WO2019000955A1 - Battery charging and swapping station and battery swapping method - Google Patents

Battery charging and swapping station and battery swapping method Download PDF

Info

Publication number
WO2019000955A1
WO2019000955A1 PCT/CN2018/075689 CN2018075689W WO2019000955A1 WO 2019000955 A1 WO2019000955 A1 WO 2019000955A1 CN 2018075689 W CN2018075689 W CN 2018075689W WO 2019000955 A1 WO2019000955 A1 WO 2019000955A1
Authority
WO
WIPO (PCT)
Prior art keywords
power
battery
charging
storage unit
changing robot
Prior art date
Application number
PCT/CN2018/075689
Other languages
French (fr)
Chinese (zh)
Inventor
胡杰
沈斐
谭广志
陈炯
郝战铎
Original Assignee
上海蔚来汽车有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to CN201710512630.0A priority Critical patent/CN107399302B/en
Priority to CN201710512630.0 priority
Application filed by 上海蔚来汽车有限公司 filed Critical 上海蔚来汽车有限公司
Publication of WO2019000955A1 publication Critical patent/WO2019000955A1/en

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60SSERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00Servicing, maintaining, repairing or refitting of vehicles
    • B60S5/06Supplying batteries to, or removing batteries from, vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80Exchanging energy storage elements, e.g. removable batteries
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Abstract

A battery charging and swapping station and a battery swapping method. The battery charging and swapping station comprises: a battery swapping platform (1) for parking a vehicle (5) waiting for a battery swap; a storage portion (2) comprising several battery storage units (21) which can form the storage portion (2) in at least one combination mode; and an automatic battery swapping robot (4) which can at least freely move between the battery changing platform (1) and the storage portion (2). The freely-moving automatic battery swapping robot can swap out a battery for the vehicle waiting for a battery swap without the use of a guide rail, thus improving the flexibility of movement of the battery swapping robot.

Description

充换电站及换电方法Charging and replacing power station and changing method 技术领域Technical field
本发明涉及汽车充换电领域,具体涉及一种充换电站及换电方法。The invention relates to the field of automobile charging and replacing, and particularly relates to a charging and replacing power station and a power changing method.
背景技术Background technique
随着新能源汽车的普及,如何有效地为能量不足的汽车提供快速有效的能量补给成为车主和各大厂商非常关注的问题。以电动汽车为例,当前主流的电能补给方案包括充电方案和电池更换方案。其中电池更换方案是直接用满电的动力电池更换电动汽车上亏电的动力电池。相对于充电方案,电池更换方案由于可以在很短的时间完成动力电池的更换且对动力电池的使用寿命没有明显的影响,因此是电能补给的主要发展方向之一。电池更换方案一般是在充换电站内完成,具体而言,充换电站内配置有充换电架和换电平台,以及在充换电架和换电平台之间的运载满电/亏电的动力电池的换电机器人,如堆垛机/轨道导引车(Rail Guided Vehicle,RGV)。换电机器人通过在充换电架和换电平台之间预先铺设的轨道上往复行驶的方式,完成为停于换电平台上的电动汽车更换动力电池的动作。With the popularization of new energy vehicles, how to effectively provide fast and efficient energy supply for vehicles with insufficient energy has become a matter of great concern to car owners and major manufacturers. Taking electric vehicles as an example, current mainstream power supply solutions include charging solutions and battery replacement solutions. Among them, the battery replacement scheme is to directly replace the power battery on the electric vehicle with a power battery that is fully charged. Compared with the charging scheme, the battery replacement scheme is one of the main development directions of electric energy replenishment because it can complete the replacement of the power battery in a short time and has no obvious influence on the service life of the power battery. The battery replacement scheme is generally completed in the charging and replacement station. Specifically, the charging and replacing station is equipped with a charging and replacing platform and a power exchange platform, and the full power/depletion between the charging and replacing platforms A power-changing robot for a power battery, such as a Rail Guided Vehicle (RGV). The power-changing robot completes the action of replacing the power battery for the electric vehicle stopped on the power-changing platform by reciprocating the track on the pre-laying track between the charging and the power-changing platform.
公布号为CN106143183A的发明专利申请公开了一种电动汽车小型自动充换电站,其包括换电平台、充电平台、换电系统和控制系统,换电平台、充电平台和换电系统分别与控制系统连接。其中,换电平台包括换电集装箱和容纳在换电集装箱中用于停放车辆的停车底座,充电平台包括充电集装箱和容纳在充电集装箱中用于对动力电池进行充电和存储的充电架,换电系统包括用于对停车底座上停放的车辆的动力电池进行更换的换电小车。其中,充电架包括至少一个电池存储模块以及与电池存储模块相邻设置的起降机模块,电池存储模块包括充电层、存储层、移动层。其中,移动层设置有第一导轨,换电小车能够沿所述第一导轨在水平方向上运动;起降机模块中设置有第二导轨,换电小车能够沿第二导轨在水平方向上运动,并且第二导轨能够在竖直方向上带动换电小车运动;换电平台和充电架之间设 置有第三导轨,换电小车沿第三导轨在换电平台与充电架之间移动。也就是说,自动换电站通过换电小车在第一导轨、第二导轨和第三导轨上运动、以及第二导轨带动换电小车上升下降的方式,完成取送电池和为电动汽车自动换电的动作。The invention patent application published as CN106143183A discloses an electric vehicle small automatic charging and replacing power station, which comprises a power exchange platform, a charging platform, a power changing system and a control system, a power exchange platform, a charging platform and a power changing system, respectively, and a control system. connection. The power exchange platform includes a power exchange container and a parking base housed in the power exchange container for parking the vehicle, and the charging platform includes a charging container and a charging stand housed in the charging container for charging and storing the power battery, and the power is exchanged. The system includes a changeover trolley for replacing a power battery of a parked vehicle on a parking base. The charging stand includes at least one battery storage module and a take-off and landing machine module disposed adjacent to the battery storage module, and the battery storage module includes a charging layer, a storage layer, and a moving layer. Wherein, the moving layer is provided with a first guiding rail, the changing trolley can move in the horizontal direction along the first guiding rail; the second guiding rail is arranged in the landing gear module, and the changing trolley can move in the horizontal direction along the second guiding rail And the second rail can drive the movement of the electric trolley in a vertical direction; a third rail is disposed between the power exchange platform and the charging rack, and the electric trolley moves along the third rail between the power conversion platform and the charging rack. That is to say, the automatic power station moves through the first rail, the second rail and the third rail by the electric trolley, and the second rail drives the electric vehicle to rise and fall, completes the feeding of the battery and automatically changes the electric vehicle. Actions.
不可避免地,上述充换电站存在着一定的问题。首先,由于换电小车只能在铺设的轨道上运动和定位,并且换电小车与动力电池的取送过程需要多次升降,这就导致了换电小车的灵活性不足、充换电站的换电效率低等问题。并且由于上述轨道的设置,使得待换电车辆还必须在换电平台上进行相应的精确定位,这无疑增加了充换电站的设计复杂度。其次,由于充换电站的设计受选址环境和供电容量的影响较大,上述充换电站在设计时需要针对不同的选址环境进行设计,并且充换电站一旦建成后由于充电架不可扩展或扩展难度大,导致增加了设计难度的同时,不能根据实际情况的进行灵活调整,也就是充换电站还存在适用性差的问题。Inevitably, there are certain problems with the above-mentioned charging and replacing stations. First of all, because the electric car can only move and position on the laid track, and the process of picking up the electric car and the power battery needs to be lifted several times, which leads to the lack of flexibility of the electric car and the replacement of the power station. Low electrical efficiency and other issues. And because of the above-mentioned track setting, the vehicle to be replaced must also perform corresponding precise positioning on the power exchange platform, which undoubtedly increases the design complexity of the charging and replacing power station. Secondly, since the design of the charging and replacing power station is greatly affected by the site selection environment and the power supply capacity, the above-mentioned charging and replacing power station needs to be designed for different site selection environments, and once the charging and replacing power station is completed, the charging frame cannot be expanded or The difficulty of expansion increases the difficulty of design, and it cannot be flexibly adjusted according to the actual situation. That is to say, there is still a problem of poor applicability in charging and replacing the power station.
相应地,本领域需要一种新的充换电站来解决上述问题。Accordingly, there is a need in the art for a new charging and discharging station to solve the above problems.
发明内容Summary of the invention
为了解决现有技术中的上述问题,即为了解决换电小车存在的灵活性不足、换电效率低以及充换电站存在的适用性差的问题,本发明提供了一种充换电站,该充换电站包括换电平台,其用于停放待换电车辆;存储部,其包括若干个电池存储单元,且所述若干个电池存储单元能够通过至少一种组合方式形成所述存储部;自动换电机器人,所述自动换电机器人至少能够在所述换电平台和所述存储部之间的范围内自由移动,并且在所述自动换电机器人处于所述若干个电池存储单元中的任意一个的投影位置的情形下,所述自动换电机器人能够直接从所述电池存储单元上承接动力电池或将动力电池固定于所述电池存储单元。In order to solve the above problems in the prior art, that is, in order to solve the problem of insufficient flexibility of the power exchange trolley, low power exchange efficiency, and poor applicability of the charging and replacing power station, the present invention provides a charging and replacing power station, and the charging and replacing The power station includes a power exchange platform for parking the vehicle to be replaced; the storage portion includes a plurality of battery storage units, and the plurality of battery storage units are capable of forming the storage portion by at least one combination; automatically changing power a robot capable of freely moving at least within a range between the power exchange platform and the storage portion, and wherein the automatic power-changing robot is in any one of the plurality of battery storage units In the case of a projected position, the automatic power-changing robot can directly receive or fix the power battery to the battery storage unit from the battery storage unit.
在上述充换电站的优选技术方案中,所述电池存储单元以模块化设置,并且所述若干个电池存储单元在同一层内排布。In a preferred embodiment of the charging station described above, the battery storage unit is modularly arranged and the plurality of battery storage units are arranged in the same layer.
在上述充换电站的优选技术方案中,所述充换电站还配置有能够与所述存储部电连接的充电部,所述充电部用于为所述动力电池充电。In a preferred embodiment of the charging and discharging station, the charging and discharging station is further provided with a charging portion that can be electrically connected to the storage portion, and the charging portion is configured to charge the power battery.
在上述充换电站的优选技术方案中,所述充电部包括充电单元,所述充电单元包括:充电柜,其与所述若干个电池存储单元分别连接,用于为所述动力电池充电;控制柜,其与所述若干个电池存储单元分别连接,用于使所述充电柜为所述动力电池充电。In a preferred technical solution of the charging and replacing station, the charging unit includes a charging unit, and the charging unit includes: a charging cabinet separately connected to the plurality of battery storage units for charging the power battery; and controlling And a cabinet connected to the plurality of battery storage units for charging the power battery.
在上述充换电站的优选技术方案中,所述充电单元还包括水冷柜,所述水冷柜与所述若干个电池存储模块分别连接,用于冷却充电过程中的所述动力电池。In a preferred technical solution of the charging and replacing station, the charging unit further includes a water-cooling cabinet, and the water-cooling cabinet is respectively connected to the plurality of battery storage modules for cooling the power battery in the charging process.
在上述充换电站的优选技术方案中,所述充电部包括至少一个充电单元,所述充电单元包括:充电模块,其与至少一个所述电池存储单元连接,用于为所述动力电池提供电能;控制模块,其与至少一个所述电池存储单元连接,用于使所述充电模块为所述动力电池充电。In a preferred technical solution of the above charging and replacing station, the charging portion includes at least one charging unit, and the charging unit includes: a charging module connected to at least one of the battery storage units for providing power to the power battery And a control module coupled to the at least one of the battery storage units for causing the charging module to charge the power battery.
在上述充换电站的优选技术方案中,所述充电单元还包括水冷模块,所述水冷模块与至少一个所述电池存储单元连接,用于冷却充电过程的所述动力电池。In a preferred embodiment of the above charging and replacing station, the charging unit further includes a water cooling module connected to at least one of the battery storage units for cooling the power battery of the charging process.
在上述充换电站的优选技术方案中,所述自动换电机器人包括电池装卸部,所述电池装卸部能够直接从所述待换电车辆上将所述动力电池取下或将所述动力电池固定于所述待换电车辆。In a preferred technical solution of the charging and replacing station, the automatic power changing robot includes a battery loading and unloading portion, and the battery loading and unloading portion can directly remove the power battery or the power battery from the to-be-returned vehicle. Fixed to the vehicle to be replaced.
在上述充换电站的优选技术方案中,所述电池装卸部包括:举升平台,其能够与所述待换电车辆或所述电池存储单元对接;加解锁机构,其能够在所述举升平台与所述待换电车辆对接好的情形下,使所述动力电池锁紧/脱开所述待换电车辆。In a preferred technical solution of the charging and replacing station, the battery loading and unloading portion includes: a lifting platform capable of docking with the to-be-returned vehicle or the battery storage unit; and an unlocking mechanism capable of being lifted The power battery is locked/detached from the to-be-returned vehicle in a situation where the platform is docked with the to-be-returned vehicle.
在上述充换电站的优选技术方案中,所述电池存储单元配置有夹持机构,所述动力电池能够通过该夹持机构固定于所述电池存储单元。In a preferred embodiment of the charging and discharging station, the battery storage unit is provided with a clamping mechanism by which the power battery can be fixed to the battery storage unit.
在上述充换电站的优选技术方案中,所述换电站内还预设有应急位置,所述自动换电机器人能够以自由移动的方式到达该应急位置。In a preferred embodiment of the charging and discharging station, an emergency position is pre-set in the power station, and the automatic power-changing robot can reach the emergency position in a freely movable manner.
本发明还提供了一种充换电站的换电方法,该方法包括如下步骤:The invention also provides a power exchange method for a charging and replacing power station, the method comprising the following steps:
自动换电机器人到达待换电车辆的投影位置;The automatic changing robot reaches the projection position of the vehicle to be replaced;
所述自动换电机器人使亏电的动力电池脱离所述待换电车辆;The automatic power-changing robot disengages the depleted power battery from the to-be-returned vehicle;
所述自动换电机器人以不离地的方式使所述亏电的动力电池固定至处于空闲状态的电池储存单元;The automatic power-changing robot fixes the depleted power battery to a battery storage unit in an idle state in a manner that does not leave the ground;
所述自动换电机器人以不离地的方式从电池存储单元上承接满电的动力电池;The automatic power-changing robot receives a fully-powered power battery from the battery storage unit in a manner that does not leave the ground;
所述自动换电机器人使所述满电的动力电池固定于所述待换电车辆。The automatic power changing robot fixes the fully charged power battery to the to-be-returned vehicle.
在上述换电方法的优选技术方案中,“所述自动换电机器人以不离地的方式使所述亏电的动力电池固定至处于空闲状态的电池储存单元”的步骤进一步包括:In a preferred technical solution of the above-described power-changing method, the step of “the automatic power-changing robot fixes the power-depleted power battery to the battery storage unit in an idle state in a manner that does not leave the ground” further includes:
所述自动换电机器人在所述待换电车辆的投影位置旋转第一设定角度;The automatic power changing robot rotates a first set angle at a projection position of the to-be-returned vehicle;
所述自动换电机器人移动至所述处于空闲状态的电池存储单元的投影位置;The automatic power changing robot moves to a projection position of the battery storage unit in an idle state;
所述自动换电机器人使所述亏电的电池固定至所述处于空闲状态的电池存储单元。The automatic power-changing robot fixes the depleted battery to the battery storage unit in an idle state.
在上述换电方法的优选技术方案中,“所述自动换电机器人以不离地的方式从电池存储单元上承接所述满电的动力电池”的步骤进一步包括:In a preferred technical solution of the above-described power-changing method, the step of “the automatic power-changing robot receives the fully-powered power battery from the battery storage unit in a manner of not removing the ground” further includes:
所述自动换电机器人移动至所述电池存储单元的投影位置;The automatic power changing robot moves to a projection position of the battery storage unit;
使所述电池存储单元的夹持机构松开;Unlocking the clamping mechanism of the battery storage unit;
所述自动换电机器人承接所述满电的动力电池。The automatic power changing robot receives the fully powered power battery.
在上述换电方法的优选技术方案中,“所述自动换电机器人使所述满电的动力电池固定于所述待换电车辆”的步骤进一步包括:In a preferred technical solution of the above-described power-changing method, the step of “the automatic power-changing robot fixes the fully-powered power battery to the to-be-returned vehicle” further includes:
所述自动换电机器人移动至所述待换电车辆的投影位置;The automatic power changing robot moves to a projection position of the to-be-returned vehicle;
所述自动换电机器人在所述待换电车辆的投影位置旋转第二设定角度;The automatic power changing robot rotates a second set angle at a projection position of the to-be-returned vehicle;
所述自动换电机器人使所述满电的动力电池固定于所述待换电车辆。The automatic power changing robot fixes the fully charged power battery to the to-be-returned vehicle.
本领域技术人员能够理解的是,在本发明的优选技术方案中,充换电站包括换电平台、存储部、自动换电机器人。存储部包括若干个电池存储单元,自动换电机器人无需导轨便能够在换电平台和存储部之间自由移动。通过使用无需导轨的自动换电机器人代替依赖于轨道 的换电小车的设置方式,可以大大增加自动换电机器人的运动灵活性,减少现有技术中换电平台和充电架之间的第三导轨以及换电平台上精定位装置的设置,从而提高换电效率。Those skilled in the art can understand that in the preferred technical solution of the present invention, the charging and replacing station includes a power changing platform, a storage unit, and an automatic power changing robot. The storage unit includes a plurality of battery storage units, and the automatic power-changing robot can freely move between the power exchange platform and the storage unit without using a guide rail. By using an automatic changing robot without a rail instead of a rail-based switching cart, the movement flexibility of the auto-changing robot can be greatly increased, and the third rail between the changing platform and the charging rack in the prior art can be reduced. And the setting of the fine positioning device on the power exchange platform, thereby improving the power exchange efficiency.
此外,电池存储单元以模块化布置,并且若干个电池存储单元采用同一层内排布的设置方式,使得自动换电机器人在取送动力电池时无需多次升降,即可完成动力电池的取送和更换的动作。这种设置方式相较于现有技术中的换电小车来说,不仅节省了换电小车在多次升降和定位过程中所用的时间,而且还简化了换电站的结构,降低了换电站的设计复杂度——即简化了现有技术中的电池存储模块中的移动层(包括第一导轨)和起降机模块(包括第二导轨)的设置,从而使充换电站可以更高效地完成为待换电车辆更换动力电池的动作,大幅提升换电效率和用户体验。而电池存储单元采用模块化的布置方式,又使得充换电站能够基于不同的应用场景进行任意调整,增加了充换电站的适用性。In addition, the battery storage unit is arranged in a modular manner, and a plurality of battery storage units are arranged in the same layer, so that the automatic power-changing robot can complete the delivery of the power battery without multiple lifting and lowering when the power battery is taken. And replacement action. Compared with the prior art electric trolley, the installation method not only saves the time used for the electric vehicle to be lifted and positioned in multiple times, but also simplifies the structure of the power exchange and reduces the power exchange. Design complexity - that simplifies the setup of the moving layer (including the first rail) and the landing gear module (including the second rail) in the battery storage module of the prior art, so that the charging and replacing station can be completed more efficiently The operation of replacing the power battery for the vehicle to be replaced greatly improves the power exchange efficiency and user experience. The battery storage unit adopts a modular arrangement, which enables the charging and replacing station to be arbitrarily adjusted based on different application scenarios, thereby increasing the applicability of the charging and replacing station.
附图说明DRAWINGS
下面参照附图并结合底部换电的充换电站来描述本发明的充换电站及换电方法。附图中:The charging and replacing station and the power changing method of the present invention will be described below with reference to the accompanying drawings in conjunction with a bottom-replacement charging and replacing station. In the figure:
图1是本发明的充换电站的结构的示意图;Figure 1 is a schematic view showing the structure of a charging and replacing station of the present invention;
图2是本发明的自动换电机器人的结构示意图;2 is a schematic structural view of an automatic power changing robot of the present invention;
图3是本发明的充换电站的仰视示意图;Figure 3 is a bottom plan view of the charging and replacing station of the present invention;
图4A是本发明的充电部的第一种实施方式的结构示意图;4A is a schematic structural view of a first embodiment of a charging unit of the present invention;
图4B是本发明的充电部的第二种实施方式的结构示意图;4B is a schematic structural view of a second embodiment of the charging portion of the present invention;
图5是本发明的充换电站的换电方法的流程示意图;5 is a schematic flow chart of a power exchange method of a charging and replacing station of the present invention;
图6A是本发明的充换电站的一种完整的换电过程的流程示意图(一);6A is a schematic flow chart (1) of a complete power exchange process of the charging and replacing station of the present invention;
图6B是本发明的充换电站的一种完整的换电过程的流程示意图(二);6B is a schematic flow chart (2) of a complete power exchange process of the charging and replacing station of the present invention;
图6C是本发明的充换电站的一种完整的换电过程的流程示意图(三);6C is a schematic flow chart (3) of a complete power exchange process of the charging and replacing station of the present invention;
图6D是本发明的充换电站的一种完整的换电过程的流程示意图(四)。6D is a schematic flow chart (4) of a complete power exchange process of the charging and replacing station of the present invention.
附图标记列表List of reference signs
1、换电平台;2、存储部;21、电池存储单元;211、夹持机构;3、充电部;31、充电单元;311、充电模块;312、控制模块;313、水冷模块;314、充电柜;315、控制柜;316、水冷柜;4、自动换电机器人;41、本体;42、行走部;431、举升平台;432、加解锁机构;44、控制部;5、电动汽车;6、动力电池。1. Power exchange platform; 2. Storage unit; 21, battery storage unit; 211, clamping mechanism; 3. charging unit; 31, charging unit; 311, charging module; 312, control module; 313, water cooling module; Charging cabinet; 315, control cabinet; 316, water-cooling cabinet; 4, automatic power-changing robot; 41, body; 42, walking department; 431, lifting platform; 432, plus unlocking mechanism; 44, control department; ; 6, power battery.
具体实施方式Detailed ways
下面参照附图来描述本发明的优选实施方式。本领域技术人员应当理解的是,这些实施方式仅仅用于解释本发明的技术原理,并非旨在限制本发明的保护范围。例如,虽然附图中的换电平台设置于充换电站的一侧,但是这种位置关系非一成不变,本领域技术人员可以根据需要对其作出调整,以便适应具体的应用场合。Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the scope of the present invention. For example, although the power-changing platform in the drawing is disposed on one side of the charging and replacing station, the positional relationship is not constant, and those skilled in the art can adjust it as needed to adapt to a specific application.
需要说明的是,在本发明的描述中,术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方向或位置关系的术语是基于附图所示的方向或位置关系,这仅仅是为了便于描述,而不是指示或暗示所述装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。此外,术语“第一”、“第二”、“第三”仅用于描述目的,而不能理解为指示或暗示相对重要性。It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. The terminology of the orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, which is merely for convenience of description, and does not indicate or imply that the device or component must have a specific orientation, constructed and operated in a specific orientation. Therefore, it should not be construed as limiting the invention. Moreover, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
此外,还需要说明的是,在本发明的描述中,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通。对于本领域技术人员而言,可根据具体情况理解上述术语在本发明中的具体含义。In addition, it should be noted that in the description of the present invention, the terms "installation", "connected", and "connected" are to be understood broadly, and may be fixed connection, for example, or It is a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be internal communication between the two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
首先参照图1,图1是本发明的充换电站的结构的示意图。如图1所示,本发明的充换电站主要包括换电平台1、存储部2、充电部3和自动换电机器人4。换电平台1用于停放待换电的电动汽车5,存储部2包括若干个电池存储单元21,电池存储单元21用于存储满电的动力电池6(以下简称满电电池)或亏电的动力电池6(以下简称亏电电池),充电部3则用于为电池存储单元21上存储的动力电池6充电。自动换电机器人4则至少能够在换电平台1和存储部2之间的范围内自由移动,如在换电平台1和存储部2之间的地面上做直线运动和原地转动等。在 该移动的基础上,自动换电机器人4可以完成为待换电的电动汽车5更换动力电池6的动作。如在自动换电机器人4处于任意一个电池存储单元21的投影位置时,自动换电机器人4可以直接从电池存储单元21上承接满电电池或将亏电电池固定于电池存储单元21上;在自动换电机器人4处于待换电的电动汽车5的投影位置时,自动换电机器人4又可以完成从待换电的电动汽车5上卸下亏电电池或将满电电池固定于电动汽车5上的动作。Referring first to Fig. 1, Fig. 1 is a schematic view showing the structure of a charging and discharging station of the present invention. As shown in FIG. 1, the charging and replacing station of the present invention mainly includes a power changing platform 1, a storage unit 2, a charging unit 3, and an automatic power changing robot 4. The power exchange platform 1 is used for parking the electric vehicle 5 to be replaced, and the storage unit 2 includes a plurality of battery storage units 21 for storing the fully charged power battery 6 (hereinafter referred to as a full battery) or a power loss. The power battery 6 (hereinafter referred to as a depletion battery) is used to charge the power battery 6 stored in the battery storage unit 21. The automatic power-changing robot 4 is freely movable at least in a range between the power-changing platform 1 and the storage unit 2, such as linear motion and ground rotation on the ground between the power-changing platform 1 and the storage unit 2. On the basis of this movement, the automatic power-changing robot 4 can complete the action of replacing the power battery 6 for the electric vehicle 5 to be replaced. For example, when the automatic power changing robot 4 is in the projection position of any one of the battery storage units 21, the automatic power changing robot 4 can directly receive the full battery from the battery storage unit 21 or fix the defective battery to the battery storage unit 21; When the automatic power changing robot 4 is in the projection position of the electric vehicle 5 to be replaced, the automatic power changing robot 4 can complete the removal of the depleted battery from the electric vehicle 5 to be replaced or fix the full battery to the electric vehicle 5 The action on.
首先需要说明的是,本实施例中的满电电池与亏电电池只是用来描述动力电池6的宏观状态,并非用于描述动力电池6的两种特殊的固定状态,即电量处于百分之百的状态和电量为零的状态。本领域技术人员能够想到的是,“满电”和“亏电”的划分依据可以由服务商自由设定,如将剩余电量不小于总电量的百分之九十作为动力电池6的“满电”标准,将剩余电量小于总电量的百分之九十作为动力电池6的“亏电”的标准等。First of all, it should be noted that the fully-charged battery and the depleted-powered battery in this embodiment are only used to describe the macroscopic state of the power battery 6, and are not used to describe two special fixed states of the power battery 6, that is, the power is in a state of 100%. And the state of zero power. Those skilled in the art can think that the division basis of "full power" and "power loss" can be freely set by the service provider, for example, the remaining power is not less than 90% of the total power as the "full" of the power battery 6. The electric standard is that the remaining power is less than 90% of the total power as the standard of "depletion" of the power battery 6.
由上可知,通过在换电平台1和存储部2之间设置可自由移动的自动换电机器人4的方式,使得自动换电机器人4可以在不离地的情况下为待换电的电动汽车5更换动力电池6。换言之,自动换电机器人4的移动和定位无需借助导轨,取送电池的过程也无需多次升降,这种方式相较于背景技术中的换电小车来说,不仅提升了自动换电机器人4的运动灵活性,而且还大幅度简化了换电站的结构,降低充换电站的设计复杂度——即简化了导轨、起降机模块以及换电平台1上精定位机构的设置,从而使充换电站可以更高效地完成为待换电的电动汽车5更换动力电池6的动作,大幅提升用户的换电体验。It can be seen from the above that by providing the freely movable automatic power-changing robot 4 between the power-changing platform 1 and the storage unit 2, the automatic power-changing robot 4 can be the electric vehicle 5 to be replaced without leaving the ground. Replace the power battery 6. In other words, the movement and positioning of the automatic power-changing robot 4 does not require the use of a guide rail, and the process of taking the battery does not need to be lifted and lowered a plurality of times. This method not only improves the automatic power-changing robot 4 compared with the electric-changing trolley in the background art. The flexibility of the movement, but also greatly simplifies the structure of the power station, and reduces the design complexity of the charging and replacing station - that is, simplifies the setting of the guide rail, the crane module and the fine positioning mechanism on the power exchange platform 1, thereby making the charging The power station can more efficiently complete the action of replacing the power battery 6 for the electric vehicle 5 to be replaced, and greatly improving the user's power exchange experience.
下面参照图2和图3进一步描述本发明的充换电站。其中,图2是本发明的自动换电机器人4的结构示意图,图3是本发明的充换电站的仰视示意图。The charging and replacing station of the present invention will be further described below with reference to FIGS. 2 and 3. 2 is a schematic structural view of the automatic power-changing robot 4 of the present invention, and FIG. 3 is a bottom view of the charging and replacing power station of the present invention.
如图2所示,自动换电机器人4主要包括本体41、行走部42、电池装卸部、定位部(图中未示出)、控制部44等。其中,行走部42可以通过自身的滚动使自动换电机器人4在换电平台1和存储部2之间的地面上移动,如使用麦克纳姆轮,差速轮或者舵轮作为行走部42实现自动换电机器人4在地面上的直线运动和原地转动等。定位部至少可以获得自动换电机器人4的当前位置与待换电的电动汽车5或电池存储 单元21的相对位置,如定位部能够获得自动换电机器人4的当前位置与待换电的电动汽车5上的亏电电池或电池存储单元21的满电电池之间的相对位置。控制部44则能够基于该相对位置控制行走部42动作,使自动换电机器人4精准地到达亏电电池或满电电池的投影位置,进而在到达该投影位置下,控制部44控制电池装卸部为待换电的电动汽车5进行动力电池6的更换或从电池存储单元21上承接满电电池。As shown in FIG. 2, the automatic power changing robot 4 mainly includes a main body 41, a running portion 42, a battery attaching and detaching portion, a positioning portion (not shown), a control portion 44, and the like. Wherein, the walking portion 42 can move the automatic power changing robot 4 on the ground between the power exchange platform 1 and the storage portion 2 by its own rolling, such as using the Mecanum wheel, the differential wheel or the steering wheel as the running portion 42 for automatic operation. The linear motion of the power-changing robot 4 on the ground and the rotation of the ground. The positioning portion can obtain at least the relative position of the current position of the automatic power-changing robot 4 and the electric vehicle 5 or the battery storage unit 21 to be replaced, for example, the positioning portion can obtain the current position of the automatic power-changing robot 4 and the electric vehicle to be replaced. The relative position between the depleted battery on 5 or the fully charged battery of battery storage unit 21. The control unit 44 can control the operation of the traveling unit 42 based on the relative position, and the automatic power-changing robot 4 can accurately reach the projection position of the depletion battery or the full-charge battery, and when the projection position is reached, the control unit 44 controls the battery loading and unloading unit. The replacement of the power battery 6 for the electric vehicle 5 to be replaced or the charging of the battery from the battery storage unit 21 is performed.
电池装卸部进一步包括加解锁机构432和举升平台431。其中,举升平台431能够通过举升动作,完成与电池存储单元21或电动汽车5的对接,如到达可以将亏电电池固定于电池存储单元21上的位置,或承接电池存储单元21上满电电池的位置,以及为电动汽车5更换动力电池6的位置等。加解锁机构432则能够在举升平台431到达为电动汽车5更换动力电池6的位置后,使动力电池6锁紧/脱开电动汽车5的车身。优选地,举升平台431可以由剪式举升机构驱动,剪式举升机构可以将举升平台431连同举升平台431上的动力电池6一同举起直至到达为电动汽车5更换动力电池6的位置。The battery loading and unloading portion further includes an unlocking mechanism 432 and a lifting platform 431. Wherein, the lifting platform 431 can complete the docking with the battery storage unit 21 or the electric vehicle 5 by the lifting action, such as reaching a position where the deficient battery can be fixed on the battery storage unit 21, or receiving the battery storage unit 21 The position of the electric battery, and the position of the electric battery 6 for the electric vehicle 5 are replaced. The unlocking mechanism 432 can lock the power battery 6 to the vehicle body of the electric vehicle 5 after the lifting platform 431 reaches the position where the electric vehicle 5 is replaced by the electric vehicle 5. Preferably, the lifting platform 431 can be driven by a scissor lift mechanism, and the scissor lifting mechanism can lift the lifting platform 431 together with the power battery 6 on the lifting platform 431 until the replacement of the power battery 6 for the electric vehicle 5 is reached. s position.
进一步优选地,为便于制造自动换电机器人4,节省自动换电机器人4的制造成本,本发明的自动换电机器人4可以基于现有自动导引车(Automatic Guided Vehicle,AGV)改造而成。如在现有自动导引车的基础上,保留其本体和行走部,增加定位部和电池装卸部,并升级自动导引车的原有控制部的功能,使自动换电机器人的控制部44能够与行走部和定位部形成控制闭环,即前述的“基于该相对位置控制行走部42动作,使自动换电机器人4精准地到达亏电电池或满电电池的投影位置”,从而既节省了制造成本,又可以实现本发明。Further preferably, in order to facilitate the manufacture of the automatic power-changing robot 4, the manufacturing cost of the automatic power-changing robot 4 is saved, and the automatic power-changing robot 4 of the present invention can be modified based on the existing Automatic Guided Vehicle (AGV). For example, on the basis of the existing automatic guided vehicle, the main body and the walking portion are retained, the positioning portion and the battery loading and unloading portion are added, and the function of the original control portion of the automatic guided vehicle is upgraded, so that the control portion of the automatic changing robot 44 It is possible to form a control loop with the running portion and the positioning portion, that is, "the operation of the traveling portion 42 is controlled based on the relative position, so that the automatic power-changing robot 4 accurately reaches the projection position of the depletion battery or the full-charge battery", thereby saving both. The present invention can be realized by manufacturing cost.
进一步优选地,由于自动换电机器人4的移动无需导轨的限制,因此还可以拓展自动换电机器人4在换电安全方面的功能,如自动换电机器人4还可以在行走部42的带动下到达充换电站内预设的应急位置。也就是说,在正常换电流程的位置之外,设置一个在应急情况发生时动力电池6的临时处理位置,用于自动换电机器人4将处于异常状态的动力电池6及时运送至该位置,以便对处于异常状态的动力电池6做出及时处置。如在充换电站的某一较为安全的位置设置一个应急位置,并且该应急位置设置有用于隔离动力电池6的应急沙箱,在系统或服务人员检测到某动力电池6处于异常状态的情形下,自动换电机器人4能 够在控制部44或操作人员的控制下将处于异常状态的动力电池6及时运送至该应急沙箱内,以隔离该处于异常状态的电池,避免为充换电站带来不可预知的后果。Further preferably, since the movement of the automatic power changing robot 4 does not require the limitation of the guide rail, the function of the automatic power changing robot 4 in the power exchange safety can also be expanded. For example, the automatic power changing robot 4 can also be driven by the traveling portion 42. Charge the preset emergency position in the power station. That is, in addition to the position of the normal power-changing process, a temporary processing position of the power battery 6 at the time of the emergency situation is set, and the automatic power-changing robot 4 transports the power battery 6 in an abnormal state to the position in time. In order to timely dispose of the power battery 6 in an abnormal state. If an emergency location is set at a relatively safe location of the charging and replacing station, and the emergency location is provided with an emergency sandbox for isolating the power battery 6, when the system or service personnel detects that the power battery 6 is in an abnormal state, The automatic power-changing robot 4 can timely transport the power battery 6 in an abnormal state to the emergency sandbox under the control of the control unit 44 or the operator to isolate the battery in an abnormal state, thereby avoiding bringing the charging station Unpredictable consequences.
如上所述,通过上述充换电站中自动换电机器人4的设置,也就是能够自由移动且定位精准的自动换电机器人4的设置,不但可以大幅度提高自动换电机器人4的运动灵活性,提升换电效率,而且还能够简化换电平台1上精定位机构的设计以及换电平台1和存储部2之间导轨的铺设,实现充换电站的结构优化。并且,由于自动换电机器人4无轨道的设置方式,还能够拓展自动换电机器人4在安全方面的功能,提高充换电站的安全性。As described above, the setting of the automatic power-changing robot 4 in the above-described charging and replacing power station, that is, the setting of the automatic power-changing robot 4 capable of freely moving and positioning accurately, can greatly improve the flexibility of the automatic power-changing robot 4, The power conversion efficiency is improved, and the design of the fine positioning mechanism on the power exchange platform 1 and the laying of the guide rail between the power exchange platform 1 and the storage unit 2 can be simplified, and the structural optimization of the charging and replacing power station can be realized. Moreover, since the automatic power-changing robot 4 has no track setting mode, the safety function of the automatic power-changing robot 4 can be expanded, and the safety of the charging and replacing station can be improved.
本领域的技术人员能还够理解的是,上述自动换电机器人4的设置形式仅仅用于阐述本发明的原理,并非旨在于限制本发明的保护范围,在不偏离本发明原理的前提下,任何能够自由移动且可精准定位的自动换电机器人4都将落入本发明的保护范围。It will be understood by those skilled in the art that the above-described arrangement of the automatic power-changing robot 4 is only for explaining the principle of the present invention, and is not intended to limit the scope of the present invention, without departing from the principle of the present invention. Any automatic changing robot 4 that can move freely and can be accurately positioned will fall within the scope of the present invention.
如图3所示,换电平台1可以布置在充换电站的一侧,其主要完成导引车辆进入平台,并对车辆进行简单的粗定位和举升功能。如采用V型辊筒等部件完成车辆的粗定位,采用升降电机、卷筒、滑轮和钢丝绳等部件完成换电平台1的举升等,其目的在于可以使自动换电机器人4到达待换电的电动汽车5的投影位置并精确定位后进行底部换电。按照图3所示方位,换电平台1设置于充换电站的最左侧紧邻存储部2的位置,即图中电动汽车5所停的位置。As shown in FIG. 3, the power exchange platform 1 can be disposed on one side of the charging and replacing power station, which mainly completes guiding the vehicle into the platform, and performs simple coarse positioning and lifting functions on the vehicle. If the V-shaped roller and other components are used to complete the rough positioning of the vehicle, the lift motor, the reel, the pulley and the wire rope are used to complete the lifting of the power-changing platform 1, etc., and the purpose is to enable the automatic-changing robot 4 to reach the power to be replaced. The position of the electric car 5 is accurately positioned and then the bottom is replaced. According to the orientation shown in Fig. 3, the power exchange platform 1 is disposed at the position of the leftmost side of the charging and power station adjacent to the storage unit 2, that is, the position where the electric vehicle 5 is stopped.
这样的设置方式优点在于,设置于最左侧的换电平台1可以最大程度的节约空间,从而剩余的空间可以作为整体分配给存储部2。而紧邻存储部2设置的方式又使得自动换电机器人4在换电平台1与存储部2之间的移动距离缩短,也就是可以节省自动换电机器人4在换电过程中的移动时间,提升换电效率。进一步的,由于换电平台1不需要进行精确的定位(因为精定位主要是由自动换电机器人4完成),因此这种设置方式还大大降低了换电平台1设计的难度、简化了充换电站的整体设计以及停车平台的维护等工作,有助于换电平台1的产品标准化。An advantage of such an arrangement is that the power exchange platform 1 provided on the leftmost side can save space to the greatest extent, so that the remaining space can be distributed to the storage unit 2 as a whole. The manner in which the storage unit 2 is disposed in the vicinity of the storage unit 2 reduces the moving distance between the power-changing robot 4 and the storage unit 2, that is, the movement time of the automatic power-changing robot 4 during the power-changing process can be saved. Change the efficiency of electricity. Further, since the power-changing platform 1 does not need to be accurately positioned (because the fine positioning is mainly performed by the automatic power-changing robot 4), this setting method also greatly reduces the difficulty of designing the power-changing platform 1, and simplifies the replacement. The overall design of the power station and the maintenance of the parking platform contribute to the standardization of the product of the power exchange platform 1.
当然,换电平台1的布置位置和设置方式并非仅限于此,本领域技术人员可以基于具体应用环境对其作出灵活调整。如换电平台1也可以布置在换电站的中间位置或任意位置,换电平台1可以无需抬升, 而是固定于一定高度并带有导引电动汽车5进入平台的斜坡,或者换电平台1设置于地面层,而换电小车可以在地下进行换电工作等。Of course, the arrangement position and arrangement manner of the power exchange platform 1 are not limited thereto, and those skilled in the art can flexibly adjust them according to a specific application environment. For example, the power exchange platform 1 can also be arranged in the middle position or any position of the power exchange platform. The power exchange platform 1 can be fixed at a certain height and has a slope for guiding the electric vehicle 5 into the platform, or the power exchange platform 1 It is installed on the ground floor, and the electric car can be exchanged in the underground.
参照图1和图3,存储部2包括若干个电池存储单元21,若干个电池存储单元21以设定的方式排布。优选地,电池存储单元21采用平面堆放的方式设置,也就是在设置好的情形下,与电池存储单元21对应的动力电池6堆放在同一层,而非背景技术中的立体式叠加堆放。电池存储单元21的下侧设置有夹持机构211(参照图1),夹持机构211能够以夹紧或松开的方式使动力电池6固定或脱开于电池存储单元21。优选地,一个电池存储单元21可以存放一块电池,并且电池存储单元21以模块化设置。也就是说,电池存储单元21之间可以彼此独立运行、互不干扰,并且根据选址环境和供电容量的不同而任意扩展不对其他电池存储模块产生影响。Referring to Figures 1 and 3, the storage unit 2 includes a plurality of battery storage units 21, and a plurality of battery storage units 21 are arranged in a set manner. Preferably, the battery storage unit 21 is disposed in a planar stacking manner, that is, in the case where the battery cells 6 corresponding to the battery storage unit 21 are stacked on the same layer, instead of the stereoscopic stacking in the background art. The lower side of the battery storage unit 21 is provided with a clamping mechanism 211 (refer to FIG. 1), and the clamping mechanism 211 can fix or disengage the power battery 6 to the battery storage unit 21 by clamping or loosening. Preferably, one battery storage unit 21 can store one battery, and the battery storage unit 21 is modularly arranged. That is to say, the battery storage units 21 can operate independently of each other without interference, and can be arbitrarily expanded according to the location environment and the power supply capacity without affecting other battery storage modules.
进一步优选地,在排布方式上,电池存储单元21之间可以采用最高效率排布(即采用最高空间利用率的方式排布)。下面以图3所示的充换电站包括六个电池存储单元21为例,具体描述最高效率排布的方法。Further preferably, in the arrangement, the battery storage units 21 can be arranged with the highest efficiency (i.e., arranged in the highest space utilization ratio). In the following, the charging and replacing station shown in FIG. 3 includes six battery storage units 21 as an example, and the method of the highest efficiency arrangement is specifically described.
如图3所示,最高效率排布的方法主要包括如下步骤:As shown in FIG. 3, the method for the highest efficiency arrangement mainly includes the following steps:
1)获取电池存储单元21的长度L B和宽度W B,以及存储部2区域的长度L S和宽度W S1) The length L B and the width W B of the battery storage unit 21, and the length L S and the width W S of the area of the storage portion 2 are obtained.
2)分别计算
Figure PCTCN2018075689-appb-000001
以及
Figure PCTCN2018075689-appb-000002
的结果。其中
Figure PCTCN2018075689-appb-000003
为向下取整运算。
2) Calculated separately
Figure PCTCN2018075689-appb-000001
as well as
Figure PCTCN2018075689-appb-000002
the result of. among them
Figure PCTCN2018075689-appb-000003
Round up the operation.
3)计算
Figure PCTCN2018075689-appb-000004
Figure PCTCN2018075689-appb-000005
的结果并将结果进行比较。
3) Calculation
Figure PCTCN2018075689-appb-000004
versus
Figure PCTCN2018075689-appb-000005
The results are compared and the results are compared.
i)如果
Figure PCTCN2018075689-appb-000006
则将电池存储单元21的长度方向与存储部2区域的长度方向以垂直的方式布置,并且在存储部2的长度方向上布置
Figure PCTCN2018075689-appb-000007
个电池存储单元21(动力电池6),在存储部2的宽度方向上布置
Figure PCTCN2018075689-appb-000008
个电池存储单元21(动力电池6)。
i) if
Figure PCTCN2018075689-appb-000006
Then, the longitudinal direction of the battery storage unit 21 and the longitudinal direction of the storage portion 2 are arranged in a vertical manner, and are arranged in the longitudinal direction of the storage portion 2.
Figure PCTCN2018075689-appb-000007
Battery storage units 21 (power battery 6) are arranged in the width direction of the storage unit 2
Figure PCTCN2018075689-appb-000008
Battery storage unit 21 (power battery 6).
ii)否则,将电池存储单元21的长度方向与存储部2区域的长度方向以平行的方式设置,并且在存储部2的长度方向上布置
Figure PCTCN2018075689-appb-000009
个电池存储单元21,在存储部2的宽度方向上布置
Figure PCTCN2018075689-appb-000010
个电池存储单元21。
Ii) Otherwise, the length direction of the battery storage unit 21 is disposed in parallel with the longitudinal direction of the storage portion 2 region, and is arranged in the longitudinal direction of the storage portion 2.
Figure PCTCN2018075689-appb-000009
Battery storage units 21 arranged in the width direction of the storage unit 2
Figure PCTCN2018075689-appb-000010
Battery storage unit 21.
举例而言,假设图3中:For example, suppose in Figure 3:
存储部2区域的长度L S为5000mm(即竖直方向的长度); The length L S of the region of the storage portion 2 is 5000 mm (ie, the length in the vertical direction);
存储部2区域的宽度W S为4600mm(即水平方向的长度); The width W S of the region of the storage portion 2 is 4600 mm (that is, the length in the horizontal direction);
电池存储单元21的长度L B为2100mm; The length L B of the battery storage unit 21 is 2100 mm;
电池存储单元21的宽度W B为1600mm。则 The battery storage unit 21 has a width W B of 1600 mm. then
Figure PCTCN2018075689-appb-000011
Figure PCTCN2018075689-appb-000011
Figure PCTCN2018075689-appb-000012
Figure PCTCN2018075689-appb-000012
Figure PCTCN2018075689-appb-000013
Figure PCTCN2018075689-appb-000013
Figure PCTCN2018075689-appb-000014
进而
Figure PCTCN2018075689-appb-000014
and then
Figure PCTCN2018075689-appb-000015
所以
Figure PCTCN2018075689-appb-000015
and so
选择将电池存储单元21的长度方向与存储部2区域的长度方向以垂直的方式布置,即图3所示的布置方式,并且在存储部2的长度方向上布置三个电池存储单元21(三块动力电池6),在存储部2的宽度方向上布置两个电池存储单元21(两块动力电池6)。It is selected that the length direction of the battery storage unit 21 and the length direction of the storage portion 2 region are arranged in a vertical manner, that is, the arrangement shown in FIG. 3, and three battery storage units 21 are arranged in the longitudinal direction of the storage portion 2 (three The block power battery 6) has two battery storage units 21 (two power batteries 6) arranged in the width direction of the storage portion 2.
上述设置方式带来的优点是,存储部2模块化的布置方式,使得充换电站的存储部2可以基于应用场景进行任意调整,而存储部2平面堆放的设置方式,又使得自动换电机器人4无需上升下降,只需在地面上移动即可完成取送动力电池6和为电动汽车5换电的动作。也就是说,上述设置方式增加了充换电站的布置灵活性与适用范围,减小了选址环境和供电容量对充换电站的设计和建造的影响,从而简化了充换电站的起降机模块的设置,减少充换电站的建造成本,大大降低了充换电站的设计难度。而通过将电池存储单元21以最高效率排布的方式,又最大程度的利用了自动换电机器人4的运动灵活性,充分利用布置区域的空间,使得在同样选址环境下的空间利用率达到最大。The above arrangement provides the advantage that the storage unit 2 is modularly arranged, so that the storage unit 2 of the charging and replacing station can be arbitrarily adjusted based on the application scenario, and the setting mode of the storage unit 2 in the plane stacking enables the automatic switching robot 4 There is no need to rise and fall, just move on the ground to complete the action of taking the power battery 6 and replacing the electric vehicle 5. That is to say, the above setting method increases the layout flexibility and application range of the charging and replacing power station, and reduces the influence of the site selection environment and the power supply capacity on the design and construction of the charging and replacing power station, thereby simplifying the take-off and landing machine of the charging and replacing power station. The setting of the module reduces the construction cost of the charging and replacing power station, and greatly reduces the design difficulty of the charging and replacing power station. By arranging the battery storage unit 21 in the highest efficiency, the motion flexibility of the automatic power-changing robot 4 is utilized to the greatest extent, and the space of the layout area is fully utilized, so that the space utilization rate in the same location environment is achieved. maximum.
需要指出的是,上述存储部2的布置方式和电池存储单元21的排布方式只是用来阐述本发明的原理,并非旨在与限制本发明的保护范围,本林与技术人员还能够对上述排布方式做出任何形式的调整,以便本发明能够适应更具体的应用场景。It should be noted that the arrangement of the storage unit 2 and the arrangement of the battery storage unit 21 are only for explaining the principle of the present invention, and are not intended to limit the scope of the present invention. The arrangement is made in any form so that the invention can be adapted to more specific application scenarios.
参照图4A和图4B,其中图4A是本发明的充电部3的第一种实施方式的结构示意图,图4B是本发明的充电部3的第二种实施方式的结构示意图。4A and 4B, FIG. 4A is a schematic structural view of a first embodiment of the charging unit 3 of the present invention, and FIG. 4B is a schematic structural view of a second embodiment of the charging unit 3 of the present invention.
如图4A所示,在一种优选的实施方式中,充电部3可以采用分布式的排布方式布置于存储部2的上方,并且与存储部2电连接。在这种设置方式下,充电部3可以包括若干个充电单元31,每个充电单元31又包括充电模块311、控制模块312与水冷模块313,并且充电单元31至少与一个电池存储单元21连接。其中,充电模块311提供电气回路,电气回路主要用于为固定于电池存储单元21的亏电电池充电。水冷模块313提供水冷回路,水冷回路主要用于冷却正在充电的亏电电池,以防动力电池6出现过热等现象。控制模块312主要用于控制充电模块311和水冷模块313的工作,以及控制模块312还可以用于控制夹持机构211的夹紧或松开。优选地,充电单元31的数量可以与电池存储单元21的数量相等,并且每个充电单元31与一个电池存储单元21连接。也就是说,充电单元31也以模块化设置,每个充电单元31对应于一个电池存储模块,并且为对应的电池存储模块提供上述的电气回路、水冷回路以及发出相应的控制指令/信号。As shown in FIG. 4A, in a preferred embodiment, the charging portion 3 can be disposed above the storage portion 2 in a distributed arrangement and electrically connected to the storage portion 2. In this arrangement, the charging unit 3 can include a plurality of charging units 31, each of which further includes a charging module 311, a control module 312 and a water cooling module 313, and the charging unit 31 is connected to at least one battery storage unit 21. The charging module 311 provides an electrical circuit for charging the depleted battery fixed to the battery storage unit 21. The water cooling module 313 provides a water cooling circuit, and the water cooling circuit is mainly used for cooling the depleted battery that is being charged, so as to prevent the power battery 6 from being overheated. The control module 312 is mainly used to control the operation of the charging module 311 and the water cooling module 313, and the control module 312 can also be used to control the clamping or loosening of the clamping mechanism 211. Preferably, the number of charging units 31 may be equal to the number of battery storage units 21, and each charging unit 31 is connected to one battery storage unit 21. That is to say, the charging unit 31 is also arranged in a modular manner, each charging unit 31 corresponds to a battery storage module, and provides the above-mentioned electrical circuit, water-cooling circuit and corresponding control command/signal for the corresponding battery storage module.
上述分布式排布方式的优点在于,通过设置多个充电单元31的方式,使得每一个电池存储单元21上都配置有独立的充电单元31,从而使充电单元31能够与电池存储单元21组成一个完整的独立模块,进而更加有利于充换电站的模块化管理,也使得存储部2布置更灵活,充换电站的扩展性更好。The above-described distributed arrangement has an advantage in that each of the battery storage units 21 is provided with an independent charging unit 31 by providing a plurality of charging units 31, so that the charging unit 31 can be combined with the battery storage unit 21. The complete independent module is more conducive to the modular management of the charging and replacing power station, and also makes the storage unit 2 more flexible in layout, and the expansion and replacement of the power station is better.
当然,电池存储单元21的排布方式并非一成不变,在不偏离本发明原理的前提下,本领域技术人员还能够对其作出调整,以便适应更加具体的应用场景。如电池存储单元21的排布还可以采用图4B所示集中式的排布方式布置于存储部2的上方,且与存储部2电连接。在这种设置方式下,充电部3可以包括一个充电单元31,充电单元31又包括充电柜314、控制柜315与水冷柜316,并且充电单元31的充电柜314、 控制柜315与水冷柜316与存储部2中的各个电池存储单元21分别连接。当然,也可以采用集中式和分布式排布相结合的布置方式,如充电部3包括若干个充电单元31,若干个充电单元31中的一部分为与多个电池存储单元21分别连接的集中式布置形式,而其他充电单元31则为与相应的电池存储单元21一一对应地连接的分布式布置形式。Of course, the arrangement of the battery storage unit 21 is not constant, and those skilled in the art can adjust it to adapt to a more specific application scenario without departing from the principle of the present invention. For example, the arrangement of the battery storage unit 21 can also be arranged above the storage unit 2 in a centralized arrangement as shown in FIG. 4B and electrically connected to the storage unit 2. In this arrangement, the charging unit 3 can include a charging unit 31. The charging unit 31 further includes a charging cabinet 314, a control cabinet 315 and a water-cooling cabinet 316, and a charging cabinet 314, a control cabinet 315 and a water-cooling cabinet 316 of the charging unit 31. Each of the battery storage units 21 in the storage unit 2 is connected to each other. Of course, a combination of centralized and distributed arrangement may also be adopted. For example, the charging unit 3 includes a plurality of charging units 31, and a part of the plurality of charging units 31 is a centralized type connected to the plurality of battery storage units 21 respectively. The arrangement form, while the other charging units 31 are in a distributed arrangement in one-to-one correspondence with the corresponding battery storage unit 21.
显然,为了实现充换电站的全自动换电,充换电站还需要设置主控单元,并且充换电站的主控单元、自动换电机器人4的控制部44以及充电部3的控制模块312(控制柜315)能够相互通信,以便协作完成连贯的换电动作。如在主控单元的整体控制下,自动换电机器人4能够完成从电池存储单元21取送动力电池6的动作,以及在换电平台1完成更换动力电池6的动作等。Obviously, in order to realize the fully automatic power exchange of the charging and replacing power station, the charging and replacing power station also needs to set the main control unit, and replace the main control unit of the power station, the control unit 44 of the automatic power changing robot 4, and the control module 312 of the charging unit 3 ( Control cabinets 315) are capable of communicating with one another in order to cooperate to accomplish a coherent power change action. The automatic power-changing robot 4 can complete the action of taking the power battery 6 from the battery storage unit 21 and the operation of replacing the power battery 6 on the power-changing platform 1 as in the overall control of the main control unit.
下面结合图5以及图6A至图6D对本发明的充换电站的工作原理作简要说明。其中,图5是本发明的充换电站的换电方法的流程示意图;图6A是本发明的充换电站的一种完整的换电过程的流程示意图(一);图6B是本发明的充换电站的一种完整的换电过程的流程示意图(二);图6C是本发明的充换电站的一种完整的换电过程的流程示意图(三);图6D是本发明的充换电站的一种完整的换电过程的流程示意图(四)。The working principle of the charging and replacing station of the present invention will be briefly described below with reference to FIG. 5 and FIGS. 6A to 6D. 5 is a schematic flow chart of a power exchange method of the charging and replacing station of the present invention; FIG. 6A is a schematic flow chart (1) of a complete power changing process of the charging and replacing power station of the present invention; FIG. 6B is a charging method of the present invention; Schematic diagram of a complete power-changing process of a power station (2); FIG. 6C is a schematic flow chart of a complete power-changing process of the charging and discharging station of the present invention (3); FIG. 6D is a charging and replacing station of the present invention A schematic diagram of the process of a complete power-changing process (4).
如图5所示,本发明还提供了一种充换电站的换电方法,该换电方法主要包括以下步骤:As shown in FIG. 5, the present invention also provides a power exchange method for a charging and replacing power station, and the power changing method mainly includes the following steps:
S100、待换电的电动汽车5到达换电平台1。如待换电的电动汽车5通过V型辊筒完成在换电平台1上的粗定位,并利用升降机、卷筒、滑轮和钢丝绳等部件完成换电平台1的举升;S100. The electric vehicle 5 to be replaced receives the power exchange platform 1. If the electric vehicle 5 to be replaced is subjected to coarse positioning on the power exchange platform 1 through the V-shaped roller, and the lifting of the power exchange platform 1 is completed by using components such as an elevator, a reel, a pulley and a wire rope;
S200、自动换电机器人4到达待换电车辆的投影位置。如自动换电机器人4在控制部44的控制和定位部的不断定位下,通过行走部42的直线运动和原地转动精确到达待换电的电动汽车5上亏电电池的投影位置;S200. The automatic power changing robot 4 reaches a projection position of the vehicle to be replaced. For example, under the constant positioning of the control unit 44 and the positioning of the positioning portion, the automatic power-changing robot 4 accurately reaches the projection position of the depleted battery on the electric vehicle 5 to be replaced by the linear motion and the in-situ rotation of the traveling portion 42;
S300、自动换电机器人4使亏电电池脱离待换电车辆。如自动换电机器人4通过举升平台431的举升和加解锁机构432的解锁动作,将亏电电池从电动汽车5上卸下,并承载于举升平台431上;The S300 and the automatic power-changing robot 4 disengage the depleted battery from the vehicle to be replaced. If the automatic power-changing robot 4 is lifted by the lifting and unlocking mechanism 432 of the lifting platform 431, the battery is removed from the electric vehicle 5 and carried on the lifting platform 431;
S400、自动换电机器人4以不离地的方式使亏电电池固定于处于空闲状态的电池存储单元21。如自动换电机器人4在卸下亏电电池 后,移动至处于空闲状态的电池存储单元21,并与电池存储单元21进行精定位后,将亏电电池固定于电池存储单元21的夹持机构211上;S400. The automatic power-changing robot 4 fixes the depleted battery to the battery storage unit 21 in an idle state in a manner that does not leave the ground. After the automatic power-changing robot 4 moves to the battery storage unit 21 in the idle state after removing the battery, and performs fine positioning with the battery storage unit 21, the clamping mechanism that fixes the defective battery to the battery storage unit 21 211;
S500、自动换电机器人4以不离地的方式从存储有满电电池的电池存储单元21上承接满电电池。如自动换电机器人4移动到装载有满电电池的电池存储单元21的投影位置并对准后,充电部3的控制模块312控制电池存储单元21的夹持机构211松开,满电电池承载于举升平台431上;以及The S500 and the automatic power-changing robot 4 receive a full-charge battery from the battery storage unit 21 in which the fully-charged battery is stored, without leaving the ground. If the automatic power changing robot 4 moves to the projection position of the battery storage unit 21 loaded with the fully charged battery and is aligned, the control module 312 of the charging unit 3 controls the clamping mechanism 211 of the battery storage unit 21 to be released, and the battery is fully charged. On the lifting platform 431;
S600、自动换电机器人4使满电电池固定于待换电的电动汽车5。如自动换电机器人4移动回电动汽车5的底部并精确定位后,通过举升平台431的举升和加解锁机构432的加锁动作将满电电池固定于电动汽车5。S600. The automatic power changing robot 4 fixes the full battery to the electric vehicle 5 to be replaced. After the automatic power changing robot 4 moves back to the bottom of the electric vehicle 5 and is accurately positioned, the full battery is fixed to the electric vehicle 5 by the lifting operation of the lifting platform 431 and the locking operation of the unlocking mechanism 432.
其中,在电池存储单元21的排布方式为上述的i)情形(即动力电池6的长度方向与存储部2区域的长度方向以垂直的方式布置)时,步骤S400又可以进一步包括:In the case where the arrangement of the battery storage unit 21 is the above-mentioned i) (that is, the longitudinal direction of the power battery 6 is arranged in a vertical direction with the longitudinal direction of the storage unit 2), the step S400 may further include:
S410、自动换电机器人4在亏电电池的投影位置原地旋转第一设定角度。优选地,第一设定角度可以为90°;S410. The automatic power changing robot 4 rotates the first set angle in situ at the projection position of the depleted battery. Preferably, the first set angle may be 90°;
S420、自动换电机器人4移动至处于空闲状态的电池存储单元21的投影位置。如自动换电机器人4通过直线运动和原地转动的方式到达处于空闲状态的电池存储单元21的投影位置;以及S420. The automatic power changing robot 4 moves to the projected position of the battery storage unit 21 in the idle state. For example, the automatic power-changing robot 4 reaches the projected position of the battery storage unit 21 in the idle state by linear motion and in-situ rotation;
S430、自动换电机器人4将亏电电池固定于处于空闲状态的电池存储单元21。如通过举升平台431的举升和加解锁机构432的加锁动作将亏电电池固定于电池存储单元21。S430. The automatic power changing robot 4 fixes the depleted battery to the battery storage unit 21 in an idle state. The depletion battery is fixed to the battery storage unit 21 by the locking operation of the lifting and unlocking mechanism 432 of the lifting platform 431.
可以看出,正是由于自动换电机器人4的可自由移动的设置方式,即自动换电机器人4以可直线运动和原地转动的设置方式,使得自动换电机器人4在拆下亏电电池后,可以旋转一定角度后再移动出电动汽车5的底部,这个动作增大了自动换电机器人4在前后两个车轮间的活动范围,从而无需将车辆抬至很高的高度即可使自动换电机器人4从车底移动出并完成换电,降低了车轮对自动换电机器人4移动过程的影响。也就是说,这种设置方式降低了换电难度,提高了换电效率。It can be seen that it is precisely because of the freely movable setting mode of the automatic power changing robot 4 that the automatic power changing robot 4 is arranged in a linear motion and a home rotation manner, so that the automatic power changing robot 4 is disassembling the depleted battery. After that, it can be rotated by a certain angle and then moved out of the bottom of the electric vehicle 5. This action increases the range of motion between the two wheels before and after the automatic changing robot 4, so that the vehicle can be automatically raised without lifting the vehicle to a very high height. The power-changing robot 4 moves out from the bottom of the vehicle and completes the power-change, reducing the influence of the wheel on the movement process of the automatic-changing robot 4. In other words, this setting reduces the difficulty of changing the power and improves the efficiency of power conversion.
同样地,仍然在电池存储单元21的排布方式为上述的i)情形时,步骤S600可以进一步包括:Similarly, when the arrangement of the battery storage unit 21 is the above-mentioned i), the step S600 may further include:
S610、自动换电机器人4承载满电电池移动至待换电车辆的投影位置;S610, the automatic power changing robot 4 carries a full battery to move to a projection position of the vehicle to be replaced;
S620、自动换电机器人4在投影位置旋转第二设定角度,并与亏电电池精确对准。优选地,第二设定角度也可以为90°;以及S620. The automatic power changing robot 4 rotates the second set angle at the projection position and is precisely aligned with the depleted battery. Preferably, the second set angle may also be 90°;
S630、自动换电机器人4使满电电池固定于待换电车辆。S630. The automatic power changing robot 4 fixes the full battery to the vehicle to be replaced.
这样设置的优点在于,自动换电机器人4除了能够在进入电动汽车5底部时,增大自动换电机器人4在前后车轮之间的活动范围之外,还能够使自动换电机器人4按照旋转90°后从电动汽车5移动至处于空闲状态的电池存储单元21的路线原路返回,也就是对相同的路段进行逆操作,进而可以省去导引路线的设计。当然,第一设定角度和第二设定角度并非只限于上述描述的90°,本领域技术人员还能够对其做出调整,以便自动换电机器人4旋转的角度能够符合具体分应用场景。The advantage of such an arrangement is that the automatic power-changing robot 4 can increase the range of motion between the front and rear wheels of the automatic power-changing robot 4 when entering the bottom of the electric vehicle 5, and can also make the automatic power-changing robot 4 rotate 90. After that, the route from the electric vehicle 5 to the battery storage unit 21 in the idle state is returned to the original route, that is, the same road segment is reversely operated, thereby eliminating the design of the guide route. Of course, the first set angle and the second set angle are not limited to the above-described 90°, and those skilled in the art can also adjust it so that the angle of rotation of the automatic power-changing robot 4 can conform to a specific application scenario.
参照图6A至图6D,本发明的充换电站的一次完整的换电过程可以包括:待换电的电动汽车5驶入换电平台1并进行粗定位→自动换电机器人4移动至电动汽车5底部并与亏电电池对准(参照图6A)→自动换电机器人4通过举升平台431的举升和加解锁机构432的解锁,卸下亏电电池,并顺时针旋转90°(参照图6B)→自动换电机器人4移动至处于空闲状态的电池存储单元21,将亏电电池固定于电池存储单元21的夹持机构211(参照图6C)→自动换电机器人4移动至装载有满电电池的电池存储单元21,充电部3的控制模块312控制夹持机构211松开,满电电池承载于自动换电机器人4的举升平台431(参照图6D)→自动换电机器人4承载满电电池重新定位置电动汽车5的投影位置,并通过加解锁机构432的加锁将满电电池固定与电动汽车5→电动汽车5驶出充换电站。至此,换电过程结束。Referring to FIG. 6A to FIG. 6D, a complete power-changing process of the charging and discharging station of the present invention may include: the electric vehicle 5 to be replaced enters the power-changing platform 1 and performs coarse positioning → the automatic power-changing robot 4 moves to the electric vehicle 5 bottom and aligned with the depletion battery (refer to FIG. 6A) → the automatic power-changing robot 4 removes the depleted battery by the lifting of the lifting platform 431 and the unlocking mechanism 432, and rotates 90° clockwise (refer to 6B) → the automatic power-changing robot 4 moves to the battery storage unit 21 in the idle state, and fixes the defective battery to the chucking mechanism 211 of the battery storage unit 21 (refer to FIG. 6C) → the automatic power-changing robot 4 moves to the loading The battery storage unit 21 of the fully charged battery, the control module 312 of the charging unit 3 controls the clamping mechanism 211 to be released, and the full battery is carried on the lifting platform 431 of the automatic power changing robot 4 (refer to FIG. 6D) → the automatic power changing robot 4 The full-electric battery is repositioned to position the electric vehicle 5, and the full-charge battery is fixed and the electric vehicle 5→the electric vehicle 5 is driven out of the charging and replacing station by the locking of the unlocking mechanism 432. At this point, the power exchange process is over.
综上所述,上述优选的实施方式中,充换电站主要包括换电平台1、存储部2、充电部3以及自动换电机器人4。换电平台1布置于充换电站的一侧。存储部2包括若干个模块化设置的电池存储单元21,且若干个电池存储单元21之间采用最高效率的排布方式平面堆放。充电部3优选地采用分布式的布置方式与电池存储单元21以一对一的方式进行布置。自动换电机器人4包括本体41、行走部42、电池装卸部、定位部及控制部44,并且自动换电机器人4可以通过不离地的方式完成从电池存储单元21取送电池和为电动汽车5换电的动作。通过自动换电机器 人4可以直线运动和原地旋转、以及以不离地的方式完成换电动作的设置方式,使自动换电机器人4相对于依赖于轨道的换电机器人具有运动灵活性高的优点,进而达到精简了充换电站的结构、提高了充换电站的换电效率。通过模块化设置的电池存储单元21以及各个电池存储单元21之间采用最高效率的排布、平面堆放的设置方式,不仅使充换电站的配置灵活性与适用范围大大增加、充换电站的设计难度明显降低,而且还使自动换电机器人4在换电过程中无需升降,从而节省升降机构的设置,减少了成本,且进一步提升了换电效率。此外,在充电部3采用分布式的布置方式的情形下,使得每个充电单元31能够与相应的电池存储单元21组成一个完整的子模块,进而更加有利于充换电站的模块化管理,也使得充换电站的存储部2的布置更灵活、扩展性更好。In summary, in the above preferred embodiment, the charging and discharging station mainly includes the power changing platform 1, the storage unit 2, the charging unit 3, and the automatic power changing robot 4. The power exchange platform 1 is arranged on one side of the charging and replacing station. The storage unit 2 includes a plurality of modularly arranged battery storage units 21, and a plurality of battery storage units 21 are stacked in a plane with the highest efficiency arrangement. The charging section 3 is preferably arranged in a one-to-one manner with the battery storage unit 21 in a distributed arrangement. The automatic power-changing robot 4 includes a body 41, a running portion 42, a battery loading and unloading portion, a positioning portion, and a control portion 44, and the automatic power-changing robot 4 can complete the removal of the battery from the battery storage unit 21 and the electric vehicle 5 without leaving the ground. The action of changing the power. The automatic power-changing robot 4 can linearly move and rotate in place, and complete the setting mode of the power-changing action in a manner that does not leave the ground, so that the automatic power-changing robot 4 has the advantage of high flexibility of movement with respect to the track-dependent power-changing robot. In order to achieve a streamlined structure of the charging and replacing station, and improve the power-changing efficiency of the charging and replacing station. By adopting the most efficient arrangement and plane stacking between the battery storage unit 21 and the individual battery storage units 21, the configuration flexibility and application range of the charging and replacing station are greatly increased, and the design of the charging and replacing station is greatly improved. The difficulty is significantly reduced, and the automatic power-changing robot 4 does not need to be lifted during the power-changing process, thereby saving the setting of the lifting mechanism, reducing the cost, and further improving the power-changing efficiency. In addition, in the case that the charging unit 3 adopts a distributed arrangement, each charging unit 31 can be combined with the corresponding battery storage unit 21 to form a complete sub-module, thereby further facilitating the modular management of the charging station. The arrangement of the storage unit 2 of the charging and replacing station is made more flexible and more expandable.
至此,已经结合附图所示的优选实施方式描述了本发明的技术方案,但是,本领域技术人员容易理解的是,本发明的保护范围显然不局限于这些具体实施方式。在不偏离本发明的原理的前提下,本领域技术人员可以对相关技术特征作出等同的更改或替换,这些更改或替换之后的技术方案都将落入本发明的保护范围之内。Heretofore, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the drawings, but it is obvious to those skilled in the art that the scope of the present invention is obviously not limited to the specific embodiments. Those skilled in the art can make equivalent changes or substitutions to the related technical features without departing from the principles of the present invention, and the technical solutions after the modifications or replacements fall within the scope of the present invention.

Claims (16)

  1. 一种充换电站,其特征在于,所述充换电站包括:A charging and replacing power station, characterized in that the charging and replacing power station comprises:
    换电平台,其用于停放待换电车辆;a power exchange platform for parking a vehicle to be exchanged;
    存储部,其包括若干个电池存储单元,且所述若干个电池存储单元能够通过至少一种组合方式形成所述存储部;a storage unit including a plurality of battery storage units, and the plurality of battery storage units are capable of forming the storage portion by at least one combination;
    自动换电机器人,所述自动换电机器人至少能够在所述换电平台和所述存储部之间的范围内自由移动,并且An automatic power-changing robot capable of freely moving at least within a range between the power-changing platform and the storage portion, and
    在所述自动换电机器人处于所述若干个电池存储单元中的任意一个的投影位置的情形下,所述自动换电机器人能够直接从所述电池存储单元上承接动力电池或将动力电池固定于所述电池存储单元。In the case where the automatic power-changing robot is in a projection position of any one of the plurality of battery storage units, the automatic power-changing robot can directly receive or fix the power battery from the battery storage unit The battery storage unit.
  2. 根据权利要求1所述的充换电站,其特征在于,所述电池存储单元以模块化设置,并且所述若干个电池存储单元在同一层内排布。The charging and power station according to claim 1, wherein said battery storage unit is modularly arranged, and said plurality of battery storage units are arranged in the same layer.
  3. 根据权利要求1或2所述的充换电站,其特征在于,所述充换电站还配置有能够与所述存储部电连接的充电部,所述充电部用于为所述动力电池充电。The charging and discharging station according to claim 1 or 2, wherein the charging and discharging station is further provided with a charging unit that is electrically connectable to the storage unit, and the charging unit is configured to charge the power battery.
  4. 根据权利要求3所述的充换电站,其特征在于,所述充电部包括充电单元,所述充电单元包括:The charging and replacing station according to claim 3, wherein the charging unit comprises a charging unit, and the charging unit comprises:
    充电柜,其与所述若干个电池存储单元分别连接,用于为所述动力电池充电;a charging cabinet, which is respectively connected to the plurality of battery storage units for charging the power battery;
    控制柜,其与所述若干个电池存储单元分别连接,用于使所述充电柜为所述动力电池充电。And a control cabinet connected to the plurality of battery storage units for charging the power battery.
  5. 根据权利要求4所述的充换电站,其特征在于,所述充电单元还包括水冷柜,所述水冷柜与所述若干个电池存储模块分别连接,用于冷却充电过程中的所述动力电池。The charging and replacing station according to claim 4, wherein the charging unit further comprises a water-cooling cabinet, wherein the water-cooling cabinet is separately connected to the plurality of battery storage modules for cooling the power battery during charging .
  6. 根据权利要求3所述的充换电站,其特征在于,所述充电部包括至少一个充电单元,所述充电单元包括:The charging and replacing station according to claim 3, wherein the charging portion comprises at least one charging unit, and the charging unit comprises:
    充电模块,其与至少一个所述电池存储单元连接,用于为所述动力电池提供电能;a charging module connected to at least one of the battery storage units for providing power to the power battery;
    控制模块,其与至少一个所述电池存储单元连接,用于使所述充电模块为所述动力电池充电。And a control module coupled to the at least one of the battery storage units for causing the charging module to charge the power battery.
  7. 根据权利要求6所述的充换电站,其特征在于,所述充电单元还包括水冷模块,所述水冷模块与至少一个所述电池存储单元连接,用于冷却充电过程的所述动力电池。The charging and replacing station according to claim 6, wherein said charging unit further comprises a water cooling module, said water cooling module being coupled to at least one of said battery storage units for cooling said power battery of said charging process.
  8. 根据权利要求1或2所述的充换电站,其特征在于,所述自动换电机器人包括电池装卸部,所述电池装卸部能够直接从所述待换电车辆上将所述动力电池取下或将所述动力电池固定于所述待换电车辆。The charging and replacing station according to claim 1 or 2, wherein the automatic power changing robot includes a battery loading and unloading portion, and the battery loading and unloading portion is capable of directly removing the power battery from the to-be-returned vehicle Or fixing the power battery to the vehicle to be replaced.
  9. 根据权利要求8所述的充换电站,其特征在于,所述电池装卸部包括:The charging and discharging station according to claim 8, wherein the battery loading and unloading portion comprises:
    举升平台,其能够与所述待换电车辆或所述电池存储单元对接;a lifting platform capable of docking with the vehicle to be replaced or the battery storage unit;
    加解锁机构,其能够在所述举升平台与所述待换电车辆对接好的情形下,使所述动力电池锁紧/脱开所述待换电车辆。And an unlocking mechanism capable of locking/disengaging the power battery in the case where the lifting platform is docked with the to-be-returned vehicle.
  10. 根据权利要求1或2所述的充换电站,其特征在于,所述电池存储单元配置有夹持机构,所述动力电池能够通过该夹持机构固定于所述电池存储单元。The charging and discharging station according to claim 1 or 2, wherein the battery storage unit is provided with a clamping mechanism by which the power battery can be fixed to the battery storage unit.
  11. 根据权利要求1或2所述的充换电站,其特征在于,所述换电站内还预设有应急位置,所述自动换电机器人能够以自由移动的方式到达该应急位置。The charging and replacing station according to claim 1 or 2, characterized in that the emergency power station is further provided with an emergency position, and the automatic power changing robot can reach the emergency position in a freely movable manner.
  12. 一种充换电站的换电方法,其特征在于,所述方法包括如下步骤:A power exchange method for charging and replacing a power station, characterized in that the method comprises the following steps:
    自动换电机器人到达待换电车辆的投影位置;The automatic changing robot reaches the projection position of the vehicle to be replaced;
    所述自动换电机器人使亏电的动力电池脱离所述待换电车辆;The automatic power-changing robot disengages the depleted power battery from the to-be-returned vehicle;
    所述自动换电机器人以不离地的方式使所述亏电的动力电池固定至处于空闲状态的电池储存单元;The automatic power-changing robot fixes the depleted power battery to a battery storage unit in an idle state in a manner that does not leave the ground;
    所述自动换电机器人以不离地的方式从电池存储单元上承接满电的动力电池;The automatic power-changing robot receives a fully-powered power battery from the battery storage unit in a manner that does not leave the ground;
    所述自动换电机器人使所述满电的动力电池固定于所述待换电车辆。The automatic power changing robot fixes the fully charged power battery to the to-be-returned vehicle.
  13. 根据权利要求12所述的充换电站的换电方法,其特征在于,“所述自动换电机器人以不离地的方式使所述亏电的动力电池固定至处于空闲状态的电池储存单元”的步骤进一步包括:The power exchange method of a charging and replacing station according to claim 12, wherein "the automatic power changing robot fixes the depleted power battery to a battery storage unit in an idle state without leaving the ground" The steps further include:
    所述自动换电机器人在所述待换电车辆的投影位置旋转第一设定角度;The automatic power changing robot rotates a first set angle at a projection position of the to-be-returned vehicle;
    所述自动换电机器人移动至所述处于空闲状态的电池存储单元的投影位置;The automatic power changing robot moves to a projection position of the battery storage unit in an idle state;
    所述自动换电机器人使所述亏电的电池固定至所述处于空闲状态的电池存储单元。The automatic power-changing robot fixes the depleted battery to the battery storage unit in an idle state.
  14. 根据权利要求12所述的充换电站的换电方法,其特征在于,“所述自动换电机器人以不离地的方式从电池存储单元上承接所述满电的动力电池”的步骤进一步包括:The method for changing power of a charging and replacing station according to claim 12, wherein the step of "the automatic power changing robot receives the fully charged power battery from the battery storage unit in a manner of not removing the ground" further comprises:
    所述自动换电机器人移动至所述电池存储单元的投影位置;The automatic power changing robot moves to a projection position of the battery storage unit;
    使所述电池存储单元的夹持机构松开;Unlocking the clamping mechanism of the battery storage unit;
    所述自动换电机器人承接所述满电的动力电池。The automatic power changing robot receives the fully powered power battery.
  15. 根据权利要求12所述的充换电站的换电方法,其特征在于,“所述自动换电机器人使所述满电的动力电池固定于所述待换电车辆”的步骤进一步包括:The method for changing power of a charging and replacing station according to claim 12, wherein the step of "the automatic power-changing robot fixes the fully-powered power battery to the vehicle to be replaced" further comprises:
    所述自动换电机器人移动至所述待换电车辆的投影位置;The automatic power changing robot moves to a projection position of the to-be-returned vehicle;
    所述自动换电机器人在所述待换电车辆的投影位置旋转第二设定角度;The automatic power changing robot rotates a second set angle at a projection position of the to-be-returned vehicle;
    所述自动换电机器人使所述满电的动力电池固定于所述待换电车辆。The automatic power changing robot fixes the fully charged power battery to the to-be-returned vehicle.
  16. 根据权利要求12所述的充换电站的换电方法,其特征在于,在“自动换电机器人到达待换电车辆的投影位置”的步骤之前,所述步骤还包括:The power exchange method of the charging and replacing station according to claim 12, wherein before the step of "the automatic switching robot reaches the projection position of the vehicle to be replaced", the step further comprises:
    所述待换电车辆到达换电平台。The vehicle to be replaced arrives at the power exchange platform.
PCT/CN2018/075689 2017-06-29 2018-02-07 Battery charging and swapping station and battery swapping method WO2019000955A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201710512630.0A CN107399302B (en) 2017-06-29 2017-06-29 Charging and battery replacing station and battery replacing method
CN201710512630.0 2017-06-29

Publications (1)

Publication Number Publication Date
WO2019000955A1 true WO2019000955A1 (en) 2019-01-03

Family

ID=60405121

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/075689 WO2019000955A1 (en) 2017-06-29 2018-02-07 Battery charging and swapping station and battery swapping method

Country Status (3)

Country Link
CN (1) CN107399302B (en)
TW (1) TW201904789A (en)
WO (1) WO2019000955A1 (en)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019104882A1 (en) * 2017-11-30 2019-06-06 上海电巴新能源科技有限公司 Rechargeable battery transfer control system, and battery swap control system and method for electric vehicle
CN107399302B (en) * 2017-06-29 2020-10-23 上海蔚来汽车有限公司 Charging and battery replacing station and battery replacing method
CN109861313A (en) * 2017-11-30 2019-06-07 上海微电子装备(集团)股份有限公司 Battery replacement device, battery change system and dispatching method
CN109933054A (en) * 2017-12-15 2019-06-25 蔚来汽车有限公司 Moor the system and method for changing electric car position, the electric vehicle in electrical changing station automatically for vehicle
CN108162928A (en) * 2017-12-20 2018-06-15 佛山市梦真营机电有限公司 A kind of Vehicular battery fixed system
DE102018209106A1 (en) * 2018-06-08 2019-12-12 Audi Ag Mobile charging device for an electric vehicle
WO2020082841A1 (en) * 2018-10-26 2020-04-30 青岛联合新能源汽车有限公司 Electric car battery sharing system and battery swapping method
IT201800009865A1 (en) * 2018-10-29 2020-04-29 Eurofork Srl Device for removing and replacing battery packs from electric vehicles.
CN109177940A (en) * 2018-11-12 2019-01-11 长沙源婕科技有限公司 A kind of battery altering robot
CN111284360A (en) * 2020-01-23 2020-06-16 奥动新能源汽车科技有限公司 Lane-clamping control method and system, electronic device and storage medium
WO2021238938A1 (en) * 2020-05-25 2021-12-02 奥动新能源汽车科技有限公司 Battery swapping station and battery swapping method thereof
CN112428870A (en) * 2020-12-10 2021-03-02 重庆峘能电动车科技有限公司 Battery changing station and battery changing method
CN114987405A (en) * 2021-02-03 2022-09-02 西华大学 Double-locking type battery replacing system for battery replacing type electric automobile

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102381290A (en) * 2011-08-30 2012-03-21 西安交通大学苏州研究院 Battery changing and assembling robot
CN102923099A (en) * 2012-08-22 2013-02-13 北京国网普瑞特高压输电技术有限公司 Modularized box type charging and battery swapping station
CN104417503A (en) * 2013-08-30 2015-03-18 国家电网公司 Battery replacing system of electric car
US20160368464A1 (en) * 2015-06-17 2016-12-22 Ample Inc. Robot Assisted Modular Battery Interchanging System
CN107399302A (en) * 2017-06-29 2017-11-28 上海蔚来汽车有限公司 Electric charging station and change method for electrically
CN207029135U (en) * 2017-06-29 2018-02-23 上海蔚来汽车有限公司 Electric charging station

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102060005B (en) * 2010-12-23 2012-10-03 柳崇禧 Automatic battery quick replacement system and method for electric vehicles
CN202169933U (en) * 2011-07-22 2012-03-21 沈阳友联电子装备有限公司 manipulator for replacing vehicle-mounted cells
CN102632871A (en) * 2012-04-26 2012-08-15 亿源动力(北京)科技有限公司 Rapid battery change system for electric car
CN102795204B (en) * 2012-08-16 2015-02-11 王俊 Electric car chassis battery charging and replacing station and battery replacing method using same
CN104787011B (en) * 2015-04-13 2017-06-09 深圳精智机器有限公司 Change electric installation and battery replacement device
CN106143183A (en) * 2016-06-27 2016-11-23 蔚来汽车有限公司 The small-sized automatic charging and conversion electric station of electric automobile

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102381290A (en) * 2011-08-30 2012-03-21 西安交通大学苏州研究院 Battery changing and assembling robot
CN102923099A (en) * 2012-08-22 2013-02-13 北京国网普瑞特高压输电技术有限公司 Modularized box type charging and battery swapping station
CN104417503A (en) * 2013-08-30 2015-03-18 国家电网公司 Battery replacing system of electric car
US20160368464A1 (en) * 2015-06-17 2016-12-22 Ample Inc. Robot Assisted Modular Battery Interchanging System
CN107399302A (en) * 2017-06-29 2017-11-28 上海蔚来汽车有限公司 Electric charging station and change method for electrically
CN207029135U (en) * 2017-06-29 2018-02-23 上海蔚来汽车有限公司 Electric charging station

Also Published As

Publication number Publication date
CN107399302B (en) 2020-10-23
CN107399302A (en) 2017-11-28
TW201904789A (en) 2019-02-01

Similar Documents

Publication Publication Date Title
WO2019000955A1 (en) Battery charging and swapping station and battery swapping method
EP3725606A1 (en) Battery charging and swapping station
WO2019114546A1 (en) Battery charging and replacement station
TWI732052B (en) Charging station for an electric vehicle and method for charging
WO2017219906A1 (en) Modularized extendable battery changing station device and charging rack
WO2019165722A1 (en) Battery compartment, new energy automobile battery swap station and battery storage and transfer method
JP2017503731A (en) Robot for transporting storage containers
WO2019085319A1 (en) Battery swapping transporting device
CN207029135U (en) Electric charging station
TWM573306U (en) Automatic battery swap station for electric vehicle
WO2021258942A1 (en) Battery swapping platform, battery swapping station, and battery swapping method
WO2019100656A1 (en) Automatic battery swap platform and battery swap station for electric vehicles
TWI758067B (en) Battery transporting system and swapping station containing the same
TWI759070B (en) Swapping station
TW201924984A (en) Automatic swap platform and station for electric vehicle
US11254224B2 (en) Battery load mechanism for electric LHD mining machine
CN210554714U (en) Novel charging and replacing station
CN216636123U (en) Quick battery replacing device and battery pack mounting structure applied to same
CN109484372B (en) Method and controller for controlling power battery circulation in battery swapping system
KR102332609B1 (en) Electric vehicle battery replacement system and method
CN215663040U (en) Battery changing station
CN115027853A (en) Battery replacement system and method with double-layer conveying mechanism
KR20220118014A (en) Electric vehicle battery charging system and method
KR20220048895A (en) Electric bus battery replacement system and electric bus battery replacement method
KR20220031159A (en) Battery swap method for electric vehicles

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18823026

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18823026

Country of ref document: EP

Kind code of ref document: A1