WO2022166471A1 - 吊具及换电站 - Google Patents

吊具及换电站 Download PDF

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Publication number
WO2022166471A1
WO2022166471A1 PCT/CN2021/141915 CN2021141915W WO2022166471A1 WO 2022166471 A1 WO2022166471 A1 WO 2022166471A1 CN 2021141915 W CN2021141915 W CN 2021141915W WO 2022166471 A1 WO2022166471 A1 WO 2022166471A1
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WO
WIPO (PCT)
Prior art keywords
battery pack
frame
spreader
camera
grabbing
Prior art date
Application number
PCT/CN2021/141915
Other languages
English (en)
French (fr)
Inventor
李志清
肖申
孙庆
吴小平
Original Assignee
博众精工科技股份有限公司
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
Application filed by 博众精工科技股份有限公司 filed Critical 博众精工科技股份有限公司
Publication of WO2022166471A1 publication Critical patent/WO2022166471A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • 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
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
    • B66C1/28—Duplicate, e.g. pivoted, members engaging the loads from two sides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B66C11/08—Trolleys or crabs, e.g. operating above runways with turntables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • B66C17/04—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports with lifting beams, e.g. slewable beams, carrying load-engaging elements, e.g. magnets, hooks

Definitions

  • the present application relates to the technical field of electric vehicle power exchange, for example, to a spreader and a power exchange station.
  • the battery packs installed on electric tractor vehicles such as heavy trucks and mining trucks need to be recharged after running out of power.
  • the battery pack of the electric tractor vehicle is set to a replaceable structure. In order to be able to replace at the power station, to meet the continuous and normal operation of the vehicle.
  • the battery pack of the electric traction vehicle is generally set on the rear side of the cockpit.
  • the crane When the electric traction vehicle enters the swap station, the crane usually grabs the depleted battery on the electric traction vehicle and replaces the fully charged battery in the swap station. When installed on the electric traction vehicle, the battery replacement operation is completed.
  • the power exchange stations commonly found in cars or off-road vehicles are equipped with a power exchange platform.
  • the power exchange platform is used to carry the power exchange vehicle and adjust the posture of the power exchange vehicle in a translational manner, so that the vehicle posture is suitable for the power exchange robot of the power exchange station. s position.
  • the power exchange platform of the power exchange station can facilitate the crane to obtain the battery. If there is a deviation in the driving posture of the electric traction vehicle, the driver needs to repeatedly drive in and out to adjust the position of the electric traction vehicle. The power exchange efficiency is low, and the customer Bad experience.
  • the present application provides a spreader and a power exchange station, which can be adapted to match the parking posture of a battery-changing vehicle, and the battery-changing operation can be performed without the driver adjusting the parking posture of the electric traction vehicle.
  • An embodiment provides a spreader, which is configured to transport battery packs, and includes a transfer device and a spreader tool. Displacement in three directions, the spreader tooling includes: a tooling body fixedly connected to the movable end of the transfer device;
  • a grasping mechanism configured to grasp the battery pack
  • a rotating mechanism connected between the tool body and the grasping mechanism, so as to drive the grasping mechanism to rotate along a vertical rotation axis.
  • a power exchange station includes the spreader as described above.
  • FIG. 1 is a schematic structural diagram of a power exchange station in an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a spreader tool in an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of a battery pack after removing a sealing plate according to an embodiment of the present application
  • FIG. 4 is a schematic structural diagram of another battery pack after removing the sealing plate according to an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of a charging stand in an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a vehicle mount in an embodiment of the present application.
  • FIG. 7 is a schematic diagram of the assembly structure of a battery pack and a vehicle mount in an embodiment of the present application.
  • FIG. 8 is a schematic diagram of the connection between the camera and the controller according to an embodiment of the present application.
  • connection should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between the two elements.
  • connection may be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between the two elements.
  • a first feature "on” or “under” a second feature may include direct contact between the first and second features, or may include the first and second features Not directly but through additional features between them.
  • the first feature being “above”, “over” and “above” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature is “below”, “below” and “below” the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.
  • this embodiment provides a power exchange station, which can be installed on the upper side of the vehicle body for the battery pack 1 , or in other words, the battery pack 1 can be grabbed from the top of the vehicle body, such as a heavy-duty truck. And electric traction vehicles 100 such as mining trucks perform battery swapping operations.
  • the power exchange station is a building structure with a power exchange channel that allows vehicles to drive in and out.
  • a power exchange platform 2 is arranged inside the power exchange station at the power exchange channel, and the power exchange platform 2 is provided with
  • a plurality of speed bumps are also arranged on the power exchange platform 2, and a pair of spaced speed bumps can form notches for positioning the wheels of the electric traction vehicle 100.
  • the electric traction vehicle 100 can be generally positioned to a preset position, so as to facilitate the power exchange operation.
  • the battery exchange station is also provided with a battery compartment 3, a truss 4, a transfer device 5, etc., wherein: the battery compartment 3 may be a partition formed by a fence, a wall, etc. in the exchange station.
  • the area where the charging stand 7 is placed, and the area is also provided with a charger that provides power for the charging stand 7, a power distribution controller, etc., so as to charge the battery pack 1 stored on the charging stand 7 with insufficient power.
  • the truss 4 can be fixedly connected to the steel components of the power exchange station building, or can be independently arranged inside the power exchange station building, extending between the power exchange platform 2 and the battery compartment 3 .
  • the truss 4 is generally in the form of a cube, with a roughly rectangular frame at the top.
  • a pair of longitudinal members 41 along the length of the truss 4 extend between the power exchange platform 2 and the battery compartment 3, and the pair of longitudinal members 41 along the
  • the truss 4 is slidably installed in the width direction with a transfer device 5 (that is, a hoist capable of hoisting the battery pack 1 ) provided for the power exchange operation.
  • a transfer device 5 that is, a hoist capable of hoisting the battery pack 1
  • the transfer device 5 includes a cross member 51, which can slide along the extension direction of the longitudinal member 41, that is, the length direction of the truss 4.
  • a hoisting trolley 52 is slidably installed on the cross member 51, and the traveling trolley can move along the The extension direction of the cross member 51, that is, the width direction of the truss 4, slides, and the hoisting trolley 52 has a movable end that can be lifted and lowered in the vertical direction.
  • the movable end is provided with a spreader tool 6, which can move along the vertical direction.
  • the rotating shaft rotates to align and grab the battery pack 1 on the electric traction vehicle 100 or in the battery compartment 3 .
  • the transfer device 5 can make the spreader tool 6 form a truss along the horizontal frame and the hoisting trolley 52 .
  • the displacement in the three-dimensional directions of the length, width and height of 1 you can rotate the spreader tool 6 to match the attitude of the spreader tool 6 to the actual posture of the vehicle battery pack 1, so that the vehicle battery pack 1 can be grasped in alignment, and then the transfer device 5
  • the battery pack 1 is moved to the empty charging stand 7 in the battery compartment 3 for charging.
  • the transfer device 5 grabs the fully charged battery pack 1 on the other charging stand 7 and then lifts the fully charged battery pack 1
  • the power exchange operation is completed, and the electric traction vehicle 100 can drive out of the power exchange station.
  • the driver of the electric traction vehicle 100 only needs to park the vehicle at a preset position defined by the deceleration belt when exchanging the electric power. 100 will have obvious height fluctuations when driving into the preset position, so that the driver can easily complete the parking of the vehicle, and since the transfer device 5 of the power exchange station in this embodiment can be adapted to the specific posture of the vehicle battery pack 1, The driver does not need to adjust the position of the electric traction vehicle 100 repeatedly, which greatly improves the efficiency of the power exchange operation and improves the power exchange experience.
  • the spreader tool 6 may include a tool body 61 , a grasping mechanism 62 and a rotating mechanism 63 .
  • the tooling body 61 is fixedly connected to the movable end of the transfer device 5 so as to obtain the displacement along the three-dimensional directions of the length, width and height of the truss 4
  • the grabbing mechanism 62 is configured to adapt to grab the vehicle battery based on the structure of the battery pack 1 .
  • Package 1; the rotating mechanism 63 is connected between the tooling body 61 and the grabbing mechanism 62 to drive the grabbing mechanism 62 to rotate along the vertical axis, so that the attitude and position of the grabbing mechanism 62 and the battery pack 1 are aligned up and down .
  • the above-mentioned rotating mechanism 63 can be a turntable mechanism driven by a servo motor, and the fixed end and the movable end of the turntable mechanism are respectively connected between the tool body 61 and the grabbing mechanism 62 .
  • the spreader tool 6 also includes a camera 20 and a controller 30.
  • the camera 20 is configured to capture an image of a calibration plate provided on the top of the vehicle battery pack 1 ;
  • the controller 30 is electrically connected to the camera 20 and can demarcate the position of the battery pack 1 based on the marking features on the image of the calibration plate to control the transfer device 5
  • the rotation mechanism 63 drives the grab mechanism 62 to align the grab mechanism 62 with the battery pack 1 .
  • the above-mentioned controller 30 may be a controller independently mounted in the spreader tool 6, or may be a controller used to control the entire station operation of the power exchange station, and then drive the transfer device 5 and the spreader tool 6 based on the image recognition feature mark.
  • controller 30 may be a controller independently mounted in the spreader tool 6, or may be a controller used to control the entire station operation of the power exchange station, and then drive the transfer device 5 and the spreader tool 6 based on the image recognition feature mark.
  • the spreader tool 6 further includes a dust-proof box 64, and the dust-proof box 64 is disposed outside the camera 20 to form a sealed environment for the built-in camera 20 to prevent external dust from entering.
  • the dust-proof box 64 also includes a bottom plate 641 facing the lens of the camera 20 , the bottom plate 641 can be slid out of the viewing area of the lens to allow the camera 20 to capture images of the vehicle battery pack 1 when it needs to work.
  • the bottom plate 641 can be driven and slid by a common electric or pneumatic telescopic mechanism, etc., which is not limited herein.
  • actions such as the bottom plate 641 that can be folded or turned over can also be used to perform the above purpose of opening or closing the dustproof box 64 .
  • the bottom plate 641 can also be made of a transparent material, and a wiping mechanism 65 is disposed at the dust box 64 , and the wiping mechanism 65 is configured to wipe the side of the bottom plate 641 located outside the dust box 64 . , so that the bottom plate 641 is periodically wiped to remove the dust accumulated on the bottom plate 641 , so that the camera 20 can obtain a clear image of the vehicle-mounted battery pack 1 .
  • the wiping mechanism 65 may include a wiper strip or a brush that can translate or swing, which is not specifically limited herein.
  • the area of the power exchange station other than the power exchange channel can be isolated from the outside world by building walls, etc., and maintained at a suitable working temperature. Since the power exchange channel needs to drive in and out of vehicles frequently, it will inevitably be in the Under low temperature working conditions, in order to avoid the drive motor of the grabbing mechanism 62 and the rotating mechanism 63 in the spreader tool 6, as well as the electric components such as the camera 20 and the controller 30 from being unable to work due to low temperature, the spreader tool 6 also includes protection.
  • the protective cover 66 covers the above-mentioned electrical components of the spreader tool 6, and a heating element capable of heating the electrical components is provided in the protective cover 66, so as to heat the electrical components in a targeted manner under the condition of low temperature outside, Use electrical components in a normal working temperature environment to ensure the normal operation of the swap station in low temperature weather.
  • the above-mentioned heating element may be a non-high-temperature heating electric heating element such as a silicone heating sheet, which is not limited herein.
  • the hoisting structure of the spreader tool 6 must be adapted to the structure of the battery, and because the same battery pack 1 can be fixed, the charging bracket 7 disposed in the power exchange station and the The vehicle mount 8 on the electric traction vehicle 100 and configured to fix the battery pack 1 should have the same fixing mechanism adapted to the bottom structure of the battery pack 1 .
  • the structure of the battery pack 1 will be described in detail below, and the structure of the spreader tool 6 , and the structures of the in-station charging bracket 7 and the vehicle-mounted bracket 8 arranged to fix the battery pack 1 will be further described.
  • the battery pack 1 includes a frame 11 , a bracket 12 and a reinforcing member 13 .
  • the frame 11 is formed by a bottom frame and a plurality of side frames 111 welded on each side of the bottom frame, so that a cavity is formed in the frame 11; the brackets 12 are fixed to the side frames at intervals along the vertical direction 111 to divide the chamber into a plurality of chambers arranged to accommodate the battery modules along the vertical direction.
  • each side frame 111 except one of the side frames 111 is respectively welded with a reinforcing member 13 , so that one side of each of the chambers is formed to allow the battery module to move in from the side of the frame 11 . and remove the opening 14 of the frame 11 .
  • the frame 11 of the battery pack 1 is an integral welded structure with good structural strength to avoid deformation and loosening due to long-term vibration during the operation of the electric traction vehicle 100 , thereby ensuring the safe use of the battery pack 1 .
  • the battery pack 1, especially the battery pack 1 of a high-power tractor needs to be provided with multiple battery modules to ensure that the electric traction vehicle has sufficient running time, after long-term use, the individual battery modules in the battery pack 1 tend to be damaged.
  • the above-mentioned reserved opening 14 allows a single battery module to be moved in and out from the side of the frame 11 , which facilitates individual maintenance and replacement of the battery module.
  • each reinforcing member 13 is used to connect the opposite frames of the side frame 111 , and each of the reinforcing members 13 is connected to at least one of two forms of diagonal corners of the side frame 111 .
  • the reinforcing member 13 may be a cross-shaped or X-shaped member, so as to connect the four diagonal corners or the four borders of the side frame 111 at the same time.
  • a plurality of reinforcing members 13 can be arranged in parallel to adapt to the length of the corresponding frame and further enhance the overall structural strength of the frame 11 .
  • the bracket 12 includes a pair of longitudinal rods 121 and a plurality of transverse rods 122, and the pair of longitudinal rods 121 are respectively fixedly connected to two opposite side frames 111 among the plurality of side frames 111; the plurality of transverse rods 122 It is fixedly connected between a pair of longitudinal rods 121 .
  • a pair of longitudinal rods 121 are respectively detachably connected to the side frame 111 .
  • the side frame 111 of the fixing bracket 12 is provided with a plurality of installation holes arranged in the vertical direction, and the longitudinal rods 121 are bolted to the installation holes through bolts. Therefore, the above object can be achieved by adjusting the specific installation position of the bracket 12 on the frame.
  • the battery pack 1 further includes sealing plates 16 , and the plurality of sealing plates 16 are detachably fixed to the plurality of side frames 111 to at least close the sides and the top of the frame 11 .
  • this embodiment also provides another optional battery structure embodiment.
  • the frame 11 is also surrounded by a bottom frame and a plurality of side frames 111 welded on each side of the bottom frame. so as to form a cavity in the frame 11, the difference is that in this embodiment, a plurality of beams 17 are symmetrically arranged on two opposite side frames 111, and a plurality of beams 17 arranged on each side frame 111 are vertically arranged. Vertical interval setting.
  • a plurality of brackets 12 can be inserted into the frame 11 from the top of the frame 11, and can be fixed to each pair of beams 17 symmetrically arranged one by one through the fixing members 18, so as to divide the cavity into a plurality of accommodating chambers along the vertical direction. The chamber of the battery module.
  • the advantage of the structure of the battery pack 1 is that the frame 11 of the battery pack 1 is also an integral welded structure with good structural strength to avoid deformation and loosening due to long-term vibration during the operation of the electric traction vehicle 100 , so as to ensure the battery pack 1 safe use.
  • the plurality of battery modules are fixed on the plurality of brackets 12 one by one, so that they can be placed into the frame 11 together with the brackets 12 , that is, the battery modules of the battery pack 1 can be pre-fixed before being installed in the frame 11 .
  • the installer brings the battery module into the frame 11 from top to bottom by carrying the bracket 12, and bolts the beam 17 and the bracket 12 together with the fixing member 18 such as a U-shaped locking block.
  • the brackets 12 of each layer can be quickly locked and paid, and the operation is convenient and suitable for mass production.
  • the battery pack 1 in this embodiment may also be provided with a reinforcing member 13 .
  • openings 14 are formed on the same side of each chamber to allow the battery modules to be moved in and out of the frame 11 from the side of the frame 11 , so as to facilitate later maintenance and replacement of a single battery module.
  • the side frame 111 connected to the beam 17 has a plurality of installation holes arranged in the vertical direction, and the beam 17 is bolted to the side frame 111 .
  • the position of the bracket 12 can be changed by adjusting the specific installation position of the beam 17 on the side frame 111 of the frame.
  • the battery pack 1 is provided with an independent charging connector 19, so that the battery pack 1 can be electrically connected to an external charging power source to charge the battery module, so that the battery pack 1 can be used in a vehicle, in a charging station, Charge under conditions such as outside the charging station.
  • the grasping mechanism 62 includes a grasping arm 621.
  • the bottom of the grasping arm 621 is provided with a plurality of latch portions 622.
  • the latch portions 622 There are latching pieces 6221 that can protrude from the side of the grabbing arm 621 , so that the grabbing arm 621 can be inserted into the frame 11 at the top of the battery pack 1 , and each latching piece 6221 can be inserted into the lower edge of the frame 11 .
  • the latching portion 622 can realize the telescopic action of the latching piece 6221 through a cylinder telescopic mechanism, a worm telescopic mechanism, etc. in the related art, which is not specifically limited herein.
  • the grab mechanism 62 further includes a plurality of A guide portion 623, a plurality of guide portions 623 are discretely disposed on the bottom side of the peripheral edge of the grab arm 621, and the guide portion 623 forms a guide slope inclined to the inner side of the guide portion 623 from top to bottom, so as to guide the grab The taking arm 621 is placed in the frame 11 .
  • FIG. 2 shows that in order to accurately align the frame 11 of the battery pack 1 with the grab arm 621 , so that the grab arm 621 can be placed in the frame 11 at the top of the battery pack 1 .
  • each side of the grab arm 621 is provided with at least one guide portion 623 , so that when the grab arm 621 descends, the guiding slope formed on the guide portion 623 is freed by the action of gravity.
  • the guide grab arm 621 is inserted into the frame 11 .
  • the spreader tool 6 also includes a detection element, and the detection element is fixedly arranged on the grabber.
  • the detection element is configured to detect the distance between the grasping mechanism 62 and the battery pack 1 .
  • the controller 30 judges that the distance is within the preset threshold range, it can be determined that the grasping arm 621 is between the battery pack 1 and the grasping mechanism 62 .
  • a reliable positional relationship is obtained, so that the latching action of the latching portion 622 can be performed to hoist the battery pack 1 .
  • the battery pack 1 further includes guide blocks 15 , which are respectively disposed on the bottom frame of the battery. (that is, the part of the bottom of the frame 11) under each side, the bottom of the guide block 15 forms a guide slope inclined to the inside of the bottom frame from top to bottom;
  • the carrier frame 71 disposed on the charging bracket 7 and the vehicle-mounted bracket 8 is installed, it is respectively close to or adhered to the inner side walls of the external carrier frame 71 .
  • the guide slope formed on the guide block 15 can guide the battery pack 1 to be accurately placed on the bearing frame 71 based on the action of gravity during the process of hoisting and descending the battery pack 1 .
  • the battery pack 1 may include at least two positioning pins (not shown in the figure), all positioning pins are respectively disposed on the lower side of the bottom frame, and the at least two positioning pins can be connected between the battery pack 1 and the bearing When the frames 71 are installed, they are respectively inserted into the positioning holes 721 on the carrying frame 71 , so that precise positioning is formed between the battery pack 1 and the carrying frame 71 .
  • the bottom end of the positioning pin can be formed as a cone, and the cone can be in the shape of a cone, a frustum or a spherical convex shape, so as to be able to further guide the positioning pin to be inserted on the basis of the guiding of the guide block 15 . inside the positioning hole 721 .
  • the vehicle mount 8 and the charging mount 7 have the same structure configured to locate and place the battery pack 1 .
  • the charging bracket 7 has the above-mentioned bearing frame 71 , and a plurality of first positioning walls 711 parallel to the vertical plane are formed on the inner side of the bearing frame 71 .
  • a second positioning wall 151 parallel to the vertical plane is also arranged above the guiding slope of the bottom of the guide block 15 provided on the battery bottom frame.
  • Each second positioning wall 151 can be correctly placed on the carrying frame when the battery pack 1 is placed.
  • the battery pack 1 is limited to the carrier frame 71 by being close to or abutting with each of the first positioning walls 711 one by one.
  • the charging bracket 7 further includes at least two positioning bases 72 .
  • the at least two positioning bases 72 are disposed on the bearing frame 71 .
  • the top surface of the positioning bases 72 is recessed downward to form the positioning holes 721 into which the positioning pins can be inserted.
  • each buffer pad 73 should provide at least a level-height and stable mounting surface, so that the battery pack 1 has a stable posture after being placed.
  • Another detection element can also be set on the charging bracket 7, and the detection element is fixedly arranged on the carrier frame 71, that is, it can be triggered by the battery pack 1 when the battery pack 1 is placed on the carrier frame 71, so as to facilitate the in-station controller 30 Or the vehicle-mounted controller 30 judges that the battery pack 1 has been securely placed.
  • the detection elements are disposed at least at opposite corners of the carrying frame 71 .
  • the detection element can be a contact switch 74 or a distance sensor similar to the above detection element, etc.
  • the implementer can select an appropriate detection method based on the specific structure of the carrier frame 71 and the battery pack 1 and specific detection methods such as distance measurement or contact or not. components, which are not specifically limited here.
  • the bottom of the battery bottom frame has an electrical connector (hereinafter referred to as the first connector), and another connector is correspondingly provided on the carrier frame, and the two connectors can be correctly placed on the carrier frame on the battery bottom frame When the 71 is on, the docking is connected.
  • the connector hereinafter referred to as the second connector 75
  • the connector provided on the carrier is electrically connected to the charger provided in the power exchange station, so that when it is connected with the first connector, it can be power-deficient. Battery pack 1 is charged.
  • the connector hereinafter referred to as the third connector 81
  • the carrier is electrically connected to the vehicle circuit, so as to provide power to the vehicle when it is connected to the first connector.
  • the vehicle mount 8 and the charging mount 7 respectively include a floating member 76 .
  • the floating member 76 is connected between the bearing frame 71 and the second connector 75 , or the floating member 76 is connected between the bearing frame 71 and the third connector 81 .
  • the second connector 75 or the third connector 81 In order to allow the second connector 75 or the third connector 81 to form a floating displacement along the vertical direction when the second connector 75 or the third connector 81 is docked with the first connector, so as to avoid rigid collision.
  • the vehicle mount 8 and the charging mount 7 further include a limiter respectively, and the limiter is arranged on the carrier frame 71 and the second connector.
  • 75, or the limiting member is arranged between the carrying frame 71 and the third connector 81, so as to hold the
  • the second connector 75 or the third connector 81 defines the maximum floating displacement value of the second connector 75 or the third connector 81 .
  • the above-mentioned structure of the carrying frame 71 and the auxiliary structures disposed on the carrying frame 71 can be applied to the vehicle mount 8 and the charging stand 7 .
  • the difference between the vehicle mount 8 and the charging mount 7 is that the vehicle mount 8 needs to be fixedly connected to the body of the electric traction vehicle 100 , while the charging mount 7 needs to be fixedly connected to the baseboard 641 of the power exchange station.
  • the charging bracket 7 is fixed on the ground, so the charging bracket 7 and the battery pack 1 can be stably placed only by positioning the above-mentioned guiding structure.
  • the bracket 8 forms a reliable connection structure through an additional fixing mechanism.
  • the vehicle mount 8 further includes a twist lock mechanism 82 , and the twist lock mechanism 82 includes a twist lock portion 821 fixed in each carrying frame 71 , and the twist lock portion 821 has a rotatable When the bottom frame is correctly placed on the carrier frame 71 , each twist lock portion 821 can confine the bottom frame between the twist lock sheet 8211 and the carrier frame 71 .
  • the twist lock mechanism 82 further includes a connecting rod 822 and a driving member 823.
  • the connecting rod 822 is connected to at least two twist locking pieces 8211 of the twist locking portion 821, and the driving member 823 is configured to drive any twist locking piece 8211. Rotate, so as to drive the twist-lock piece 8211 drivingly connected with the twist-lock piece 8211 to rotate to the inside or the outside of the carrying frame 71 by the connecting rod 822 .
  • the twist-lock mechanism 82 provided in this embodiment can simultaneously drive the twist-lock pieces 8211 to lock the battery pack 1 by only one or two drive members 823 in a small number.
  • the above-mentioned driving member 823 can be a motor or the like, and the motor can directly drive one of the twist lock pieces 8211 to rotate through a deceleration mechanism, so as to drive the other associated twist lock pieces 8211 to rotate together.
  • the power exchange station further includes a fire protection system.
  • the fire protection system includes a smoke alarm, an alarm bell and a fire water tank 9.
  • a forklift can be used.
  • the spreader tool 6 moves the battery pack 1 into a fire water tank 9 which is capable of receiving and submerging the overheated or burning battery pack 1, thereby eliminating the fire hazard.
  • the power exchange station further includes a manual transfer device 10 capable of grasping the battery pack 1 .
  • the manual transfer device 10 can follow the length and width of the truss 4 . And the height direction is moved, so as to carry out the lifting operation of the battery pack 1 under manual operation and adjustment, so as to complete the manual power exchange operation.

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  • Engineering & Computer Science (AREA)
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  • Power Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

一种吊具，设置为搬运电池包（1），包括移载装置（5）和吊具工装（6），所述移载装置（5）的活动端设置为形成沿呈正交的第一方向、第二方向及第三方向的位移，所述吊具工装（6）包括：工装本体（61），固定连接于所述移载装置（5）的活动端；抓取机构（62），被配置为抓取所述电池包（1）；及旋转机构（63），连接于所述工装本体（61）及所述抓取机构（62）之间，以驱动所述抓取机构（62）沿竖直的转轴旋转。还公开了一种包括所述吊具的换电站。

Description

吊具及换电站
本申请要求申请日为2021年2月4日、申请号为202120322653.7的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及电动车换电技术领域，例如涉及一种吊具及换电站。
背景技术
重型卡车以及矿卡等电动牵引车辆上设置有的电池包亏电后需要进行充电，为避免因充电而无法连续使用车辆，相关技术组中，电动牵引车的电池包被设置为可更换结构，以能够在换电站进行更换，满足车辆的连续、正常运行。
电动牵引车辆的电池包一般设置于驾驶舱后侧，当电动牵引车辆驶入换电站后，一般由吊机抓取电动牵引车辆上的亏电的电池，并将换电站内的满电的电池安装在电动牵引车辆上，即完成换电作业。
常见于轿车或越野车型的换电站均配备有换电平台，该换电平台在于承载换电车辆并通过能够平移的方式调整换电车辆的姿态，以使车辆姿态适于换电站的换电机器人的位置。
然而，由于电动牵引车辆自重大，难以通过电动牵引车辆底部承载的活动平台调整电动牵引车辆的位置，因此，在电动牵引车辆换电作业时，需要司机以准确的驶入姿态将电动牵引车辆驶入换电站的换电平台，方能够便于吊机获取电池，若电动牵引车辆驶入姿态存在偏差，则需要司机反复驶入及驶出以调整电动牵引车辆的位置，换电效率低，且客户体验差。
发明内容
本申请提供了一种吊具及换电站，能够适于匹配换电车辆的停放姿态，无需司机调整电动牵引车辆停放姿态即可进行换电作业。
一实施例提供了一种吊具，设置为搬运电池包，包括移载装置和吊具工装，所述移载装置的活动端设置为形成沿呈正交的第一方向、第二方向及第三方向的位移，所述吊具工装包括：工装本体，固定连接于所述移载装置的活动端；
抓取机构，被配置为抓取所述电池包；及旋转机构，连接于所述工装本体 及所述抓取机构之间，以驱动所述抓取机构沿竖直的转轴旋转。
一种换电站，包括如上所述的吊具。
附图说明
图1是本申请一实施例中换电站的结构示意图；
图2是本申请一实施例中吊具工装的结构示意图；
图3是本申请一实施例中移除封板后的电池包的结构示意图；
图4是本申请一实施例中移除封板后的另一电池包的结构示意图；
图5是本申请一实施例中充电支架的结构示意图；
图6是本申请一实施例中车载支架的结构示意图；
图7是本申请一实施例中电池包与车载支架的装配结构示意图；
图8是本申请一实施例中相机与控制器连接的示意图。
图中：
100、电动牵引车辆；
1、电池包；11、框架；111、侧框；12、托架；121、纵杆；122、横杆；13、加强构件；14、敞口；15、导向块；151、第二定位壁；16、封板；17、横梁；18、固定件；19、充电连接器；
2、换电平台；
3、电池仓；
4、桁架；41、纵构件；
5、移载装置；51、横构件；52、吊装小车；
6、吊具工装；61、工装本体；62、抓取机构；621、抓取臂；622、插锁部；6221、插锁片；623、导引部；63、旋转机构；64、防尘盒；641、底板；65、擦拭机构；66、防护罩；
7、充电支架；71、承载框；711、第一定位壁；72、定位座；721、定位孔；73、缓冲垫；74、接触开关；75、第二连接器；76、浮动件；
8、车载支架；81、第三连接器；82、旋锁机构；821、旋锁部；8211、旋锁片；822、连杆；823、驱动件；
9、消防水箱；
10、手动移载装置；
20、相机；30、控制器。
具体实施方式
在本申请的描述中，除非另有明确的规定和限定，术语“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本实施例的描述中，术语“上”、“下”、“右”、等方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述和简化操作，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”仅仅用于在描述上加以区分，并没有特殊的含义。
请参阅图1至图7，本实施例提供了一种换电站，该换电站能够为电池包1安装在车体上侧的，或者说电池包1能够自车体上方抓取的诸如重型卡车以及矿卡等电动牵引车辆100进行换电作业。
请首先参阅图1，该换电站呈一建筑结构，具有能够允许车辆驶入及驶出的换电通道，该换电站内部于换电通道处设置有一换电平台2，该换电平台2设置为停放待换电的电动牵引车辆100，于该换电平台2上还设置有多个减速带，一对间隔设置的减速带之间能够形成定位电动牵引车辆100的车轮的凹口，当司机将电动牵引车辆100的车轮停入相适应的凹口内时，即可使电动牵引车辆100大体定位至一预设位置，从而便于进行换电作业。
如图1所示，该换电站内还设置有电池仓3、桁架4、移载装置5等，其中：电池仓3可以是借由换电站内的栅栏、墙壁等划分形成的一设置为固定摆放充电 支架7的区域，该区域内还设置有为充电支架7提供电力的充电机、电力分配控制器等以能够为充电支架7上储放的亏电的电池包1充电。
桁架4可以固定连接在换电站建筑钢构件上，或者也可以独立设置在换电站建筑的内部，延伸于换电平台2及电池仓3之间。桁架4大体呈一立方体结构，顶部具有一大致呈矩形的构架，沿桁架4长度方向的一对纵构件41延伸于换电平台2及电池仓3之间，且该对纵构件41之间沿桁架4宽度方向滑动安装有一设置为换电作业的移载装置5(也即能够吊装电池包1的吊具)。
该移载装置5包括一横构件51，该横构件51可以沿纵构件41的延伸方向也即桁架4长度方向滑移，同时该横构件51上滑动安装有一吊装小车52，该行走小车能够沿横构件51的延伸方向也即桁架4宽度方向滑移，吊装小车52上具有一能沿竖直方向升降的活动端，该活动端设置有吊具工装6，吊具工装6能够沿竖直的转轴旋转，以对位抓取电动牵引车辆100上或电池仓3内的电池包1。
借由上述结构，该换电站在进行换电作业时，也即电动牵引车辆100大体定位至上述预设位置后，移载装置5能够通过横构架及吊装小车52使吊具工装6形成沿桁架4的长度、宽度及高度三维方向的位移，从而能够大体将吊具工装6移动至电动牵引车辆100上的亏电的电池包1(下称车载电池包1)的上方，基于判断车载电池包1的位置，即可通过旋转吊具工装6，使吊具工装6的姿态匹配至车载电池包1的实际姿态，从而能够对位抓取车载电池包1，随后，移载装置5将该车载电池包1移放至电池仓3内空载的充电支架7上进行充电，接着，移载装置5抓取其他充电支架7上满电的电池包1后即可将满电的电池包1吊装至电动牵引车辆100上，完成换电作业，电动牵引车辆100即可驶出该换电站。
基于上述换电作业过程可知，电动牵引车辆100的司机在换电时只需将车辆停当至由减速带限定形成的预设位置处，停车过程中，由于减速带高于停车平台，电动牵引车辆100在驶入预设位置处时会具有明显的高度起伏，从而使司机可以轻松地完成车辆停放，且由于本实施例中换电站的移载装置5可适配车载电池包1的具体姿态，使司机无需反复调整电动牵引车辆100的位置，大大提升了换电作业效率，并提升换电体验。
如图2所示，本实施例中，吊具工装6可以包括工装本体61、抓取机构62及旋转机构63。工装本体61固定连接于移载装置5的活动端，以能获得沿桁架4的长度、宽度及高度三维方向的位移，抓取机构62被配置为基于电池包1的结构适配抓取车载电池包1；旋转机构63连接于工装本体61及抓取机构62之间，以能驱 动抓取机构62沿竖直的转轴旋转，从而使抓取机构62与电池包1的姿态、位置上下对正。本实施例中，上述旋转机构63可以采用由伺服电机驱动的转盘机构，转盘机构的固定端和活动端分别连接在工装本体61及抓取机构62之间。
为便于移载装置5及吊具工装6准确判断车载电池包1的姿态，进而调整抓取机构62的姿态，本实施例中，如图8所示，吊具工装6还包括一相机20及控制器30。相机20被配置为拍摄车载电池包1顶部设置的标定板的图像；控制器30与相机20电连接，并能够基于标定板图像上的标记特征标定电池包1的位置，以控制移载装置5及旋转机构63驱动抓取机构62，使抓取机构62与电池包1对正。
上述控制器30可以是独立搭载于吊具工装6内的控制器，也可以是用于控制该换电站整站作业的控制器，基于图像识别特征标记进而驱动移载装置5和吊具工装6进行动作补偿可参考相关技术，在此不做赘述。
在电动牵引车辆100驶入及驶出该换电站时，必然会由轮胎等车体部件携带外部灰尘，若灰尘沉积于相机的镜头，将影响相机拍摄图像的准确性，降低换电作业效率。
为此，本实施例中，吊具工装6还包括防尘盒64，该防尘盒64罩设于相机20外部，以形成内置相机20的密闭环境，避免外部灰尘进入，同时，防尘盒64还包括与相机20的镜头正对的底板641，底板641能够滑移至镜头的取景区域以外，以允许相机20在需要工作时得以拍摄获取车载电池包1的图像。该底板641可由常见的电动、气动伸缩机构等驱动滑移，在此不做限定。当然，在其他可选的实施方式中，也可采用可收折或翻转底板641等动作去执行上述开放或封闭防尘盒64的目的。
作为一个可替代的实施方式，该底板641也可以选用为透明材质，并且，该防尘盒64处设置一擦拭机构65，该擦拭机构65被配置为擦拭底板641位于防尘盒64外部的一面，从而定期擦拭底板641，拭去底板641上积存的灰尘，使相机20能够获取清晰的车载电池包1的图像。该擦拭机构65可以包括可平移或摆动的拂尘胶条或毛刷等，在此不做具体限定。
在冬季，尤其是北方矿区、建筑施工场地等地区，极低(如零下二十摄氏度以下)的室外温度将直接影响暴露于室外空气的电器件的运行。本实施例中，换电站除去换电通道以外的区域可通过建筑墙壁等得以与外界隔断，操持于适宜的工作温度，可换电通道由于需要频繁驶入及驶出车辆，不可避免地会处于低温工作条件下，为避免吊具工装6内的抓取机构62及旋转机构63的驱动电机， 以及相机20、控制器30等用电部件因低温而无法工作，该吊具工装6还包括防护罩66，该防护罩66罩设吊具工装6的上述用电部件，防护罩66内设置有能够加热用电部件的加热元件，以在外界低温的情况下，针对性地加热用电部件，使用电部件处于可正常工作的温度环境下，确保换电站于低温天气正常运作。在一实施例中，上述加热元件可以为硅胶加热片等非高温加热的电加热元件，在此不做限定。
由上述换电作业过程可知，本实施例中，吊具工装6的吊装结构须与电池的结构适配，并且由于能够固定相同的电池包1，设置于换电站内的充电支架7及设置于电动牵引车辆100上的且设置为固定电池包1的车载支架8应具有相同的适配于电池包1底部结构的固定机构。
下面具体阐述电池包1结构，并进一步说明用吊具工装6的结构，以及设置为固定电池包1的站内充电支架7及车载支架8的结构。
请参阅图3，本实施例中，电池包1包括框架11、托架12及加强构件13。框架11由一底框及焊接在所述底框每个边上方的多个侧框111围构形成，以使所述框架11内形成容腔；托架12沿竖直方向间隔固定至侧框111上，以将容腔沿竖直方向划分为多个设置为容置电池模块的腔室。多个侧框111中，除其中一个侧框111之外的每个侧框111分别焊接有加强构件13，以使每个述腔室的其中一侧形成允许电池模块自框架11的侧方移入及移出框架11的敞口14。
在一实施例中，该电池包1的框架11为整体焊接结构，具有较好的结构强度，避免在电动牵引车辆100的运行中因长期震动而变形、松散，确保电池包1的安全使用。并且，由于电池包1尤其是大功率的牵引车的电池包1内需设置多个电池模块，以确保电动牵引车辆具备足够的运行时长，在长期使用后，电池包1内的个别电池模块往往会出现故障或需要更换等情况，上述预留的敞口14结构可允许单个电池模块自框架11的侧方移入及移出，为电池模块的单独维护、更换提供便利。
一实施例采用每个加强构件13连接侧框111相对的边框，和每个所述加强构件13连接侧框111的对角两种形式中的至少一种。例如，加强构件13可以为十字形或X形构件，以同时连接侧框111的四个对角或四个边框等。在一实施例中，在处于框架11的长度方向的边框上，可以并列设置多个加强构件13，以适配相应边框的长度，并进一步提升框架11的整体结构强度。
本实施例中，托架12包括一对纵杆121和多个横杆122，一对纵杆121分别固 定连接在多个侧框111中相对的两个侧框111上；多个横杆122固定连接在一对纵杆121之间。为便于装配，一对纵杆121分别与侧框111可拆卸连接。
同时，为适配于安装不同厚度的电池模块，设置为固定托架12的侧框111上设置有多个沿竖直方向排布的安装孔，纵杆121通过螺栓栓接至所安装孔，从而可以通过调整托架12于边框的具体安装位置实现上述目的。
此外，为获得防水、防尘性能，电池包1还包括有封板16，多个封板16可拆卸地固定至多个侧框111，以至少封闭框架11的侧部和顶部。
请参阅图4，本实施例还提供了另一种可选的电池结构实施方式，该实施方式中，框架11同样由一底框及焊接在底框每个边上方的多个侧框111围成，以使框架11内形成容腔，区别在于，该实施方式中，两个相对设置的侧框111上对称设置有多个横梁17，每个侧框111上设置的多个横梁17沿竖直方向间隔设置。多个托架12能自框架11顶部置入框架11，并能通过固定件18一一固定至对称设置的每对横梁17上，以将容腔沿竖直方向划分为多个设置为容置电池模块的腔室。
该电池包1结构的优点在于，该电池包1的框架11同样为整体焊接结构，具有较好的结构强度，避免在电动牵引车辆100的运行中因长期震动而变形、松散，确保电池包1的安全使用。此外，多个电池模块一一固定在多个托架12上，以能随托架12一并置入框架11，也即，该电池包1的电池模组在装入框架11前可预先固定在托架12上，安装人员通过搬运托架12带着电池模组一起由上而下放入框架11中，采用U型锁紧块等固定件18一并栓接横梁17及托架12，可对每层托架12进行快速锁付，操作便捷，适用于批量生产。
与上文中电池包1结构相似地，该实施方式中的电池包1也可设置加强构件13。同样，每个腔室的同一侧分别形成允许电池模块自框架11的侧方移入及移出框架11的敞口14，以便于后期对单个电池模块的维护、替换等。
而为适配于不同的电池模块的厚度，该实施方式中的电池包1中，与横梁17连接的侧框111上具有多个沿竖直方向排布的安装孔，横梁17通过螺栓栓接至安装孔，从而可以通过调整横梁17于边框侧框111上的具体安装位置实现托架12位置的变化。
本实施例中，电池包1上设置有独立的充电连接器19，以使电池包1能与外部充电电源电性连接，以为电池模块充电，从而实现电池包1于车载情况下、充电站内、充电站外等条件下进行充电。
请再次参阅图2基于上述电池包1的结构，为便于吊装电池包1，抓取机构62 包括一抓取臂621，抓取臂621的底部设置有多个插锁部622，插锁部622具有能伸出抓取臂621侧方的插锁片6221，以在抓取臂621置入电池包1顶部的框架11内，每个插锁片6221能够置入框架11的下缘。在一实施例中，插锁部622可以通过相关技术中的气缸伸缩机构、蜗杆伸缩机构等实现插锁片6221的伸缩动作，在此不作具体限定。
如图2所示，为便于准确能使抓取臂621电池包1的框架11准确对位，以使抓取臂621置入电池包1顶部的框架11内，抓取机构62还包括多个导引部623，多个导引部623离散设置于抓取臂621的周缘底侧，导引部623自上向下形成向导引部623内侧倾斜的导引坡面，以能导引抓取臂621置入框架11内。如图2所示，抓取臂621的每个边至少设置有一个导引部623，以在抓取臂621下降的过程中，基于重力作用，导引部623上形成的导引坡面得以导引抓取臂621置入框架11内。
为便于控制器30准确判断抓取臂621是否以准确置入框架11，以进一步判断抓取机构62是否可靠抓取电池包1，吊具工装6还包括有检测元件，检测元件固定设置于抓取机构62，检测元件被配置为检测抓取机构62与电池包1的间距，当控制器30判断该间距处于预设阈值范围内时，即可确定抓取臂621已与电池包1之间获得可靠的位置关系，从而可进行插锁部622的插锁动作以吊装电池包1。
请参阅图3和图4，为使电池包1能够与充电支架7及车载支架8准确放置及固定，本实施例中，电池包1还包括导向块15，导向块15分别设置于电池底框(即框架11底部的部分)每个边下方，导向块15的底部自上向下形成向底框内侧倾斜的导向坡面；每个导向块15朝向底框外侧的壁面能在电池包1与设置在充电支架7及车载支架8上的承载框71安装时，分别与外部承载框71的内侧壁贴近或贴合。
基于上述导向块15的结构设置，可以使电池包1被吊装下降的过程中，基于重力作用，导向块15上形成的导引坡面得以导引电池包1准确置于承载框71上。并且，在一实施例中，电池包1可包括至少两个定位销(图中未示出)，所有定位销分别设置于底框的下侧，至少两个定位销能在电池包1与承载框71安装时，分别与承载框71上的定位孔721插接，从而使电池包1与承载框71之间形成精定位。在一实施例中，定位销的底端可以形成为锥体，该锥体可以使圆锥、锥台或球凸状，以能够在导向块15的导引基础之上进一步导引定位销置入定位孔721内。
基于上述电池包1的结构，本实施例中，车载支架8与充电支架7具有设置为 定位及载放电池包1的相同结构。
如图5所示，以换电站内的充电支架7为例，充电支架7即具有上述承载框71，承载框71的内侧面形成有多个平行于竖直面的第一定位壁711。电池底框上设置的导向块15的底部的导向坡面的上方还设置有平行于竖直面的第二定位壁151，每个第二定位壁151能在电池包1正确载放于承载框71上时，与每个第一定位壁711一一贴近或贴合，从而将电池包1限定于承载框71上。
充电支架7还包括至少两个定位座72，至少两个定位座72设置于承载框71上，定位座72的顶面向下凹设形成上述能置入定位销的定位孔721。
为避免电池包1在放置在承载框71上时，框架11与承载框71刚性碰撞，承载框71的承载面上离散分布有多个缓冲垫73，缓冲垫73具有弹性，从而为电池包1提供缓冲。可以理解的是，每个缓冲垫73应至少提供一等高且平稳的搭载表面，以使电池包1放置后姿态平稳。
充电支架7上也可以设置另一检测元件，将该检测元件固定设置于承载框71上，即能在电池包1载放于承载框71上时被电池包1触发，从而便于站内控制器30或者车载控制器30判断电池包1已可靠放置。在一实施例中，为获得准确的检测结构，检测元件至少设置于承载框71的对角处。该检测元件可以为接触开关74或者与上文检测元件相似的距离传感器等，实施者可基于承载框71及电池包1的具体结构以及测距或接触与否等具体检测方式具体选用适当的检测元件，在此不做具体限定。
本实施例中，电池底框的底部具有一电连接器(下称第一连接器)，承载架上对应设置有另外一连接器，两个连接器能够在电池底框正确载放于承载框71上时对接相连。于充电支架7而言，承载架上设置的连接器(下称第二连接器75)与换电站内设置的充电机电性连接，以在与第一连接器对接相连时即能够为亏电的电池包1充电。于车载支架8而言，承载架上设置的连接器(下称第三连接器81)则与车载电路电性连接，以在与第一连接器对接相连时即能够为车辆提供电力。
本实施例中，车载支架8与充电支架7分别包括浮动件76，浮动件76连接于承载框71与第二连接器75之间，或浮动件76连接于承载框71与第三连接器81之间，以允许第二连接器75或第三连接器81与第一连接器对接时沿竖直方向形成浮动位移，避免刚性碰撞。
同时，为避免第二连接器75或第三连接器81与第一连接器虚接，车载支架8 与充电支架7分别还包括有限位件，限位件设置于承载框71与第二连接器75之间，或限位件设置于承载框71与第三连接器81之间，以能在第二连接器75或第三连接器81自空载位置向下移动预设距离时托持第二连接器75或第三连接器81，以限定第二连接器75或第三连接器81的最大浮动位移值。
上文述及的承载框71的结构以及设置于承载框71上附属结构可应用在车载支架8与充电支架7上。而车载支架8与充电支架7的区别结构在于车载支架8需要与电动牵引车辆100的车身固定连接，而充电支架7则需要与换电站底板641固定连接。在一实施例中，充电支架7固定设置于地面上，因此充电支架7与电池包1之间可仅通过上述导向结构定位皆可稳定放置，而由于车辆的行驶颠簸，电池包1需要与车载支架8通过额外的固定机构形成可靠的连接结构。
因此，如图6所示，本实施例中，车载支架8还包括一旋锁机构82，旋锁机构82包括固定在每个承载框71内的旋锁部821，旋锁部821具有能旋转的旋锁片8211，以在底框正确载放于承载框71上时，每个旋锁部821能够将底框限定于旋锁片8211及承载框71之间。
本实施例中，旋锁机构82还包括连杆822和驱动件823，连杆822至少连接两个旋锁部821的旋锁片8211，驱动件823则被配置为驱动任一旋锁片8211旋转，以借由连杆822驱动与该旋锁片8211传动连接的旋锁片8211一并向承载框71内侧或外侧旋转。从而使得本实施例提供的旋锁机构82仅通过一个或两个等较少数量的驱动件823即可同时驱动旋锁片8211锁定电池包1。
基于具体的设置位置和传动连接方式，上述驱动件823可以为电机等，电机可以借由减速机构直接驱动其中一个旋锁片8211旋转，以带动关联的其他旋锁片8211一并旋转。
请参阅图1，本实施例中，该换电站还以进一步包括消防系统，消防系统包括烟雾报警器、警铃及消防水箱9等，当站内的电池包1过热或起火时，可以借由叉车或吊具工装6将该电池包1移入消防水箱9，该消防水箱9能够接收并浸没过热或燃烧的电池包1，从而消除火患。
为避免因移载装置5故障而无法进行换电作业，本实施例中，换电站还包括能够抓取电池包1的手动移载装置10，手动移载装置10能够沿桁架4的长度、宽度及高度方向移动，以在人工操作及调整下进行电池包1的吊装作业，从而完成手动换电作业。

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  1. 一种吊具，其中，所述吊具设置为搬运电池包(1)，所述吊具包括移载装置(5)和吊具工装(6)，所述移载装置(5)的活动端设置为形成沿呈正交的第一方向、第二方向及第三方向的位移，所述吊具工装(6)包括：
    工装本体(61)，固定连接于所述移载装置(5)的活动端；
    抓取机构(62)，被配置为抓取所述电池包(1)；及
    旋转机构(63)，连接于所述工装本体(61)及所述抓取机构(62)之间，以驱动所述抓取机构(62)沿竖直的转轴旋转。
  2. 根据权利要求1所述的吊具，其中，所述抓取机构(62)包括：抓取臂(621)，所述抓取臂(621)的底部设置有多个插锁部(622)，所述插锁部(622)具有可伸出所述抓取臂(621)侧方的插锁片(6221)，每个所述插锁片(6221)设置为当所述抓取臂(621)置入所述电池包(1)顶部的框架(11)内时，置入所述框架(11)的下缘。
  3. 根据权利要求2所述的吊具，其中，所述抓取机构(62)还包括：
    多个导引部(623)，所述多个导引部(623)离散设置于所述抓取臂(621)的周缘底侧，所述导引部(623)自上向下形成向所述导引部(623)内侧倾斜的导引坡面，以导引所述抓取臂(621)置入所述框架(11)内。
  4. 根据权利要求1所述的吊具，还包括：相机(20)，所述相机(20)被配置为拍摄所述电池包(1)顶部设置的标定板的图像；及控制器(30)，所述控制器(30)与所述相机(20)电连接，并设置为基于所述标定板图像上设置的标记特征标定所述电池包(1)的位置，以控制所述移载装置(5)及所述旋转机构(63)驱动所述抓取机构(62)，使所述抓取机构(62)与所述电池包(1)对正。
  5. 根据权利要求4所述的吊具，还包括：防尘盒(64)，设置为罩设所述相机，所述防尘盒(64)包括与所述相机的镜头正对的底板(641)，所述底板(641)可滑移至所述镜头的取景区域以外。
  6. 根据权利要求4所述的吊具，还包括：防尘盒(64)，罩设所述相机(20)，所述防尘盒(64)包括与所述相机(20)的镜头正对的底板(641)，所述底板(641)为透明材质。
  7. 根据权利要求6所述的吊具，还包括：擦拭机构(65)，被配置为擦拭所述底板(641)位于所述防尘盒(64)外部的一面。
  8. 根据权利要求1所述的吊具，还包括：防护罩(66)，所述防护罩(66) 罩设所述吊具工装(6)的用电部件，所述防护罩(66)内设置有加热所述用电部件的加热元件。
  9. 根据权利要求1所述的吊具，还包括：检测元件，固定设置于所述抓取机构(62)上，所述检测元件被配置为检测所述抓取机构(62)与所述电池包(1)的间距。
  10. 一种换电站，包括如权利要求1-9任意一项所述的吊具。
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