WO2024082858A1 - Battery swapping station for heavy truck and battery swapping control method - Google Patents

Battery swapping station for heavy truck and battery swapping control method Download PDF

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Publication number
WO2024082858A1
WO2024082858A1 PCT/CN2023/117419 CN2023117419W WO2024082858A1 WO 2024082858 A1 WO2024082858 A1 WO 2024082858A1 CN 2023117419 W CN2023117419 W CN 2023117419W WO 2024082858 A1 WO2024082858 A1 WO 2024082858A1
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WO
WIPO (PCT)
Prior art keywords
battery
vehicle
swap
swapping
box
Prior art date
Application number
PCT/CN2023/117419
Other languages
French (fr)
Chinese (zh)
Inventor
孙浪浪
王水利
孙杉
关呈军
李继明
刘鹤
朱志远
胥明华
康会敏
韩春虎
王永辉
赵岩飞
张伟
杨小伟
Original Assignee
蓝谷智慧(北京)能源科技有限公司
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.)
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Publication date
Application filed by 蓝谷智慧(北京)能源科技有限公司 filed Critical 蓝谷智慧(北京)能源科技有限公司
Publication of WO2024082858A1 publication Critical patent/WO2024082858A1/en

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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
    • B60L53/30—Constructional details of charging stations
    • 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
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • 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 present application relates to the field of battery replacement technology, and in particular to a heavy truck battery replacement station and a battery replacement control method.
  • the purpose of the embodiments of the present application is to provide a heavy-duty truck battery replacement station and a battery replacement control method, so as to solve the problem of low battery replacement efficiency of heavy-duty trucks in related technologies.
  • the embodiment of the present application provides a heavy truck swap station, comprising:
  • the battery replacement device comprises:
  • a first seat body wherein a frame is disposed on the first seat body
  • a telescopic structure connected to the frame
  • a gripping structure for gripping or releasing the battery box the gripping structure being connected to the telescopic structure;
  • a controller is electrically connected to the telescopic structure, the gripping structure, the bearing structure and the rotating structure respectively, and the controller is used to send electrical signals, and the telescopic structure, the gripping structure, the bearing structure and the rotating structure respectively receive the electrical signals and replace the battery box of the battery-swap vehicle.
  • the heavy truck battery swap station further comprises:
  • a vehicle stopping area is arranged around the battery swapping device, and the vehicle stopping area is used to park the battery swapping vehicle, and the battery swapping vehicle includes a vehicle-mounted battery swapping base.
  • a first sensor is provided in the vehicle stopping area, and the first sensor is used to indicate the stopping position of the battery swap vehicle.
  • the bearing structure comprises:
  • a moving part for moving on the first seat wherein the moving part is provided with a first battery box base and a second battery box base; the telescopic structure is provided above the first position of the first seat;
  • the first battery box base when the moving part moves to the first state on the first seat, the first battery box base is located at the first position; when the moving part moves to the second state, the second battery box base is located at the first position.
  • the battery swap device further comprises:
  • the second sensor is used to obtain the battery-swapping vehicle position and send the battery-swapping vehicle position to the controller, and the second sensor is arranged on the first seat.
  • the battery swap device further comprises:
  • a second seat body, the rotating structure is arranged above the second seat body;
  • a movable structure is used to drive the second seat body to move along a first direction
  • the controller is connected to the movable structure
  • the second seat body is arranged above the movable structure; wherein the first direction is a direction parallel to the battery-swap vehicle.
  • the battery swap device further comprises:
  • a lifting structure is used to drive the grasping structure to rise or fall, and the lifting structure is connected to the grasping structure and the controller respectively.
  • the grabbing structure comprises:
  • a floating suspension bridge is connected to the telescopic structure.
  • the embodiment of the present application further provides a battery swap control method, which is applied to the heavy truck battery swap station as described in any one of the above items, and the method includes:
  • the gripping structure When a battery-swapping vehicle is detected, the gripping structure is controlled to grab the battery-swapping box from the charging base, and the gripping structure is controlled to release the battery-swapping box onto the bearing structure;
  • the grabbing structure is controlled to grab the vehicle-mounted battery box from the bearing structure, and the grabbing structure is controlled to release the vehicle-mounted battery box onto the charging base.
  • the method when a battery swap vehicle is detected, the method further comprises:
  • Control the mobile structure to move to a position corresponding to the position of the battery-swapping vehicle.
  • multiple charging bases are arranged in a fan-ring shape to reduce the travel of the battery swap device, reduce the footprint of the battery swap station, reduce costs, save battery swap time, and improve battery swap efficiency.
  • FIG1 is a schematic diagram of a heavy truck battery swap station according to an embodiment of the present application.
  • FIG2 is a second structural schematic diagram of a heavy truck battery swap station according to an embodiment of the present application.
  • FIG3 is a schematic diagram of a structure of a battery replacement device according to an embodiment of the present application.
  • FIG4 is a second structural schematic diagram of the battery replacement device according to an embodiment of the present application.
  • FIG5 is a third structural schematic diagram of the battery replacement device according to an embodiment of the present application.
  • FIG6 is a flow chart of the battery replacement control method according to an embodiment of the present application.
  • an embodiment of the present application provides a heavy truck swap station, comprising:
  • a power storage area 100 is arranged around the battery swap device, and the power storage area 100 includes multiple charging bases 101.
  • the multiple charging bases 101 are arranged in a fan ring shape.
  • the charging bases 101 are used to prepare fully charged battery boxes 300 for the battery swap vehicle 400, and to charge the battery boxes 300 replaced by the battery swap vehicle 400.
  • the battery replacement device 200 includes:
  • a first base body 201 on which a frame 202 is disposed;
  • a telescopic structure 203 is connected to the frame 202;
  • the controller is electrically connected to the telescopic structure 203, the grasping structure 204, the bearing structure 205 and the rotating structure 206 respectively, and the controller is used to send electrical signals to the telescopic structure 203, the grasping structure 204, The supporting structure 205 and the rotating structure 206 respectively receive the electrical signal and replace the battery box 300 of the battery-swapping vehicle 400 .
  • the heavy-duty truck battery swap station described in the embodiment of the present application arranges multiple charging bases 101 in a fan-ring shape, which reduces the travel of the battery swap device 200, reduces the footprint of the battery swap station, reduces costs, saves battery swap time, and improves battery swap efficiency.
  • the heavy-duty truck battery swap station described in the embodiment of the present application includes two power storage areas 100 and two battery swap devices 200. In this way, the heavy-duty truck battery swap station can replace the battery boxes 300 of two battery swap vehicles 400 at the same time, reducing the waiting time for battery swapping and further improving the battery swapping efficiency.
  • the heavy truck battery swap station described in the embodiment of the present application includes two telescopic structures 203, and each telescopic structure 203 is connected to a grabbing structure 204.
  • one of the telescopic structures 203 and one of the grabbing structures 204 are used to grab the battery box 301 for battery swapping, and the other telescopic structure 203 and the other grabbing structure 204 are used to grab the vehicle-mounted battery box 302, thereby realizing parallel battery swapping and reducing battery swapping time.
  • the heavy truck battery swap station further comprises:
  • a vehicle stopping area is arranged around the battery swapping device 200 , and the vehicle stopping area is used to park a battery swapping vehicle 400 .
  • the battery swapping vehicle 400 includes a vehicle-mounted battery swapping base 401 .
  • the on-board battery exchange base 401 of the battery exchange vehicle 400 is used to install the on-board battery box 302.
  • a locking portion is provided on the on-board battery exchange base 401.
  • the user can control the locking portion to unlock, so that the battery exchange device 200 can grab the on-board battery box 302 from the on-board battery exchange base 401 of the battery exchange vehicle 400, and after the battery exchange device 200 replaces the fully charged battery exchange battery box 301 to the vehicle battery exchange base 401, the locking portion is locked to fix the battery exchange battery box 301.
  • a first sensor is provided in the vehicle stop area, and the first sensor is used to indicate the stop position of the battery swap vehicle 400.
  • a first sensor can be set in the vehicle stop area, and when the user receives the first sensor signal, the battery swap vehicle 400 is controlled to stop.
  • a mechanical positioning method can be used to set a speed bump 501 in the vehicle stop area to facilitate users to park.
  • the bearing structure 205 comprises:
  • a moving part for moving on the first base 201 the moving part being provided with a first battery box base and a second battery box base; the telescopic structure 203 being provided above the first position A of the first base 201;
  • the first battery box base is located at the first position A and the second battery box base is located at the second position B; when the moving part moves to the second state, the second battery box base is located at the first position A.
  • the controller needs to control the moving part to be in the first state.
  • the first battery box base is located at the first position A
  • the second battery box base is located at the second position B
  • the telescopic structure 203 is located directly above the first battery box base.
  • the controller controls the battery exchange device 200 to release the battery exchange battery box 301 onto the first battery box base.
  • the controller needs to control the moving part to be in the second state.
  • the second battery box base is located in the first position A, and the telescopic structure 203 is located directly above the second battery box base.
  • the controller controls the battery swap device 200 to release the vehicle-mounted battery box 302 onto the second battery box base.
  • the controller controls the moving part to be in the first state again, and the first battery box base carrying the battery replacement battery box 301 moves to the first position A.
  • the battery replacement device 200 grabs the battery replacement battery box 301 from the first battery box base, and releases the battery replacement battery box 301 on the vehicle-mounted battery replacement base 401, completing the replacement of the battery box 300 of the battery replacement vehicle 400.
  • the controller controls the moving part to be in the second state, and the second battery base carrying the vehicle battery box 302 moves to the first position A.
  • the battery exchange device 200 grabs the vehicle battery box 302 from the second battery box base, and releases the vehicle battery box 302 on the charging base 101 in the power storage area 100.
  • the charging base 101 charges the vehicle battery box 302 replaced from the battery exchange vehicle 400.
  • the load-bearing structure 205 described in the embodiment of the present application is a RGV (rail-guided vehicle).
  • the battery swap device 200 further includes:
  • a second base body 207, the rotating structure 206 is disposed above the second base body 207;
  • the mobile structure 208 is used to drive the second seat 207 to move along the first direction.
  • the controller is connected to the mobile structure 208.
  • the second seat 207 is arranged above the mobile structure 208. It is a direction parallel to the battery-swap vehicle 400.
  • the movable structure 208 includes a movable wheel 2081 and a movable track 2082.
  • the movable track 2082 is relatively arranged on both sides of the second seat body 207 and arranged along the first direction.
  • the movable wheel 2081 is connected to the second seat body 207 and is used to drive the second seat body 207 to move along the movable track 2082.
  • the battery swap device 200 further includes:
  • the second sensor is used to obtain the battery-swapping vehicle position and send the battery-swapping vehicle position to the controller.
  • the second sensor is arranged on the first seat body 201 .
  • the second sensor can sense the position of the battery-swap vehicle 400, determine the real-time position of the battery-swap vehicle 400, and send an electrical signal to perform battery swap when the battery-swap vehicle 400 reaches the predetermined position.
  • first sensor and the second sensor mentioned above can be integrated, and only one sensor can be used to replace the two sensors mentioned above.
  • the battery swap device 200 further includes:
  • the lifting structure 209 is used to drive the grasping structure to rise or fall, and the lifting structure 209 is connected to the grasping structure 204 and the controller respectively.
  • the lifting structure 209 can be a winch mechanism.
  • the lifting structure 209 is respectively connected to the telescopic structure 203 and the grasping structure 204.
  • the lifting structure 209 receives the electrical signal sent by the controller.
  • the grasping structure 204 moves to the top of the battery box 300 through the telescopic structure 203, the grasping structure 204 is driven to descend, thereby grasping the battery box 300. Then, after grasping the battery box 300, the grasping structure 204 is driven to drive the battery box 300 to rise.
  • the grabbing structure 204 comprises:
  • the floating suspension bridge 2041 is connected to the telescopic structure 203 .
  • the grabbing structure 204 may include a floating suspension bridge 2401, which may be connected to the telescopic structure 203 and the lifting structure 209, respectively. Then the grabbing structure 204 also includes a sling clamp, which is connected to the floating suspension bridge 2041, including an open state and a closed state, so as to release and grab the battery box 300.
  • the present application also provides a battery replacement control method, which is applied to any of the above The heavy truck swap station described in item 1, the method comprising:
  • S601 includes:
  • the rotating structure is controlled to rotate in a first clockwise direction by a first angle, the telescopic structure is controlled to be in an extended state, and the moving part of the bearing structure is controlled to move to a first state on the first seat body;
  • S602 includes:
  • Control the rotating structure to rotate in a second clockwise direction by a first angle, control the telescopic structure to be in an extended state, and control the moving part of the bearing structure to move to a second state on the first seat body;
  • the grabbing structure is controlled to release the vehicle-mounted battery box onto the second battery box base of the carrying structure.
  • S603 includes:
  • S604 includes:
  • the rotating structure is controlled to rotate in a first clockwise direction by a first angle, and the moving part of the bearing structure is controlled to rotate in a first clockwise direction by a first angle.
  • the first seat body moves to a second state;
  • the grabbing structure is controlled to release the vehicle-mounted battery box onto the charging base.
  • the method when a battery swap vehicle is detected, the method further comprises:
  • Control the mobile structure to move to a position corresponding to the position of the battery-swapping vehicle.
  • the telescopic structure is aligned with the on-board battery replacement base of the battery replacement vehicle, ensuring that the grasping structure can grasp the on-board battery box from the on-board battery replacement base or release the battery replacement battery box on the on-board battery replacement base.
  • control behavior can be triggered by sending an electrical signal.
  • the battery swap control method described in the embodiment of the present application is adopted.
  • the mobile structure is controlled to move to a position corresponding to the position of the battery swap vehicle, and the position of the battery swap vehicle can be obtained by a sensor.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

A battery swapping station for a heavy truck, comprising: a power storage region (100) arranged around a battery swapping device, wherein the power storage region (100) comprises a plurality of charging bases (101) arranged in a circular sector shape. The battery swapping device (200) comprises: a first base body (201) on which a frame (202) is provided; a stretchable/retractable structure (203) connected to the frame (202); a grabbing structure (204) for grabbing or releasing a battery pack (300), the grabbing structure (204) being connected to the stretchable/retractable structure (203); a bearing structure (205) for accommodating the battery pack (300), the bearing structure (205) being arranged on the first base body (201); a rotating structure (206) for driving the first seat body (201) to rotate, the rotating structure (206) being arranged below the first base body (201); and a controller separately electrically connected to the stretchable/retractable structure (203), the grabbing structure (204), the bearing structure (205), and the rotating structure (206), wherein the controller is used for sending electric signals, and the stretchable/retractable structure, the grabbing structure, the bearing structure, and the rotating structure respectively receive the electric signals and replace a battery pack of a battery swapping vehicle. Further provided is a battery swapping control method. The battery swapping station occupies small ground area, has low costs, saves the battery swapping time, and improves the battery swapping efficiency.

Description

一种重卡换电站及换电控制方法A heavy truck battery swap station and battery swap control method
相关申请的交叉引用CROSS-REFERENCE TO RELATED APPLICATIONS
本申请主张在2022年10月20日在中国提交的中国专利申请No.202211285486.9的优先权，其全部内容通过引用包含于此。This application claims priority to Chinese Patent Application No. 202211285486.9 filed in China on October 20, 2022, the entire contents of which are incorporated herein by reference.
技术领域Technical Field
本申请涉及电池换电技术领域，尤其是涉及一种重卡换电站及换电控制方法。The present application relates to the field of battery replacement technology, and in particular to a heavy truck battery replacement station and a battery replacement control method.
背景技术Background technique
随着电动汽车的不断普及，运输过程中需要较大动力供应的重型卡车(即重卡车辆)也迈向电动时代。目前，市面上的重卡换电站多采用行车顶吊式或单工位有轨制导车辆更换电池箱，由于换电仓位并排布置，在仓位增加时，导致行车和有轨制导车辆的行程加长，影响换电效率。With the increasing popularity of electric vehicles, heavy trucks (i.e. heavy trucks) that require a large power supply during transportation are also moving towards the electric era. At present, most heavy truck battery swap stations on the market use overhead cranes or single-station rail-guided vehicles to replace battery boxes. Since the battery swap positions are arranged side by side, when the number of positions increases, the travel distance of the vehicle and rail-guided vehicle will be lengthened, affecting the battery swap efficiency.
发明内容Summary of the invention
本申请实施例的目的在于提供一种重卡换电站及换电控制方法，从而解决相关技术中的重卡车辆换电效率低的问题。The purpose of the embodiments of the present application is to provide a heavy-duty truck battery replacement station and a battery replacement control method, so as to solve the problem of low battery replacement efficiency of heavy-duty trucks in related technologies.
为了实现上述目的，本申请采用如下技术方案：In order to achieve the above purpose, this application adopts the following technical solutions:
本申请实施例提供一种重卡换电站，包括：The embodiment of the present application provides a heavy truck swap station, comprising:
围绕换电装置设置的储电区域，所述储电区域包括多个充电底座，多个所述充电底座排布成扇环形状；A power storage area arranged around the power exchange device, the power storage area comprising a plurality of charging bases, wherein the plurality of charging bases are arranged in a fan ring shape;
其中，所述换电装置，包括：Wherein, the battery replacement device comprises:
第一座体，所述第一座体上设置有框架；A first seat body, wherein a frame is disposed on the first seat body;
伸缩结构，所述伸缩结构与所述框架连接；a telescopic structure connected to the frame;
用于抓取或释放电池箱的抓取结构，所述抓取结构与所述伸缩结构连接；A gripping structure for gripping or releasing the battery box, the gripping structure being connected to the telescopic structure;
用于容置电池箱的承载结构，所述承载结构设置在所述第一座体上；A bearing structure for accommodating a battery box, wherein the bearing structure is arranged on the first seat;
用于驱动所述第一座体进行旋转运动的旋转结构，所述旋转结构设置于 所述第一座体的下方；A rotating structure for driving the first seat body to rotate, wherein the rotating structure is arranged at The lower part of the first seat body;
控制器，所述控制器分别与所述伸缩结构、所述抓取结构、所述承载结构以及所述旋转结构电连接，所述控制器用于发送电信号，所述伸缩结构、所述抓取结构、所述承载结构以及所述旋转结构分别接收所述电信号并对换电车辆进行电池箱的更换。A controller is electrically connected to the telescopic structure, the gripping structure, the bearing structure and the rotating structure respectively, and the controller is used to send electrical signals, and the telescopic structure, the gripping structure, the bearing structure and the rotating structure respectively receive the electrical signals and replace the battery box of the battery-swap vehicle.
可选地，所述的重卡换电站，其中，还包括：Optionally, the heavy truck battery swap station further comprises:
围绕所述换电装置设置的车辆停止区域，所述车辆停止区域用于停放所述换电车辆，所述换电车辆包括车载换电底座。A vehicle stopping area is arranged around the battery swapping device, and the vehicle stopping area is used to park the battery swapping vehicle, and the battery swapping vehicle includes a vehicle-mounted battery swapping base.
可选地，所述的重卡换电站，其中，所述车辆停止区域设置有第一传感器，所述第一传感器用于指示换电车辆的停止位置。Optionally, in the heavy truck battery swap station, a first sensor is provided in the vehicle stopping area, and the first sensor is used to indicate the stopping position of the battery swap vehicle.
可选地，所述的重卡换电站，其中，所述承载结构包括：Optionally, in the heavy truck battery swap station, the bearing structure comprises:
用于在所述第一座体上移动的移动部，所述移动部上设置有第一电池箱底座和第二电池箱底座；所述伸缩结构设置于所述第一座体的第一位置的上方；A moving part for moving on the first seat, wherein the moving part is provided with a first battery box base and a second battery box base; the telescopic structure is provided above the first position of the first seat;
其中，在所述移动部在第一座体上移动至第一状态时，所述第一电池箱底座位于所述第一位置；在所述移动部移动至第二状态时，所述第二电池箱底座位于所述第一位置。Wherein, when the moving part moves to the first state on the first seat, the first battery box base is located at the first position; when the moving part moves to the second state, the second battery box base is located at the first position.
可选地，所述的重卡换电站，其中，所述换电装置还包括：Optionally, in the heavy truck battery swap station, the battery swap device further comprises:
第二传感器，所述第二传感器用于获取换电车辆位置并向所述控制器发送所述换电车辆位置，所述第二传感器设置于所述第一座体上。The second sensor is used to obtain the battery-swapping vehicle position and send the battery-swapping vehicle position to the controller, and the second sensor is arranged on the first seat.
可选地，所述的重卡换电站，其中，所述换电装置还包括：Optionally, in the heavy truck battery swap station, the battery swap device further comprises:
第二座体，所述旋转结构设置于所述第二座体的上方；A second seat body, the rotating structure is arranged above the second seat body;
用于驱动所述第二座体沿第一方向移动的移动结构，所述控制器与所述移动结构连接，所述第二座体设置于所述移动结构的上方；其中，所述第一方向是与换电车辆平行的方向。A movable structure is used to drive the second seat body to move along a first direction, the controller is connected to the movable structure, and the second seat body is arranged above the movable structure; wherein the first direction is a direction parallel to the battery-swap vehicle.
可选地，所述的重卡换电站，其中，所述换电装置还包括：Optionally, in the heavy truck battery swap station, the battery swap device further comprises:
用于驱动所述抓取结构上升或下降的升降结构，所述升降结构分别与所述抓取结构和所述控制器连接。A lifting structure is used to drive the grasping structure to rise or fall, and the lifting structure is connected to the grasping structure and the controller respectively.
可选地，所述的重卡换电站，其中，所述抓取结构包括： Optionally, in the heavy truck swap station, the grabbing structure comprises:
浮动吊桥，所述浮动吊桥与所述伸缩结构连接。A floating suspension bridge is connected to the telescopic structure.
本申请实施例还提供一种换电控制方法，应用于如上任一项所述的重卡换电站，所述方法包括：The embodiment of the present application further provides a battery swap control method, which is applied to the heavy truck battery swap station as described in any one of the above items, and the method includes:
在检测到换电车辆的情况下，控制所述抓取结构从所述充电底座抓取换电电池箱，并控制所述抓取结构将所述换电电池箱释放在所述承载结构上；When a battery-swapping vehicle is detected, the gripping structure is controlled to grab the battery-swapping box from the charging base, and the gripping structure is controlled to release the battery-swapping box onto the bearing structure;
控制所述抓取结构从所述换电车辆抓取车载电池箱，并控制所述抓取结构将所述车载电池箱释放在所述承载结构上；Controlling the grabbing structure to grab the on-board battery box from the battery-swapping vehicle, and controlling the grabbing structure to release the on-board battery box onto the bearing structure;
控制所述抓取结构从所述承载结构抓取所述换电电池箱，并控制所述抓取结构将所述换电电池箱释放在所述换电车辆上；Controlling the grabbing structure to grab the battery-exchange box from the bearing structure, and controlling the grabbing structure to release the battery-exchange box onto the battery-exchange vehicle;
控制所述抓取结构从所述承载结构抓取所述车载电池箱，并控制所述抓取结构将所述车载电池箱释放在所述充电底座上。The grabbing structure is controlled to grab the vehicle-mounted battery box from the bearing structure, and the grabbing structure is controlled to release the vehicle-mounted battery box onto the charging base.
可选地，所述的换电控制方法，其中，在检测到换电车辆的情况下，所述方法还包括：Optionally, in the battery swap control method, when a battery swap vehicle is detected, the method further comprises:
控制移动结构移动至与换电车辆位置相对应的位置。Control the mobile structure to move to a position corresponding to the position of the battery-swapping vehicle.
本申请至少具有如下有益效果：This application has at least the following beneficial effects:
上述方案中，采用扇环形状排布多个充电底座，减少换电装置行程，减小换电站占地面积，降低成本，节省换电时间，提高换电效率。In the above solution, multiple charging bases are arranged in a fan-ring shape to reduce the travel of the battery swap device, reduce the footprint of the battery swap station, reduce costs, save battery swap time, and improve battery swap efficiency.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本申请实施例的重卡换电站的结构示意图之一；FIG1 is a schematic diagram of a heavy truck battery swap station according to an embodiment of the present application;
图2为本申请实施例的重卡换电站的结构示意图之二；FIG2 is a second structural schematic diagram of a heavy truck battery swap station according to an embodiment of the present application;
图3为本申请实施例的换电装置的结构示意图之一；FIG3 is a schematic diagram of a structure of a battery replacement device according to an embodiment of the present application;
图4为本申请实施例的换电装置的结构示意图之二；FIG4 is a second structural schematic diagram of the battery replacement device according to an embodiment of the present application;
图5为本申请实施例的换电装置的结构示意图之三；FIG5 is a third structural schematic diagram of the battery replacement device according to an embodiment of the present application;
图6为本申请实施例的换电控制方法的流程示意图。FIG6 is a flow chart of the battery replacement control method according to an embodiment of the present application.
附图标记说明：
100-储电区域；101-充电底座；200-换电装置；201-第一座体；202-框架；
203-伸缩结构；204-抓取结构；2041-浮动吊桥；205-承载结构；206-旋转结构；207-第二座体；208-移动结构；2081-移动轮；2082-移动轨道；209-升降结构； 300-电池箱；301-换电电池箱；302-车载电池箱；400-换电车辆；401-车载换电底座；501-减速带；A-第一位置；B-第二位置。Description of reference numerals:
100 - power storage area; 101 - charging base; 200 - power exchange device; 201 - first seat body; 202 - frame;
203- telescopic structure; 204- grabbing structure; 2041- floating suspension bridge; 205- bearing structure; 206- rotating structure; 207- second seat body; 208- moving structure; 2081- moving wheel; 2082- moving track; 209- lifting structure; 300-battery box; 301-battery exchange box; 302-vehicle battery box; 400-battery exchange vehicle; 401-vehicle battery exchange base; 501-speed bump; A-first position; B-second position.
具体实施方式Detailed ways
为使本申请要解决的技术问题、技术方案和优点更加清楚，下面将结合附图及具体实施例进行详细描述。在下面的描述中，提供诸如具体的配置和组件的特定细节仅仅是为了帮助全面理解本申请的实施例。因此，本领域技术人员应该清楚，可以对这里描述的实施例进行各种改变和修改而不脱离本申请的范围和精神。另外，为了清楚和简洁，省略了对已知功能和构造的描述。To make the technical problems, technical solutions and advantages to be solved by the present application clearer, the following will be described in detail in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help fully understand the embodiments of the present application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, for clarity and brevity, the description of known functions and structures has been omitted.
应理解，说明书通篇中提到的“一个实施例”或“一实施例”意味着与实施例有关的特定特征、结构或特性包括在本申请的至少一个实施例中。因此，在整个说明书各处出现的“在一个实施例中”或“在一实施例中”未必一定指相同的实施例。此外，这些特定的特征、结构或特性可以任意适合的方式结合在一个或多个实施例中。It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present application. Therefore, the references to "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
如图1至图5所示，本申请实施例提供一种重卡换电站，包括：As shown in FIGS. 1 to 5 , an embodiment of the present application provides a heavy truck swap station, comprising:
围绕换电装置设置的储电区域100，储电区域100包括多个充电底座101，多个充电底座101排布成扇环形状，充电底座101用于为换电车辆400准备满电的电池箱300，并将换电车辆400更换下来的电池箱300进行充电。A power storage area 100 is arranged around the battery swap device, and the power storage area 100 includes multiple charging bases 101. The multiple charging bases 101 are arranged in a fan ring shape. The charging bases 101 are used to prepare fully charged battery boxes 300 for the battery swap vehicle 400, and to charge the battery boxes 300 replaced by the battery swap vehicle 400.
其中，换电装置200，包括：The battery replacement device 200 includes:
第一座体201，第一座体201上设置有框架202；A first base body 201, on which a frame 202 is disposed;
伸缩结构203，伸缩结构203与框架202连接；A telescopic structure 203, the telescopic structure 203 is connected to the frame 202;
用于抓取或释放电池箱300的抓取结构204，抓取结构204与伸缩结构203连接；A gripping structure 204 for gripping or releasing the battery box 300, the gripping structure 204 being connected to the telescopic structure 203;
用于容置电池箱的承载结构205，承载结构205设置在第一座体201上；A bearing structure 205 for accommodating a battery box, the bearing structure 205 being disposed on the first base 201;
用于驱动第一座体201进行旋转运动的旋转结构206，旋转结构206设置于第一座体201的下方；A rotating structure 206 for driving the first base 201 to rotate, wherein the rotating structure 206 is disposed below the first base 201;
控制器，控制器分别与伸缩结构203、抓取结构204、承载结构205以及旋转结构206电连接，控制器用于发送电信号，伸缩结构203、抓取结构204、 承载结构205以及旋转结构206分别接收电信号并对换电车辆400进行电池箱300的更换。The controller is electrically connected to the telescopic structure 203, the grasping structure 204, the bearing structure 205 and the rotating structure 206 respectively, and the controller is used to send electrical signals to the telescopic structure 203, the grasping structure 204, The supporting structure 205 and the rotating structure 206 respectively receive the electrical signal and replace the battery box 300 of the battery-swapping vehicle 400 .
本申请实施例所述重卡换电站，采用扇环形状排布多个充电底座101，减少换电装置200行程，减小换电站占地面积，降低成本，节省换电时间，提高换电效率。The heavy-duty truck battery swap station described in the embodiment of the present application arranges multiple charging bases 101 in a fan-ring shape, which reduces the travel of the battery swap device 200, reduces the footprint of the battery swap station, reduces costs, saves battery swap time, and improves battery swap efficiency.
其中一可选实施方式，本申请实施例所述重卡换电站包括两个储电区域100和两个换电装置200，这样，该重卡换电站可以同时对两个换电车辆400进行电池箱300更换，减少换电等待时间，进一步提高换电效率。In one optional implementation manner, the heavy-duty truck battery swap station described in the embodiment of the present application includes two power storage areas 100 and two battery swap devices 200. In this way, the heavy-duty truck battery swap station can replace the battery boxes 300 of two battery swap vehicles 400 at the same time, reducing the waiting time for battery swapping and further improving the battery swapping efficiency.
另一可选实施方式，本申请实施例所述重卡换电站包括两个伸缩结构203，且每一伸缩结构203连接一个抓取结构204。这样其中一个伸缩结构203和其中一个抓取结构204用于抓取换电电池箱301，另一个伸缩结构203和另一个抓取结构204用于抓取车载电池箱302，从而实现并行的换电动作，减少换电时间。In another optional embodiment, the heavy truck battery swap station described in the embodiment of the present application includes two telescopic structures 203, and each telescopic structure 203 is connected to a grabbing structure 204. In this way, one of the telescopic structures 203 and one of the grabbing structures 204 are used to grab the battery box 301 for battery swapping, and the other telescopic structure 203 and the other grabbing structure 204 are used to grab the vehicle-mounted battery box 302, thereby realizing parallel battery swapping and reducing battery swapping time.
可选地，所述的重卡换电站，其中，还包括：Optionally, the heavy truck battery swap station further comprises:
围绕换电装置200设置的车辆停止区域，车辆停止区域用于停放换电车辆400，换电车辆400包括车载换电底座401。A vehicle stopping area is arranged around the battery swapping device 200 , and the vehicle stopping area is used to park a battery swapping vehicle 400 . The battery swapping vehicle 400 includes a vehicle-mounted battery swapping base 401 .
需要说明的是，换电车辆400的车载换电底座401用于安装车载电池箱302，该车载换电底座401上设有锁止部，在换电车辆400停止到车辆停止区域的情况下，用户可以控制锁止部解锁，这样换电装置200可从换电车辆400的车载换电底座401上将车载电池箱302抓取下来，并在换电装置200将满电的换电电池箱301更换到车辆换电底座401后，锁止部锁止，固定换电电池箱301。It should be noted that the on-board battery exchange base 401 of the battery exchange vehicle 400 is used to install the on-board battery box 302. A locking portion is provided on the on-board battery exchange base 401. When the battery exchange vehicle 400 stops at the vehicle stopping area, the user can control the locking portion to unlock, so that the battery exchange device 200 can grab the on-board battery box 302 from the on-board battery exchange base 401 of the battery exchange vehicle 400, and after the battery exchange device 200 replaces the fully charged battery exchange battery box 301 to the vehicle battery exchange base 401, the locking portion is locked to fix the battery exchange battery box 301.
可选地，所述的重卡换电站，其中，车辆停止区域设置有第一传感器，所述第一传感器用于指示换电车辆400的停止位置。Optionally, in the heavy truck battery swap station, a first sensor is provided in the vehicle stop area, and the first sensor is used to indicate the stop position of the battery swap vehicle 400.
需要说明的是，为了方便用户在车辆停止区域中的停车，可以在车辆停止区域设置第一传感器，在用户接收到第一传感器信号的情况下，控制换电车辆400停止。或者，还可以采用机械定位方式，在车辆停止区域设置减速带501，方便用户停车。It should be noted that in order to facilitate users to park in the vehicle stop area, a first sensor can be set in the vehicle stop area, and when the user receives the first sensor signal, the battery swap vehicle 400 is controlled to stop. Alternatively, a mechanical positioning method can be used to set a speed bump 501 in the vehicle stop area to facilitate users to park.
可选地，所述的重卡换电站，其中，承载结构205包括： Optionally, in the heavy truck battery swap station, the bearing structure 205 comprises:
用于在第一座体201上移动的移动部，移动部上设置有第一电池箱底座和第二电池箱底座；伸缩结构203设置于第一座体201的第一位置A的上方；A moving part for moving on the first base 201, the moving part being provided with a first battery box base and a second battery box base; the telescopic structure 203 being provided above the first position A of the first base 201;
其中，在移动部在第一座体201上移动至第一状态时，第一电池箱底座位于第一位置A，第二电池箱底座位于第二位置B；在移动部移动至第二状态时，第二电池箱底座位于第一位置A。When the moving part moves to the first state on the first seat 201, the first battery box base is located at the first position A and the second battery box base is located at the second position B; when the moving part moves to the second state, the second battery box base is located at the first position A.
需要说明的是，在换电装置200从储电区域100的充电底座101抓取换电电池箱301的情况下，控制器需要控制移动部处于第一状态，在此第一状态下，第一电池箱底座位于第一位置A，第二电池箱底座位于第二位置B，伸缩结构203位于第一电池箱底座的正上方，控制器控制换电装置200将换电电池箱301释放在第一电池箱底座上。It should be noted that when the battery exchange device 200 grabs the battery exchange battery box 301 from the charging base 101 of the power storage area 100, the controller needs to control the moving part to be in the first state. In this first state, the first battery box base is located at the first position A, the second battery box base is located at the second position B, and the telescopic structure 203 is located directly above the first battery box base. The controller controls the battery exchange device 200 to release the battery exchange battery box 301 onto the first battery box base.
在换电装置从换电车辆400的车载换电底座401抓取车载电池箱302的情况下，控制器需要控制移动部处于第二状态，在此第二状态下，第二电池箱底座位于第一位置A，伸缩结构203位于第二电池箱底座的正上方，控制器控制换电装置200将车载电池箱302释放在第二电池箱底座上。When the battery swap device grabs the vehicle-mounted battery box 302 from the vehicle-mounted battery swap base 401 of the battery swap vehicle 400, the controller needs to control the moving part to be in the second state. In this second state, the second battery box base is located in the first position A, and the telescopic structure 203 is located directly above the second battery box base. The controller controls the battery swap device 200 to release the vehicle-mounted battery box 302 onto the second battery box base.
进一步，控制器控制移动部再次处于第一状态，第一电池箱底座载有换电电池箱301移动至第一位置A，在此第一状态下，换电装置200从第一电池箱底座抓取换电电池箱301，并将换电电池箱301释放在车载换电底座401上，完成换电车辆400的电池箱300更换。Further, the controller controls the moving part to be in the first state again, and the first battery box base carrying the battery replacement battery box 301 moves to the first position A. In this first state, the battery replacement device 200 grabs the battery replacement battery box 301 from the first battery box base, and releases the battery replacement battery box 301 on the vehicle-mounted battery replacement base 401, completing the replacement of the battery box 300 of the battery replacement vehicle 400.
更进一步，控制器控制移动部处于第二状态，第二电池底座载有车载电池箱302移动至第一位置A，在此第二状态下，换电装置200从第二电池箱底座抓取车载电池箱302，并将车载电池箱302释放在储电区域100的充电底座101上，充电底座101对从换电车辆400更换下来的车载电池箱302进行充电。Furthermore, the controller controls the moving part to be in the second state, and the second battery base carrying the vehicle battery box 302 moves to the first position A. In this second state, the battery exchange device 200 grabs the vehicle battery box 302 from the second battery box base, and releases the vehicle battery box 302 on the charging base 101 in the power storage area 100. The charging base 101 charges the vehicle battery box 302 replaced from the battery exchange vehicle 400.
其中一可选实施方式，本申请实施例所述承载结构205为RGV(有轨制导车辆)。In one optional implementation manner, the load-bearing structure 205 described in the embodiment of the present application is a RGV (rail-guided vehicle).
可选地，所述的重卡换电站，其中，换电装置200还包括：Optionally, in the heavy truck battery swap station, the battery swap device 200 further includes:
第二座体207，旋转结构206设置于第二座体207的上方；A second base body 207, the rotating structure 206 is disposed above the second base body 207;
用于驱动第二座体207沿第一方向移动的移动结构208，控制器与移动结构208连接，第二座体207设置于移动结构208的上方；其中，第一方向 是与换电车辆400平行的方向。The mobile structure 208 is used to drive the second seat 207 to move along the first direction. The controller is connected to the mobile structure 208. The second seat 207 is arranged above the mobile structure 208. It is a direction parallel to the battery-swap vehicle 400.
需要说明的是，为了确保换电装置200与换电车辆400在第一方向上对齐，可通过移动结构208调整偏差，可选地，移动结构208包括移动轮2081和移动轨道2082，移动轨道2082相对设置在第二座体207的两侧，且沿第一方向设置，移动轮2081与第二座体207连接，用于驱动第二座体207沿移动轨道2082移动。It should be noted that in order to ensure that the battery exchange device 200 is aligned with the battery exchange vehicle 400 in the first direction, the deviation can be adjusted through the movable structure 208. Optionally, the movable structure 208 includes a movable wheel 2081 and a movable track 2082. The movable track 2082 is relatively arranged on both sides of the second seat body 207 and arranged along the first direction. The movable wheel 2081 is connected to the second seat body 207 and is used to drive the second seat body 207 to move along the movable track 2082.
可选地，所述的重卡换电站，其中，换电装置200还包括：Optionally, in the heavy truck battery swap station, the battery swap device 200 further includes:
第二传感器，第二传感器用于获取换电车辆位置并向控制器发送换电车辆位置，第二传感器设置于第一座体201上。The second sensor is used to obtain the battery-swapping vehicle position and send the battery-swapping vehicle position to the controller. The second sensor is arranged on the first seat body 201 .
需要说明的是，该第二传感器可对换电车辆400的位置进行感知，确定换电车辆400的实时位置，在换电车辆400到达预定位置时，发出电信号，进行换电。It should be noted that the second sensor can sense the position of the battery-swap vehicle 400, determine the real-time position of the battery-swap vehicle 400, and send an electrical signal to perform battery swap when the battery-swap vehicle 400 reaches the predetermined position.
还需要说明的是，可将上述的第一传感器和第二传感器的功能进行集成，只使用一个传感器代替上述两个传感器。It should also be noted that the functions of the first sensor and the second sensor mentioned above can be integrated, and only one sensor can be used to replace the two sensors mentioned above.
可选地，所述的重卡换电站，其中，换电装置200还包括：Optionally, in the heavy truck battery swap station, the battery swap device 200 further includes:
用于驱动抓取结构上升或下降的升降结构209，升降结构209分别与抓取结构204和控制器连接。The lifting structure 209 is used to drive the grasping structure to rise or fall, and the lifting structure 209 is connected to the grasping structure 204 and the controller respectively.
需要说明的是，该升降结构209可以是卷扬机构，升降结构209与伸缩结构203和抓取结构204分别连接，升降结构209接收控制器发送的电信号，在抓取结构204通过伸缩结构203移动至电池箱300的上方时，驱动抓取结构204下降，从而抓取电池箱300，然后在抓取电池箱300后，驱动抓取结构204带动电池箱300上升。It should be noted that the lifting structure 209 can be a winch mechanism. The lifting structure 209 is respectively connected to the telescopic structure 203 and the grasping structure 204. The lifting structure 209 receives the electrical signal sent by the controller. When the grasping structure 204 moves to the top of the battery box 300 through the telescopic structure 203, the grasping structure 204 is driven to descend, thereby grasping the battery box 300. Then, after grasping the battery box 300, the grasping structure 204 is driven to drive the battery box 300 to rise.
可选地，所述的重卡换电站，其中，抓取结构204包括：Optionally, in the heavy truck swap station, the grabbing structure 204 comprises:
浮动吊桥2041，浮动吊桥2041与伸缩结构203连接。Floating suspension bridge 2041 , the floating suspension bridge 2041 is connected to the telescopic structure 203 .
需要说明的是，抓取结构204可以包括浮动吊桥2401，该浮动吊桥2401可以分别与伸缩结构203和升降结构209连接。然后抓取结构204还包括吊具夹爪，该吊具夹爪与浮动吊桥2041连接，包括打开状态和关闭状态，从而实现释放和抓取电池箱300。It should be noted that the grabbing structure 204 may include a floating suspension bridge 2401, which may be connected to the telescopic structure 203 and the lifting structure 209, respectively. Then the grabbing structure 204 also includes a sling clamp, which is connected to the floating suspension bridge 2041, including an open state and a closed state, so as to release and grab the battery box 300.
如图6所示，本申请实施例还提供一种换电控制方法，应用于如上任一 项所述的重卡换电站，所述方法包括：As shown in FIG6 , the present application also provides a battery replacement control method, which is applied to any of the above The heavy truck swap station described in item 1, the method comprising:
S601，在检测到换电车辆的情况下，控制抓取结构从充电底座抓取换电电池箱，并控制抓取结构将换电电池箱释放在承载结构上；S601, when a battery-swapping vehicle is detected, controlling the gripping structure to grip the battery-swapping box from the charging base, and controlling the gripping structure to release the battery-swapping box onto the bearing structure;
S602，控制抓取结构从换电车辆抓取车载电池箱，并控制抓取结构将车载电池箱释放在承载结构上；S602, controlling the grabbing structure to grab the on-board battery box from the battery swapping vehicle, and controlling the grabbing structure to release the on-board battery box onto the bearing structure;
S603，控制抓取结构从承载结构抓取换电电池箱，并控制抓取结构将换电电池箱释放在换电车辆上；S603, controlling the grabbing structure to grab the battery box from the carrying structure, and controlling the grabbing structure to release the battery box onto the battery vehicle;
S604，控制抓取结构从承载结构抓取车载电池箱，并控制抓取结构将车载电池箱释放在充电底座上。S604, controlling the grabbing structure to grab the vehicle-mounted battery box from the bearing structure, and controlling the grabbing structure to release the vehicle-mounted battery box onto the charging base.
具体地，S601包括：Specifically, S601 includes:
在检测到换电车辆的情况下，控制旋转结构沿第一时针方向转动第一角度，控制伸缩结构处于伸展状态，控制承载结构的移动部在第一座体上移动至第一状态；When a battery-swap vehicle is detected, the rotating structure is controlled to rotate in a first clockwise direction by a first angle, the telescopic structure is controlled to be in an extended state, and the moving part of the bearing structure is controlled to move to a first state on the first seat body;
控制抓取结构从充电底座抓取换电电池箱；Control the grabbing structure to grab the battery replacement box from the charging base;
控制伸缩结构处于收缩状态；Controlling the telescopic structure to be in a contracted state;
控制抓取结构将换电电池箱释放在承载结构的第一电池箱底座上。Control the grabbing structure to release the battery-replacement battery box onto the first battery box base of the supporting structure.
S602包括：S602 includes:
控制旋转结构沿第二时针方向转动第一角度，控制伸缩结构处于伸展状态，控制承载结构的移动部在第一座体上移动至第二状态；Control the rotating structure to rotate in a second clockwise direction by a first angle, control the telescopic structure to be in an extended state, and control the moving part of the bearing structure to move to a second state on the first seat body;
控制抓取结构从车载换电底座抓取车载电池箱；Control the grabbing structure to grab the on-board battery box from the on-board battery replacement base;
控制伸缩结构处于收缩状态；Controlling the telescopic structure to be in a contracted state;
控制抓取结构将车载电池箱释放在承载结构的第二电池箱底座上。The grabbing structure is controlled to release the vehicle-mounted battery box onto the second battery box base of the carrying structure.
S603包括：S603 includes:
控制承载结构的移动部在第一座体上移动至第一状态；Controlling the moving part of the bearing structure to move to a first state on the first seat body;
控制抓取结构从第一电池箱底座抓取换电电池箱；Control the grabbing structure to grab the replacement battery box from the first battery box base;
控制伸缩结构处于伸展状态；Controlling the telescopic structure to be in an extended state;
控制抓取结构将换电电池箱释放在车载换电底座上。Control the grabbing structure to release the battery replacement box onto the vehicle-mounted battery replacement base.
S604包括：S604 includes:
控制旋转结构沿第一时针方向转动第一角度，控制承载结构的移动部在 第一座体上移动至第二状态；The rotating structure is controlled to rotate in a first clockwise direction by a first angle, and the moving part of the bearing structure is controlled to rotate in a first clockwise direction by a first angle. The first seat body moves to a second state;
控制抓取结构从第二电池箱底座抓取车载电池箱；Controlling the grabbing structure to grab the vehicle-mounted battery box from the second battery box base;
控制伸缩结构处于伸展状态；Controlling the telescopic structure to be in an extended state;
控制抓取结构将车载电池箱释放在充电底座上。The grabbing structure is controlled to release the vehicle-mounted battery box onto the charging base.
可选地，所述的换电控制方法，其中，在检测到换电车辆的情况下，所述方法还包括：Optionally, in the battery swap control method, when a battery swap vehicle is detected, the method further comprises:
控制移动结构移动至与换电车辆位置相对应的位置。Control the mobile structure to move to a position corresponding to the position of the battery-swapping vehicle.
采用本申请实施例所述换电控制方法，在移动结构移动至与换电车辆位置相对应的位置时，伸缩结构与换电车辆的车载换电底座的对齐，确保抓取结构能从车载换电底座抓取车载电池箱或将换电电池箱释放在车载换电底座上。By adopting the battery replacement control method described in the embodiment of the present application, when the mobile structure moves to a position corresponding to the position of the battery replacement vehicle, the telescopic structure is aligned with the on-board battery replacement base of the battery replacement vehicle, ensuring that the grasping structure can grasp the on-board battery box from the on-board battery replacement base or release the battery replacement battery box on the on-board battery replacement base.
还需要说明的是，上述的控制行为可通过发送电信号触发。It should also be noted that the above control behavior can be triggered by sending an electrical signal.
采用本申请实施例所述换电控制方法，为了确保换电装置与换电车辆对齐，控制移动结构移动至与换电车辆位置相对应的位置，该换电车辆位置可以通过传感器获得。The battery swap control method described in the embodiment of the present application is adopted. In order to ensure that the battery swap device is aligned with the battery swap vehicle, the mobile structure is controlled to move to a position corresponding to the position of the battery swap vehicle, and the position of the battery swap vehicle can be obtained by a sensor.
以上所述的是本申请的可选实施方式，应当指出对于本技术领域的普通人员来说，在不脱离本申请所述的原理前提下还可以作出若干改进和润饰，这些改进和润饰也在本申请的保护范围内。 The above is an optional implementation mode of the present application. It should be pointed out that for ordinary personnel in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications are also within the scope of protection of the present application.

Claims (10)

  1. 一种重卡换电站，包括：A heavy truck battery swap station, comprising:
    围绕换电装置设置的储电区域，所述储电区域包括多个充电底座，多个所述充电底座排布成扇环形状；A power storage area arranged around the power exchange device, the power storage area comprising a plurality of charging bases, and the plurality of charging bases are arranged in a fan ring shape;
    其中，所述换电装置，包括：Wherein, the battery replacement device comprises:
    第一座体，所述第一座体上设置有框架；A first seat body, wherein a frame is disposed on the first seat body;
    伸缩结构，所述伸缩结构与所述框架连接；a telescopic structure connected to the frame;
    用于抓取或释放电池箱的抓取结构，所述抓取结构与所述伸缩结构连接；A gripping structure for gripping or releasing the battery box, the gripping structure being connected to the telescopic structure;
    用于容置电池箱的承载结构，所述承载结构设置在所述第一座体上；A bearing structure for accommodating a battery box, wherein the bearing structure is arranged on the first seat;
    用于驱动所述第一座体进行旋转运动的旋转结构，所述旋转结构设置于所述第一座体的下方；A rotating structure for driving the first seat body to rotate, wherein the rotating structure is disposed below the first seat body;
    控制器，所述控制器分别与所述伸缩结构、所述抓取结构、所述承载结构以及所述旋转结构电连接，所述控制器用于发送电信号，所述伸缩结构、所述抓取结构、所述承载结构以及所述旋转结构分别接收所述电信号并对换电车辆进行电池箱的更换。A controller is electrically connected to the telescopic structure, the gripping structure, the bearing structure and the rotating structure respectively, and the controller is used to send electrical signals, and the telescopic structure, the gripping structure, the bearing structure and the rotating structure respectively receive the electrical signals and replace the battery box of the battery-swap vehicle.
  2. 根据权利要求1所述的重卡换电站，其中，还包括：The heavy truck battery swap station according to claim 1, further comprising:
    围绕所述换电装置设置的车辆停止区域，所述车辆停止区域用于停放所述换电车辆，所述换电车辆包括车载换电底座。A vehicle stopping area is arranged around the battery swapping device, and the vehicle stopping area is used to park the battery swapping vehicle, and the battery swapping vehicle includes a vehicle-mounted battery swapping base.
  3. 根据权利要求2所述的重卡换电站，其中，所述车辆停止区域设置有第一传感器，所述第一传感器用于指示所述换电车辆的停止位置。According to the heavy-duty truck battery swap station according to claim 2, a first sensor is provided in the vehicle stopping area, and the first sensor is used to indicate the stopping position of the battery swap vehicle.
  4. 根据权利要求1所述的重卡换电站，其中，所述承载结构包括：The heavy truck swap station according to claim 1, wherein the bearing structure comprises:
    用于在所述第一座体上移动的移动部，所述移动部上设置有第一电池箱底座和第二电池箱底座；所述伸缩结构设置于所述第一座体的第一位置的上方；A moving part for moving on the first seat, wherein the moving part is provided with a first battery box base and a second battery box base; the telescopic structure is provided above the first position of the first seat;
    其中，在所述移动部在第一座体上移动至第一状态时，所述第一电池箱底座位于所述第一位置；在所述移动部移动至第二状态时，所述第二电池箱底座位于所述第一位置。Wherein, when the moving part moves to the first state on the first seat, the first battery box base is located at the first position; when the moving part moves to the second state, the second battery box base is located at the first position.
  5. 根据权利要求1所述的重卡换电站，其中，所述换电装置还包括： The heavy truck battery swap station according to claim 1, wherein the battery swap device further comprises:
    第二传感器，所述第二传感器用于获取换电车辆位置并向所述控制器发送所述换电车辆位置，所述第二传感器设置于所述第一座体上。The second sensor is used to obtain the battery-swapping vehicle position and send the battery-swapping vehicle position to the controller, and the second sensor is arranged on the first seat.
  6. 根据权利要求1所述的重卡换电站，其中，所述换电装置还包括：The heavy truck battery swap station according to claim 1, wherein the battery swap device further comprises:
    第二座体，所述旋转结构设置于所述第二座体的上方；A second seat body, the rotating structure is arranged above the second seat body;
    用于驱动所述第二座体沿第一方向移动的移动结构，所述控制器与所述移动结构连接，所述第二座体设置于所述移动结构的上方；其中，所述第一方向是与所述换电车辆平行的方向。A movable structure is used to drive the second seat body to move along a first direction, the controller is connected to the movable structure, and the second seat body is arranged above the movable structure; wherein the first direction is a direction parallel to the battery-swap vehicle.
  7. 根据权利要求6所述的重卡换电站，其中，所述换电装置还包括：According to the heavy truck battery swap station of claim 6, wherein the battery swap device further comprises:
    用于驱动所述抓取结构上升或下降的升降结构，所述升降结构分别与所述抓取结构和所述控制器连接。A lifting structure is used to drive the grasping structure to rise or fall, and the lifting structure is connected to the grasping structure and the controller respectively.
  8. 根据权利要求1所述的重卡换电站，其中，所述抓取结构包括：The heavy truck swap station according to claim 1, wherein the grabbing structure comprises:
    浮动吊桥，所述浮动吊桥与所述伸缩结构连接。A floating suspension bridge is connected to the telescopic structure.
  9. 一种换电控制方法，应用于如权利要求1至8中任一项所述的重卡换电站，所述方法包括：A battery swap control method, applied to a heavy truck battery swap station according to any one of claims 1 to 8, the method comprising:
    在检测到换电车辆的情况下，控制所述抓取结构从所述充电底座抓取换电电池箱，并控制所述抓取结构将所述换电电池箱释放在所述承载结构上；When a battery-swapping vehicle is detected, the gripping structure is controlled to grab the battery-swapping box from the charging base, and the gripping structure is controlled to release the battery-swapping box onto the bearing structure;
    控制所述抓取结构从所述换电车辆抓取车载电池箱，并控制所述抓取结构将所述车载电池箱释放在所述承载结构上；Controlling the grabbing structure to grab the on-board battery box from the battery-swapping vehicle, and controlling the grabbing structure to release the on-board battery box onto the bearing structure;
    控制所述抓取结构从所述承载结构抓取所述换电电池箱，并控制所述抓取结构将所述换电电池箱释放在所述换电车辆上；Controlling the grabbing structure to grab the battery-exchange box from the bearing structure, and controlling the grabbing structure to release the battery-exchange box onto the battery-exchange vehicle;
    控制所述抓取结构从所述承载结构抓取所述车载电池箱，并控制所述抓取结构将所述车载电池箱释放在所述充电底座上。The grabbing structure is controlled to grab the vehicle-mounted battery box from the bearing structure, and the grabbing structure is controlled to release the vehicle-mounted battery box onto the charging base.
  10. 根据权利要求9所述的换电控制方法，其中，在检测到换电车辆的情况下，所述方法还包括：The battery swap control method according to claim 9, wherein, when a battery swap vehicle is detected, the method further comprises:
    控制移动结构移动至与换电车辆位置相对应的位置。 Control the mobile structure to move to a position corresponding to the position of the battery-swapping vehicle.
PCT/CN2023/117419 2022-10-20 2023-09-07 Battery swapping station for heavy truck and battery swapping control method WO2024082858A1 (en)

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