WO2022007813A1 - 推盘盒、换电设备及其控制方法 - Google Patents

推盘盒、换电设备及其控制方法 Download PDF

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Publication number
WO2022007813A1
WO2022007813A1 PCT/CN2021/104839 CN2021104839W WO2022007813A1 WO 2022007813 A1 WO2022007813 A1 WO 2022007813A1 CN 2021104839 W CN2021104839 W CN 2021104839W WO 2022007813 A1 WO2022007813 A1 WO 2022007813A1
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WO
WIPO (PCT)
Prior art keywords
push
battery pack
tray
battery
box
Prior art date
Application number
PCT/CN2021/104839
Other languages
English (en)
French (fr)
Inventor
张建平
吉毅
文超
仇丹梁
Original Assignee
奥动新能源汽车科技有限公司
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 claimed from CN202010643296.4A external-priority patent/CN113895294A/zh
Priority claimed from CN202010643286.0A external-priority patent/CN113895292A/zh
Priority claimed from CN202010642718.6A external-priority patent/CN113895286B/zh
Priority claimed from CN202010643280.3A external-priority patent/CN113895291A/zh
Application filed by 奥动新能源汽车科技有限公司 filed Critical 奥动新能源汽车科技有限公司
Priority to EP21837177.1A priority Critical patent/EP4177102A4/en
Publication of WO2022007813A1 publication Critical patent/WO2022007813A1/zh

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Classifications

    • 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
    • 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
    • B60L53/30—Constructional details of charging stations
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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

Definitions

  • the invention relates to the field of power exchange, in particular to a disk push box, power exchange equipment and a control method thereof.
  • a battery swap station is used as a place to provide battery replacement services for new energy electric vehicles.
  • the battery swap station is usually equipped with battery swap equipment for disassembling and assembling battery packs and transporting batteries between the battery swap station and the electric vehicle.
  • the battery replacement device includes a battery tray, where the battery tray is used to place the battery pack and perform the specific process of disassembling and assembling the battery pack. During the disassembly and assembly process of the battery pack, the battery pack needs to be pushed or pulled between the battery tray and the battery compartment or the battery bracket in the electric vehicle.
  • the push-disc box is a preset movement mode, which is prone to problems such as collision with the battery pack and inappropriate pulling.
  • the technical problem to be solved by the present invention is to overcome the defects of the prior art that the push-disc box is in a preset motion mode, which is prone to collide with the battery pack and not be pulled in place.
  • a push tray box is arranged on a battery tray of a power exchange device, and is used for pushing or pulling a battery pack between the battery tray and a battery compartment or a battery tray in an electric vehicle, comprising:
  • a detection module for detecting the contact state between the push tray box body and the battery pack
  • control module is electrically connected to the detection module, and the control module is used to control the moving state of the disc push box body, when the detection module detects that the push disc box body and the battery pack are in contact with each other Afterwards, the control module controls the disc push box body to execute a corresponding movement state.
  • the effect of the technical solution is: by detecting the contact state between the push-disc box body and the battery pack, and then executing the corresponding movement state control, the reliable connection between the push-disc box and the battery pack is ensured, and the collision of the battery pack and the pulling of the battery pack are avoided. If not in place, etc., improve the reliability and safety of battery replacement equipment.
  • the disk push box further includes a connecting portion, the connecting portion is disposed on the disk push box body, and the connecting portion is used for connecting the battery pack when the disk push box body is in contact with the battery pack.
  • connection between the disc box body and the battery pack is realized by contacting and connecting the connecting portion with the battery pack, which facilitates the pushing and pulling of the battery pack through the movement of the push disc box body.
  • connection part includes a first connection piece and a second connection piece
  • detection module includes a first detection module and a second detection module
  • the first detection module is used for detecting the connection between the first connection piece and the second connection piece.
  • the first contact state of the battery pack, and the second detection module is used to detect the second contact state of the second connector and the battery pack.
  • the effect of the technical solution is: through the detection of double contact states, the reliable contact between the push-disc box and the battery pack is ensured, thereby realizing the reliable connection between the push-disc box and the battery pack.
  • the first connecting member is capable of displacement relative to the main body of the tray box, and the first detection module is used to detect the displacement state of the first connecting member.
  • the effect of the technical solution is that the first connector will be displaced by force after contacting with the battery pack, and the first detection module can obtain the contact state corresponding to the push tray box and the battery pack by detecting the displacement state of the first connector.
  • the connecting part further comprises a movable part
  • the first connecting piece is connected to the push tray box body through the movable part
  • the movable part is compressible along the movement direction of the push tray box body
  • the first detection module is arranged on the compression path of the movable part, and is used for detecting the position of the first connecting piece to determine whether it is in the first contact state.
  • the effect of the technical solution is that the first connecting piece can be moved in the moving direction of the disc push box body through the movable portion, when the disc push box moves, the first connecting piece contacts the battery pack, and the movable portion is affected by the movement of the disc push box body.
  • the moving position of the piece is used to determine whether it is in the first contact state.
  • the second connecting piece is disposed on the first connecting piece along the direction of the push tray box body toward the battery bracket, and can be displaced relative to the first connecting piece, and the second connecting piece is
  • the detection module is used for detecting the displacement state of the second connecting piece.
  • the second connecting piece contacts the battery pack before the first connecting piece and moves relative to the first connecting piece
  • the second detection module can detect the second connecting piece The displacement state of , determines whether it is in the second contact state.
  • the second connection piece is movably arranged on the first connection piece
  • the second detection module is arranged on the movable path of the second connection piece and is used to detect the second connection
  • the position of the component is used to determine whether it is in the second contact state.
  • the effect of the technical solution is: through the detection of double contact states, the reliable contact between the push-disc box and the battery pack is ensured, thereby realizing the reliable connection between the push-disc box and the battery pack.
  • the movable part includes:
  • the first connecting piece is positioned on the push tray box body through the sliding structure, and realizes the sliding of the first connecting piece along the moving direction of the push tray box body;
  • an elastic structure wherein the elastic structure applies a force to the first connecting piece to drive the first connecting piece to return to an initial position when the first connecting piece is not in contact with the battery pack;
  • the first detection module is arranged on the sliding path of the sliding structure and is used for detecting whether the first connecting member is compressed to a preset position.
  • the sliding structure connects the first connecting piece with the push-disc box body, the first connecting piece can move relative to the push-disc box body on the sliding structure, and when the first connecting piece contacts the battery pack, the first connecting piece The forces are all slid in the opposite direction of the moving direction of the disc cartridge body relative to the disc cartridge body for detection by the first detection module.
  • the elastic structure can ensure that the first connecting piece is reset and extended relative to the disc cartridge body when it is not in contact.
  • the sliding structure includes a support rod, one end of the support rod is connected to the push tray box body, and the first connecting piece is sleeved on the support rod and can slide on the support rod ;
  • the elastic structure includes an elastic element, the elastic element is sleeved on the support rod, one end of the elastic element is pressed against the push tray box body, and the other end of the elastic element is pressed against the first connecting piece.
  • the effect of the technical solution is that: the first connecting piece is sleeved on the support rod and can slide on the support rod, the elastic element is also sleeved on the support rod, and the two ends of the elastic element are respectively abutted against the push tray box body and the first When the first connector is forced to retreat, the elastic element will also be forced to compress against the first connector. At the same time, if the first connector is no longer stressed, the elastic element will press the first connector under the elastic force. reset.
  • the first connecting member further includes an adsorption device, and the second connecting member is disposed on the adsorption surface of the adsorption device.
  • the effect of the technical solution is that the adsorption force of the adsorption device is used for fixed connection with the battery pack, the structure is simple, and the connection reliability is high.
  • a power exchange device which includes the above push-up disk box.
  • the power exchange device detects the contact state between the push disk box body and the battery pack and then executes the corresponding movement state control, so as to ensure the reliable connection between the push disk box and the battery pack and avoid collision. If the battery pack and pulling are not in place, etc., the reliability and safety of the battery replacement equipment will be improved.
  • a battery pack connection control method for a power exchange device the power exchange device is used for battery pack transfer between a battery compartment and an electric vehicle, and the battery pack is locked in the battery compartment or the electric vehicle
  • the power exchange device includes a battery tray and a push tray box, and the push tray box is used to push or pull a battery pack between the battery tray and the battery tray, which includes follow the steps below:
  • the effect of the technical solution is: according to the contact state between the push-disc box and the battery pack, it controls whether the push-disc box stops moving, so as to ensure the reliable connection between the push-disc box and the battery pack, and avoid the push-disc box from touching the battery when it is not in contact with the battery pack. It stops running when it is packaged, which can improve the reliability of the power exchange equipment.
  • the step of judging whether the push-disc box body is in contact with the battery pack includes:
  • the effect of the technical solution is: through the determination of the double contact state, it is avoided that the push-disc box stops moving when it is not in contact with the battery pack due to the false trigger of a single signal. Reliable connection affects the reliability of battery swapping equipment.
  • a power exchange device is used for transferring a battery pack between a battery compartment and an electric vehicle, the battery pack is placed on the battery compartment or a battery bracket in the electric vehicle, and the power exchange device includes :
  • a push tray box movably connected to the battery tray, for pushing or pulling a battery pack between the battery tray and the battery tray;
  • control module is used to control the moving state of the disc push box
  • the detection module is used to detect whether the push tray is located in a preset area of the battery tray, and the detection module is electrically connected to the control module;
  • the control module controls the disk push box to change the moving state.
  • the effect of the technical solution is that the moving state of the push-disc box can be changed according to the different positions on the battery tray, so that the moving state of the push-disc box can be adjusted in real time at different positions on the battery tray to quickly and accurately pull or push the battery pack And push the disk box reset and stop and other actions, the power exchange efficiency is higher, and the safety is better.
  • the preset area includes at least one of the following:
  • the preset area includes a deceleration area, and when the detection module detects that the push-disc box is located in the deceleration area, the control module controls the push-disc box to decelerate;
  • the preset area includes a reset area; when the detection module detects that the disk push box is located in the reset region, the control module controls the disk push box to stop.
  • the preset area includes a limit area; when the detection module detects that the disk push box is located in the limit region, the control module controls the disk push box to stop.
  • the effect of the technical solution is: setting the deceleration area to reduce the speed of the push-disc box, so that the push-disc box can be in contact with the battery pack more accurately and reliably, preventing the battery pack from being collided with too fast.
  • Setting the reset area to stop the reset of the push-disc box can ensure the accuracy of the reset position of the push-disc box and prevent the push-disc box from deviating from the original position to cause errors.
  • Setting the limit area can control the emergency stop of the push tray to prevent the equipment or battery pack from being damaged due to movement of the push tray to the extreme position.
  • the detection module includes a pair of matching first detection pieces and second detection pieces, the first detection piece is set on the battery tray, and the second detection piece is set on the push tray box .
  • the effect of the technical solution is that the first detection piece and the second detection piece cooperate to indicate the preset area, and when the disk pusher box passes through the preset area, the second detection piece on the disk pusher box can sense the voltage on the battery tray.
  • the first detection part is used to determine whether the push-disc box is at the preset position.
  • the first detection member includes a deceleration detection member, which is an induction block or an induction belt.
  • the deceleration detection member is mounted on the battery tray and disposed toward the push tray box, and forms the deceleration area.
  • the deceleration detection element is arranged on the battery tray and faces the push-disc box, and the push-disc box can sense the deceleration detection element when it passes through the deceleration area, thereby judging that it is located in the deceleration area.
  • the deceleration detection member is mounted on one end of the battery tray close to the battery bracket and extends along the moving direction of the push tray box.
  • the effect of the technical solution is that the speed of the push-disc box can be reduced before contacting with the battery pack, and the battery pack can be connected more accurately and safely.
  • the extension of the deceleration detection member along the moving direction of the push-disc box can make the signal output continuously in the deceleration area, and the deceleration signal is more reliable.
  • the first detection member includes a limit position detection member
  • the limit position detection member is installed at two end positions in the battery tray in the moving direction of the push tray box, and forms the limit area. .
  • the limit position detection parts are located at both ends of the battery tray, the push-disc box will not be triggered when it is running normally, and when the push-disc box fails and moves to the limit area, the movement of the push-disc box can be stopped urgently to prevent it from falling out resulting in equipment damage.
  • the first detection member includes a reset detection member, and the reset detection member is installed in the battery tray at a position between two ends of the push tray box in the moving direction.
  • the effect of the technical solution is that the reset detection piece is located at the starting position of the disc push box, and when the push disc box retrieves the battery pack, it can stop precisely at the starting position.
  • the second detection member is a proximity sensor
  • the second detection member is installed in the push tray box at a position corresponding to the first detection member
  • the second detection member is electrically connected to the
  • the control module is used for detecting whether the push tray is located in the preset area.
  • the effect of the technical solution is that the proximity sensor cooperates with the detection piece, and when the disc pusher box passes through the preset area, the proximity sensor can quickly and reliably detect the piece and determine that the disc pusher box is located in the preset area.
  • a control method for a power exchange device comprising the following steps:
  • the moving state of the push-disc box is controlled according to a preset action and the position of the push-disc box on the battery tray.
  • the effect of the technical solution is that the moving state of the push-disc box can be changed according to the different positions on the battery tray and the different movement states, so that the movement of the push-disc box can be adjusted in real time according to different positions on the battery tray in different movement states.
  • the state can quickly and accurately pull or push the battery pack and push the disk box to reset and stop, and the battery replacement efficiency is higher and the safety is better.
  • the preset action is that the push tray box extends relative to the battery tray, and when the push tray box is located in the deceleration area, the push tray box is controlled to decelerate; or
  • the preset action is that the push-disc box is retracted from the extended state, and when the push-disc box is located in the reset area, the push-disc box is controlled to stop.
  • the effect of the technical solution is that when the push tray moves toward the battery tray to grab the battery pack, the speed can be reduced when approaching the battery tray to connect the battery pack more accurately.
  • the push tray When the push tray is retracted after connecting with the battery pack, it can stop at the starting position more precisely.
  • a push-disc box is arranged on a battery tray of a power exchange device, and the push-disc box is used for pushing or pulling between a battery compartment or a battery tray in an electric vehicle and the battery tray
  • the battery pack characterized in that the push tray box includes:
  • the push-disc box body is movably connected to the battery tray;
  • the connecting part is arranged on the side of the push tray box body facing the battery bracket, and the connecting part is used for connecting with the battery pack;
  • the driving part is connected with the push-disc box body, and the drive part is used for driving the push-disc box body to move;
  • At least two balancing parts at least one balancing part is respectively provided on both sides of the connecting part along the lateral direction of the push tray body, the balancing parts are used in the process of pushing or pulling the battery pack Balance the movement state of the battery pack in .
  • the battery pack may be dislocated during the movement between the battery bracket and the battery tray of the power exchange device, and the battery pack will face the two sides of the connecting portion of the push tray box along the lateral direction of the push tray box body.
  • At least one balancing part is installed on both sides of the connecting part, which can balance the moving state of the battery pack during the process of pushing the disk box to drive the battery pack to move, so that no matter which side the battery pack is offset, it can be adjusted by the balancing part to prevent the battery pack from moving.
  • the battery pack collides with the battery tray or the battery tray due to the offset, which reduces the wear of the battery pack, the battery tray, and the battery tray, and increases the reliability and safety of the battery replacement process.
  • the centers of at least two of the balancing parts and the centers of the connecting parts are not on the same line.
  • the above arrangement makes the contact surface of the balance part and the battery pack and the contact surface of the connection part and the battery pack not in the same direction, which enhances the stability and reliability of the balance of the battery pack movement process and reduces the battery pack movement process. offset in.
  • the connecting portion is arranged at a middle position in the lateral direction of the push-disc box body, and the two balancing portions are respectively arranged at equally spaced positions on both sides of the connecting portion.
  • the connecting surface of the connecting portion facing the battery pack and the balancing surface of the balancing portion facing the battery pack are not on the same plane.
  • the above setting prevents the battery pack from contacting the connecting part and the balance part at the same time, so as to adapt to the moving range of the battery pack and control the allowable dislocation of the battery pack. mobile state.
  • the connecting portion protrudes beyond the first width of the push tray case body, and the balance portion protrudes from the push tray case.
  • the body has a second width, and the first width is greater than or equal to the second width.
  • the connecting portion protrudes toward the side of the battery pack relative to the balance portion. During the movement of the battery pack, the connecting portion will be contacted first. Only when the battery pack is misaligned will the battery pack come into contact with the balance portion. , so that the battery pack movement state is adjusted to balance.
  • the balance part includes a push block, the push block is disposed on the side of the push tray box body facing the battery bracket, and the push block is used for contacting the battery pack.
  • the push block is used to contact the battery pack, and the dislocation of the battery pack is adjusted by pushing against the battery pack to keep it in a stable state, so as to limit the dislocation of the battery pack.
  • the connecting portion is movable relative to the push tray box body.
  • the pushing block is an elastic piece.
  • the push block is used to contact the battery pack.
  • the push block can adjust the moving state of the battery pack, and the push block is set as an elastic piece, so as to reduce the amount of the push block and the battery pack. Wear when the bag comes into contact, and reduce the force between the two, increasing the service life of the push-to-disk box.
  • the material of the push block is polyurethane.
  • the polyurethane material has good stability, resilience and mechanical properties, and is not easily deformed after compression.
  • the connecting portion is an adsorption device.
  • connection part is connected with the battery pack through the adsorption force, the operation is simple, the connection and disassembly are very convenient, and no additional connection structure is required, which simplifies the structure of the connection part and the battery pack.
  • a push-disc box is arranged on a battery tray of a power exchange device, and the push-disc box is used for pushing or pulling between a battery compartment or a battery tray in an electric vehicle and the battery tray
  • the battery pack characterized in that the push tray box includes:
  • the push-disc box body is movably connected to the battery tray;
  • the connecting part is arranged on the side of the push tray box body facing the battery bracket, and the connecting part is used for connecting with the battery pack;
  • control module is used to control the moving state of the disc push box body
  • the detection module is used for detecting the contact state between the connection part and the battery pack, and the detection module is electrically connected to the control module.
  • the battery pack is locked on the battery bracket by detecting whether the connection part of the push tray case is in contact with the battery pack.
  • the battery pack When the battery pack is in an unlocked state, the battery pack will move together with the push tray box, the battery pack and the connecting part are always connected, and the connecting part and the battery pack are in contact.
  • the battery pack is in a locked state, the battery pack is locked on the battery bracket and will not move with the push tray box, the battery pack is disconnected from the connecting portion, and the connecting portion is not in contact with the battery pack.
  • the contact state between the connection part and the battery pack is directly sensed by the detection module, and the machine operates automatically throughout the whole process, with high accuracy, without manual processing, saving labor costs, reducing man-hours and improving work efficiency.
  • the connecting portion is movable relative to the push-disc box body, and the detection module detects the contact state between the connecting portion and the battery pack by detecting the moving state of the connecting portion.
  • the battery pack when the battery pack is in an unlocked state, the battery pack can move with the push box tray, the battery pack is connected to the connecting portion, the connecting portion remains relatively stationary relative to the push plate box body, and the detection module cannot detect The state of motion of the link.
  • the battery pack When the battery pack is in the locked state, the battery pack is locked on the battery bracket and cannot move with the push tray box. Losing the abutment of the battery pack will cause the connecting part to move relative to the push tray box body and be detected by the module. The movement state of the connection is detected. Whether the connection part is in contact with the battery pack is detected by the moving state of the connection part, and the accuracy is high.
  • the connecting portion includes a detection rod
  • the detection module includes a proximity sensor
  • the proximity sensor is used to detect the movement state of the detection rod.
  • the battery pack when the battery pack is in an unlocked state, the battery pack can move together with the push box plate, the battery pack is connected to the connecting part, and always exerts a force on the detection rod, so that the detection rod cannot move, The proximity sensor cannot detect the movement of the detection lever.
  • the battery pack is locked on the battery bracket and cannot move with the push tray box, the force exerted by the battery pack on the detection rod disappears, and the detection rod moves and is detected by the proximity sensor. movement status.
  • the surface on which the connecting portion is attached to the battery pack is a connecting surface
  • the detection rod protrudes by a predetermined length in a direction toward the battery pack compared to the connecting surface.
  • the connecting surface is always attached to the battery pack.
  • the above arrangement enables the battery pack to always exert a force on the detection rod during the attaching process of the battery pack and the connecting surface, so that the So that the detection rod cannot move.
  • the battery pack is in a locked state, the battery pack does not fit with the connection surface, and the above arrangement makes the force of the battery pack on the detection rod disappear, and the detection rod can move.
  • the proximity sensor detects the contact state between the connection portion and the battery pack by detecting the movement state of the detection lever.
  • a battery pack locking judging method is implemented based on the above-mentioned push-disc box, the connecting part includes an adsorption device, and the battery pack locking judging method is used for judging whether the battery pack is locked
  • the battery pack locking method includes the following steps:
  • Step S1 controlling the adsorption force of the push tray box to the battery pack to reach a preset value
  • Step S2 controlling the disk push box to return to a preset distance to determine the locked state of the battery pack.
  • the battery pack can be adsorbed by the push-disc box. After the battery pack is locked in the battery bracket, the push-disc box attached to the battery pack is moved outward to detect whether the battery pack will follow The push-disc box is removed from the battery bracket again, so as to realize the purpose of judging the locking state of the battery pack.
  • the solution is realized by using the existing structure, which is simple and reliable.
  • connection part further includes a detection rod
  • the detection module includes a proximity sensor
  • the detection rod is movable relative to the push tray box body and is used for contacting the battery pack
  • the proximity sensor is used for detecting the movement state of the detection rod
  • step S2 it is determined whether the battery pack is locked on the battery bracket by detecting whether the proximity sensor detects the movement state of the detection rod;
  • the proximity sensor detects the movement state of the detection rod, it is determined that the battery pack is locked successfully; when the proximity sensor does not detect the movement state of the detection rod, it is determined that the battery pack is locked Packet lock failed.
  • the battery pack when the battery pack fails to be locked, the battery pack is always attached to the connecting surface under the action of the adsorption force of the push-disk box, and a force is always applied to the detection rod, so that the detection rod cannot move.
  • the proximity sensor cannot detect the movement of the detection lever.
  • the preset distance by which the push-disc box is retracted is greater than or equal to the movement stroke of the detection rod relative to the push-disc box body.
  • the detection rod since the detection rod protrudes toward the direction of the battery pack relative to the connecting surface of the connecting portion, the detection rod is always in a compressed state before the push-disc box is retracted. It prevents the proximity sensor from erroneously detecting the state of the detection rod and judging that the connection part is in contact with the battery pack, thereby enhancing the accuracy of the method for judging the locking of the battery pack.
  • the method when the result of judging the locked state of the battery pack is that the battery pack is successfully locked, the method further includes the following step: controlling the push tray to return.
  • the push-disc box is controlled to return to the initial position, and the power-changing operation is ended to ensure the reliability of the power-changing process.
  • the method further includes the following step: controlling the double-extension mechanism of the power exchange device to retreat.
  • the double extension mechanism of the power-changing device is controlled to return, thereby completing an operation of transporting the battery pack and ensuring the reliability of the power-changing process.
  • step S2 when the result of judging the locking state of the battery pack is that the battery pack fails to be locked, the battery pack is locked on the battery bracket again, and the battery pack is locked again.
  • the step S1 and the step S2 are performed.
  • the battery pack when the battery pack fails to be locked, the battery pack needs to be locked on the battery bracket again to prevent the battery pack from moving on the battery bracket, so as to ensure that the battery pack can normally provide power for the electric vehicle or to charge.
  • the positive improvement effect of the present invention is that: by detecting the contact state between the push tray box body and the battery pack, and then executing the corresponding movement state control, the reliable connection between the push tray box and the battery pack is ensured, and the collision of the battery pack and the pull of the battery pack are avoided. Improve the reliability and safety of the battery replacement equipment if it is not in place.
  • FIG. 1 is a schematic three-dimensional structural diagram of a battery swapping device according to an embodiment of the present invention.
  • FIG. 2 is a schematic three-dimensional structure diagram (1) of a battery tray according to an embodiment of the present invention.
  • FIG. 3 is a schematic front view of the structure of a power exchange device according to an embodiment of the present invention.
  • FIG. 4 is a schematic three-dimensional structural diagram (2) of a battery tray according to an embodiment of the present invention.
  • FIG. 5 is a partial enlarged view of part A in FIG. 4 .
  • FIG. 6 is a schematic diagram of a partial structure of a battery tray according to an embodiment of the present invention.
  • FIG. 7 is a schematic top-view structural diagram of a battery tray according to an embodiment of the present invention.
  • FIG. 8 is a partial enlarged view of part C in FIG. 7 .
  • FIG. 9 is a schematic diagram of a connection relationship between a battery tray and a battery pack according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram (1) of the positional relationship between the battery tray and the battery pack according to an embodiment of the present invention.
  • FIG. 11 is a schematic diagram (2) of the positional relationship between the battery tray and the battery pack according to an embodiment of the present invention.
  • FIG. 12 is a schematic diagram (3) of the positional relationship between the battery tray and the battery pack according to an embodiment of the present invention.
  • FIG. 13 is a schematic three-dimensional structural diagram of a battery tray according to an embodiment of the present invention (3).
  • FIG. 14 is a partial enlarged view of part D in FIG. 13 .
  • FIG. 15 is a partial enlarged view of part B in FIG. 4 .
  • FIG. 16 is a schematic diagram of a partial structure of a battery tray and a battery pack according to an embodiment of the present invention.
  • FIG. 17 is a schematic three-dimensional structural diagram of a battery tray according to an embodiment of the present invention (3).
  • this embodiment provides a power exchange device, which is used for docking with a battery bracket (not shown in the figure) to pick up and place the battery pack 100 (see FIG. 9 ).
  • the power exchange device It includes a battery tray 803 for performing the battery pack replacement operation. After the electric vehicle to be replaced is parked, the battery replacement device must complete the positioning and alignment operation with the battery tray on the electric vehicle that fixes the battery pack.
  • the process of positioning and alignment It involves the position adjustment of the battery tray in three dimensions, specifically the X direction, the Y direction and the Z direction as shown in FIG. 1 .
  • the X direction refers to the direction parallel to the driving direction of the electric vehicle;
  • the Y direction refers to the direction of the battery tray toward the body of the electric vehicle, and the adjustment of the Y direction makes the battery tray and the battery bracket of the electric vehicle reach a corresponding state;
  • the Z direction refers to the height direction of the battery tray, and the height of the battery tray can be adjusted to be flush with the height of the battery tray on the electric vehicle by adjusting the Z direction.
  • the battery swapping device specifically includes a device frame 1, a battery tray 803 and a position adjustment mechanism.
  • the battery tray 803 is used for placing battery packs for battery swapping operations and can move relative to the battery tray 803 (see FIG. 1 , in this embodiment to move in the Y direction) to achieve the purpose of taking out or placing the battery pack along the Y direction from the battery holder.
  • the position adjustment mechanism includes a rotation mechanism, a horizontal movement mechanism and a vertical movement mechanism for adjusting the position and angle of the battery tray 803 relative to the battery bracket.
  • the rotation mechanism is used to adjust the angle of the battery tray 803 according to the obtained angular rotation amount until each component on the battery tray 803 reaches a preset angle
  • the horizontal movement mechanism is used to perform horizontal adjustment according to the obtained horizontal displacement
  • the vertical movement mechanism It is used to perform vertical adjustment according to the obtained vertical displacement until each component on the battery tray 803 reaches a preset relative position relative to the battery tray. Specifically, a position where the unlocking mechanism on the battery tray 803 is aligned with the unlocking member on the battery tray is reached.
  • the rotation mechanism specifically includes a turntable 811 and a rotary driver 812.
  • the turntable 811 is sleeved on the bottom of the battery tray 803.
  • the rotary driver 812 is connected to the turntable 811 and is used to drive the turntable 811 to drive the battery tray 803 to rotate according to the angular rotation amount, so as to obtain the waiting time for the battery tray 803 to rotate.
  • the posture of the battery tray 803 is adjusted by rotating the rotating mechanism, so that the posture of the battery tray 803 matches the parking state of the vehicle to be swapped, so that The components on the battery tray 803 are aligned with the battery tray, so as to achieve efficient and accurate power exchange operations.
  • the horizontal moving mechanism specifically includes a track, a guide wheel and a horizontal driver, and the horizontal driver is used to drive the guide wheel to move along the track according to the horizontal displacement.
  • the track includes an overhead rail 701 and a ground rail 702
  • the guide wheels include an overhead rail guide wheel 703 and a ground rail guide wheel 704 .
  • the sky rail guide wheel 703 is arranged corresponding to the sky rail 701
  • the ground rail guide wheel 704 is arranged corresponding to the ground rail 702 .
  • the horizontal driver respectively drives the overhead rail guide wheels 703 to move along the overhead rail 701 in the X-axis direction (ie, the horizontal direction), and drives the ground rail guide wheels 704 to move along the ground rail 702, thereby realizing the horizontal movement of the power exchange device as a whole.
  • the X, Y, and Z axes are perpendicular to each other.
  • the battery replacement device can move the battery tray 803 according to the obtained horizontal displacement, which can make the battery tray 803 match the position of the battery bracket of the vehicle to be replaced in the horizontal direction, and has high precision, so as to accurately pick and place the battery pack. Guaranteed.
  • the horizontal drive can automatically drive the battery tray 803 to move in the horizontal direction according to the horizontal displacement, and the efficiency and stability of the battery tray 803 in the horizontal direction can be improved by the cooperation of the rail and the guide rail.
  • the vertical movement mechanism specifically includes a first vertical driver 61, a second vertical driver 62, a first lifting mechanism, a second lifting mechanism and a battery tray 803.
  • the first vertical driver is connected to the first lifting mechanism
  • the second vertical driver is connected to the second vertical driver.
  • Lifting mechanism, the first lifting mechanism and the second lifting mechanism are respectively connected to the two ends of the battery tray 803 to drive the two ends of the battery tray 803 to lift and move;
  • the first vertical driver is used for the first vertical displacement obtained by the detection of the power exchange equipment
  • the first lifting mechanism is driven, and the second vertical driver is used for driving the second lifting mechanism according to the obtained second vertical displacement.
  • the first lifting mechanism includes a first chain 706 and a corresponding first sprocket 611 .
  • the first chain 706 drives the first sprocket 611 to move along the Z-axis direction (ie, the vertical direction) under the driving of the first vertical driver 61 . , so as to drive the battery tray 803 to move in the vertical direction.
  • the second lifting mechanism includes a second chain 621 and a corresponding second sprocket 622.
  • the second chain 621 drives the second sprocket 622 along the Move in the vertical direction to drive the battery tray 803 to move in the vertical direction.
  • the battery tray 803 can be moved according to the obtained vertical displacement to make the battery
  • the tray 803 matches the position of the battery bracket of the vehicle to be replaced in the vertical direction, and has high precision, which provides a guarantee for accurate unlocking.
  • the battery tray 803 is provided with a double extension mechanism 3 , an unlocking mechanism 21 and a push tray case 22 .
  • the push box 22 moves along the Y direction relative to the battery tray 803 to realize the function of picking and placing the battery pack.
  • the push box 22 includes the push box body 22a and the connecting portion 23, and the connection portion 23 is disposed in the push box.
  • the connecting portion 23 can connect the battery pack when in contact with the battery pack, so as to realize the function of taking the battery pack out of the battery holder.
  • the unlocking mechanism 21 is used for docking with the retrieval piece on the battery tray, so as to achieve the purpose of controlling the unlocking/locking state of the unlocking mechanism 21 on the battery tray.
  • the push-disc box 22 is arranged on the battery tray 803 of the power exchange device, and the push-disc box 22 further includes a driving part.
  • the connecting part 23 can connect the battery pack when in contact with the battery pack, and can also realize the removal of the battery pack from the battery bracket.
  • the driving part is connected with the body of the push-disc box and is used to drive the body of the push-disc box to move.
  • the disc push box 22 may include a detection module and a control module, wherein the detection module is used to detect the contact state between the disc push box body 22a and the battery pack; the control module is electrically connected to the detection module, and the control module includes the drive part of the disc push box 22, and uses It is used to control the moving state of the push disc cartridge body 22a.
  • the detection module detects that the pusher case body 22a is in contact with the battery pack
  • the control module controls the driving part to drive the pusher case body 22a to execute a corresponding moving state.
  • the dual extension mechanism 3 is used to drive the battery tray 803 to approach the battery bracket, and the activation timing of the dual extension mechanism 3 can be arranged after the power exchange device reaches a preset relative position relative to the battery bracket, so that the dual extension mechanism 3
  • the battery tray 803 can be accurately driven close to the battery tray.
  • two processes can be performed respectively: one is to control the direction of the push tray 22 toward the battery tray 803. The direction of the battery pack is moved, and it is judged whether the push tray 22 is in contact with the battery pack; the other is to control the unlocking mechanism 21 to unlock or lock the battery tray.
  • the first process may be performed first, that is, controlling the push tray 22 to move in the direction of the battery pack, and judging whether the push tray 22 is in contact with the battery pack.
  • a preferred implementation structure of the battery tray 803 and the push-disc box 22 is provided herein for the purpose of determining whether the push-disc box 22 is in contact with the battery pack.
  • the disc push box 22 includes a detection module and a control module, wherein the detection module is used to detect the contact state between the disc push box body 22a and the battery pack; the control module is electrically connected to the detection module, and the control module is used to control the movement state of the disc push box body 22a , when the detection module detects that the push-disc box body 22a is in contact with the battery pack, the control module controls the push-disc box body 22a to execute a corresponding moving state.
  • the battery pack 100 When the battery pack 100 is in an unlocked state, the battery pack 100 will move along with the push tray case 22 , the battery pack 100 and the connecting portion 23 are always connected, and the connecting portion 23 and the battery pack 100 are in contact.
  • the battery pack 100 When the battery pack 100 is in the locked state, the battery pack 100 is locked on the battery bracket and will not move with the push tray 22 , the battery pack 100 is disconnected from the connecting portion 23 , and the connecting portion 23 is not connected to the battery pack 100 . get in touch with.
  • the detection module directly senses the contact state between the connection part 23 and the battery pack 100 , and the machine operates automatically throughout the entire process, with high accuracy, without manual processing, saving labor costs, reducing man-hours, and improving work efficiency.
  • the connecting portion 23 can move in the Y-direction relative to the push-disc box body 22a, and the detection module detects the displacement on the connecting portion 23 to determine the contact state between the connecting portion 23 and the battery pack based on the detection module. Connection Status.
  • the connection part 23 includes a first connection part 232 and a second connection part 233
  • the detection module correspondingly includes a first detection module 241 and a second detection module 242 .
  • the connection part 23 is used for The adsorption device 231 for realizing the adsorption connection function is disposed on the first connecting member 232
  • the second connecting member 233 is disposed on the adsorption surface 2311 of the adsorption device 231 .
  • the first detection module 241 is used for detecting the first contact state between the first connector 232 and the battery pack
  • the second detection module 242 is used for detecting the second contact state between the second connector 233 and the battery pack.
  • the first detection module 241 and the second detection module 242 are both sensors, and generate a signal after the corresponding first connection member 232 and the second connection member 233 are in contact with the battery pack.
  • the second detection module 242 is disposed on the adsorption surface 2311 of the adsorption device 231 to generate a signal when the adsorption surface 2311 is close to the battery pack (ie, the second contact state). Therefore, the signal generated by the second detection module 242 is a preliminary contact signal, and after the preliminary contact signal is sent to the control module, the control module can know that the push tray 22 has approached the battery pack. In this embodiment, after the control module acquires the preliminary contact signal generated by the sensor of the second detection module 242 , it does not substantially change the moving state of the push-disc box 22 .
  • the first detection module 241 is provided on the push-disc box body 22a, and is used to detect the movement of the first connector 232 based on the movement (( i.e. in the first contact state) to generate a signal. Therefore, the signal generated by the first detection module 241 is a fitting signal. After the fitting signal is sent to the control module, the control module can know that the push-disc box 22 (the suction surface 2311 of the suction device 231) has completely contacted the battery pack, At this time, the control module can control the push tray 22 to stop moving, so as to achieve the purpose of precise displacement control.
  • the reliable connection between the push box 22 and the battery pack 100 is ensured, and the collision of the battery pack and the improper pulling are avoided. To improve the reliability and safety of battery replacement equipment.
  • control module can be configured to: only when the preliminary contact signal and the fitting signal are obtained, it is determined that the contact between the push tray 22 and the battery pack is completed, so as to further implement the operation of controlling the push tray 22 to stop moving.
  • the purpose of this control scheme is to prevent one of the first detection module 241 and the second detection module 242 from being triggered by mistake, causing the disk pusher 22 to stop when it is not in contact with the battery pack.
  • the control module can also control the disc push box 22 to decelerate to move, so that the push disc box 22 can contact the battery pack at a lower speed.
  • an adsorption device 231 is provided on the side of the first connecting member 232 facing the battery bracket, and the first connecting member 232 can be displaced in the Y direction relative to the disc cartridge body 22a, so that the first detection module 241 can pass through The displacement state of the first connecting member 232 is detected to obtain the above-mentioned fitting signal sent to the control module.
  • the connecting portion 23 further includes a movable portion 234.
  • the first connecting member 232 is movable relative to the disc cartridge body 22a by connecting with the movable portion 234.
  • the movable portion 234 can also make the first connecting member 232 move.
  • the pusher case body 22a is compressible in the moving direction, and the sensor of the first detection module 241 is arranged on the compression path of the movable portion 234 to detect the displacement of the first connecting member 232 and determine whether it is in the first a contact state.
  • the adsorption device 231 is movable relative to the push-disc box body 22a. By detecting the active state of the adsorption device 231, it is determined whether the battery pack is in contact with the connecting part, and then it is determined whether the connection between the two is required.
  • the adsorption surface of the adsorption device 231 and 2311 are used to fit the battery pack 100, and the connection part 23 realizes the connection with the battery pack 100 through the adsorption force.
  • the movable portion 234 specifically includes a sliding structure and an elastic structure.
  • the first connecting member 232 is positioned on the push-disc box body 22a through the sliding structure of the movable portion 234.
  • the sliding structure, the elastic structure and the first connecting member 232 together form a relative push-disc box body.
  • 22a has a movable and compressible floating plate structure, so that the adsorption device 231 fixed on the first connecting member 232 can float relative to the push disc cartridge body 22a along the Y direction.
  • the elastic structure can ensure that the first connecting member 232 is returned and extended relative to the disc cartridge body 22a when the first connecting member 232 is not in contact.
  • the sliding structure guides the first connecting member 232 provided with the adsorption device 231 to move along the sliding path (ie, the Y direction), and the first detection module 241 is disposed on the sliding path of the sliding structure , and is used to detect whether the first connecting member 232 is compressed to the preset position, and if the first connecting member 232 is compressed to the preset position, a fitting signal is generated to the control module.
  • the elastic structure exerts a force on the first connecting member 232, so that when the adsorption device 231 on the first connecting member 232 is not in contact with the battery pack, the first connecting member 232 is driven by the elastic structure to return to the original position (Fig. 8 where the first connector 232 is located).
  • the sliding structure includes four support rods with end-limiting positions. One end of these support rods is connected to the push-disc box body 22a, and the first connecting portion 23 is sleeved on the through hole on the surface of the support rod. on the other end of the support rod to achieve the purpose of sliding on the support rod.
  • the elastic structure includes elastic elements 2342, which are coil springs in this embodiment. The number of the elastic elements 2342 is the same as that of the support rods. The elastic elements 2342 are respectively sleeved on the support rods.
  • the first detection module 241 includes a proximity sensor, and the proximity sensor detects the movement state of the end of the support rod to realize the purpose of judging the first contact state and generating a fitting signal.
  • the second connecting member 233 is disposed on the first connecting member 232 along the direction of the push-disc box body 22a toward the battery bracket, and the second connecting member 233 is displaced relative to the first connecting member 232, This enables the second detection module 242 to detect the preliminary contact signal when the second connector 233 is displaced.
  • the second connecting member 233 includes a detection rod 2331.
  • the detection rod 2331 passes through the adsorption device 231 and protrudes from the adsorption surface 2311 of the adsorption device 231 at the initial position, (ie, the position of the detection rod 2331 in FIG. 8).
  • the arrangement scheme of the second connecting member 233 is simple in structure and high in connection reliability.
  • the detection rod 2331 can move relative to the adsorption device 231 in the Y direction, and the second detection module 242 is arranged on the moving path of the detection rod 2331, so as to be based on the detection rod 2331.
  • the activity of 2331 generates a corresponding signal to detect whether the adsorption device 231 is adsorbed to the battery pack.
  • the end of the detection rod 2331 will first contact the battery pack and then be compressed to generate a preliminary contact signal. After that, when the battery pack is in contact with the adsorption surface 2311 of the adsorption device 231 , the adsorption device 231 and the first connecting member 232 can be further compressed to generate a fitting signal.
  • the second detection module 242 also includes a proximity sensor, and the proximity sensor of the second detection module 242 realizes the purpose of judging the second contact state and generating a preliminary contact signal by detecting the movement state of the end of the detection rod 2331 .
  • the length of the detection rod 2331 is relatively long, and its end passes through the first connecting piece 232 and the part of the push-disc box body 22a for the first connecting piece 232 .
  • the preferred setting of the proximity sensor of the second detection module 242 is The position is shown in Figure 6, which is used to detect the displacement of the end of the detection rod 2331.
  • a return spring 2332 is also provided on the detection rod 2331 to drive the detection rod 2331 to return to the position when the detection rod 2331 is not in contact with the battery pack. initial position.
  • FIG. 10 it is a schematic diagram of the positional relationship between the battery tray and the battery pack when the push tray case body 22 a moves toward and approaches the battery pack 100 in the direction of the arrow in the figure.
  • the end of the detection rod 2331 is set protruding from the adsorption surface 2311, so that when the detection rod 2331 is in contact with the battery pack, the detection rod 2331 moves toward the direction of the second detection module 242, and the second detection The module 242 is provided at the other end portion 2331 a of the detection rod 2331 .
  • the detection rod 2331 is in contact with the battery pack 100 and is compressed, so that the second detection module 242 can detect the end of the detection rod 2331 2331a is displaced, thereby generating a preliminary contact signal.
  • the pusher case body 22a is opposite to the battery pack 100 .
  • the thrust force becomes the reaction force of compressing the elastic element 2342 on the support rod 2341, so that the first connecting piece 232 and the adsorption device 231 move backwards, and the to-be-detected ends 232a fixed on both sides of the first connecting piece 232 move closer
  • the direction of the first detection module 241 moves, so that the first detection module 241 can detect the displacement of the end 232a to be detected and generate a fitting signal. It can be seen from FIG. 12 that the battery pack 100 must have been attached to the adsorption device 231 when the attaching signal is generated.
  • the adsorption device 231 on the push tray case 22 is in complete contact with the battery pack 100 , the adsorption device 231 is powered on to adsorb the iron blocks on the battery pack 100 .
  • the procedure of electrifying the adsorption device 231 can be performed first and after a delay of at least 1 second, after ensuring that the adsorption device 231 has completely absorbed the battery pack 100, the subsequent process of controlling the unlocking device to unlock the battery pack can be performed to ensure that the battery pack Reliably and securely connected to the push tray 22.
  • the push-disc box 22 is controlled to move back, as shown in FIG. 9 , so that the battery pack 100 is moved to the battery tray 803 by the push-disc box 22 .
  • the The image acquisition module on the tray 803 acquires the first image and the second image at at least two positions on the battery tray, and generates a vertical adjustment amount based on the first image and the second image, so as to realize the adjustment during the removal process of the battery pack through the vertical movement mechanism
  • the height of the power exchange device should match the height of the battery bay.
  • the height position between the battery tray 803 and the battery tray can be measured in real time in a manner that can obtain the vertical adjustment amount. Adjustment to avoid sticking of battery pack during translation in or out.
  • the push tray 22 stops moving. At this time, the double extension mechanism 3 can be retracted.
  • a vertical retraction detection sensor 235 may be provided at the front end of the battery tray 803 for detecting the double extension mechanism 3 fully retracted. Specifically, after the double extension mechanism 3 is fully retracted, no object should be detected within the detection range of the retraction detection sensor 235. If so, it is determined that the retraction is successful, and subsequent steps can be performed.
  • the above-mentioned detection module for generating the fitting signal and the preliminary contact signal may also have and perform different functions during the battery pack installation process and the battery pack removal process.
  • the push tray box 22 needs to push the battery pack to move so as to push the battery pack to the battery bracket.
  • the fitting signal generated by the first detection module 241 can be used as the basis for judging that the battery pack has been pushed to the battery tray.
  • the elastic element can be set to be relatively hard, so that during the process of pushing the battery pack to move by the adsorption device 231 , the resistance generated by the sliding of the battery pack cannot cause the elastic element to be compressed, so that the fitting signal generated by the first detection module 241 is prevented. .
  • the push tray 22 pushes the battery pack to the battery bracket and in place, the battery pack cannot move.
  • the control module controls the push-disc box 22 to stop moving based on the above-mentioned fitting signal, so that the push-disc box 22 has the advantage of being able to push the battery pack in place and stop accurately during the battery pack installation process.
  • This embodiment also provides a method for judging whether the battery pack 100 is locked on the battery bracket for judging whether the battery pack 100 is locked on the battery bracket.
  • the preliminary contact signal generated by the second detection module 242 can be used as the basis for judging whether the battery pack has been locked on the battery holder.
  • the power supply voltage of the adsorption device 231 is 24V, and the suction force generated at this time is 80kg.
  • the power supply voltage of the adsorption device 231 is reduced to 5V, and the adsorption force is correspondingly reduced to 10kg .
  • the firmness of the adsorption connection is relatively low.
  • the push-disc box 22 is controlled to retreat a certain distance, and it is detected whether the preliminary contact signal is sent out, and based on this, it is determined whether the battery pack is successfully locked or failed to be locked.
  • the preliminary contact signal of the second connector 233 is detected, it means that there is still an object on the adsorption surface 2311 of the adsorption device 231. At this time, based on the received preliminary contact signal, it can be considered that the battery pack is still adsorbed on the adsorption surface 2311. device 231, so the locking mechanism of the battery tray is not successfully locked. At this time, the unlocking mechanism 21 and the push tray box 22 on the battery tray 803 can be continuously controlled to perform the battery pack installation process.
  • the preliminary contact signal is not detected, it means that there is no object on the adsorption surface 2311 of the adsorption device 231, and it can be considered that the battery pack is not adsorbed on the adsorption device 231, and the locking mechanism of the battery holder is successfully locked, resulting in the battery pack. and the adsorption device 231 were separated from each other under the adsorption force of 10 kg. At this time, the push-disc box 22 can be controlled to continue to retreat, and after that, the double-extension mechanism 3 of the power exchange device can be controlled to retreat.
  • reducing the adsorption force to 10 kg is only a relatively preferred adsorption parameter in this embodiment, and the above-mentioned purpose can also be achieved by using other adsorption forces to connect the battery pack.
  • the push-disc box 22 in this embodiment is connected to the battery pack by means of adsorption
  • the connecting portion 23 can also be connected to the battery pack through other connection methods, and based on the push-disc box 22 In the case of retreating a certain distance, the connection status of the connection portion 23 and the battery pack is detected, so as to achieve the same purpose of detecting and judging whether the battery pack is successfully locked or failed to be locked.
  • the so-called distance should be greater than the stroke of the movement of the detection lever 2331 .
  • it should also be greater than the travel of the support rod, so that the first connecting piece 232 and the second connecting piece 233 are both in their respective initial positions (see FIG. 8 ), so as to avoid the first connecting piece 232 And the second connecting member 233 has not moved in place and is still in a compressed state, so that although the battery pack has been separated from the adsorption surface 2311 , the first detection module 241 and the second detection module 242 can still generate corresponding signals.
  • the detection module can also be used to detect whether the disk push box 22 is located in the preset area of the battery tray 803 , when the detection module detects the battery tray 803 is located on the preset area, and the detection module can send a signal to the control module electrically connected to it, so that the control module can change the moving state of the disk tray 22 .
  • the so-called moving state includes acceleration, deceleration, stop and so on.
  • the detection module includes a pair of matching first detection members 243 and second detection members 244 , wherein the first detection member 243 is disposed on the battery tray 803 , and the second detection member 243 is disposed on the battery tray 803 .
  • the detection member 244 is provided on the push tray 22 .
  • the first detection member 243 is a sensing block or a sensing belt, and is disposed on the surface of the battery tray 803 facing the side of the tray box body 22a to form a so-called preset area on the surface of the battery tray 803 .
  • the second detection member 244 in this embodiment is a proximity sensor, and the detection end 244 a at the end thereof is disposed toward the surface of the battery tray 803 to detect the preset formed by the first detection member 243 . area, and based on whether the second detection member 244 sends out an induction signal, it is determined whether the push-disc box 22 is located in the preset area.
  • the detection end 244a of the second detection member 244 is close to the first detection member 243, the second detection member 244 can generate a corresponding signal, so that the control module can change the moving state of the disk tray 22 to achieve the purpose of precise control.
  • the preset area in this embodiment includes a deceleration area, a reset area, and a limit area.
  • these regions are respectively formed by different first detection parts 243 and also respectively implemented by different second detection parts 244 .
  • the first detection member 243 for forming the deceleration area is the deceleration detection member 243a, which is disposed on the side of the battery tray 803 facing the tray case 22, and is disposed close to the battery tray.
  • the specific shape of the deceleration detection member 243a is a long strip, and extends along the moving direction of the push tray 22 toward the battery tray.
  • the control module is used to drive the push tray 22 to decelerate and move.
  • the setting position of the deceleration area should match the distance that the push tray case 22 moves and contacts the battery pack.
  • the setting position of the deceleration area should be set such that when the disc push box 22 moves toward the battery pack located in the battery tray, the push disc box 22 first moves into the deceleration area, so as to execute the push-down area after the second detection member 244 sends a signal.
  • the disc cartridge 22 decelerates, and then a fitting signal and a preliminary contact signal are generated through the displacement of the first connecting member 232 and the second connecting member 233, so that the push disc cartridge 22 stops moving.
  • the first detector 243 for forming the reset area is the reset detector 243b, and the reset detector 243b is installed in the battery tray 803 at a position between the two ends in the moving direction of the disk cartridge 22 , and set it away from the battery bay.
  • the reset detection member 243b is a rectangle.
  • the control module is used to drive the disk push box 22 to stop moving, so as to realize the push disk box 22 During the reset process, it can be stopped at a relatively precise position, so as to improve the repeatability and reliability of the power exchange device.
  • the first detection member 243 for forming the limit area is the limit detection member 243c, and there are two limit detection members 243c, which are respectively installed on both ends of the battery tray 803 in the moving direction of the disk cartridge 22 and the relative deceleration detector 243 a and the reset detector 243 b are provided outside the battery tray 803 .
  • the purpose of setting the limit area is to indicate the movement limit of the push-disc cartridge 22.
  • the setting positions of the two limit detection members 243c are the areas where the push-disc cartridge 22 does not enter during normal movement, that is, in the When the second detection part 244 detects that the push-disc box 22 has entered the limit area, it indicates that there is a problem with the operation of the power-exchange device, and at this time, the push-disc box 22 should be stopped from moving.
  • the second detectors 244 are four proximity sensors for detecting the deceleration detector 243a, the reset detector 243b and the two limit detectors 243c respectively, so that the second detector 244 and the first detector 243 One-to-one pairing is arranged to avoid the reliability risk caused by the repeated use of sensors. It is used to form a deceleration area, a reset area and two limit areas).
  • the second detection member 244 detects that the tray tray 22 is located in the preset area, it is not necessary to control the control module to change the moving state of the tray tray 22, but should The movement direction of the box 22 relative to the preset action generated by the battery tray 803 is combined to make a unified judgment.
  • the second detection member 244 detects that it is located in the deceleration area, it should control the push tray 22 to decelerate;
  • the second detection member 244 detects that it is in the reset area, it should not control the disk ejector 22 to stop, because at this time the disk ejector 22 may just start from the reset area and start to move in the direction of the deceleration area.
  • the push-disc box 22 should be controlled.
  • the second detection member 244 detects that it is in the deceleration area, it should not control the pusher cartridge 22 to decelerate, because at this time the pusher cartridge 22 may just start from the deceleration area and start to move toward the reset area.
  • the signal priority should be set to the highest, and when the second detection part 244 detects that the push-disc box 22 is located in the limit area, it should immediately stop the operation of the entire power exchange device to avoid safety accidents.
  • the push tray case 22 in this embodiment further includes two balance parts 25 , and the connecting parts 23 are on both sides of the push tray case body 22 a in the lateral direction (ie, the X direction in FIG. 7 ).
  • a balance part 25 is respectively provided, and the balance part 25 can balance the moving state of the battery pack during the process of pushing or pulling the battery pack, so that the battery pack can be pushed by the adsorption device 231 on the push tray box 22. By supporting the battery pack by the balance part 25, the battery pack maintains a relatively accurate moving posture.
  • the two balance parts 25 are respectively arranged at equal distances on both sides of the connection part 23 , so that the balance parts 25 can correct the deviation of both ends of the battery pack 100 at the same angle, no matter which direction the battery pack 100 is offset. can be corrected in a timely manner.
  • the so-called movement posture of the battery pack refers to the position posture of the battery pack when it moves between the battery tray 803 and the battery holder, that is, the inclination of the battery pack when it moves between the battery tray 803 and the battery holder (see Fig. 9. At this time, the position and posture of the battery pack 100 is good.)
  • the moving posture of the battery pack is poor, the battery pack is likely to interfere with the side guide wheel 4 of the battery tray 803 or the side guide wheel of the battery bracket, causing the battery pack to interfere.
  • the pack is stuck on the battery tray 803 or the battery holder.
  • the moving state of the battery pack 100 can be balanced during the process of driving the battery pack 100 to move by the push-disc box 22 , so that the battery pack 100 can pass through no matter which side it is offset to.
  • the balance part 25 is adjusted to prevent the battery pack 100 from colliding with the battery tray 803 or the battery tray due to offset, reducing the wear of the battery pack 100, the battery tray 803 and the battery tray, and increasing the reliability of the battery replacement process. and security.
  • the connecting portion 23 is arranged at the middle position of the push-disc box body 22a along the X direction, and the two balancing portions 25 are respectively arranged at equal distances on both sides of the connecting portion 23, so that the two balancing blocks can face each other. Balanced support for the battery pack.
  • connection portion 23 facing the connection surface of the battery pack (ie, the adsorption surface 2311 ) and the balance surface of the balance portion 25 facing the battery pack are not on the same plane.
  • the connecting portion 23 protrudes from the pusher case body 22a to a first width D1
  • the balance portion 25 protruding from the main body 22a of the push disc case is a second width D2
  • the first width D1 is greater than or equal to the second width D2.
  • the balance surface is set farther away from the battery pack than the adsorption surface 2311 , and the connection portion 23 protrudes toward the side of the battery pack 100 relative to the balance portion 25 , so that when the push tray 22 is in contact with the battery pack with a relatively normal moving posture, the connection portion 23
  • the adsorption surface 2311 of the battery pack can be in contact with the battery pack first, and only when the position and posture of the battery pack 100 is poor (or misaligned), the surface of the battery pack 100 may be in contact with the balance part 25, so that the battery pack
  • the 100 movement state is adjusted to balance here by the balancer 25 .
  • the balance part 25 in this embodiment includes a push block 251, the push block 251 is in the shape of a cube, and the rectangular surface facing the battery pack is used for contacting the battery pack to correct the movement posture of the battery pack.
  • the push block 251 is installed on the side of the push tray box body 22a facing the battery bracket through the adapter structure 252.
  • the push block 251 is used to contact the battery pack.
  • the push block 251 is made of elastic polyurethane material, so that the push block 251 has both elasticity and support.
  • the push block 251 When (the adsorption device 231) is compressed, the push block 251 can relieve a certain distance deviation through its own compression, so as to avoid the rigidity of the push block 251 and the inability of the battery pack to push the first connector 232 and the second connector 233 Compress so that the detection module triggers the fit signal and the preliminary contact signal.
  • the centers of the two balancing parts 25 and the center of the connecting part 23 are not on the same straight line.
  • the centers of the two balance parts 25 and the center of the connection part 23 are not on the same straight line L in the height direction (ie, the Z direction), that is, the two balance parts 25 and the connection part 23
  • This structural arrangement can make the contact surface of the balance part 25 and the battery pack and the contact surface of the connection part and the battery pack not in the same direction, so as to strengthen the connection stability of the battery pack and reduce the offset during the movement of the battery pack.
  • the battery tray 803 and the push-disc box 22 shown in the drawings of this embodiment are only used to illustrate specific structures.
  • FIG. 17 in order to facilitate the demonstration of the internal structure of the push-disc box 22 , in other drawings except FIG. 17 , the outer casing of the push-disc box 22 is hidden.

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Abstract

一种推盘盒，设置在换电设备的电池托盘上，并且用于在电池托盘和电池仓或电动汽车内的电池托架之间推送或拉取电池包，其包括：推盘盒本体，能够在电池托盘上移动；检测模块，用于检测推盘盒本体与电池包接触状态；控制模块，电连接于检测模块，控制模块用于控制推盘盒本体的移动状态，当检测模块检测到推盘盒本体与电池包接触完成后，控制模块控制推盘盒本体执行相应的移动状态。通过对推盘盒本体与电池包的接触状态进行检测后再执行相应的移动状态控制，保证推盘盒能够与电池包之间的可靠连接，避免冲撞电池包等情况，提高换电设备的换电可靠性及安全性。

Description

推盘盒、换电设备及其控制方法
本申请要求申请日为2020/7/6的中国专利申请2020106432803、2020106432860、2020106432964、2020106427186的优先权。本申请引用上述中国专利申请的全文。
技术领域
本发明涉及换电领域，特别涉及一种推盘盒、换电设备及其控制方法。
背景技术
现有技术中，换电站作为一种为新能源电动汽车提供电池更换服务的场所，换电站内通常设有用于进行电池包拆装操作并且在换电站和电动汽车之间运送电池的换电设备。换电设备包括电池托盘，电池托盘用于放置电池包并执行电池包拆装的具体过程。在电池包拆装过程中，电池包需要在电池托盘与电池仓或电动汽车内的电池托架之间进行电池包的推送或拉取。然而，现有技术中推盘盒为预设移动模式，容易产生冲撞电池包、拉取不到位等问题。
发明内容
本发明要解决的技术问题是为了克服现有技术中推盘盒为预设运动模式，容易产生冲撞电池包、拉取不到位的缺陷，推盘盒、换电设备及其控制方法。
本发明是通过下述技术方案来解决上述技术问题：
一种推盘盒，设置在换电设备的电池托盘上，并且用于在电池托盘和电池仓或电动汽车内的电池托架之间推送或拉取电池包，其包括：
推盘盒本体，能够在所述电池托盘上移动；
检测模块，用于检测所述推盘盒本体与电池包接触状态；
控制模块，所述控制模块电连接于所述检测模块，所述控制模块用于控制所述推盘盒本体的移动状态，当所述检测模块检测到所述推盘盒本体与电池包接触完成后，所述控制模块控制所述推盘盒本体执行相应的移动状态。
该技术方案的效果是：通过对推盘盒本体与电池包的接触状态进行检测后再执行相应的移动状态控制，保证推盘盒与电池包之间的可靠连接，避免冲撞电池包、拉取不到位等情况，提高换电设备的换电可靠性及安全性。
较佳的，所述推盘盒还包括连接部，所述连接部设置在所述推盘盒本体上，所述连接部用于在所述推盘盒本体与电池包接触时连接电池包。
该技术方案的效果是：通过连接部与电池包接触并连接实现推盘盒本体与电池包之间的连接，便于通过推盘盒本体的移动进行电池包的推送与拉取。
较佳的，所述连接部包括第一连接件和第二连接件，所述检测模块包括第一检测模块和第二检测模块，所述第一检测模块用于检测所述第一连接件与电池包的第一接触状态，所述第二检测模块用于检测所述第二连接件与电池包的第二接触状态。
该技术方案的效果是：通过双重接触状态的检测，确保推盘盒与电池包的可靠接触，从而实现推盘盒与电池包的可靠连接。
较佳的，所述第一连接件相对所述推盘盒本体能够位移，所述第一检测模块用于检测所述第一连接件的位移状态。
该技术方案的效果是：第一连接件在与电池包接触后会受力位移，第一检测模块通过检测第一连接件的位移状态即可获得推盘盒与电池包对应的接触状态。
较佳的，所述连接部还包括活动部，所述第一连接件通过所述活动部连接于所述推盘盒本体，所述活动部沿所述推盘盒本体的运动方向可压缩，所述第一检测模块设于所述活动部的压缩路径上，并用于检测所述第一连接件的位置而判断是否处于第一接触状态。
该技术方案的效果是：通过活动部可使第一连接件在推盘盒本体的运动方向上移动，推盘盒移动时，第一连接件接触电池包，活动部受到与推盘盒本体的运动方向的相反方向的力，并向推盘盒本体的运动方向的相反方向收缩从而带动第一连接件向推盘盒本体的运动方向的相反方向位移，第一检测模块即可检测第一连接件的运动位置来判断是否处于第一接触状态。
较佳的，所述第二连接件沿所述推盘盒本体朝向所述电池托架的方向设置于所述第一连接件上，并相对所述第一连接件能够位移，所述第二检测模块用于检测所述第二连接件的位移状态。
该技术方案的效果是：当电池包与推盘盒本体接近时，第二连接件先于第一连接件与电池包接触并相对第一连接件运动，第二检测模块可检测第二连接件的位移状态判断是否处于第二接触状态。
较佳的，所述第二连接件可活动地设于所述第一连接件上，所述第二检测模块设于所述第二连接件的活动路径上，并用于检测所述第二连接件的位置而判断是否处于第二接触状态。
该技术方案的效果是：通过双重接触状态的检测，确保推盘盒与电池包的可靠接触，从而实现推盘盒与电池包的可靠连接。
较佳的，所述活动部包括：
滑动结构，所述第一连接件通过所述滑动结构定位在所述推盘盒本体上，并实现所述第一连接件沿所述推盘盒本体的运动方向的滑动；
弹性结构，所述弹性结构通过向所述第一连接件施加作用力，以在所述第一连接件不与电池包接触时带动所述第一连接件回复至初始位置；
所述第一检测模块设于所述滑动结构的滑动路径上并用于检测所述第一连接件是否被压缩到预设位置。
该技术方案的效果是：滑动结构连接第一连接件与推盘盒本体，第一连接件可在滑动结构上相对推盘盒本体移动，当第一连接件接触电池包时，第一连接件受力都相对推盘盒本体向推盘盒本体的运动方向的反方向滑动以供第一检测模块检测。同时，弹性结构可保证第一连接件在未触碰状态时相对推盘盒本体复位伸出。
较佳的，所述滑动结构包括支撑杆，所述支撑杆的一端连接于所述推盘盒本体，所述第一连接件套设在所述支撑杆上并可在所述支撑杆上滑动；
所述弹性结构包括弹性元件，所述弹性元件套设在所述支撑杆上，所述弹性元件的一端抵住所述推盘盒本体，所述弹性元件的另一端抵住所述第一连接件。
该技术方案的效果是：第一连接件套设在支撑杆上并可在支撑杆上滑动，弹性元件也套设在支撑杆上，弹性元件的两端分别抵住推盘盒本体和第一连接件，当第一连接件受力后退时弹性元件也会受力压缩抵住第一连接件，同时，若第一连接件不再受力，弹性元件会在弹力作用下将第一连接件复位。
较佳的，所述第一连接件还包括吸附装置，所述第二连接件设置于所述吸附装置的吸附面上。
该技术方案的效果是：采用吸附装置的吸附力与电池包进行固定连接，结构简单，连接可靠性高，同时，也可通过第二连接件检测吸附装置是否与电池包相吸附。
一种换电设备，其包括如上推盘盒。
该技术方案的效果是：这种换电设备通过对推盘盒本体与电池包的接触状态进行检测后再执行相应的移动状态控制，保证推盘盒与电池包之间的可靠连接，避免冲撞电池包、拉取不到位等情况，提高换电设备的换电可靠性及安全性。
一种用于换电设备的电池包连接控制方法，所述换电设备用于在电池仓与电动汽车之间进行电池包转运，所述电池包被锁止于所述电池仓或所述电动车内的电池托架上， 所述换电设备包括电池托盘和推盘盒，所述推盘盒用于在所述电池托盘和所述电池托架之间推送或拉取电池包，其包括如下步骤：
控制所述推盘盒朝向所述电池包移动；
判断所述推盘盒是否与所述电池包接触完成；
若是，则控制所述推盘盒停止移动并连接所述电池包。
该技术方案的效果是：根据推盘盒和电池包之间的接触状态来控制推盘盒是否停止移动，从而确保推盘盒与电池包的可靠连接，可避免推盘盒在未接触到电池包时就停止运行，可提高换电设备的换电可靠性。
较佳的，判断所述推盘盒本体是否与所述电池包接触完成的步骤包括：
检测所述推盘盒与所述电池包的第一接触状态从而获取对应的第一接触信号；
检测所述推盘盒与所述电池包的第二接触状态从而获取对应的第二接触信号；
当所述第一接触信号和所述第二接触信号都被获取到时，判断所述推盘盒与所述电池包接触完成。
该技术方案的效果是：通过双重接触状态的判定，避免了因单一信号的误触发而导致推盘盒在未接触到电池包时就停止移动，进而导致推盘盒不能与电池包之间进行可靠连接，影响换电设备的换电可靠性。
一种换电设备，用于在电池仓与电动汽车之间进行电池包的转运，所述电池包放置在所述电池仓或所述电动汽车内的电池托架上，所述换电设备包括：
电池托盘；
推盘盒，可移动连接在所述电池托盘上，用于在所述电池托盘和所述电池托架之间推送或拉取电池包；
控制模块，所述控制模块用于控制所述推盘盒的移动状态；
检测模块，所述检测模块用于检测所述推盘盒是否位于所述电池托盘的预设区域，所述检测模块电连接于所述控制模块；
当所述检测模块检测到所述推盘盒位于所述预设区域内，所述控制模块控制所述推盘盒改变移动状态。
该技术方案的效果是：可根据在电池托盘上的位置不同来改变推盘盒移动状态，从而实现在电池托盘上不同的位置实时调整推盘盒运动状态以快速准确地拉取或推送电池包和推盘盒复位停止等动作，换电效率更高，安全性更好。
较佳的，所述预设区域包括以下至少一种：
所述预设区域包括减速区域，当所述检测模块检测到所述推盘盒位于所述减速区域 后，所述控制模块控制所述推盘盒减速；
所述预设区域包括复位区域；当所述检测模块检测到所述推盘盒位于所述复位区域后，所述控制模块控制所述推盘盒停止。
所述预设区域包括极限区域；当所述检测模块检测到所述推盘盒位于所述极限区域后，所述控制模块控制所述推盘盒停止。
该技术方案的效果是：设置减速区域使推盘盒降低速度，可使推盘盒更准确可靠地与电池包相接触，防止因速度过快冲撞电池包。设置复位区域使推盘盒复位停止，可保证推盘盒复位位置的精准性，防止推盘盒偏离原始位置产生误差。设置极限区域可控制推盘盒紧急停止，以防止推盘盒因移动到极限位置而导致设备或电池包损坏。
较佳的，所述检测模块包括一对相配合的第一检测件和第二检测件，所述第一检测件设于所述电池托盘，所述第二检测件设于所述推盘盒。
该技术方案的效果是：第一检测件和第二检测件配合，用以标明预设区域，当推盘盒经过预设区域时，推盘盒上的第二检测件可感应电池托盘上的第一检测件，以判断推盘盒是否位于预设位置。
较佳的，
所述第一检测件包括减速检测件，所述减速检测件为感应块或感应带，所述减速检测件安装于所述电池托盘且朝向所述推盘盒设置，并形成所述减速区域。
该技术方案的效果是：减速检测件设在电池托盘上朝向推盘盒设置，推盘盒经过减速区域时可感应该减速检测件从而判断自身位于减速区域。
较佳的，所述减速检测件安装于所述电池托盘靠近所述电池托架的一端并且沿所述推盘盒的移动方向延伸。
该技术方案的效果是：可使推盘盒在与电池包接触前降低速度，能够更为精确且安全的连接电池包。同时，减速检测件沿所述推盘盒的移动方向延伸可以使得信号在减速区域内持续输出，减速信号更为可靠。
较佳的，所述第一检测件包括极限位置检测件，所述极限位置检测件安装于所述电池托盘中所述推盘盒的移动方向的两个端部位置，并形成所述极限区域。
该技术方案的效果是：极限位置检测件位于电池托盘的两端，推盘盒正常运行时不会触发，当推盘盒故障并移动至极限区域时可紧急停止推盘盒运动，防止其脱出而导致设备损坏。
较佳的，所述第一检测件包括复位检测件，所述复位检测件安装于所述电池托盘中所述推盘盒的移动方向的两端之间的位置。
该技术方案的效果是：复位检测件位于推盘盒起始位置，当推盘盒取回电池包后可跟精确的在起始位置停止。
较佳的，所述第二检测件为接近传感器，所述第二检测件安装于所述推盘盒中与所述第一检测件对应的位置，所述第二检测件电连接于所述控制模块，并用于检测所述推盘盒是否位于所述预设区域。
该技术方案的效果是：接近传感器与检测件配合，推盘盒经过预设区域时，接近传感器接近能够快速可靠地检测件并判断推盘盒位于预设区域。
一种换电设备的控制方法，其包括如下步骤：
控制推盘盒相对电池托盘产生预设动作的移动；
根据预设动作以及所述推盘盒在所述电池托盘上的位置，控制所述推盘盒的移动状态。
该技术方案的效果是：可根据在电池托盘上的位置不同及运动状态不同来改变推盘盒移动状态，从而实现在不同的运动状态中，根据电池托盘上不同的位置实时调整推盘盒运动状态以快速准确地拉取或推送电池包和推盘盒复位停止等动作，换电效率更高，安全性更好。
较佳的，
所述预设动作为所述推盘盒相对所述电池托盘伸出，当所述推盘盒位于减速区域内时，控制所述推盘盒减速；或
所述预设动作为所述推盘盒由伸出状态缩回，当所述推盘盒位于复位区域时，控制所述推盘盒停止。
该技术方案的效果是：当推盘盒向电池托架移动抓取电池包时，可靠近电池托架时降低速度以更精确的连接电池包。当推盘盒连接电池包后缩回时可更精确的停止在起始位置。
一种推盘盒，所述推盘盒设置在换电设备的电池托盘上，所述推盘盒用于在电池仓或电动汽车内的电池托架和所述电池托盘之间推送或拉取电池包，其特征在于，所述推盘盒包括：
推盘盒本体，所述推盘盒本体可移动地连接在所述电池托盘上；
连接部，所述连接部设置于所述推盘盒本体朝向所述电池托架的侧面上，所述连接部用于与所述电池包连接；
驱动部，所述驱动部与所述推盘盒本体连接，所述驱动部用于驱动所述推盘盒本体移动；
至少两个平衡部，所述连接部沿所述推盘盒本体的横向方向的两侧分别设置有至少一个所述平衡部，所述平衡部用于在推送或拉取所述电池包的过程中对所述电池包的移动状态进行平衡。
在本方案中，电池包在电池托架和换电设备的电池托盘之间移动的过程中可能会产生错位，电池包会朝向推盘盒的连接部沿推盘盒本体的横向方向的两侧偏移。在连接部的两侧分别安装至少一个平衡部，能够在推盘盒带动电池包移动过程中平衡电池包的移动状态，使电池包无论朝哪侧偏移都能够通过平衡部来调整，防止电池包因偏移与电池托盘或电池托架之间产生碰撞，减少电池包、电池托盘、电池托架的磨损，增加换电过程的可靠性与安全性。
较佳地，至少两个所述平衡部的中心与所述连接部的中心不在同一直线上。
在本方案中，上述设置使得平衡部与电池包的接触面以及连接部与电池包的接触面不在同一方向上，加强对电池包移动过程的平衡的稳定性及可靠性，减少电池包移动过程中产生偏移。
较佳地，所述连接部设置于所述推盘盒本体的横向方向的中间位置，两个所述平衡部分别设置在所述连接部两侧等间距的位置上。
在本方案中，上述设置使得电池包两端的纠偏角度相同，无论电池包朝哪一个方向偏移都能够得到及时纠正与调整。
较佳地，所述连接部朝向所述电池包的连接面与所述平衡部朝向所述电池包的平衡面不在同一平面上。
在本方案中，上述设置使得电池包不会同时与连接部和平衡部接触，以此来适应电池包的移动范围并控制电池包允许的错位量，当超出此范围时，需要平衡电池包的移动状态。
较佳地，基于所述推盘盒本体向所述电池托架的移动方向，所述连接部凸出于所述推盘盒本体第一宽度，所述平衡部凸出于所述推盘盒本体第二宽度，所述第一宽度大于等于所述第二宽度。
在本方案中，连接部相对于平衡部朝向电池包一侧凸出，电池包移动过程中，会先接触到连接部，只有当电池包产生错位的情况下，电池包才会与平衡部接触，从而使电池包移动状态调整至平衡。
较佳地，所述平衡部包括抵推块，所述抵推块设置于所述推盘盒本体朝向所述电池托架的侧面上，所述抵推块用于与所述电池包接触。
在本方案中，抵推块用于与电池包接触，通过抵推电池包来调整电池包的错位量使 其保持平稳状态，限制电池包的错位。
较佳地，所述连接部相对于所述推盘盒本体可活动。
在本方案中，通过检测连接部的活动状态来判断是否电池包是否与连接部接触，以及是否需要进行两者的连接。
较佳地，所述抵推块为弹性件。
在本方案中，抵推块用于与电池包接触，当电池包产生错位时，抵推块能够调整电池包的移动状态，将抵推块设置成弹性件，从而能够减少抵推块和电池包接触时的磨损，以及减少两者之间的作用力，增加推盘盒的使用寿命。
较佳地，所述抵推块的材料为聚氨酯。
在本方案中，聚氨酯材料具有良好的稳定性、回弹性和力学性能，压缩后不容易变形。
较佳地，所述连接部为吸附装置。
在本方案中，连接部通过吸附力实现与电池包的连接，操作简单，连接和拆卸都十分方便，且不用另外设置连接结构，简化连接部和电池包的结构。
一种推盘盒，所述推盘盒设置在换电设备的电池托盘上，所述推盘盒用于在电池仓或电动汽车内的电池托架和所述电池托盘之间推送或拉取电池包，其特征在于，所述推盘盒包括：
推盘盒本体，所述推盘盒本体可移动地连接在所述电池托盘上；
连接部，所述连接部设置于所述推盘盒本体朝向所述电池托架的侧面上，所述连接部用于与所述电池包连接；
控制模块，所述控制模块用于控制所述推盘盒本体的移动状态；
检测模块，所述检测模块用于检测所述连接部与所述电池包的接触状态，所述检测模块电连接于所述控制模块。
在本方案中，通过检测推盘盒的连接部是否与电池包接触来判断电池包是否锁紧在电池托架上。当电池包处于未锁紧状态时，电池包会跟随推盘盒一起移动，电池包和连接部始终保持连接状态，连接部和电池包接触。当电池包处于锁紧状态时，电池包锁紧在电池托架上，不会跟随推盘盒一起移动，电池包和连接部断开连接，连接部与电池包不接触。通过检测模块直接感应连接部与电池包的接触状态，全程机器自动进行操作，准确性高，无需人工进行处理，节约人力成本，减少工时，提高工作效率。
较佳地，所述连接部相对于所述推盘盒本体可移动，所述检测模块通过检测所述连接部的移动状态而检测所述连接部与所述电池包的接触状态。
在本方案中，当电池包处于未锁紧状态时，电池包能够跟随推盒盘一起运动，电池包与连接部保持连接，连接部相对于推盘盒本体保持相对静止，检测模块无法检测到连接部的运动状态。当电池包处于锁紧状态时，电池包锁紧在电池托架上，无法跟随推盘盒一起运动，失去电池包的抵接会使连接部相对于推盘盒本体产生移动，并被检测模块检测到连接部的移动状态。通过连接部的移动状态检测连接部是否与电池包接触，准确性高。
较佳地，所述连接部包括检测杆，所述检测模块包括接近传感器，所述接近传感器用于检测所述检测杆的移动状态。
在本方案中，当电池包处于未锁紧状态时，电池包能够跟随推盒盘一起运动，电池包与连接部保持连接，并始终对检测杆施加一个作用力，使得检测杆无法产生移动，接近传感器无法检测到检测杆的移动状态。当电池包处于锁紧状态时，电池包锁紧在电池托架上，无法跟随推盘盒一起运动，电池包对检测杆施加的作用力消失，检测杆产生移动并被接近传感器检测到检测杆的移动状态。
较佳地，所述连接部与所述电池包贴合的面为连接面，所述检测杆相比于所述连接面朝向所述电池包的方向凸出预设长度。
在本方案中，当电池包处于未锁紧状态时，连接面始终与电池包贴合，上述设置使电池包与连接面的贴合过程中，电池包始终对检测杆施加一个作用力，以使检测杆无法产生移动。当电池包处于锁紧状态时，电池包与连接面不贴合，上述设置使得检测杆受到的电池包的作用力消失，检测杆能够产生移动。接近传感器通过检测检测杆的移动状态来检测连接部与电池包的接触状态。
一种电池包锁紧判断方法，所述电池包锁紧判断方法基于上述的推盘盒实施，所述连接部包括吸附装置，所述电池包锁紧判断方法用于判断所述电池包是否锁紧在所述电池托架上，所述电池包锁紧判断方法包括以下步骤：
步骤S1、控制所述推盘盒对所述电池包的吸附力达到至预设值；
步骤S2、控制所述推盘盒退回预设距离以判断所述电池包的锁止状态。
在本方案中，利用推盘盒对电池包能够产生吸附的功能，在电池包锁紧在电池托架后，通过吸附于电池包的推盘盒向外移动的方式，检测电池包是否会跟着推盘盒再次从电池托架上被移出，从而实现了判断电池包的锁止状态的目的。该方案利用现有的结构实现，简单可靠。
较佳地，所述连接部还包括检测杆，所述检测模块包括接近传感器，所述检测杆相对于所述推盘盒本体可移动并用于与所述电池包接触，所述接近传感器用于检测所述检 测杆的移动状态；
在所述步骤S2中，通过检测所述接近传感器是否检测到所述检测杆的移动状态来判断所述电池包是否锁紧在所述电池托架上；
当所述接近传感器检测到所述检测杆的移动状态之后，则判断为所述电池包锁止成功；当所述接近传感器未检测到所述检测杆的移动状态之后，则判断为所述电池包锁止失败。
在本方案中，当电池包锁紧失败时，电池包在推盘盒的吸附力的作用下始终与连接面贴合，并始终对检测杆施加一个作用力，以使检测杆无法发生移动，接近传感器无法检测到检测杆的移动状态。当电池包锁紧成功时，电池包即使在推盘盒的吸附力作用下也不会发生移动，电池包与推盘盒的连接断开，两者分离，电池包与连接部不接触，电池包对检测杆施加的力消失，从而使检测杆能够产生移动，并被接近传感器检测到检测杆的移动状态。
较佳地，在所述步骤S2中，所述推盘盒退回的预设距离大于或等于所述检测杆相对于所述推盘盒本体移动的移动行程。
在本方案中，由于检测杆相对于连接部的连接面朝向电池包方向凸出，在推盘盒未退回之前，检测杆一直处于被压缩状态，上述操作使检测杆能回到初始位置，以防止接近传感器误检测到检测杆的状态而判断连接部与电池包接触，增强电池包锁紧判断方法的准确性。
较佳地，在所述步骤S2中，当判断所述电池包的锁止状态的结果为所述电池包锁止成功之后还包括以下步骤：控制所述推盘盒退回。
在本方案中，当确定电池包锁紧成功后，控制推盘盒退回初始位置，结束换电操作，保证换电流程的可靠性。
较佳地，在控制所述推盘盒退回之后，还包括以下步骤：控制所述换电设备的双伸出机构退回。
在本方案中，在推盘盒退回之后，控制换电设备的双伸出机构退回，进而完成一次运输电池包的操作，保证换电流程的可靠性。
较佳地，在所述步骤S2中，当判断所述电池包的锁止状态的结果为所述电池包锁止失败之后，再次将所述电池包锁紧在所述电池托架上，并执行所述步骤S1和所述步骤S2。
在本方案中，当电池包锁紧失败后，需要再次将电池包锁紧在电池托架上，以防止电池包在电池托架上的移动，以保证电池包能够正常为电动汽车提供动力或进行充电。
本发明的积极进步效果在于：通过对推盘盒本体与电池包的接触状态进行检测后再 执行相应的移动状态控制，保证推盘盒与电池包之间的可靠连接，避免冲撞电池包、拉取不到位等情况，提高换电设备的换电可靠性及安全性。
附图说明
图1为本发明一实施例的换电设备的立体结构示意图。
图2为本发明一实施例的电池托盘的立体结构示意图(一)。
图3为本发明一实施例的换电设备的正视结构示意图。
图4为本发明一实施例的电池托盘的立体结构示意图(二)。
图5为图4中A部分的局部放大图。
图6为本发明一实施例的电池托盘的局部结构示意图。
图7为本发明一实施例的电池托盘的俯视结构示意图。
图8为图7中C部分的局部放大图。
图9为本发明一实施例的电池托盘与电池包的连接关系示意图。
图10为本发明一实施例的电池托盘与电池包的位置关系示意图(一)。
图11为本发明一实施例的电池托盘与电池包的位置关系示意图(二)。
图12为本发明一实施例的电池托盘与电池包的位置关系示意图(三)。
图13为本发明一实施例的电池托盘的立体结构示意图(三)。
图14为图13中D部分的局部放大图。
图15为图4中B部分的局部放大图。
图16为本发明一实施例的电池托盘与电池包的局部结构示意图。
图17为本发明一实施例的电池托盘的立体结构示意图(三)。
附图标记说明：
天轨701；地轨702；天轨导轮703；地轨导轮704；第一垂直驱动器61；第二垂直驱动器62；换电执行机构803；第一链条706；第一链轮611；第二链条621；第二链轮622；电池托盘803；转盘811；旋转驱动器812；设备框架1；解锁机构21；推盘盒22；推盘盒本体22a；连接部23；吸附装置231；吸附面2311；第一连接件232；感应端232a；第二连接件233；检测杆2331；复位弹簧2332；活动部234；支撑杆2341；弹性元件2342；缩回检测传感器235；第一检测模块241；第二检测模块242；减速检测件243a；复位检测件243b；极限检测件243c；第二检测件244；平衡部25；抵推块251；转接结构252；双伸出机构3；侧导轮4；电池包100
具体实施方式
下面通过实施例的方式进一步说明本发明，但并不因此将本发明限制在所述的实施例范围之中。
如图1-图3所示，本实施例提供一种换电设备，其用于与电池托架(图中未示出)进行对接以取放电池包100(参见图9)，换电设备包括用于执行电池包更换操作的电池托盘803，当待换电的电动车辆停好之后，换电设备要与电动车辆上固定电池包的电池托架完成定位对准操作，定位对准的过程涉及到电池托盘的三个维度方向的位置调整，具体为如图1所示的X向、Y向和Z向。X向是指与电动车辆的行驶方向相平行的方向；Y向是指电池托盘朝向电动车辆的车身的方向，通过Y向的调整使电池托盘与电动车辆的电池托架达到相对应的状态；Z向是指电池托盘的高度方向，通过Z向调整使电池托盘的高度与电动车辆上电池托架的高度相齐平。该换电设备具体包括设备框架1、电池托盘803和位置调整机构，电池托盘803用于放置用于换电操作的电池包，并能够相对电池托盘803进行移动(参见图1，本实施例中为Y向移动)，以实现从电池托架上沿Y向取出或放置电池包的目的。
而位置调整机构包括旋转机构、水平移动机构以及垂直移动机构，用于调整电池托盘803相对电池托架的位置和角度。
旋转机构用于根据获得的角度旋转量对电池托盘803的角度进行调整，直至电池托盘803上的各部件达到预设角度，水平移动机构用于根据获得的水平位移量进行水平调整，垂直移动机构用于根据获得的垂直位移量进行垂直调整，直至电池托盘803上的各部件相对电池托架达到预设相对位置。具体为，达到使电池托盘803上的解锁机构与电池托架上的解锁件相对准的位置。
其中，旋转机构具体包括转盘811和旋转驱动器812，转盘811套在电池托盘803的底部，旋转驱动器812连接于转盘811并用于根据角度旋转量驱动转盘811带动电池托盘803实现旋转，以在获取待换电车辆的停车状态与准确的换电位置的角度偏差后，通过旋转机构进行旋转的方式调整电池托盘803的姿态，从而使得电池托盘803的姿态与待换电车辆的停车状态相匹配，以便电池托盘803上的各部件与电池托架相对准，从而实现高效准确的换电操作。
水平移动机构具体包括轨道、导轮和水平驱动器，水平驱动器用于根据水平位移量驱动导轮沿轨道移动。如图2所示，轨道包括天轨701和地轨702，导轮包括天轨导轮703和地轨导轮704。天轨导轮703与天轨701对应设置，地轨导轮704与地轨702对应设置。水平驱动器分别驱动天轨导轮703沿天轨701在X轴方向(即水平方向)上移动，驱动地轨导轮704沿地轨702移动，从而实现换电设备整体的水平移动。从图1中可以 看出，X轴、Y轴、Z轴两两垂直。换电设备可根据获得的水平位移量移动电池托盘803，可以使得电池托盘803在水平方向上与待换电车辆的电池托架的位置相匹配，具有较高的精度，为准确取放电池包提供了保障。在本实施例中，通过水平驱动器可以根据水平位移量自动驱动电池托盘803在水平方向的移动，通过轨道和导轨的配合可以提高电池托盘803在水平方向运动的效率及稳定性。
垂直移动机构具体包括第一垂直驱动器61、第二垂直驱动器62、第一升降机构、第二升降机构和电池托盘803，第一垂直驱动器连接于第一升降机构，第二垂直驱动器连接于第二升降机构，第一升降机构、第二升降机构分别连接于电池托盘803的两端以带动电池托盘803的两端升降移动；第一垂直驱动器用于根据换电设备检测获得的第一垂直位移量驱动第一升降机构，第二垂直驱动器用于根据获得的第二垂直位移量驱动第二升降机构。
具体地，第一升降机构包括第一链条706和对应设置的第一链轮611，第一链条706在第一垂直驱动器61的驱动下带动第一链轮611沿Z轴方向(即垂直方向移动，以带动电池托盘803沿垂直方向移动。第二升降机构包括第二链条621和对应设置的第二链轮622，第二链条621在第二垂直驱动器62的驱动下带动第二链轮622沿垂直方向移动，以带动电池托盘803沿垂直方向移动。如果待换电车辆的停车状态与准确的换电位置在垂直方向上存在偏差，则根据获得的垂直位移量移动电池托盘803，可以使得电池托盘803在垂直方向上与待换电车辆的电池托架的位置相匹配，具有较高的精度，为准确解锁提供了保障。
如图4-图6所示，电池托盘803上设置有双伸出机构3、解锁机构21和推盘盒22。其中，推盘盒22通过相对电池托盘803沿Y向进行移动，以实现取放电池包的功能，推盘盒22包括推盘盒本体22a以及连接部23，该连接部23设置在推盘盒本体22a朝向电池托架一侧的表面上，该连接部23在与电池包接触时能够连接电池包，以实现将电池包从电池托架上取出的功能。而解锁机构21用于与电池托架上的检索件进行对接，以实现控制电池托架上的解锁机构21的解锁/锁止状态的目的。
推盘盒22设置在换电设备的电池托盘803上，推盘盒22还包括驱动部，该连接部23在与电池包接触时能够连接电池包，还可以实现将电池包从电池托架上取出的功能，驱动部与推盘盒本体连接，用于驱动推盘盒本体移动。
推盘盒22可包括检测模块和控制模块，其中，检测模块用于检测推盘盒本体22a与电池包接触状态；控制模块电连接于检测模块，控制模块包括推盘盒22的驱动部，并用于控制推盘盒本体22a的移动状态。当检测模块检测到推盘盒本体22a与电池包接触完 成后，控制模块控制驱动部驱动推盘盒本体22a执行相应的移动状态。
而双伸出机构3用于驱动电池托盘803接近电池托架，双伸出机构3的启动时机可以被安排在换电设备相对电池托架达到预设相对位置之后，以使得双伸出机构3能够准确地带动电池托盘803靠近电池托架。
在电池托盘803在双伸出机构3的驱动下而靠近电池托盘803之后，倘若要将电池包从电池托架上解锁并取出，可以分别执行两个工序：其中一个是控制推盘盒22朝向电池包的方向移动，并判断该推盘盒22是否与电池包接触完成；另一个是控制解锁机构21对电池托架进行解锁或锁止。
本实施例，可以先执行第一个工序，即控制推盘盒22朝向电池包的方向移动，并判断该推盘盒22是否与电池包接触完成。在此提供一种电池托盘803及推盘盒22的较佳实施结构，以用于实现判断推盘盒22是否与电池包接触完成的目的。
推盘盒22包括检测模块和控制模块，其中，检测模块用于检测推盘盒本体22a与电池包接触状态；控制模块电连接于检测模块，控制模块用于控制推盘盒本体22a的移动状态，当检测模块检测到推盘盒本体22a与电池包接触完成后，控制模块控制推盘盒本体22a执行相应的移动状态。
当电池包100处于未锁紧状态时，电池包100会跟随推盘盒22一起移动，电池包100和连接部23始终保持连接状态，连接部23和电池包100接触。当电池包100处于锁紧状态时，电池包100锁紧在电池托架上，不会跟随推盘盒22一起移动，电池包100和连接部23断开连接，连接部23与电池包100不接触。通过检测模块直接感应连接部23与电池包100的接触状态，全程机器自动进行操作，准确性高，无需人工进行处理，节约人力成本，减少工时，提高工作效率。
本实施例中连接部23相对于推盘盒本体22a能够沿着Y向方向进行移动，检测模块通过检测连接部23上的位移，以基于此判断连接部23与电池包之间的接触状态和连接状态。
具体的，如图5和6所示，连接部23包括第一连接件232和第二连接件233，而检测模块对应包括第一检测模块241和第二检测模块242，连接部23中用于实现吸附连接功能的吸附装置231被设置在第一连接件232上，第二连接件233则设置在吸附装置231的吸附面2311上。第一检测模块241用于检测第一连接件232与电池包的第一接触状态，而第二检测模块242用于检测第二连接件233与电池包的第二接触状态。
本实施例中的第一检测模块241和第二检测模块242均为传感器，并在对应的第一连接件232和第二连接件233与电池包接触之后产生信号。具体的，第二检测模块242 是设置在吸附装置231的吸附面2311上的，用于在吸附面2311靠近电池包时(即第二接触状态)产生信号。因此，第二检测模块242产生的信号为初步接触信号，该初步接触信号发送至控制模块后，使得控制模块能够获知推盘盒22已经接近电池包。本实施例中，控制模块在获取第二检测模块242的传感器产生的初步接触信号后，并不会对推盘盒22的移动状态进行实质改变。
而第一检测模块241使设置在推盘盒本体22a上的，其用于在设置于第一连接件232上的吸附装置231完全与电池包进行接触之后，基于第一连接件232的移动(即处于第一接触状态)产生信号。因此，第一检测模块241产生的信号为贴合信号，该贴合信号发送至控制模块后，使得控制模块能够获知推盘盒22(的吸附装置231的吸附面2311)已经完全接触电池包，此时，控制模块可控制推盘盒22停止移动，以实现精确的位移控制的目的。通过对推盘盒本体22a与电池包100的接触状态进行检测后再执行相应的移动状态控制，保证推盘盒22与电池包100之间的可靠连接，避免冲撞电池包、拉取不到位等情况，提高换电设备的换电可靠性及安全性。
优选地，控制模块可以被设置为：只有在初步接触信号和贴合信号都被获取到时，才判断推盘盒22与电池包接触完成，以进一步实施控制推盘盒22停止移动的操作。这种控制方案目的是为了避免第一检测模块241和第二检测模块242中的其中一个误触发而导致推盘盒22在未与电池包接触时就停止。另外，进一步优选地，在控制模块获取初步接触信号之后，也可以先控制推盘盒22减速移动，使得推盘盒22能够以一个较低的速度与电池包进行接触。
如图5所示，第一连接件232朝向电池托架的一侧设置有吸附装置231，第一连接件232相对推盘盒本体22a能够沿Y向进行位移，以使得第一检测模块241通过检测第一连接件232的位移状态，以获得上述的发送至控制模块的贴合信号。具体的，该连接部23还包括活动部234，第一连接件232是通过与活动部234相连的方式，以相对推盘盒本体22a能够移动的，活动部234还能够使得第一连接件232在推盘盒本体22a的运动方向可压缩，第一检测模块241的传感器设置在该活动部234的压缩路径上，以用于检测第一连接件232的位移情况，并以此判断是否处于第一接触状态。
吸附装置231相对于推盘盒本体22a可活动，通过检测吸附装置231的活动状态来判断是否电池包是否与连接部接触，进而判断是否需要进行两者的连接。吸附装置231的吸附面与2311用于与电池包100贴合，连接部23通过吸附力实现与电池包100的连接，操作简单，连接和拆卸都十分方便，且不用另外设置连接结构，简化连接部和电池包的结构。
其中，活动部234具体包括滑动结构和弹性结构第一连接件232通过活动部234的滑动结构定位在推盘盒本体22a上滑动结构、弹性结构和第一连接件232共同形成相对推盘盒本体22a可活动可压缩的浮动板结构，以使得固定在第一连接件232上的吸附装置231可相对推盘盒本体22a沿Y向进行浮动的目的。弹性结构可保证第一连接件232在未触碰状态时相对推盘盒本体22a复位伸出。
在电池包与吸附装置231接触时，滑动结构导引设有吸附装置231的第一连接件232沿该滑动路径(即Y向)移动，第一检测模块241设在该滑动结构的滑动路径上，并用于检测第一连接件232是否被压缩到预设位置，倘若第一连接件232被压缩到预设位置，则产生贴合信号至控制模块。而弹性结构则通过向第一连接件232施加作用力，使得第一连接件232上的吸附装置231在不与电池包接触时，通过弹性结构带动第一连接件232回复至初始位置(即图8中的第一连接件232所在位置)。
具体的，如图5和6所示，滑动结构包括四根具有末端限位的支撑杆，这些支撑杆的一端连接于推盘盒本体22a，第一连接部23通过其表面的通孔套在支撑杆的另一端上，以实现在支撑杆上进行滑动的目的。而弹性结构包括弹性元件2342，本实施例中为螺旋弹簧，该弹性元件2342的数量与支撑杆一直，弹性元件2342分别套在支撑杆上，弹性元件2342的一端抵住推盘盒本体22a上，弹性元件2342的另一端抵住第一连接部23，以使得第一连接部23相对推盘盒本体22a的靠近动作能够压缩该弹性元件2342，若第一连接件232不再受力，弹性元件2342会在弹力作用下将第一连接件232复位。本实施例中，第一检测模块241包括接近传感器，接近传感器通过检测支撑杆的末端的移动状态，实现判断第一接触状态并产生贴合信号的目的。
如图6所示，第二连接件233沿着推盘盒本体22a朝向电池托架的方向设置在第一连接件232上，第二连接件233通过相对第一连接件232进行位移的方式，使得第二检测模块242在第二连接件233产生位移时能够检出初步接触信号。
第二连接件233包括检测杆2331，检测杆2331在初始位置时穿过吸附装置231并凸出于吸附装置231的吸附面2311设置，(即图8中的检测杆2331所在位置)，这种第二连接件233的设置方案结构简单，连接可靠性高，检测杆2331沿Y向能够相对吸附装置231进行活动，而第二检测模块242设置在检测杆2331的活动路径上，以基于检测杆2331的活动情况产生对应信号，以检测吸附装置231是否与电池包相吸附。
具体的，在推盘盒22靠近电池包的过程中，检测杆2331的末端会先与电池包接触，进而被压缩，以产生初步接触信号。之后，当电池包与吸附装置231的吸附面2311接触后，能够进一步压缩吸附装置231和第一连接件232，以产生贴合信号。
另外，第二检测模块242同样包括接近传感器，第二检测模块242的接近传感器通过检测检测杆2331的末端的移动状态，实现判断第二接触状态并产生初步接触信号的目的。本实施例中，检测杆2331的长度较长，其末端穿过第一连接件232和推盘盒本体22a上用于第一连接件232的部分，第二检测模块242的接近传感器的优选设置位置如图6所示，其用于检测检测杆2331的末端位移情况，在检测杆2331上还设置有复位弹簧2332，以用于在检测杆2331不与电池包接触时带动检测杆2331回复至初始位置。
如图10所示，其为推盘盒本体22a沿图中箭头方向朝着电池包100移动并靠近时，电池托盘与电池包的位置关系示意图。从图中可以看出，检测杆2331的末端是突出于吸附面2311设置的，以用于在检测杆2331与电池包接触时，检测杆2331朝第二检测模块242的方向移动，第二检测模块242设置在检测杆2331的另一侧端部2331a处。
如图11所示，在推盘盒本体22a沿箭头方向朝电池包100方向移动时，检测杆2331与电池包100接触并被压缩，使得第二检测模块242能够检测出检测杆2331的端部2331a位移，从而产生初步接触信号。
之后，如图12所示，在推盘盒本体22a继续沿箭头方向朝电池包100方向移动的过程中，由于电池包100完全固定在电池托架上，因此推盘盒本体22a对电池包100的推力变为压缩支撑杆2341上的弹性元件2342的反作用力，以使得第一连接件232和吸附装置231朝后移动，并使固定在第一连接件232两侧的待检测端232a朝靠近第一检测模块241的方向移动，使得第一检测模块241能够检测出待检测端232a的位移后产生贴合信号。从图12中可以看出，在产生贴合信号时，电池包100必然已经和吸附装置231相贴合。
在位于推盘盒22上的吸附装置231与电池包100完全接触后，吸附装置231通电以吸附电池包100上的铁块。此时，可先执行吸附装置231通电的程序并在延迟至少1秒之后，在确保吸附装置231已经完全吸住电池包100之后，再执行后续的控制解锁设备解锁电池包的工序，保证电池包可靠安全的连接在推盘盒22上。
其中，解锁机构21的具体结构与原理由于属于现有技术范畴，因此在此不再赘述。
之后，控制推盘盒22往回移动，如图9所示，以通过推盘盒22电池包100移至电池托盘803上.在将电池包100移回电池托盘803期间，可通过设置在电池托盘803上的图像采集模块采集位于电池托架上的至少两个位置的第一图像和第二图像，并以此为依据产生垂直调整量，以通过垂直移动机构实现在电池包移出过程中调整换电设备的高度至与电池托架的高度相匹配的目的。当然，在执行电池包安装方法过程中，在推盘盒22将电池包推入电池托架时，以可通过获取垂直调整量的方式对电池托盘803和电池托架 之间的高度位置进行实时调节，以避免电池包在移入或移出的平移过程中出现卡住的情况。
另外，在电池包被完全取回之后，推盘盒22停止移动。此时，双伸出机构3能够缩回，在双伸出机构3缩回之后，在电池托盘803的前端还可设有垂直设置的缩回检测传感器235，以用于检测双伸出机构3是否完全缩回。具体的，在双伸出机构3完全缩回之后，在缩回检测传感器235的检测范围内应该无法检测到任何物体，若是，则判断缩回成功，并且可执行后续步骤。
该换电设备在执行电池包安装过程时，各部件的工作原理与电池包取出过程大致相同，在此不再重复赘述。
不过，上述用于产生贴合信号和初步接触信号的检测模块在电池包安装过程还可具备并执行与电池包取出过程中不同的功能。
在电池包安装过程中，推盘盒22需要推动电池包移动，以将电池包推至电池托架。其中，可利用第一检测模块241产生的贴合信号作为判断电池包已经被推送至电池托架的依据。具体来说，弹性元件可以设置得较硬，使得通过吸附装置231推动电池包移动的过程中，电池包滑动产生的阻力无法使得弹性元件被压缩，从而使第一检测模块241产生的贴合信号。而当推盘盒22将电池包推至电池托架并到位时，电池包无法移动，此时，作用在弹性元件上的作用力增大，使得第一连接件232被压缩从而产生贴合信号，控制模块基于上述的贴合信号控制推盘盒22停止移动，使推盘盒22具备在电池包安装过程中能够将电池包推送到位并准确停止的优点。
本实施例还提供了一种用于判断电池包100是否锁紧在电池托架上的电池包100锁紧判断方法。
在电池包安装过程中，在解锁机构21将电池包锁止在电池托架上之后，可利用第二检测模块242产生的初步接触信号作为判断电池包是否已经锁定在电池托架上的依据。
首先，改变吸附装置231对电池包的吸力，例如，吸附装置231供电电压为24V，此时产生的吸力为80kg，此时，将吸附装置231供电电压下降为5V，将吸附力也对应下降至10kg。此时，虽然吸附装置231与电池包保持吸附连接，但吸附连接的牢固程度相对较低。
之后，控制推盘盒22退回一定的距离，并检测初步接触信号有没有发出，并以此为依据判断电池包是锁止成功还是锁止失败。
具体的，倘若检测到第二连接件233的初步接触信号，说明吸附装置231的吸附面2311上还存在物体，此时，基于接收到的初步接触信号即可认为：电池包还被吸附在吸 附装置231上，因此电池托架的锁止机构并未成功锁止。此时，可继续控制电池托盘803上的解锁机构21和推盘盒22执行电池包安装工序。
而倘若未检测到初步接触信号，说明吸附装置231的吸附面2311不存在物体，即可认为：电池包没有被吸附在吸附装置231上，电池托架的锁止机构成功锁止，导致电池包和吸附装置231在10kg的吸附力下相互脱离。此时，可控制推盘盒22继续退回，之后，再控制换电设备的双伸出机构3退回。
其中，将吸附力下降至10kg仅为本实施例中一种较为优选的吸附参数，使用其他吸附力连接电池包也同样能够实现上述目的。进一步的，虽然本实施例中的推盘盒22是利用吸附的方式连接电池包，但是在其他实施方式中，连接部23也可通过其他连接方式与电池包相连，并且在基于推盘盒22退回一定的距离的情况下检测连接部23与电池包的连接状况，以同样实现检测并判断电池包是锁止成功还是锁止失败的目的。
另外，在控制推盘盒22退回一定的距离的步骤中，所谓的距离应当大于检测杆2331移动的行程。本实施例中，在此基础上，还应大于支撑杆移动的行程，以使得第一连接件232和第二连接件233均处于各自的初始位置(参见图8)，避免第一连接件232和第二连接件233未移动到位，还处于压缩状态，从而导致虽然电池包已脱离吸附面2311，但第一检测模块241和第二检测模块242仍旧能够产生相应的信号。
另外，如图4和图7所示，本实施例的推盘盒22中，检测模块还能够用于检测推盘盒22是否位于电池托盘803的预设区域上，当检测模块检测到电池托盘803位于预设区域上，检测模块可通过向与之电连接的控制模块发送信号，以使控制模块改变推盘盒22的移动状态。其中，所谓的移动状态包括加速、减速、停止等等。
具体的，本实施例中，如图14所示，检测模块包括一对相配合的第一检测件243和第二检测件244，其中，第一检测件243设置在电池托盘803上，第二检测件244设置在推盘盒22上。具体的，第一检测件243为感应块或感应带，通过设置在电池托盘803朝向推盘盒本体22a一侧的表面上，以在电池托盘803的表面形成所谓的预设区域。根据在电池托盘上的位置不同来改变推盘盒移动状态，从而实现在电池托盘上不同的位置实时调整推盘盒运动状态以快速准确地拉取或推送电池包和推盘盒复位停止等动作，换电效率更高，安全性更好。
具体的，如图14所示，本实施例中的第二检测件244为接近传感器，其末端的检测端244a朝向电池托盘803表面设置，以用于检测由第一检测件243形成的预设区域，并基于第二检测件244是否发出感应信号，判断推盘盒22是否位于预设区域。当第二检测件244的检测端244a靠近第一检测件243时，第二检测件244能够产生对应信号，以使 得控制模块改变推盘盒22的移动状态，实现精确控制的目的。
具体的，本实施例中的预设区域包括减速区域、复位区域和极限区域。其中，这些区域分别由不同的第一检测件243来形成，也分别由不同的第二检测件244来实施检测。
如图7所示，用于形成减速区域的第一检测件243为减速检测件243a，其设置在电池托盘803朝向推盘盒22的一侧，并接近电池托架设置。具体的，从图7中可以看出，减速检测件243a的具体形态为长条形的，并沿着推盘盒22朝向电池托架的移动方向延伸，当设置在推盘盒本体22a上的第二检测件244检测到该减速区域后，控制模块用于驱动推盘盒22减速移动。该减速区域的设置位置应当与推盘盒22移动并接触电池包的距离相匹配。具体的，该减速区域的设置位置应当被设置为：推盘盒22朝向位于电池托架的电池包移动时，推盘盒22先移入减速区域，以在第二检测件244发出信号之后执行推盘盒22减速，再通过第一连接件232和第二连接件233的位移产生贴合信号和初步接触信号，以使得推盘盒22停止移动。
如图13和图14所示，用于形成复位区域的第一检测件243为复位检测件243b，复位检测件243b安装在电池托盘803中推盘盒22的移动方向的两端之间的位置，并远离电池托架设置。具体的，复位检测件243b为矩形，当设置在推盘盒本体22a上的第二检测件244检测到该复位区域后，控制模块用于驱动推盘盒22停止移动，以实现推盘盒22在复位过程中能够停止在相对精确的位置，以提高换电设备的重复性和可靠性。
如图7所示，用于形成极限区域的第一检测件243为极限检测件243c，该极限检测件243c有两个，分别被安装在电池托盘803中推盘盒22的移动方向的两端之间的位置，并且相对减速检测件243a和复位检测件243b设置在电池托盘803的外侧。该极限区域的设置目的是为了指示出推盘盒22的移动界限，因此，两个极限检测件243c的设置位置为推盘盒22在正常移动时并不会进入的区域，也就是说，在第二检测件244检测到推盘盒22进入极限区域时，说明换电设备的运行存在问题，此时应当使推盘盒22停止移动。优选地，还可以停止整个换电设备的运行，并发出错误警报，以使维护工程师介入并解决问题。
本实施例中，第二检测件244为四个接近传感器，以分别用于检测减速检测件243a、复位检测件243b和两个极限检测件243c，使得第二检测件244与第一检测件243一一配对设置，避免传感器重复利用而带来的可靠性风险，这四个接近传感器分别被设置的推盘盒本体22a的四个角位置处，以分别对应四个第一检测件243(分别用于形成包括减速区域、复位区域和两个极限区域)。
需要具体说明的是，本实施例中，在第二检测件244检测到推盘盒22位于预设区域 时，并非一定要控制控制模块改变推盘盒22的移动状态，而还应当与推盘盒22相对电池托盘803产生的预设动作的移动方向进行结合，以统一进行判断。
例如，当推盘盒22相对电池托盘803产生的预设动作为推盘盒22相对电池托盘803伸出时，倘若第二检测件244检测到位于减速区域时，应当控制推盘盒22减速；而当第二检测件244检测到位于复位区域时，则不应当控制推盘盒22停止，因为此时推盘盒22可能刚好从复位区域启动并开始朝减速区域的方向移动。
与至相反的，当推盘盒22相对电池托盘803产生的预设动作为推盘盒22由伸出状态缩回时，倘若第二检测件244检测到位于复位区域时，应当控制推盘盒22停止；而当第二检测件244检测到位于减速区域时，则不应当控制推盘盒22减速，因为此时推盘盒22可能刚好从减速区域启动并开始朝复位区域的方向移动。
而第二检测件244检测到推盘盒22位于极限区域的信号优先级应当被设置为最高，当第二检测件244检测到推盘盒22位于极限区域，应当立刻停止整个换电设备的运行，以避免引发安全事故。
如图7和图15所示，本实施例中的推盘盒22还包括两个平衡部25，连接部23沿推盘盒本体22a的横向方向(即图7中的X向)的两侧分别设置有一个平衡部25，该平衡部25可以在推送或拉取电池包的过程中对电池包的移动状态进行平衡，使得电池包在推盘盒22上的吸附装置231的推动下，能够通过平衡部25对电池包的支撑，使电池包保持相对准确的移动姿态。其中，将两个平衡部25分别设置在连接部23的两侧的等间距的位置，可使得平衡部25对电池包100的两端的纠偏角度相同，无论电池包100朝哪一个方向偏移都能够得到及时纠正。
其中，所谓电池包的移动姿态，是指电池包在电池托盘803和电池托架之间移动时的位置姿态，即电池包在电池托盘803和电池托架之间移动时的倾斜情况(参见图9，此时，电池包100的位置姿态较好)，当电池包的移动姿态较差时，电池包容易和电池托盘803的侧导轮4或电池托架的侧导轮发生干涉，导致电池包在电池托盘803或电池托架上卡死。
通过在连接部23的两侧分别安装一个平衡部25，能够在推盘盒22带动电池包100移动的过程中平衡电池包100的移动状态，使电池包100无论朝哪侧偏移都能够通过平衡部25来进行调整，防止电池包100因偏移而与电池托盘803或电池托架之间产生碰撞，减少电池包100、电池托盘803、电池托架的磨损，增加换电过程的可靠性与安全性。
本实施例中的连接部23设置在推盘盒本体22a沿X向的中间位置处，两个平衡部25分别设置在连接部23两侧等间距的位置上，以使得两个平衡块能够相对平衡地对电 池包实现支撑。
具体的，连接部23朝向电池包的连接面的一侧(即吸附面2311)与平衡部25朝向电池包的平衡面并不在同一平面上。在此基础上，如图16所示，基于推盘盒本体22a向电池托架的移动方向(即Y向)，该连接部23凸出于推盘盒本体22a为第一宽度D1，平衡部25凸出于推盘盒本体22a为第二宽度D2，第一宽度D1大于等于第二宽度D2。即：平衡面相对吸附面2311更加远离电池包设置，连接部23相对于平衡部25朝向电池包100一侧突出，使得推盘盒22在与移动姿态较为正常的电池包接触时，连接部23的吸附面2311能够先与电池包进行接触，而只有当电池包100的位置姿态较差(或产生错位)的情况下，电池包100的表面才可能会与平衡部25接触，从而使电池包100移动状态被平衡部25在此调整至平衡。
本实施例中的平衡部25包括抵推块251，抵推块251呈立方体形状，朝向电池包一侧的矩形表面用于与电池包进行接触，以纠正电池包的移动姿态。该抵推块251通过转接结构252被安装在推盘盒本体22a朝向电池托架的侧面上，该抵推块251用于与电池包进行接触，通过将上述的抵推块251安装在推盘盒本体22a上，使得平衡部25支撑电池包所受到的反作用力能够直接被施加在推盘盒22本体上。优选地，该抵推块251由具有弹性的聚氨酯材料制成，以使得抵推块251同时具备弹性和支撑性，其中，抵推块251具备弹性的目的是使得抵推块251在连接部23(的吸附装置231)被压缩时，抵推块251能够通过自身的压缩而缓解一定的距离偏差，避免抵推块251为刚性而导致电池包无法推动第一连接件232和第二连接件233压缩以使检测模块触发贴合信号和初步接触信号。
优选的，两个平衡部25的中心与连接部23的中心不在同一直线上。本实施例中，如图16所示，两个平衡部25的中心与连接部23的中心在高度方向(即Z向)上不在同一直线L上，即：两个平衡部25与连接部23的设置高度存在偏差。这种结构设置可使得平衡部25与电池包的接触面以及连接部与电池包的接触面不在同一方向上，以加强电池包连接的稳定性，减少电池包移动过程中产生偏移。
需要具体说明的是，本实施例的附图中展示的电池托盘803和推盘盒22的仅用于说明示意具体的结构。另外，如图17所示，为便于展示推盘盒22中的内部结构，除图17以外的其他附图中，推盘盒22的外罩壳均被隐藏。虽然以上描述了本发明的具体实施方式，但是本领域的技术人员应当理解，这仅是举例说明，本发明的保护范围是由所附权利要求书限定的。本领域的技术人员在不背离本发明的原理和实质的前提下，可以对这些实施方式做出多种变更或修改，但这些变更和修改均落入本发明的保护范围。

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  1. 一种推盘盒，设置在换电设备的电池托盘上，并且用于在电池托盘和电池仓或电动汽车内的电池托架之间推送或拉取电池包，其特征在于，其包括：
    推盘盒本体，能够在所述电池托盘上移动；
    检测模块，用于检测所述推盘盒本体与电池包接触状态；
    控制模块，所述控制模块电连接于所述检测模块，所述控制模块用于控制所述推盘盒本体的移动状态，当所述检测模块检测到所述推盘盒本体与电池包接触完成后，所述控制模块控制所述推盘盒本体执行相应的移动状态。
  2. 如权利要求1所述的推盘盒，其特征在于，所述推盘盒还包括连接部，所述连接部设置在所述推盘盒本体上，所述连接部用于在所述推盘盒本体与电池包接触时连接电池包。
  3. 如权利要求2所述的推盘盒，其特征在于，所述连接部设置于所述推盘盒本体朝向所述电池托架的侧面上。
  4. 如权利要求3所述的推盘盒，其特征在于，所述连接部相对于所述推盘盒本体可移动，所述检测模块通过检测所述连接部的移动状态而检测所述连接部与所述电池包的接触状态。
  5. 如权利要求3所述的推盘盒，其特征在于，所述连接部包括检测杆，所述检测模块包括接近传感器，所述接近传感器用于检测所述检测杆的移动状态；和/或
    所述连接部与所述电池包贴合的面为连接面，所述检测杆相比于所述连接面朝向所述电池包的方向凸出预设长度。
  6. 如权利要求2所述的推盘盒，其特征在于，所述连接部包括第一连接件和第二连接件，所述检测模块包括第一检测模块和第二检测模块，所述第一检测模块用于检测所述第一连接件与电池包的第一接触状态，所述第二检测模块用于检测所述第二连接件与电池包的第二接触状态。
  7. 如权利要求6所述的推盘盒，其特征在于，所述第一连接件相对所述推盘盒本体能够位移，所述第一检测模块用于检测所述第一连接件的位移状态。
  8. 如权利要求7所述的推盘盒，其特征在于，所述连接部还包括活动部，所述第一连接件通过所述活动部连接于所述推盘盒本体，所述活动部沿所述推盘盒本体的运动方向可压缩，所述第一检测模块设于所述活动部的压缩路径上，并用于检测所述第一连接件的位置而判断是否处于第一接触状态。
  9. 如权利要求7所述的推盘盒，其特征在于，所述第二连接件沿所述推盘盒本体朝向所述电池托架的方向设置于所述第一连接件上，并相对所述第一连接件能够位移，所述第二检测模块用于检测所述第二连接件的位移状态；和/或
    所述第二连接件可活动地设于所述第一连接件上，所述第二检测模块设于所述第二连接件的活动路径上，并用于检测所述第二连接件的位置而判断是否处于第二接触状态。
  10. 如权利要求8所述的推盘盒，其特征在于，所述活动部包括：
    滑动结构，所述第一连接件通过所述滑动结构定位在所述推盘盒本体上，并实现所述第一连接件沿所述推盘盒本体的运动方向的滑动；
    弹性结构，所述弹性结构通过向所述第一连接件施加作用力，以在所述第一连接件不与电池包接触时带动所述第一连接件回复至初始位置；
    所述第一检测模块设于所述滑动结构的滑动路径上并用于检测所述第一连接件是否被压缩到预设位置；
    优选地，所述滑动结构包括支撑杆，所述支撑杆的一端连接于所述推盘盒本体，所述第一连接件套设在所述支撑杆上并可在所述支撑杆上滑动；
    所述弹性结构包括弹性元件，所述弹性元件套设在所述支撑杆上，所述弹性元件的一端抵住所述推盘盒本体，所述弹性元件的另一端抵住所述第一连接件。
  11. 如权利要求6所述的推盘盒，其特征在于，所述第一连接件还包括吸附装置，所述第二连接件设置于所述吸附装置的吸附面上。
  12. 如权利要求3所述的推盘盒，其特征在于，所述推盘盒包括：
    驱动部，所述驱动部与所述推盘盒本体连接，所述驱动部用于驱动所述推盘盒本体移动；
    至少两个平衡部，所述连接部沿所述推盘盒本体的横向方向的两侧分别设置有至少一个所述平衡部，所述平衡部用于在推送或拉取所述电池包的过程中对所述电池包的移动状态进行平衡。
  13. 如权利要求12所述的推盘盒，其特征在于，至少两个所述平衡部的中心与所述连接部的中心不在同一直线上；和/或
    所述连接部设置于所述推盘盒本体的横向方向的中间位置，两个所述平衡部分别设置在所述连接部两侧等间距的位置上。
  14. 如权利要求12所述的推盘盒，其特征在于，所述连接部朝向所述电池包的连接面与所述平衡部朝向所述电池包的平衡面不在同一平面上。
  15. 如权利要求14所述的推盘盒，其特征在于，基于所述推盘盒本体向所述电池托架 的移动方向，所述连接部凸出于所述推盘盒本体第一宽度，所述平衡部凸出于所述推盘盒本体第二宽度，所述第一宽度大于等于所述第二宽度。
  16. 如权利要求15所述的推盘盒，其特征在于，所述平衡部包括抵推块，所述抵推块设置于所述推盘盒本体朝向所述电池托架的侧面上，所述抵推块用于与所述电池包接触。
  17. 如权利要求16所述的推盘盒，其特征在于，所述连接部相对于所述推盘盒本体可活动；
    优选的，所述抵推块为弹性件；
    优选的，所述抵推块的材料为聚氨酯。
  18. 如权利要求12-17中任意一项所述的推盘盒，其特征在于，所述连接部为吸附装置。
  19. 一种电池包锁紧判断方法，其特征在于，所述电池包锁紧判断方法基于如权利要求3所述的推盘盒实施，所述连接部包括吸附装置，所述电池包锁紧判断方法用于判断所述电池包是否锁紧在所述电池托架上，所述电池包锁紧判断方法包括以下步骤：
    步骤S1.控制所述推盘盒对所述电池包的吸附力达到至预设值；
    步骤S2.控制所述推盘盒退回预设距离以判断所述电池包的锁止状态。
  20. 如权利要求19所述的电池包锁紧判断方法，其特征在于，所述连接部还包括检测杆，所述检测模块包括接近传感器，所述检测杆相对于所述推盘盒本体可移动并用于与所述电池包接触，所述接近传感器用于检测所述检测杆的移动状态；
    在所述步骤S2中，通过检测所述接近传感器是否检测到所述检测杆的移动状态来判断所述电池包是否锁紧在所述电池托架上；
    当所述接近传感器检测到所述检测杆的移动状态之后，则判断为所述电池包锁止成功；当所述接近传感器未检测到所述检测杆的移动状态之后，则判断为所述电池包锁止失败。
  21. 如权利要求20所述的电池包锁紧判断方法，其特征在于，在所述步骤S2中，所述推盘盒退回的预设距离大于或等于所述检测杆相对于所述推盘盒本体移动的移动行程。
  22. 如权利要求19所述的电池包锁紧判断方法，其特征在于，在所述步骤S2中，当判断所述电池包的锁止状态的结果为所述电池包锁止成功之后还包括以下步骤：控制所述推盘盒退回；和/或
    在控制所述推盘盒退回之后，还包括以下步骤：控制所述换电设备的双伸出机构退回。
  23. 如权利要求19所述的电池包锁紧判断方法，其特征在于，在所述步骤S2中，当 判断所述电池包的锁止状态的结果为所述电池包锁止失败之后，再次将所述电池包锁紧在所述电池托架上，并执行所述步骤S1和所述步骤S2。
  24. 一种换电设备，其特征在于，其包括如权利要求1-18任一项所述的推盘盒。
  25. 如权利要求24所述的换电设备，其特征在于，所述换电设备用于在电池仓与电动汽车之间进行电池包的转运，所述换电设备包括：
    电池托盘，所述推盘盒可移动连接在所述电池托盘上以用于在所述电池托盘和所述电池托架之间推送或拉取电池包；
    控制模块，所述控制模块用于控制所述推盘盒的移动状态；
    检测模块，所述检测模块用于检测所述推盘盒是否位于所述电池托盘的预设区域，所述检测模块电连接于所述控制模块；
    当所述检测模块检测到所述推盘盒位于所述预设区域内，所述控制模块控制所述推盘盒改变移动状态。
  26. 如权利要求25所述的换电设备，其特征在于，所述预设区域包括以下至少一种：
    所述预设区域包括减速区域，当所述检测模块检测到所述推盘盒位于所述减速区域后，所述控制模块控制所述推盘盒减速；
    所述预设区域包括复位区域；当所述检测模块检测到所述推盘盒位于所述复位区域后，所述控制模块控制所述推盘盒停止；
    所述预设区域包括极限区域；当所述检测模块检测到所述推盘盒位于所述极限区域后，所述控制模块控制所述推盘盒停止。
  27. 如权利要求26所述的换电设备，其特征在于，所述检测模块包括一对相配合的第一检测件和第二检测件，所述第一检测件设于所述电池托盘，所述第二检测件设于所述推盘盒。
  28. 如权利要求27所述的换电设备，其特征在于，
    所述第一检测件包括减速检测件，所述减速检测件为感应块或感应带，所述减速检测件安装于所述电池托盘且朝向所述推盘盒设置，并形成所述减速区域；和/或
    所述减速检测件安装于所述电池托盘靠近所述电池托架的一端并且沿所述推盘盒的移动方向延伸。
  29. 如权利要求27所述的换电设备，其特征在于，所述第一检测件包括极限位置检测件，所述极限位置检测件安装于所述电池托盘中所述推盘盒的移动方向的两个端部位置，并形成所述极限区域；和/或
    所述第一检测件包括复位检测件，所述复位检测件安装于所述电池托盘中所述推盘 盒的移动方向的两端之间的位置。
  30. 如权利要求27-29中任意一项所述的换电设备，其特征在于，所述第二检测件为接近传感器，所述第二检测件安装于所述推盘盒中与所述第一检测件对应的位置，所述第二检测件电连接于所述控制模块，并用于检测所述推盘盒是否位于所述预设区域。
  31. 一种如权利要求25-30任一项所述的换电设备的控制方法，其特征在于，其包括如下步骤：
    控制推盘盒相对电池托盘产生预设动作的移动；
    根据预设动作以及所述推盘盒在所述电池托盘上的位置，控制所述推盘盒的移动状态。
  32. 如权利要求31所述的换电设备的控制方法，其特征在于，
    所述预设动作为所述推盘盒相对所述电池托盘伸出，当所述推盘盒位于减速区域内时，控制所述推盘盒减速；或
    所述预设动作为所述推盘盒由伸出状态缩回，当所述推盘盒位于复位区域时，控制所述推盘盒停止。
  33. 一种用于换电设备的电池包连接控制方法，所述换电设备用于在电池仓与电动汽车之间进行电池包转运，所述电池包被锁止于所述电池仓或所述电动车内的电池托架上，所述换电设备包括电池托盘和推盘盒，所述推盘盒用于在所述电池托盘和所述电池托架之间推送或拉取电池包，其特征在于，其包括如下步骤：
    控制所述推盘盒朝向所述电池包移动；
    判断所述推盘盒是否与所述电池包接触完成；
    若是，则控制所述推盘盒停止移动并连接所述电池包。
  34. 如权利要求33所述的用于换电设备的电池包连接控制方法，其特征在于，判断所述推盘盒是否与所述电池包接触完成的步骤包括：
    检测所述推盘盒与所述电池包的第一接触状态从而获取对应的第一接触信号；
    检测所述推盘盒与所述电池包的第二接触状态从而获取对应的第二接触信号；
    当所述第一接触信号和所述第二接触信号都被获取到时，判断所述推盘盒与所述电池包接触完成。
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