and put the battery package in-process. Meanwhile, the next battery replacement operation is convenient to execute, repeated use is convenient, and the picking and placing efficiency is improved.
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 pack taking and placing method, the battery pack is pulled through the clamping and fixing connection of the clamping mechanism and the battery side clamping part, the connection strength is high, the battery pack is not easy to disengage, the stability of taking and placing the battery pack is effectively improved, and the taking and placing efficiency is improved. Moreover, the battery pack clamping device is simple in structure, the movable clamping mechanism can be also compatible with the fixed connection with various battery packs with different specifications, and the battery pack clamping device is particularly suitable for a side battery replacement mode, namely the battery packs are taken and placed from the side surface of the electric vehicle; the overall weight is effectively reduced.
Drawings
Fig. 1 is a flowchart of a battery pack pick-and-place method according to embodiment 1 of the present invention.
Fig. 2 is a schematic partial structure diagram of a battery swapping system in embodiment 1 of the present invention.
Fig. 3 is a schematic structural view of a push-pull device according to embodiment 1 of the present invention.
Fig. 4 is a schematic structural view of a battery pack according to embodiment 1 of the present invention.
Fig. 5 is a schematic bottom structure diagram of a battery replacement device in embodiment 1 of the present invention.
Fig. 6 is a schematic structural diagram of the battery replacement device in embodiment 1 of the present invention after being turned over by 90 degrees.
Fig. 7 is a schematic structural diagram of a battery swapping system in embodiment 2 of the present invention.
Fig. 8 is a schematic top structure diagram of a battery swapping device in embodiment 2 of the present invention.
Fig. 9 is a schematic bottom structure diagram of a battery replacement device in embodiment 2 of the present invention.
Description of reference numerals:
push-pull device 10
First drive motor 102
Rotating mechanism 18
Battery side engaging part 201
Detailed Description
The present invention will be more clearly and completely described below by way of examples and with reference to the accompanying drawings, but the present invention is not limited thereto.
Example 1
As shown in fig. 1, the embodiment discloses a battery pack taking and placing method, which is executed by a battery replacing system in a battery replacing station, and is used for realizing the extraction and placement of a battery pack between an electric vehicle and a battery compartment of the battery replacing station. The battery pack is used as a power source of the electric automobile, and mainly packages a plurality of battery cores in the battery pack, and an electric connector is arranged outside the battery pack and is electrically connected with the electric connector on the electric automobile through the electric connector so as to provide electric energy.
As shown in fig. 4, the battery pack used in the battery pack taking and placing method is provided with at least one battery side engaging portion 201 on the outer wall surface of the case body of the battery pack 20. In the drawing, the battery pack 20 is only a part of the structure of the case, and the battery core and the like inside the battery pack 20 are omitted.
As shown in fig. 2, fig. 3, fig. 5, and fig. 6, the battery replacing system used in the battery pack taking and placing method is used to extract and place the battery pack 20, and the battery replacing system includes at least one battery replacing device, and the battery replacing device includes a push-pull device 10.
As shown in fig. 2 and 3, in the battery pack taking and placing method, a discharge battery pack 20 is taken from a battery compartment of an electric vehicle or a battery replacement station through a push-pull device 10, wherein the push-pull device 10 comprises an engaging mechanism 101 matched with a battery side engaging part 201 on the battery pack 20; the battery pack taking and placing method comprises the following steps:
and step 110, controlling the push-pull device 10 to extend out of the clamping mechanism 101.
In this step 110, the battery replacement device includes a first extending mechanism 11 and a second driving motor 14, the push-pull device 10 can move telescopically on top of the first extending mechanism 11, and the second driving motor 14 drives the push-pull device 10 to move, so as to control the push-pull device 10 to move forward, so that the engaging mechanism 101 moves in a direction close to the battery pack 20, i.e. extends out of the engaging mechanism 101.
In step 120, the push-pull device 10 further includes a first driving motor 102, and the first driving motor 102 is connected to the engaging mechanism 101 and is configured to drive the engaging mechanism 101 to move, so that the engaging mechanism 101 is engaged and fixedly connected with the battery-side engaging portion 201 on the battery pack 20, thereby fixedly connecting the push-pull device 10 with the battery pack 20.
And step 130, controlling the push-pull device 10 to retract the clamping mechanism 101 so as to pull the battery pack 20.
In this step 120, the second driving motor 14 drives the push-pull device 10 to move, and controls the push-pull device 10 to move backward, so that the engaging mechanism 101 moves backward and drives the battery pack 20 to move together, thereby lifting and placing the battery pack 20 on the first extending mechanism 11, that is, placing the battery pack 20 on the battery replacing device.
Otherwise, the battery pack 20 is pushed to the battery replacement equipment by controlling the push-pull device 10. According to the battery pack taking and placing method, the battery pack 20 is pulled through the clamping and fixing connection of the clamping mechanism 101 and the battery side clamping part 201, the connection strength is high, the battery pack is not easy to disengage, the stability of taking and placing the battery pack 20 is effectively improved, the taking and placing efficiency is improved, and the stability is high in the operation process. Moreover, the invention has simple structure, the movable clamping mechanism 101 can be compatible with the fixed connection with the battery packs 20 with various specifications, and is particularly suitable for a side battery replacement mode, namely, the battery packs 20 are taken and placed from the side surface of the electric vehicle; the overall weight is effectively reduced.
The engagement mechanism 101 may have an engagement portion: connecting grooves which can move oppositely or oppositely; the battery side engaging portion 201 has a connecting projection that is engaged with the engaging portion; the control engagement mechanism 101 is engaged and fixedly connected with the battery side engagement portion 201, and includes: the connecting groove of the engaging portion is controlled to move relatively or reversely to be engaged with the connecting protrusion of the battery-side engaging portion 201.
In this step 120, the number of the engaging mechanisms 101 having a plurality of engaging portions is multiple, the plurality of engaging portions have connecting grooves that can move relatively or oppositely, the plurality of connecting grooves correspond to the plurality of connecting protrusions on the engaging portion 201 on the battery side one by one, and the first driving motor 102 is configured to drive the connecting grooves to move in a relative or opposite direction, so that the connecting grooves will cover the connecting protrusions to achieve fixed connection, or the connecting grooves will be separated from the connecting protrusions to achieve separation. Realize the block through connecting arch and spread groove and be connected or the phase separation, simple structure, processing preparation is convenient, and light in weight, connection stability is also high.
The plurality of clamping parts are respectively provided with connecting grooves which can move relatively or oppositely, namely the sinking directions of the plurality of clamping parts are opposite, correspondingly, the first driving motor 102 drives the plurality of clamping parts to move along the opposite or opposite directions, and after the battery pack 20 and the push-pull device 10 are fixedly connected with each other, the battery pack does not generate relative displacement in the sinking direction, so that the battery pack is effectively prevented from being separated; meanwhile, the stable connection between the engaging mechanism 101 and the battery-side engaging portion 201 is ensured, and the connection stability is higher.
In the present embodiment, the number of the engaging mechanisms 101 and the battery-side engaging portions 201 is two. The first driving motor 102 will drive the two engaging mechanisms 101 to move in opposite directions or in opposite directions, and the two connecting protrusions on the battery-side engaging portion 201 extend in opposite directions. Of course, in other embodiments, the number of the engaging mechanisms 101 and the battery-side engaging portions 201 may not be limited.
Of course, in other embodiments, the engagement mechanism 101 may also have an engagement portion: a connecting projection capable of moving relatively or reversely; the battery side engaging portion 201 has a connecting groove that is engaged with the engaging portion; the control engagement mechanism 101 is engaged and fixedly connected with the battery side engagement portion 201, and includes: the connecting projection of the engaging portion is controlled to move relatively or reversely to be engaged with the connecting groove of the battery-side engaging portion 201.
Step 125 is further included before step 130, namely step 125 is further included before controlling the push-pull device 10 to retract the clamping mechanism 101 to pull the battery pack 20: step 125 is to detect whether the engaging mechanism 101 is engaged, fixed and connected in place; if so, the engagement mechanism 101 is retracted.
In step 120, the first driving motor 102 drives the two engaging mechanisms 101 to move in the opposite direction, so that the two engaging mechanisms 101 are connected to the two battery-side engaging portions 201, respectively. Then, in step 125, the push-pull device 10 has a plurality of detecting means, which can be respectively disposed on the engaging mechanism 101, and the detecting means can detect whether the connecting groove of the engaging mechanism 101 is engaged with the connecting protrusion of the battery-side engaging portion 201.
When the connecting protrusion of the battery side clamping part 201 is not inserted into the connecting groove of the clamping mechanism 101, the detection device transmits a non-arrival signal to the battery replacement system and controls the first driving motor 102 to continue moving until the clamping mechanism 101 is clamped, fixed and connected in place; after the clamping mechanism 101 is clamped and fixedly connected in place, the detection device transmits the in-place signal to the battery replacement system and controls the first driving motor 102 to be turned off and the second driving motor 14 to be turned on, so that the operation of the step 130 is realized, and the battery pack 20 is ensured to be extracted to the battery replacement equipment. Whether the clamping mechanism 101 is clamped and fixedly connected in place or not is detected through the detection device, misoperation caused by backward movement of the clamping mechanism 101 when the clamping mechanism is not clamped and fixedly connected is effectively avoided, the phenomenon that the battery pack 20 drops is also avoided, and the safety and stability of the battery replacing system in the process of taking and placing the battery pack are greatly improved. Wherein the detection means may be a sensor for detecting whether or not the connection projection of the battery-side engaging portion 201 is inserted into and passes through the connection groove of the engaging mechanism 101.
Before step 110, step 100 is further included, namely before controlling the push-pull device 10 to extend out of the clamping mechanism 101, step 100 is further included: step 100 is to detect whether the engaging mechanism 101 is in a disengaged state; if so, the engaging mechanism 101 is extended.
In step 100, the detection device detects whether the engagement mechanism 101 is in the disengaged state; when the clamping mechanism 101 is not detected to be in the disengaged state, the detection device transmits a non-disengaged signal to the battery replacement system and controls the first driving motor 102 to be started, so that the clamping mechanism 101 is driven to move to the disengaged state; when the engaging mechanism 101 is in the disengaged state, the detecting device transmits the non-disengaged signal to the battery swapping system and controls the first driving motor 102 to be turned off and the second driving motor 14 to be turned on, so as to implement the operation of step 110. Whether the clamping mechanism 101 is in a disengaged state or not is detected, the clamping mechanism 101 is adjusted to be in a state of being capable of being clamped and connected with the battery side clamping portion 201 in advance, connection between the clamping mechanism 101 and the battery side clamping portion 201 is guaranteed, and safety and stability of the battery replacing system in the process of taking and placing the battery pack are greatly improved.
Of course, in other embodiments, the step 110 of detecting whether the engaging mechanism 101 is in the disengaged state by the detecting device may also detect and execute the corresponding operation simultaneously in the process of the step 110.
In step 110, the step of controlling the push-pull device 10 to extend out of the engaging mechanism 101 includes: the engaging mechanism 101 is extended to a first position at a first speed, and the engaging mechanism 101 is extended to a fixed connection with the battery pack 20 at a second speed, wherein the first speed is higher than the second speed.
In the process of extending the engaging mechanism 101, the power switching system will control the output of the second driving motor 14 with larger power, so that the push-pull device 10 projects the catch means 101 forward relatively quickly at a first speed on the first projecting means 11, a first position is arranged at a position close to the battery pack 20, a position sensor can be arranged at the first position of the battery replacing equipment for detecting and controlling the speed of extending out of the clamping mechanism 101, the push-pull device 10 is detected by the position sensor and transmitted to the battery replacement system, the battery replacement system controls the second driving motor 14 to output smaller power, so that the push-pull device 10 is slowly extended forwards out of the clamping mechanism 101 on the first extending mechanism 11 at the second speed, the battery replacing device can accurately position and control the distance between the clamping mechanism 101 and the battery pack 20, so as to achieve the fixed connection of the engaging mechanism 101 and the battery-side engaging portion 201 in the subsequent step. By controlling the speed of the push-pull device 10 extending out of the clamping mechanism 101, the working efficiency of the battery replacement system in replacing the battery pack is improved.
In step 110, after the engaging mechanism 101 is continuously extended to the engaging and fixing position with the battery pack 20 at the second speed, the engaging mechanism 101 is controlled to engage and fix with the battery side engaging portion 201.
The push-pull device 10 is provided with a sensor for detecting whether the distance between the battery pack 20 and the engaging mechanism 101 is in place. In step 110, the engaging mechanism 101 is continuously extended to the engaging and fixing connection with the battery pack 20 at the second speed, the sensor detects that the distance between the engaging mechanism 101 and the battery pack 20 is in place, and the sensor sends a place signal to the battery replacement system and controls the first driving motor 102 to be turned on, so that the operation of step 120 is realized. The stable connection of the engaging mechanism 101 and the battery side engaging portion 201 is ensured, and the stability is greatly improved. Of course, in other embodiments, the first driving motor 102 may be controlled to be turned on while the engaging mechanism 101 continues to extend at the second speed, so that the engaging mechanism 101 is engaged and fixed with the battery-side engaging portion 201 while moving forward.
In step 110, the battery replacing system is a method process for extracting the battery pack 20, otherwise, in the process of pushing the battery pack 20, after the battery pack 20 is pushed and placed into a battery compartment of the battery replacing station or on the electric vehicle, the speed of controlling the push-pull device 10 to retract into the engaging mechanism 101 may be controlled to retract back at the highest speed, without switching between the first speed and the second speed, that is, to retract back at the first speed, so that the picking and placing efficiency of the battery pack 20 is improved.
The battery replacing equipment further comprises a base 17, a turnover mechanism 13, a first extending mechanism 11 and a second extending mechanism 12, wherein the first extending mechanism 11 and the second extending mechanism 12 are vertically fixed and are arranged to be turned coaxially, the turnover mechanism 13 is used for driving the first extending mechanism 11 and the second extending mechanism 12 to be turned synchronously, and the push-pull device 10 is arranged on the first extending mechanism 11 and is arranged to be capable of moving in a telescopic mode relative to the first extending mechanism 11. The bottom of the first extending mechanism 11 can move telescopically relative to the base 17, and the first extending mechanism 11 is directly or indirectly driven by the first transmission motor 111. In this embodiment, the first transfer motor 111 is connected to the first transmission shaft 113 through the first direction changer 112, thereby driving the first extension mechanism 11 to move. When the battery replacing device is in an initial state, the first extending mechanism 11 will be located on the turnover mechanism 13 and not extend forward, and only the first extending mechanism 11 needs to extend forward in the process of taking and placing the battery pack 20.
Before step 110, step 105 is further included, namely before controlling the push-pull device 10 to extend out of the clamping mechanism 101, step 105 is further included: step 105 is to control the first extending mechanism 11 to extend towards the battery pack 20 located in the electric vehicle.
In this step 105, two proximity switches are disposed at the front end of the first extending mechanism 11, and the two proximity switches are respectively located at two ends of the first extending mechanism 11, and both proximity switches are used for measuring the distance between the first extending mechanism and the battery pack 20 in the electric vehicle. When the distance between two proximity switches and battery package 20 is unanimous, it is parallel between the front end battery package 20 of first mechanism 11 that stretches out this moment, two proximity switches will send a signal and give and trade the electric system, trade the electric system and open control actuating mechanism and be used for controlling first mechanism 11 that stretches out and stretch out towards the battery package 20 that is located the electric automobile, first mechanism 11 that stretches out forward and partial structure stretches out outside base 17 for first interval between mechanism 11 and the battery package 20 of stretching out is very little, be convenient for to the extraction of battery package 20, and stability is higher. Wherein, can be provided with the interval sensor at the front end of first mechanism 11 that stretches out, control the interval between first mechanism 11 and the battery package 20 of stretching out through the interval sensor, further improved the stability that the battery package 20 drawed.
Step 140 is further included after step 130, namely, after controlling the push-pull device 10 to retract the clamping mechanism 101 to pull the battery pack 20, step 140 is further included: step 140 is to control the first extending mechanism 11 to retract.
During the process of taking out the battery pack 20 and moving the first extending mechanism 11 to extend and retract, the first extending mechanism 11 extends forwards and part of the structure extends out of the base 17. In step 140, the battery replacing system controls the first extending mechanism 11 to retract, so that the first extending mechanism 11 is no longer exposed out of the base 17 and retracts onto the base 17, thereby improving the safety and stability of the battery replacing device in taking and placing the battery pack.
After the step 140 is completed, the battery pack 20 of the electric vehicle is completely extracted by the battery replacing system, and then the battery pack 20 is transported into a battery compartment of the battery replacing station and placed, so that the battery pack 20 is taken and placed by the battery replacing system.
In the embodiment, a turnover mechanism 13 is installed on the base 17, the first extension mechanism 11 and the second extension mechanism 12 are vertically fixed and are configured to turn coaxially, the turnover mechanism 13 is used for driving the first extension mechanism 11 and the second extension mechanism 12 to turn synchronously, and the push-pull device 10 is arranged on the first extension mechanism 11 and is configured to move telescopically relative to the first extension mechanism 11. The first extending mechanism 11 and the second extending mechanism 12 can be turned over at a certain angle synchronously by the turning mechanism 13.
The turnover mechanism 13 includes a turnover motor 131, the turnover motor 131 can directly or indirectly drive the output gear to rotate, and the first extending mechanism 11 and the second extending mechanism 12 are driven to synchronously turn over by the rotation of the gear. In this embodiment, the flipping motor 131 is connected to the third transmission shaft 133 through the third direction changer 132, and will drive the input gear 134 to rotate and drive the output gear 135 to rotate, and the rotation of the output gear 135 will implement the synchronous flipping of the first extending mechanism 11 and the second extending mechanism 12. The turnover mechanism 13 can drive the first extending mechanism 11 and the second extending mechanism 12 to synchronously turn over for 90 degrees, and of course, the specific turning degree may not be limited.
Step 150 is further included after step 140, namely step 150 is included after the first extending mechanism 11 retracts, step 150 is to detect whether the battery pack 20 abuts against the second extending mechanism 12 along with the retraction of the first extending mechanism 11, if yes, the overturning mechanism 13 is controlled to drive the first extending mechanism 11 and the second extending mechanism 12 to overturn.
In step 150, the battery replacement device has a detection device for detecting whether the battery pack 20 is retracted against the second extension mechanism 12 with the first extension mechanism 11. When the battery pack 20 is not retracted to abut against the second extending mechanism 12 along with the first extending mechanism 11, the detection device sends a not-in-place signal to the battery replacing system and controls the first transmission motor 111 to continue to drive the battery pack 20 to move until the battery pack 20 is completely retracted to abut against the second extending mechanism 12; when the battery pack 20 retracts to abut against the second extending mechanism 12 along with the first extending mechanism 11, the detection device sends a position signal to the battery replacing system and controls the first transmission motor 111 to be turned off and the turnover motor 131 to be turned on. Effectively avoiding the battery pack 20 from overturning in a non-retracted state, and greatly improving the safety and stability of the battery replacing system in the process of taking and placing the battery pack 20.
Step 160 is further included after step 150, namely step 160 is further included after controlling the turnover mechanism 13 to drive the first extending mechanism 11 and the second extending mechanism 12 to turn over: step 160 is to control the second extending mechanism 12 to extend to achieve the push placement of the battery pack 20.
The second transmission motor 121 directly or indirectly drives the second stretching mechanism 12, and in this embodiment, the second transmission motor 121 is connected with the second transmission shaft 123 through the second direction changer 122 so as to drive the second stretching mechanism 12 to move.
In step 160, after the turnover mechanism 13 drives the first extending mechanism 11 and the second extending mechanism 12 to turn over in place, the second extending mechanism 12 is controlled to extend out to push and place the battery pack 20, so that the phenomena of turnover, dropping and the like of the battery pack 20 are effectively avoided, the battery pack 20 is placed in a battery compartment of the battery replacing station, and the safety and stability of the battery replacing system in the process of taking and placing the battery pack 20 are greatly improved.
Step 170 is further included after step 160, namely step 170 is included after controlling the second extending mechanism 12 to extend to achieve the pushing placement of the battery pack 20, and step 170 is to control the second extending mechanism 12 to retract.
In step 170, the battery replacing system controls the second conveying motor 121 to be turned on, so that the second extending mechanism 12 retracts, thereby preventing part of the structure of the second extending mechanism 12 from extending out of the base 17, and improving the safety and stability of the battery replacing system in the process of taking and placing the battery pack 20. After the battery pack 20 is transferred from the electric automobile to the battery compartment, the second extending mechanism 12 is controlled to reset, so that the next battery replacement operation is conveniently executed, repeated use is convenient, and the taking and placing efficiency is improved.
Example 2
The same parts of the method for taking and placing the battery pack as in embodiment 1 will not be repeated, and only different parts will be described. The battery replacing device in embodiment 1 includes a turnover mechanism 13, a first extending mechanism 11, and a second extending mechanism 12, and the turnover mechanism 13 is used to drive the first extending mechanism 11 and the second extending mechanism 12 to turn synchronously. However, the battery replacing device in this embodiment does not include the turning mechanism 13, the first extending mechanism 11, and the second extending mechanism 12, as shown in fig. 7, fig. 8, and fig. 9, the battery replacing device in this embodiment includes the rotating mechanism 18, the extending mechanism 16, and the bracket 15, the extending mechanism 16 is disposed on the bracket 15 and is configured to be capable of moving telescopically with respect to the bracket 15, the push-pull device 10 is disposed on the extending mechanism 16 and is configured to be capable of moving telescopically with respect to the extending mechanism 16, the rotating mechanism 18 is disposed on the base 17, and the rotating mechanism 18 is disposed at the bottom of the bracket 15, and the bracket 15 is driven to rotate by the rotating mechanism 18.
In the present embodiment, the rotating mechanism 18 is a worm gear, and the movement of the worm gear drives the worm gear to rotate, and the worm gear is connected to the bracket 15 and drives the bracket 15 to rotate. Of course, in other embodiments, the rotating mechanism 18 may also adopt other rotating structures as long as it can rotate the bracket 15.
Before step 110, step 105 is further included, namely before controlling the push-pull device 10 to extend out of the clamping mechanism 101, step 105 is further included: step 105 is to control the extension mechanism 16 to extend toward the battery pack 20.
Step 105 of this embodiment is the same as step 105 of embodiment 1, and it should be noted that in step 105, the battery pack 20 may be placed on the electric vehicle or in a battery compartment of the battery replacement station; that is, the power exchanging system will control the extending mechanism 16 to extend towards the battery pack 20 in the battery compartment of the electric vehicle or the power exchanging station and be used for taking and placing the battery pack 20.
Step 140 is further included after step 130, namely, after controlling the push-pull device 10 to retract the clamping mechanism 101 to pull the battery pack 20, step 140 is further included: step 140 is to detect whether the engaging mechanism 101 is engaged and fixed in place, and if so, control the extending mechanism 16 to retract to the bracket 15.
In step 140, detecting whether the engaging mechanism 101 is engaged, fixed and connected in place by a detecting device; when the clamping mechanism 101 is not clamped, fixedly connected and in place, the detection device sends a non-in-place signal to the battery replacement system and is used for controlling the first driving motor 102 to be turned on until the clamping mechanism 101 and the battery side clamping part 201 are clamped, fixedly connected and in place; when the clamping mechanism 101 is clamped, fixedly connected and in place, the detection device sends a signal in place to the battery replacing system and is used for controlling the first driving motor 102 to be turned off and controlling the extension mechanism 16 to be retracted onto the bracket 15, so that the phenomena of misoperation, overturning, falling and the like of the battery pack 20 caused by the clamping mechanism 101 not being clamped, fixedly connected and in place are effectively avoided, and the safety and stability of the battery replacing system in the process of taking and placing the battery pack 20 are greatly improved.
In this embodiment, step 150 is included after step 140 to control retraction of the reach mechanism 16 onto the carriage 15. Then, the method further comprises the step 150: step 150 is to detect whether the reach mechanism 16 is retracted into position; if yes, the control rotation mechanism 18 drives the bracket 15 to drive the extension mechanism 16 to rotate synchronously by a preset angle.
In the step 150, by detecting whether the extension mechanism 16 retracts in place, the rotation of the extension mechanism 16 is effectively avoided under the condition that the extension mechanism 16 does not retract in place, the damage of the battery replacement system is effectively avoided, and the safety and stability of the battery replacement system in the process of taking and placing the battery pack 20 are greatly improved. After detecting that the extension mechanism 16 is retracted in position, the rotation mechanism 18 is controlled to be opened, so that the rotation mechanism 18 drives the bracket 15 to rotate the extension mechanism 16 by a preset angle.
The method for taking and placing the battery pack further includes a step of placing the battery pack 20, that is, the method for taking and placing the battery pack further includes the following steps:
step 210, the push-pull device 10 is controlled to push the battery pack 20 away from the extension mechanism 16.
In this step 210, the battery replacing system drives the push-pull device 10 to move forward on the extending mechanism 16, so that the protrusion on the push-pull device 10 abuts against the battery pack 20 and pushes the battery pack 20 to leave the extending mechanism 16, and the battery pack 20 is separated from the battery replacing device, thereby achieving the pushing and placing of the battery pack 20.
After step 210, the method further includes steps 220, 230, and 240, namely, after controlling the push-pull device 10 to push the battery pack 20 away from the extension mechanism 16, the method further includes the following steps:
step 220, controlling the clamping mechanism 101 to be separated from the battery side clamping part 201;
step 230, controlling the push-pull device 10 to retract the clamping mechanism 101;
step 240, controlling the extension mechanism 16 to retract onto the carriage 15.
After step 210, the battery swapping system will control the first driving motor 102 to turn on, thereby disengaging the engaging mechanism 101 from the battery-side engaging portion 201. Then, the battery replacement system controls the first driving motor 102 to be turned off and the second driving motor 14 to be turned on, so that the push-pull device 10 moves backwards and retracts, and the push-pull device 10 retracts into the clamping mechanism 101. After the push-pull device 10 retracts to the right position, the battery replacing system controls the second driving motor 14 to be turned off, the extending mechanism 16 retracts to the bracket 15, the extending mechanism 16 moves backwards and retracts to the bracket 15, the extending mechanism 16 is not exposed out of the bracket 15 any more, and the battery pack 20 taking and placing efficiency is high. Meanwhile, after the battery pack 20 is pushed and placed, the battery replacement system controls the extension mechanism 16, the rotating mechanism 18 and the push-pull device 10 to reset, so that the next battery replacement operation is conveniently executed, and repeated application is convenient.
Between step 220 and step 230, step 225 is further included, namely after the engagement mechanism 101 is controlled to be disengaged from the battery-side engagement portion 201, step 225 is further included: step 225 is to detect whether the engaging mechanism 101 is in a disengaged state; if so, the push-pull device 10 is controlled to retract the engagement mechanism 101.
In step 225, the detection device detects whether the engagement mechanism 101 is in the disengaged state; when the clamping mechanism 101 is not in the disengaged state, the detection device sends an un-disengaged signal to the battery replacement system and is used for controlling the first driving motor 102 to be turned on until the clamping mechanism 101 is disengaged from the battery side clamping part 201; when the clamping mechanism 101 is in the disengaged state, the detection device sends a disengagement signal to the battery replacement system and is used for controlling the first driving motor 102 to be turned off and the second driving motor 14 to be turned on, so as to control the push-pull device 10 to retract into the clamping mechanism 101. By detecting whether the clamping mechanism 101 is in the separation state, the phenomenon that the battery pack 20 falls off due to backward movement of the clamping mechanism 101 in the separation state is effectively avoided, and the safety and stability of the battery replacing system in the process of taking and placing the battery pack 20 are greatly improved.
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 (15)
1. A method for taking and putting battery pack is to take the discharged battery pack from the battery cabin of an electric automobile or a battery changing station by a push-pull device on a battery changing device, wherein the push-pull device comprises a clamping mechanism matched with a battery side clamping part on the battery pack,
the method for taking and placing the battery pack is characterized by comprising the following steps of:
controlling the push-pull device to extend out of the clamping mechanism;
controlling the clamping mechanism to be clamped and fixedly connected with the battery side clamping part;
and controlling the push-pull device to retract into the clamping mechanism so as to pull the battery pack.
2. The method of claim 1, wherein the engaging mechanism comprises one of the following engaging portions: a relatively or oppositely movable coupling projection, a relatively or oppositely movable coupling groove; the battery side clamping part is provided with a connecting groove or a connecting bulge matched with the clamping part;
controlling the clamping mechanism to be clamped and fixedly connected with the battery side clamping part comprises the following steps:
controlling the relative or opposite movement of the connecting projection of the clamping part to ensure that the connecting projection is mutually clamped and connected with the connecting groove of the battery side clamping part matched with the connecting projection;
or the connecting groove of the clamping part is controlled to move relatively or reversely so as to be mutually clamped and connected with the connecting bulge of the battery side clamping part matched with the connecting bulge.
3. The method as claimed in claim 1, wherein before controlling the pushing and pulling device to retract the engaging mechanism to pull the battery pack, the method further comprises: detecting whether the clamping mechanism is clamped, fixed and connected in place or not;
if so, retracting the clamping mechanism.
4. The method as claimed in claim 1, wherein before controlling the push-pull device to extend out of the engaging mechanism, the method further comprises: detecting whether the clamping mechanism is in a disengagement state;
and if so, stretching out the clamping mechanism.
5. The method of claim 1, wherein controlling the push-pull device to extend out of the engaging mechanism comprises: and extending the clamping mechanism to a first position at a first speed, and continuously extending the clamping mechanism to a position where the clamping mechanism is fixedly connected with the battery pack in a clamping manner at a second speed, wherein the first speed is higher than the second speed.
6. The method as claimed in claim 5, wherein after the second speed is continued to extend out of the engaging mechanism to the engaging and fixing position with the battery pack, the engaging mechanism is controlled to engage and fix with the engaging portion on the battery side.
7. The battery pack pick-and-place method of claim 1, wherein the battery swapping device comprises an extension mechanism and a bracket, the extension mechanism is disposed on the bracket and configured to move telescopically relative to the bracket, the push-pull device is disposed on the extension mechanism and configured to move telescopically relative to the extension mechanism,
before controlling the push-pull device to extend out of the clamping mechanism, the method further comprises the following steps: controlling the extension mechanism to extend towards the battery pack;
controlling the push-pull device to retract into the clamping mechanism so as to pull the battery pack, and then the method further comprises the following steps: and detecting whether the clamping mechanism is clamped, fixedly connected and in place, and if so, controlling the extending mechanism to retract to the bracket.
8. The battery pack pick-and-place method of claim 7, wherein the battery swapping device further comprises a rotating mechanism disposed at the bottom of the bracket,
after controlling the retraction of the extension mechanism onto the carriage, the method further comprises: detecting whether the extension mechanism retracts to the position;
if yes, the rotating mechanism is controlled to drive the bracket to drive the extending mechanism to synchronously rotate for a preset angle.
9. The method of claim 8, wherein the method further comprises the steps of:
and controlling the push-pull device to push the battery pack to be away from the extending mechanism.
10. The method as claimed in claim 9, wherein controlling the push-pull device to push the battery pack to leave the protruding mechanism further comprises: controlling the clamping mechanism to be separated from the battery side clamping part;
controlling the push-pull device to retract into the clamping mechanism;
and controlling the extending mechanism to retract to the bracket.
11. The method as claimed in claim 10, further comprising, after controlling the engaging mechanism to disengage from the battery-side engaging portion: detecting whether the clamping mechanism is in a disengagement state;
and if so, controlling the push-pull device to retract the clamping mechanism.
12. The battery pack taking and placing method according to claim 1, wherein the battery replacing apparatus comprises a first extending mechanism, a second extending mechanism and a turnover mechanism, the first extending mechanism and the second extending mechanism are vertically fixed and are arranged to be turned over coaxially, the turnover mechanism is used for driving the first extending mechanism and the second extending mechanism to be turned over synchronously, the push-pull device is arranged on the first extending mechanism and is arranged to be moved telescopically relative to the first extending mechanism,
before controlling the push-pull device to extend out of the clamping mechanism, the method further comprises the following steps: controlling the first extending mechanism to extend towards the battery pack located in the electric vehicle,
after controlling the push-pull device to retract the clamping mechanism so as to pull the battery pack, the method further comprises the following steps: and controlling the first extending mechanism to retract.
13. The battery pack pick-and-place method according to claim 12, wherein after the first extension mechanism is retracted, it is detected whether the battery pack abuts against the second extension mechanism as the first extension mechanism is retracted,
if yes, the turnover mechanism is controlled to drive the first stretching mechanism and the second stretching mechanism to turn over.
14. The method for picking and placing the battery pack according to claim 13, wherein after controlling the turnover mechanism to drive the first extending mechanism and the second extending mechanism to turn over, the method further comprises:
and controlling the second stretching mechanism to stretch out so as to realize pushing and placing of the battery pack.
15. The battery pack taking and placing method as claimed in claim 14, wherein the step of controlling the second extending mechanism to extend to achieve pushing and placing of the battery pack comprises the following steps:
and controlling the second extension mechanism to retract.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210494022.2A CN114834297A (en) | 2020-04-03 | 2020-04-03 | Battery pack taking and placing method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010260643.5A CN113492713B (en) | 2020-04-03 | 2020-04-03 | Battery pack taking and placing method |
| CN202210494022.2A CN114834297A (en) | 2020-04-03 | 2020-04-03 | Battery pack taking and placing method |
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| CN202210476403.8A Pending CN114771340A (en) | 2020-04-03 | 2020-04-03 | Battery pack taking and placing method |
| CN202210476400.4A Pending CN114771339A (en) | 2020-04-03 | 2020-04-03 | Battery pack taking and placing method |
| CN202210494022.2A Pending CN114834297A (en) | 2020-04-03 | 2020-04-03 | Battery pack taking and placing method |
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| CN202210476400.4A Pending CN114771339A (en) | 2020-04-03 | 2020-04-03 | Battery pack taking and placing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR100844570B1 (en) * | 2007-09-13 | 2008-07-08 | 기아자동차주식회사 | Battery exchange device for automatic carrier and control method thereof |
| CN102303589B (en) * | 2011-08-31 | 2012-11-28 | 昆明船舶设备集团有限公司 | Bottom power taking self-locking electric bus battery box system capable of quickly changing battery |
| CN202518239U (en) * | 2012-03-27 | 2012-11-07 | 许继集团有限公司 | Jig of commercial vehicle battery replacement system |
| WO2015045981A1 (en) * | 2013-09-26 | 2015-04-02 | 日本電産サンキョー株式会社 | Battery replacing robot, battery replacing system, and battery replacing robot control method |
| PT3127765T (en) * | 2014-04-01 | 2020-04-14 | Guangdong Huachan Research Institute Of Intelligent Transp System Co Ltd | Vehicle battery clamping device |
| CN207403711U (en) * | 2017-10-25 | 2018-05-25 | 金华安靠电源科技有限公司 | A kind of clip claw assembly and the electric automobile battery replacing device comprising the component |
| CN109987063B (en) * | 2017-12-29 | 2022-06-10 | 上海电巴新能源科技有限公司 | Battery replacing equipment for horizontally installing and taking battery and battery disassembling and installing method |
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| CN114771340A (en) | 2022-07-22 |
| CN113492713A (en) | 2021-10-12 |
| CN113492713B (en) | 2022-03-22 |
| CN114771339A (en) | 2022-07-22 |
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