Battery access method and system

Abstract

The present invention discloses a battery picking and placing method and system. The battery picking and placing method comprises the following steps: controlling the movement of a push rod relative to a tray; and adjusting the height of the tray so that the height difference between the end of the tray close to the target object and the target object is within a threshold range; wherein, the tray and the target object are both used to support the battery, and the push rod is used to act on the battery so that the battery switches between being supported by the tray and being supported by the target object. The battery picking and placing system comprises: a push rod, a tray and a controller; the controller is used to control the movement of the push rod relative to the tray; and the controller is also used to adjust the height of the tray so that the height difference between the end of the tray close to the target object and the target object is within a threshold range. As described above, the height of the tray (i.e., the theoretical height) is adjusted in real time, so that the battery will not get stuck due to the excessively large actual height difference between the tray and the target object, thereby reducing the failure rate of battery replacement.

Description

[0001] This application is a divisional application of the Chinese patent application with the application date of September 10, 2018, application number 2018110535881, and invention name “Battery Removal and Placement Method and System”. Technical Field

[0002] The invention relates to a battery taking and placing method and system. Background Art

[0003] For electric vehicles using battery swapping, batteries need to be replaced regularly or irregularly. Generally, battery swapping equipment is fixed in a designated location, and the electric vehicle is parked near the equipment under control for battery replacement. Battery replacement also involves removing the battery from the battery compartment, which also has a battery support device, using the battery swapping equipment's tray.

[0004] The steps for battery replacement are generally as follows: the tray of the battery replacement equipment is extended to align with the battery support device on the electric vehicle or the battery compartment, the push rod pulls the battery from the battery support device to the tray to remove the old battery from the electric vehicle or the new battery from the battery compartment, and the push rod pushes the battery from the tray to the battery support device to place the new battery on the electric vehicle or the old battery on the battery compartment.

[0005] Due to the heavy weight of the battery, when the battery is located on the tray, the battery will press the tray downward, causing elastic deformation, so that the actual height of the tray will be lower than the theoretical set height; when the battery is located on the battery support device of the electric vehicle, the battery will also press the battery support device downward, which may also change the elastic deformation of the tire and change the height of the battery support device.

[0006] When placing the batteries, as the batteries on the tray gradually move onto the battery support device, the tray's load-bearing capacity gradually decreases, its deformation decreases, the tray's downward pressure decreases, and the battery support device's downward pressure increases. When removing the batteries, as the batteries on the battery support device gradually move onto the tray, the tray's load-bearing capacity gradually increases, the tray's deformation increases, the tray's downward pressure increases, and the battery support device's downward pressure decreases. In other words, without adjusting the tray's theoretical height, the tray's actual height will actually change. In addition, because the tray is in a cantilevered state when removing and placing batteries, the end of the tray closest to the battery support device may further deform and be pressed downward.

[0007] All of the above will cause the height of the tray and the battery support device to be misaligned during the battery replacement process, causing the battery to be stuck, and in severe cases, the battery replacement will fail. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to provide a battery picking and placing method and system in order to overcome the defect in the prior art that the height of the tray and the battery support device (i.e., the target object) may not be aligned during battery replacement, thereby causing the battery to be stuck.

[0009] The present invention solves the above technical problems through the following technical solutions:

[0010] A battery removal method is characterized in that it includes the following steps:

[0011] Controlling movement of the push rod relative to the pallet; and

[0012] Adjusting the height of the tray so that the height difference between the end of the tray close to the target object and the target object is within a threshold range;

[0013] The battery removal method further comprises the following steps:

[0014] Before controlling the push rod to move relative to the tray, pre-adjusting the tray height so that the height difference between the end of the tray close to the target object and the target object is within the threshold range;

[0015] The method of pre-adjusting the height of the pallet before controlling the push rod to move relative to the pallet comprises the following steps:

[0016] Before the push rod is extended, adjusting the end of the tray close to the target object to be higher than the target object or flush with the target object;

[0017] And / or, before the push rod retracts, adjust the end of the tray close to the target to be lower than the target or flush with the target; wherein, the tray and the target are both used to support batteries, and the push rod is used to act on the battery so that the battery switches between being supported by the tray and being supported by the target.

[0018] In the above technical solution, the tray and the target object are aligned in the initial state. When the push rod is extended, the battery moves from the tray to the target object. Therefore, adjusting the target object to be flush with the tray or lower before extending the push rod can further facilitate the movement of the battery. When the push rod is retracted, the battery moves from the target object to the tray. Therefore, adjusting the target object to be flush with the tray or higher before retracting the push rod can further facilitate the movement of the battery.

[0019] Preferably, the adjusting the height of the tray is specifically: adjusting the height of the tray at a preset speed.

[0020] In the above technical solution, the preset speed can be determined according to factors such as the structure and size of the battery and the pushing and pulling speed of the push rod, and the height of the tray can be controlled by a simple method.

[0021] Preferably, the adjusting the height of the tray is specifically: adjusting the height of the tray according to the position of the push rod.

[0022] In the above technical solution, the position of the battery can be determined according to the position of the push rod, so that the weight carried by the tray can be determined, and the expected height of the tray can be determined, so that the height of the tray can be adjusted to the expected height.

[0023] Preferably, the battery removal method further comprises the following steps:

[0024] The position of the push rod is determined according to the parameters of the servo motor that drives the push rod to move.

[0025] In the above technical solution, the push rod moves under the drive of the servo motor, and the parameters of the servo motor are easy to obtain, so that the position of the push rod can be conveniently determined.

[0026] Preferably, the tray height adjustment is specifically as follows:

[0027] obtaining the expected direction of movement of the tray; and

[0028] When the positioning element does not detect the reference element, adjusting the height of the tray in a direction opposite to the expected movement direction of the tray;

[0029] Among them, when the load of the pallet becomes larger, the expected movement direction of the pallet is downward, and when the load of the pallet becomes smaller, the expected movement direction of the pallet is upward; the positioning element and the reference element are arranged relative to each other, and one of the positioning element and the reference element is arranged on the pallet, and the other of the positioning element and the reference element is arranged on the target object.

[0030] In the above technical solution, the height of the tray can be adjusted in real time based on whether the positioning element detects the reference element. When the push rod retracts to switch the battery from being supported by the target object to being supported by the tray: initially, the tray is aligned with the target object (i.e., the height difference is within the threshold range), and the positioning element can detect the reference element; as the load on the tray increases, the downward pressure of the tray increases (so the expected direction of movement is downward); until the positioning element no longer detects the reference element, indicating that the tray is no longer aligned with the target object (i.e., the height difference exceeds the threshold range), then the tray needs to be adjusted upward. When the push rod extends to switch the battery from being supported by the tray to being supported by the target object: initially, the tray is aligned with the target object (i.e., the height difference is within the threshold range), and the positioning element can detect the reference element; as the load on the tray decreases, the downward pressure of the tray decreases (so the expected direction of movement is upward); until the positioning element no longer detects the reference element, indicating that the tray is no longer aligned with the target object (i.e., the height difference exceeds the threshold range), then the tray needs to be adjusted downward.

[0031] Preferably, the positioning element is a laser positioning device, and the reference element is a reflective plate.

[0032] In the above technical solution, the positioning element can be installed on the side of the pallet, and the reference element can be installed on the side of the target; or the positioning element can be installed on the side of the target, and the reference element can be installed on the side of the pallet; as long as the reflector can assist the operation of the laser locator. Preferably, the control rod movement relative to the pallet includes the following steps:

[0033] controlling the push rod to extend to push the battery to move relative to the tray, so that the battery switches from being supported by the tray to being supported by the target object;

[0034] and / or, controlling the push rod to retract to pull the battery to move relative to the tray, so that the battery switches from being supported by the target object to being supported by the tray; and

[0035] Adjusting the tray height comprises the following steps:

[0036] When the push rod is extended, the height of the tray is lowered;

[0037] And / or, when the push rod is retracted, the height of the tray is adjusted upward.

[0038] In the above technical solution, when the push rod is extended, the pallet's load capacity decreases. If the pallet's height is not actively adjusted, the pallet will be higher than when it is initially fully loaded. Therefore, the pallet's height can be lowered to maintain alignment. When the push rod is retracted, the pallet's load capacity increases. If the pallet's height is not actively adjusted, the pallet's height will be lower than when it is initially empty. Therefore, the pallet's height can be raised to maintain alignment.

[0039] Preferably, when the push rod is extended, the end of the tray close to the target object is higher than the target object or flush with the target object; and / or, when the push rod is retracted, the end of the tray close to the target object is lower than the target object or flush with the target object.

[0040] In the above technical solution, when the push rod is extended, the battery moves from the tray to the target object, and the target object is flush with the tray or lower, which can further facilitate the movement of the battery; when the push rod is retracted, the battery moves from the target object to the tray, and the target object is flush with the tray or higher, which can further facilitate the movement of the battery.

[0041] Preferably, the battery removal method further comprises the following steps:

[0042] Acquiring a positioning detection state of a positioning sensor; the positioning detection state is used to indicate whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used to indicate the distance between the positioning position of the push rod and the battery;

[0043] It is determined whether the positioning detection state is that the positioning distance signal is not detected. If so, the push rod stops moving and / or indicates abnormal information.

[0044] In the above technical solution, the positioning sensor can detect whether the push rod acts normally on the battery. In abnormal circumstances (such as when there is no battery), the push rod stops moving and / or indicates abnormal information to prevent errors.

[0045] Preferably, the acquiring the positioning detection status of the positioning sensor specifically includes: acquiring the positioning detection status of at least two positioning sensors, wherein the at least two positioning sensors are spaced apart;

[0046] The determining whether the positioning detection state is that the positioning distance signal is not detected is specifically: determining whether the positioning detection state of at least one of the positioning sensors is that the positioning distance signal is not detected.

[0047] In the above technical solution, the two positioning sensors make the detection more accurate.

[0048] A battery pick-and-place system is characterized in that it comprises: a push rod, a tray and a controller;

[0049] The controller is used to control the movement of the push rod relative to the tray; and the controller is also used to adjust the height of the tray so that the height difference between the end of the tray close to the target object and the target object is within a threshold range;

[0050] The controller is further configured to pre-adjust the height of the tray before controlling the push rod to move relative to the tray, so that the height difference between the end of the tray close to the target object and the target object is within the threshold range;

[0051] The controller is used to pre-adjust the height of the pallet before controlling the push rod to move relative to the pallet, including:

[0052] The controller is used to adjust the end of the tray close to the target object to be higher than the target object or flush with the target object before the push rod is extended;

[0053] And / or, the controller is used to adjust the end of the tray close to the target object to be lower than the target object or flush with the target object before the push rod retracts;

[0054] The tray and the target are both used to support batteries, and the push rod is used to act on the battery so that the battery switches between being supported by the tray and being supported by the target.

[0055] In the above technical solution, the tray and the target object are aligned in the initial state. When the push rod is extended, the battery moves from the tray to the target object. Therefore, adjusting the target object to be flush with the tray or lower before extending the push rod can further facilitate the movement of the battery. When the push rod is retracted, the battery moves from the target object to the tray. Therefore, adjusting the target object to be flush with the tray or higher before retracting the push rod can further facilitate the movement of the battery.

[0056] Preferably, the controller is used to adjust the height of the tray at a preset speed.

[0057] In the above technical solution, the preset speed can be determined according to factors such as the structure and size of the battery and the pushing and pulling speed of the push rod, and the height of the tray can be controlled by a simple method.

[0058] Preferably, the controller is used to adjust the height of the tray according to the position of the push rod.

[0059] In the above technical solution, the position of the battery can be determined according to the position of the push rod, so that the weight carried by the tray can be determined, and the expected height of the tray can be determined, so that the height of the tray can be adjusted to the expected height.

[0060] Preferably, the battery pick-and-place system further comprises: a servo motor, wherein the servo motor is used to drive the push rod to move, and the controller is further used to determine the position of the push rod according to parameters of the servo motor.

[0061] In the above technical solution, the push rod moves under the drive of the servo motor, and the parameters of the servo motor are easy to obtain, so that the position of the push rod can be conveniently determined.

[0062] Preferably, the controller is used to adjust the height of the tray, including:

[0063] The controller is used to obtain the expected movement direction of the tray; and

[0064] The controller is configured to adjust the height of the tray in a direction opposite to the intended direction of movement of the tray when the positioning element fails to detect the reference element;

[0065] Among them, when the load of the pallet becomes larger, the expected movement direction of the pallet is downward, and when the load of the pallet becomes smaller, the expected movement direction of the pallet is upward; the positioning element and the reference element are arranged relative to each other, and one of the positioning element and the reference element is arranged on the pallet, and the other of the positioning element and the reference element is arranged on the target object.

[0066] In the above technical solution, the height of the tray can be adjusted in real time based on whether the positioning element detects the reference element. When the push rod retracts to switch the battery from being supported by the target object to being supported by the tray: initially, the tray is aligned with the target object (i.e., the height difference is within the threshold range), and the positioning element can detect the reference element; as the load on the tray increases, the downward pressure of the tray increases (so the expected direction of movement is downward); until the positioning element no longer detects the reference element, indicating that the tray is no longer aligned with the target object (i.e., the height difference exceeds the threshold range), then the tray needs to be adjusted upward. When the push rod extends to switch the battery from being supported by the tray to being supported by the target object: initially, the tray is aligned with the target object (i.e., the height difference is within the threshold range), and the positioning element can detect the reference element; as the load on the tray decreases, the downward pressure of the tray decreases (so the expected direction of movement is upward); until the positioning element no longer detects the reference element, indicating that the tray is no longer aligned with the target object (i.e., the height difference exceeds the threshold range), then the tray needs to be adjusted downward.

[0067] Preferably, the positioning element is a laser positioning device, and the reference element is a reflective plate.

[0068] In the above technical solution, the positioning element can be installed on the pallet side and the reference element can be installed on the target side; or the positioning element can be installed on the target side and the reference element can be installed on the pallet side; as long as the reflector can assist the laser locator in working.

[0069] Preferably, the controller is used to control the movement of the push rod relative to the tray, including:

[0070] The controller is used to control the push rod to extend to push the battery to move relative to the tray, so that the battery is switched from being supported by the tray to being supported by the target object;

[0071] And / or, the controller is used to control the push rod to retract to pull the battery to move relative to the tray, so that the battery is switched from being supported by the target object to being supported by the tray; and

[0072] The controller is used to adjust the height of the tray, including:

[0073] The controller is used to lower the height of the tray when the push rod is extended;

[0074] And / or, the controller is used to increase the height of the tray when the push rod is retracted.

[0075] In the above technical solution, when the push rod is extended, the pallet's load capacity decreases. If the pallet's height is not actively adjusted, the pallet will be higher than when it is initially fully loaded. Therefore, the pallet's height can be lowered to maintain alignment. When the push rod is retracted, the pallet's load capacity increases. If the pallet's height is not actively adjusted, the pallet's height will be lower than when it is initially empty. Therefore, the pallet's height can be raised to maintain alignment.

[0076] Preferably, the controller is used to make the end of the tray close to the target object higher than the target object or flush with the target object when the push rod is extended; and / or, the controller is used to make the end of the tray close to the target object lower than the target object or flush with the target object when the push rod is retracted.

[0077] In the above technical solution, when the push rod is extended, the battery moves from the tray to the target object, and the target object is flush with the tray or lower, which can further facilitate the movement of the battery; when the push rod is retracted, the battery moves from the target object to the tray, and the target object is flush with the tray or higher, which can further facilitate the movement of the battery.

[0078] Preferably, the battery pick-and-place system further comprises: a positioning sensor;

[0079] The controller is further configured to obtain a positioning detection state of the positioning sensor; the positioning detection state is used to indicate whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used to indicate the distance between the positioning position of the push rod and the battery;

[0080] The controller is further configured to determine whether the positioning detection state is that the positioning distance signal is not detected, and if so, stop the push rod movement and / or indicate abnormal information.

[0081] In the above technical solution, the positioning sensor can detect whether the push rod acts normally on the battery. In abnormal circumstances (such as when there is no battery), the push rod stops moving and / or indicates abnormal information to prevent errors.

[0082] Preferably, the battery pick-and-place system comprises: at least two positioning sensors, which are spaced apart; the controller is used to obtain the positioning detection status of the at least two positioning sensors; and

[0083] The controller is used to determine whether the positioning detection state is that the positioning distance signal is not detected. Specifically, the controller is used to determine whether the positioning detection state of at least one positioning sensor is that the positioning distance signal is not detected.

[0084] In the above technical solution, the two positioning sensors make the detection more accurate.

[0085] On the basis of conforming to the common sense in this field, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present invention.

[0086] The positive progress effect of the present invention is:

[0087] In the battery placement method and system disclosed in the present invention, during the battery replacement process, the height of the tray (i.e., the theoretical height) is adjusted in real time to ensure that the height difference between the end of the tray (i.e., the actual height) and the target object (i.e., the battery support device on the electric vehicle or the battery compartment) is within a threshold range, thereby ensuring that the battery will not get stuck due to the excessively large actual height difference between the tray and the target object, thereby reducing the failure rate of battery replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] Figure 1 Schematic diagram of the process of the battery pick-up and placement method according to embodiment 1 of the present invention.

[0089] Figure 2 Schematic diagram of the flow of the battery pick-up and placement method according to embodiment 2 of the present invention.

[0090] Figure 3 Schematic diagram of the flow of the battery placement method according to embodiment 3 of the present invention.

[0091] Figure 4 Schematic diagram of the flow of the battery placement method according to embodiment 4 of the present invention.

[0092] Figure 5 Schematic diagram of the flow of the battery placement method according to embodiment 5 of the present invention.

[0093] Figure 6 Schematic diagram of the framework of the battery pick-and-place system according to embodiment 6 of the present invention.

[0094] Figure 7 This is a structural schematic diagram of the tray and push rod of the battery pick-and-place system of Example 6 of the present invention.

[0095] Description of reference numerals:

[0096] S101, S102, S103, S104, S105, S106: Steps

[0097] S201, S202, S203, S204, S205, S206: Steps

[0098] S301, S302, S303, S304, S305, S306: Steps

[0099] S401, S402, S403, S404, S405, S406: Steps

[0100] S501, S502, S503, S504, S505, S506: Step 60: Battery Pick-and-Place System

[0101] 610: Putter

[0102] 611: Battery Suction Cup

[0103] 612: Top pin

[0104] 620: Pallet

[0105] 630: Controller

[0106] 640: Servo motor

[0107] 650: Positioning sensor DETAILED DESCRIPTION

[0108] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0109] Example 1

[0110] like Figure 1 As shown, the battery pick-and-place method includes the following steps:

[0111] Step S101: Pre-adjust the height of the tray so that the height difference between the end of the tray closest to the target and the target is within a threshold range. In this embodiment, the height difference is adjusted so that the end of the tray closest to the target is higher than or flush with the target. Both the tray and the target are used to support batteries. The threshold range is ±2 mm.

[0112] Step S102: Control the push rod to move relative to the tray. In this embodiment, step S102 specifically includes: controlling the push rod to extend to push the battery to move relative to the tray, so that the battery switches from being supported by the tray to being supported by the target object.

[0113] Step S103: Adjust the tray height so that the height difference between the end of the tray closest to the target object and the target object is within a threshold range. Adjusting the tray height in step S103 specifically involves adjusting the tray height at a preset speed. This preset speed can be determined based on factors such as the battery structure and size and the push rod's push-pull speed, allowing for simple control of the tray height. Furthermore, adjusting the tray height in step S103 specifically involves lowering the tray height. As the push rod extends, the tray's load capacity decreases. Without active height adjustment, the tray's height will rise compared to its initial full load. Therefore, lowering the tray height can maintain alignment. Furthermore, ensuring the height difference between the end of the tray closest to the target object and the target object is within a threshold range in step S103 specifically involves ensuring that the end of the tray closest to the target object is higher than or flush with the target object. As the push rod extends, the batteries move from the tray to the target object. Having the target aligned with the tray or lower than the tray further facilitates battery movement.

[0114] Step S104: Acquire the positioning detection status of the positioning sensor. The positioning detection status indicates whether the positioning sensor has detected a positioning distance signal, which indicates the distance between the positioning position of the push rod and the battery. In this embodiment, step S104 specifically involves acquiring the positioning detection status of at least two positioning sensors. The at least two positioning sensors are spaced apart and can both be located at the positioning position of the push rod. Having at least two positioning sensors ensures more accurate detection.

[0115] Step S105: Determine whether the positioning detection status is "no positioning distance signal detected." In this embodiment, step S105 specifically determines whether the positioning detection status of at least one positioning sensor is "no positioning distance signal detected." If so, proceed to step S106; if not, proceed to step S104.

[0116] Step S106: The push rod stops moving and indicates abnormal information. The positioning sensor can detect whether the push rod acts normally on the battery. In abnormal situations (such as when there is no battery), the push rod stops moving and indicates abnormal information to prevent errors.

[0117] For ease of description, steps S104-S106 are listed above after steps S101-S103. However, those skilled in the art will appreciate that, in alternative embodiments, steps S104-S106 may occur before steps S101-S103, simultaneously with steps S101-S103, or have no clear sequence with steps S101-S103. Similar situations apply to other embodiments of the present invention.

[0118] As described above, during the battery replacement process, the height of the tray (i.e., the theoretical height) is adjusted in real time to ensure that the height difference between the end of the tray (i.e., the actual height) and the target object (i.e., the battery support device on the electric vehicle or battery compartment) is within a threshold range, thereby ensuring that the battery will not be stuck due to the large actual height difference between the tray and the target object, thereby reducing the battery replacement failure rate.

[0119] Example 2

[0120] The battery placement method of this embodiment is similar to that of embodiment 1. The main difference is that the battery placement method of embodiment 1 is a push rod extension method, while the battery placement method of this embodiment is a push rod retraction method. Figure 2 As shown, the battery removal method of this embodiment includes the following steps:

[0121] Step S201: Pre-adjust the height of the tray so that the height difference between the end of the tray closest to the target and the target is within a threshold range. In this embodiment, the height difference is adjusted to be lower than or flush with the target. Both the tray and the target are used to support batteries. The threshold range is ±2 mm.

[0122] Step S202: Control the push rod to move relative to the tray. In this embodiment, step S202 specifically includes: controlling the push rod to retract to pull the battery to move relative to the tray, so that the battery switches from being supported by the target object to being supported by the tray.

[0123] Step S203: Adjust the tray height so that the height difference between the end of the tray closest to the target object and the target object is within a threshold range. Adjusting the tray height in step S203 specifically involves adjusting the tray height at a preset speed. This preset speed can be determined based on factors such as the battery structure and size and the push-pull speed of the push rod, allowing for simple control of the tray height. Furthermore, adjusting the tray height in step S203 specifically involves raising the tray height. As the push rod retracts, the tray's load increases. Without active height adjustment, the tray's height will decrease compared to its initial empty state. Therefore, raising the tray height can maintain alignment. Furthermore, in step S203, ensuring the height difference between the end of the tray closest to the target object and the target object is within a threshold range specifically involves ensuring that the end of the tray closest to the target object is lower than or flush with the target object. As the push rod retracts, the battery moves from the target object to the tray. Having the target aligned with the tray or higher than the tray further facilitates battery movement.

[0124] Step S204: Acquire the positioning detection status of the positioning sensor. The positioning detection status indicates whether the positioning sensor has detected a positioning distance signal, which indicates the distance between the positioning position of the push rod and the battery. In this embodiment, step S204 specifically involves acquiring the positioning detection status of at least two positioning sensors. The at least two positioning sensors are spaced apart.

[0125] Step S205: Determine whether the positioning detection status is "no positioning distance signal detected." In this embodiment, step S205 specifically determines whether the positioning detection status of at least one positioning sensor is "no positioning distance signal detected." If so, proceed to step S206; if not, proceed to step S204.

[0126] Step S206: The push rod stops moving and indicates abnormal information.

[0127] Example 3

[0128] like Figure 3 As shown, the battery removal method of this embodiment includes the following steps:

[0129] Step S301: pre-adjust the height of the tray so that the height difference between the end of the tray close to the target object and the target object is within a threshold range.

[0130] Step S302: Control the push rod to move relative to the tray.

[0131] Step S303: Adjust the height of the tray so that the height difference between the end of the tray closest to the target object and the target object is within a threshold range. In this embodiment, adjusting the height of the tray specifically involves adjusting the height of the tray based on the position of the push rod. That is, the position of the battery can be determined based on the position of the push rod, thereby determining the weight carried by the tray, and thus determining the expected height of the tray, and thus adjusting the tray to the expected height. Furthermore, in this step S303, the position of the push rod is determined based on the parameters of the servo motor that drives the push rod. In this way, the push rod moves under the drive of the servo motor, and the parameters of the servo motor are relatively easy to obtain, making it convenient to determine the position of the push rod.

[0132] Step S304: Acquire the positioning detection status of the positioning sensor.

[0133] Step S305: Determine whether the positioning detection status is that the positioning distance signal is not detected. If so, proceed to step S306; if not, proceed to step S304.

[0134] Step S306: The push rod stops moving.

[0135] Example 4

[0136] The battery removal method of this embodiment is similar to that of embodiment 1, both of which are push rod extension methods. The main difference is that the method of adjusting the height of the tray is different. Figure 4 As shown, the battery removal method of this embodiment includes the following steps:

[0137] Step S401 : pre-adjusting the height of the tray, that is, adjusting the end of the tray close to the target object to be higher than the target object or flush with the target object.

[0138] Step S402: Control the push rod to extend to push the battery to move relative to the tray, so that the battery switches from being supported by the tray to being supported by the target object.

[0139] Step S403: Adjusting the height of the tray, specifically, involves: obtaining the expected direction of movement of the tray; and when the positioning element fails to detect the reference element, adjusting the height of the tray in a direction opposite to the expected direction of movement of the tray. In this embodiment, the load on the tray decreases due to the extension of the push rod, and the expected direction of movement of the tray is upward. The positioning element and the reference element are arranged relative to each other, with one of the positioning element and the reference element being located on the tray and the other being located on the target object. In this embodiment, specifically, the positioning element is a laser locator and the reference element is a reflector. The positioning element can be mounted on the side of the tray, and the reference element can be mounted on the side of the target object. In this step S403, initially, the tray and the target object are aligned (i.e., the height difference is within a threshold range), and the positioning element can detect the reference element. As the load on the tray decreases, the downward pressure on the tray decreases (thus, the expected direction of movement is upward). Until the positioning element fails to detect the reference element, indicating that the tray and the target object are no longer aligned (i.e., the height difference exceeds the threshold range), the tray needs to be adjusted downward.

[0140] Step S404: Acquire the positioning detection status of at least two positioning sensors.

[0141] Step S405: Determine whether the positioning detection status of at least one positioning sensor is no positioning distance signal detected. If so, proceed to step S406; if not, proceed to step S404.

[0142] Step S406: The push rod stops moving and indicates abnormal information.

[0143] Example 5

[0144] The battery placement method of this embodiment is similar to that of embodiment 2, both of which use the push rod retraction method. The main difference is that the height of the tray is adjusted in a different way. Figure 5 As shown, the battery removal method of this embodiment includes the following steps:

[0145] Step S501 : pre-adjusting the height of the tray, that is, adjusting the end of the tray close to the target object to be lower than the target object or flush with the target object.

[0146] Step S502: Control the push rod to retract to pull the battery to move relative to the tray, so that the battery switches from being supported by the target object to being supported by the tray.

[0147] Step S503: Adjusting the height of the tray. Specifically, the following steps are performed: obtaining the expected direction of movement of the tray; and when the positioning element fails to detect the reference element, adjusting the height of the tray in a direction opposite to the expected direction of movement of the tray. In this embodiment, due to the retraction of the push rod, the load on the tray increases, and the expected direction of movement of the tray is downward. The positioning element and the reference element are arranged opposite each other, with one of the positioning element and the reference element being located on the tray and the other on the target object. In this embodiment, the positioning element is a laser locator and the reference element is a reflector. The positioning element can be mounted on the target object side, and the reference element can be mounted on the tray side. In step S503, initially, the tray and the target object are aligned (i.e., the height difference is within a threshold range), and the positioning element can detect the reference element. As the load on the tray increases, the tray is pressed downward more (thus, the expected direction of movement is downward). Until the positioning element fails to detect the reference element, indicating that the tray and the target object are no longer aligned (i.e., the height difference exceeds the threshold range), the tray needs to be adjusted upward.

[0148] Step S504: Acquire the positioning detection status of at least two positioning sensors.

[0149] Step S505: Determine whether the positioning detection status of at least one positioning sensor is no positioning distance signal detected. If so, proceed to step S506; if not, proceed to step S504.

[0150] Step S506: The push rod stops moving and indicates abnormal information.

[0151] Example 6

[0152] like Figure 6-7 As shown, a battery picking and placing system 60 includes: a push rod 610, a tray 620, a controller 630, a servo motor 640, and a positioning sensor 650 (specifically, at least two positioning sensors 650). The tray 620 and the target object are both used to support the battery, and the push rod 610 is used to act on the battery so that the battery switches between being supported by the tray 620 and being supported by the target object. The push rod 610 has a battery suction cup 611 and a push pin 612, which are used to achieve mutual positioning and fixation with the battery. The target object is a battery support device of an electric vehicle or a battery support device of a battery compartment. The servo motor 640 is used to drive the push rod 610 to move (specifically perpendicular to Figure 7 At least two positioning sensors 650 are spaced apart.

[0153] The battery pick-and-place system 60 of the sixth embodiment can be specifically used to execute the battery pick-and-place methods of the first to fifth embodiments.

[0154] The controller 630 is used to control the movement of the push rod 610 relative to the tray 620 and to adjust the height of the tray 620 so that the height difference between the end of the tray 620 closer to the target and the target is within a threshold range of ±2 mm.

[0155] Controller 630 is configured to adjust the height of tray 620 at a preset speed; alternatively, controller 630 is configured to determine the position of push rod 610 based on parameters of servo motor 640 and adjust the height of tray 620 based on the position of push rod 610; alternatively, controller 630 is configured to obtain the intended direction of movement of tray 620 and, when the positioning element fails to detect the reference element, adjust the height of tray 620 in a direction opposite to the intended direction of movement of tray 620. When the load on tray 620 increases, the intended direction of movement of tray 620 is downward, and when the load on tray 620 decreases, the intended direction of movement of tray 620 is upward. The positioning element and the reference element are disposed opposite each other, with one of the positioning element and the reference element being disposed on tray 620 and the other being disposed on a target object. The positioning element is a laser locator, and the reference element is a reflector.

[0156] The controller 630 is configured to control the movement of the push rod 610 relative to the tray 620, including: controlling the push rod 610 to extend to push the battery relative to the tray 620, so that the battery switches from being supported by the tray 620 to being supported by the target object; and / or controlling the push rod 610 to retract to pull the battery relative to the tray 620, so that the battery switches from being supported by the target object to being supported by the tray 620. The controller 630 is configured to cause the end of the tray 620 proximate to the target object to be higher than or flush with the target object when the push rod 610 is extended; and / or the controller 630 is configured to cause the end of the tray 620 proximate to the target object to be lower than or flush with the target object when the push rod 610 is retracted.

[0157] The controller 630 is used to adjust the height of the tray 620, including: the controller 630 is used to lower the height of the tray 620 when the push rod 610 is extended; and / or the controller 630 is used to increase the height of the tray 620 when the push rod 610 is retracted.

[0158] The controller 630 is further configured to pre-adjust the height of the tray 620 before controlling the push rod 610 to move relative to the tray 620, so that the height difference between the end of the tray 620 proximate the target and the target is within a threshold range. The controller 630 is configured to pre-adjust the height of the tray 620 before controlling the push rod 610 to move relative to the tray 620, including: adjusting the end of the tray 620 proximate the target to be above or flush with the target before the push rod 610 is extended; and / or adjusting the end of the tray 620 proximate the target to be below or flush with the target before the push rod 610 is retracted.

[0159] The controller 630 is also configured to obtain the positioning detection status of the positioning sensor 650. The positioning detection status indicates whether the positioning sensor 650 has detected a positioning distance signal, which indicates the distance between the positioning position of the push rod 610 and the battery. The controller 630 is also configured to determine whether the positioning detection status indicates that the positioning distance signal has not been detected. If so, the controller 630 stops the movement of the push rod 610 and / or indicates an abnormality.

[0160] The controller 630 is used to obtain the positioning detection status of at least two positioning sensors 650; and the controller 630 is used to determine whether the positioning detection status is that no positioning distance signal is detected. Specifically: the controller 630 is used to determine whether the positioning detection status of at least one positioning sensor 650 is that no positioning distance signal is detected.

[0161] In the description of the present invention, one embodiment may be accompanied by multiple drawings, and the figure marks of the same components in the same embodiment are not necessarily marked in every drawing; however, those skilled in the art should understand that when describing one or more drawings in an embodiment, they can be understood in conjunction with other drawings in the embodiment; those skilled in the art should understand that when it is not specified which drawing the text specifically corresponds to, it can be understood in conjunction with all drawings in the embodiment.

[0162] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0163] Although specific embodiments of the present invention have been described above, those skilled in the art will appreciate that these are merely illustrative and that the scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, and such changes and modifications are intended to fall within the scope of the present invention.

Claims

1. A battery pick-and-place method, characterized in that: It includes the following steps: Controlling the movement of the push rod relative to the pallet; and Adjusting the height of the tray so that the height difference between the end of the tray close to the target object and the target object is within a threshold range; The battery removal method further comprises the following steps: Before controlling the push rod to move relative to the tray, pre-adjusting the tray height so that the height difference between the end of the tray close to the target object and the target object is within the threshold range; The method of pre-adjusting the height of the pallet before controlling the push rod to move relative to the pallet comprises the following steps: Before the push rod is extended, adjusting the end of the tray close to the target object to be higher than the target object or flush with the target object; and / or, before the push rod retracts, adjusting the end of the tray close to the target object to be lower than the target object or flush with the target object; Wherein, the tray and the target object are both used to support batteries, and the push rod is used to act on the battery to switch the battery between being supported by the tray and being supported by the target object; The adjusting the height of the tray specifically includes: adjusting the height of the tray at a preset speed; The preset speed is determined according to the structure and size of the battery and the speed of the push rod, so as to adjust the height of the tray in real time during the battery replacement process.

2. The battery removal method according to claim 1, wherein: The adjusting the height of the tray specifically includes adjusting the height of the tray according to the position of the push rod.

3. The battery removal method according to claim 2, wherein: The battery removal method further comprises the following steps: The position of the push rod is determined according to the parameters of the servo motor that drives the push rod to move.

4. The battery removal method according to claim 1, wherein: The specific steps of adjusting the tray height are as follows: obtaining the expected direction of movement of the tray; and When the positioning element does not detect the reference element, adjusting the height of the tray in a direction opposite to the expected movement direction of the tray; Among them, when the load of the pallet becomes larger, the expected movement direction of the pallet is downward, and when the load of the pallet becomes smaller, the expected movement direction of the pallet is upward; the positioning element and the reference element are arranged relative to each other, and one of the positioning element and the reference element is arranged on the pallet, and the other of the positioning element and the reference element is arranged on the target object.

5. The battery removal method according to claim 4, wherein: The positioning element is a laser positioning device, and the reference element is a reflective plate.

6. The battery removal method according to claim 1, wherein: Controlling the movement of the push rod relative to the tray comprises the following steps: controlling the push rod to extend to push the battery to move relative to the tray, so that the battery switches from being supported by the tray to being supported by the target object; and / or, controlling the push rod to retract to pull the battery to move relative to the tray, so that the battery switches from being supported by the target object to being supported by the tray; and Adjusting the tray height comprises the following steps: When the push rod is extended, the height of the tray is lowered; And / or, when the push rod is retracted, the height of the tray is adjusted upward.

7. The battery removal method according to claim 6, wherein: When the push rod is extended, the end of the tray close to the target is higher than the target or flush with the target; and / or, when the push rod is retracted, the end of the tray close to the target is lower than the target or flush with the target.

8. The battery handling method according to any one of claims 1 to 7, wherein: The battery removal method further comprises the following steps: Acquiring a positioning detection state of a positioning sensor; the positioning detection state is used to indicate whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used to indicate the distance between the positioning position of the push rod and the battery; It is determined whether the positioning detection state is that the positioning distance signal is not detected. If so, the push rod stops moving and / or indicates abnormal information.

9. The battery removal method according to claim 8, wherein: The acquiring of the positioning detection status of the positioning sensor specifically includes: acquiring the positioning detection status of at least two positioning sensors, wherein the at least two positioning sensors are spaced apart; The determining whether the positioning detection state is that the positioning distance signal is not detected is specifically: determining whether the positioning detection state of at least one of the positioning sensors is that the positioning distance signal is not detected.

10. A battery pick-and-place system, characterized in that: It includes: actuators, trays, and controllers; The controller is used to control the movement of the push rod relative to the tray; The controller is further configured to adjust the height of the tray so that a height difference between an end of the tray close to the target object and the target object is within a threshold range; The controller is further configured to pre-adjust the height of the tray before controlling the push rod to move relative to the tray, so that the height difference between the end of the tray close to the target object and the target object is within the threshold range; The controller is used to pre-adjust the height of the pallet before controlling the push rod to move relative to the pallet, including: The controller is used to adjust the end of the tray close to the target object to be higher than the target object or flush with the target object before the push rod is extended; And / or, the controller is used to adjust the end of the tray close to the target to be lower than the target or flush with the target before the push rod retracts; the tray and the target are both used to support batteries, and the push rod is used to act on the batteries to switch the batteries between being supported by the tray and being supported by the target; The controller is used to adjust the height of the tray at a preset speed; The preset speed is determined according to the structure and size of the battery and the speed of the push rod, so as to adjust the height of the tray in real time during the battery replacement process.

11. The battery pick-and-place system according to claim 10, wherein: The controller is used to adjust the height of the tray according to the position of the push rod.

12. The battery pick-and-place system according to claim 11, wherein: The battery pick-and-place system further includes a servo motor, which is used to drive the push rod to move. The controller is also used to determine the position of the push rod according to parameters of the servo motor.

13. The battery pick-and-place system according to claim 10, wherein: The controller is used to adjust the height of the tray, including: The controller is used to obtain the expected movement direction of the tray; and The controller is configured to adjust the height of the tray in a direction opposite to the intended direction of movement of the tray when the positioning element fails to detect the reference element; Among them, when the load of the pallet becomes larger, the expected movement direction of the pallet is downward, and when the load of the pallet becomes smaller, the expected movement direction of the pallet is upward; the positioning element and the reference element are arranged relative to each other, and one of the positioning element and the reference element is arranged on the pallet, and the other of the positioning element and the reference element is arranged on the target object.

14. The battery pick-and-place system according to claim 13, wherein: The positioning element is a laser positioning device, and the reference element is a reflective plate.

15. The battery handling system according to claim 10, wherein: The controller is used to control the movement of the push rod relative to the tray, including: The controller is used to control the push rod to extend to push the battery to move relative to the tray, so that the battery is switched from being supported by the tray to being supported by the target object; And / or, the controller is used to control the push rod to retract to pull the battery to move relative to the tray, so that the battery is switched from being supported by the target object to being supported by the tray; and The controller is used to adjust the height of the tray, including: The controller is used to lower the height of the tray when the push rod is extended; And / or, the controller is used to increase the height of the tray when the push rod is retracted.

16. The battery pick-and-place system according to claim 15, wherein: The controller is used to make the end of the tray close to the target object higher than the target object or flush with the target object when the push rod is extended; and / or, the controller is used to make the end of the tray close to the target object lower than the target object or flush with the target object when the push rod is retracted.

17. The battery handling system according to any one of claims 10 to 16, wherein: The battery access system further includes: a positioning sensor; The controller is further configured to obtain a positioning detection state of the positioning sensor; the positioning detection state is used to indicate whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used to indicate the distance between the positioning position of the push rod and the battery; The controller is further configured to determine whether the positioning detection state is that the positioning distance signal is not detected, and if so, stop the push rod movement and / or indicate abnormal information.

18. The battery pick-and-place system according to claim 17, wherein: The battery pick-and-place system includes: at least two positioning sensors, which are spaced apart; the controller is used to obtain the positioning detection status of the at least two positioning sensors; and The controller is used to determine whether the positioning detection state is that the positioning distance signal is not detected. Specifically, the controller is used to determine whether the positioning detection state of at least one positioning sensor is that the positioning distance signal is not detected.

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