Power swapping equipment and its control methods

Abstract

This invention discloses a battery swapping device and its control method. The battery swapping device includes a tray and a lifting mechanism. The tray moves up and down under the drive of the lifting mechanism. The device also includes at least three guide forks for engaging with positioning blocks on the battery and on the vehicle. The guide forks are fixed to the tray. The device further includes sensors, with each guide fork corresponding to one of the sensors. This invention avoids installing sensors and unnecessary circuitry on the vehicle, reducing manufacturing costs. The control method utilizes the device's own components for detection and judgment during the battery swapping process, thereby preventing increased vehicle manufacturing costs.

Description

[0001] This application is a divisional application of the invention patent filed on March 26, 2019, with application number 2019102327701 and title "Power Swapping Equipment and Control Method Thereof". Technical Field

[0002] This invention relates to the field of battery swapping management technology, and in particular to a battery swapping device and its control method. Background Technology

[0003] The existing battery swapping process typically involves the swapping device lifting the battery to a predetermined position, allowing the locking pin c on the battery pack to move horizontally into the locking slot b of the unlocking mechanism a located on the vehicle body. Figure 1 As shown. During the battery swapping process, it is necessary to determine whether the battery has been lifted to the predetermined position, and then move the battery locking pin c horizontally to achieve the unlocking purpose; otherwise, the battery may not be able to be unlocked.

[0004] In existing technologies, the common approach is to install Hall sensors on the vehicle body to detect the position of the battery pack locking pins, and then control the operation of the battery swapping equipment based on the detection results of the Hall sensors. However, this approach requires installing sensors on the vehicle and arranging related circuits that couple the vehicle with the battery swapping equipment, which is very complex and increases the manufacturing cost of the car. Summary of the Invention

[0005] The technical problem to be solved by the present invention is the defect that the battery swapping equipment in the prior art relies on the addition of sensors to the car to assist the battery swapping process, which leads to the increase of car manufacturing costs. The present invention provides a battery swapping equipment and its control method.

[0006] The present invention solves the above-mentioned technical problems through the following technical solution:

[0007] The present invention provides a battery swapping device, the battery swapping device including a tray and a lifting mechanism, the tray moving up and down under the drive of the lifting mechanism, the battery swapping device also including at least three guide forks, the guide forks being used to engage with the positioning blocks of the battery and the positioning blocks on the vehicle;

[0008] The guide fork is fixed to the tray;

[0009] The battery swapping equipment also includes sensors, and the guide fork is configured to correspond one-to-one with the sensor.

[0010] Preferably, when the sensor includes a distance sensor, the distance sensor is used to detect the distance between the battery positioning block and the bottom surface of the guide fork; or,

[0011] When the sensor includes a stress sensor, the stress sensor is used to detect the magnitude of the stress on the guide fork.

[0012] Preferably, the battery swapping device further includes a judgment unit, which is electrically connected to the sensor;

[0013] When the sensor includes a distance sensor, the determining unit is configured to determine that the tray has risen to a predetermined height when the distance detected by three or more of the distance sensors is less than a first predetermined value; otherwise, it determines that the tray has not risen to the predetermined height and controls the lifting mechanism to drive the tray to continue rising until the tray rises to the predetermined height; or,

[0014] When the sensor includes a stress sensor, the determination unit is used to determine that the tray has risen to a predetermined height when the stress detected by three or more stress sensors is greater than a second predetermined value; otherwise, it determines that the tray has not risen to the predetermined height and controls the lifting mechanism to drive the tray to continue rising until the tray rises to the predetermined height.

[0015] The predetermined height is the height used to unlock the battery.

[0016] Preferably, the pallet includes a fixed pallet and a movable pallet; both the fixed pallet and the movable pallet are provided with the guide fork;

[0017] The guide fork on the fixed plate engages with the positioning block on the vehicle, and the guide fork on the movable plate engages with the positioning block of the battery.

[0018] Preferably, the determining unit is further configured to, after determining that the tray has risen to the predetermined height, control the movable tray to move horizontally relative to the fixed tray to unlock the battery.

[0019] Preferably, the bottom surface of the guide fork has a hole, and the sensor is installed in the hole.

[0020] Preferably, the battery locking pin and the guide fork are positioned relatively fixed.

[0021] Preferably, both the fixed disk and the movable disk have a square structure;

[0022] The battery swapping equipment includes four guide forks;

[0023] The two guide forks are respectively fixed on both sides of the fixed disk and the two guide forks are respectively fixed on both sides of the movable disk.

[0024] The present invention also provides a control method for a battery swapping device, the control method being used to control the battery swapping device as described above;

[0025] When the sensor includes a distance sensor, the control method includes the following steps:

[0026] S11, The distance sensor detects the distance between the battery positioning block and the bottom surface of the guide fork;

[0027] S12. Determine whether there are three or more distance sensors that detect distances that are all less than the first predetermined value. If yes, proceed to step S13; otherwise, proceed to step S14.

[0028] S13. Confirm that the tray has been raised to the predetermined height;

[0029] S14. Control the lifting mechanism to drive the tray to continue rising until the tray rises to the predetermined height; or,

[0030] When the sensor includes a stress sensor, the control method includes the following steps:

[0031] S21. The stress sensor detects the magnitude of the stress on the guide fork;

[0032] S22. The judgment unit is used to execute step S23 if the magnitude of the stress detected by three or more stress sensors is greater than the second predetermined value, and to execute step S24 if not.

[0033] S23. Confirm that the tray has been raised to the predetermined height;

[0034] S24. Control the lifting mechanism to drive the tray to continue rising until the tray rises to the predetermined height.

[0035] Preferably, when the tray includes a fixed tray and a movable tray, the control method further includes:

[0036] After the tray rises to the predetermined height, the movable tray is controlled to move horizontally relative to the fixed tray to unlock the battery.

[0037] The positive and progressive effects of this invention are as follows:

[0038] In this invention, the battery swapping device is equipped with a distance sensor or a stress sensor at the guide fork. The distance sensor detects the distance between the battery's positioning block and the bottom surface of the guide fork to determine whether the battery has reached the unlocking position. Alternatively, the stress sensor detects the magnitude of the stress on the guide fork to determine whether the battery has reached the unlocking position. This avoids installing sensors and unnecessary circuitry on the vehicle, reducing manufacturing costs. The control method of this battery swapping device utilizes its own components for detection and judgment during the swapping process, thus preventing any increase in vehicle manufacturing costs. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of an existing battery unlocking mechanism.

[0040] Figure 2 This is a schematic diagram of the battery swapping equipment according to Embodiment 1 of the present invention.

[0041] Figure 3 This is a schematic diagram of the battery swapping equipment according to Embodiment 2 of the present invention.

[0042] Figure 4 This is a flowchart of the control method for the battery swapping equipment according to Embodiment 4 of the present invention.

[0043] Figure 5 This is a flowchart of the control method for the battery swapping equipment according to Embodiment 4 of the present invention. Detailed Implementation

[0044] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0045] Example 1

[0046] like Figure 2 As shown, the battery swapping equipment in this embodiment includes a tray 1 and a lifting mechanism 2. The tray 1 can move up and down under the drive of the lifting mechanism 2.

[0047] The battery swapping equipment also includes at least three guide forks 3, which are used to engage with the positioning block d of the battery A and the positioning block e of the vehicle.

[0048] The battery swapping equipment also includes a sensor 4. The bottom surface of the guide fork 3 has a hole, and the sensor 4 is installed in the hole. The guide fork and the sensor 4 are set in a one-to-one correspondence.

[0049] In this embodiment, the battery locking pin C is relatively fixed in position with the guide fork 3. By detecting that the positioning block d of the battery A and the positioning block e of the car are engaged in place at the guide fork 3, it is indirectly determined that the battery locking pin C has also reached the unlock position.

[0050] In this embodiment, by installing a sensor at the guide fork in the battery swapping device to determine whether the battery has reached the unlock position, the installation of sensors and unnecessary circuitry on the vehicle is avoided, thereby reducing the manufacturing cost of the vehicle.

[0051] Example 2

[0052] like Figure 3 As shown, the battery swapping equipment in this embodiment is a further improvement on embodiment 1, specifically:

[0053] The battery swapping equipment also includes a judgment unit 5, which is electrically connected to the sensor 4.

[0054] When sensor 4 includes a distance sensor, the distance sensor is used to detect the distance between the battery positioning block d and the bottom surface of the guide fork 3;

[0055] The judgment unit 5 is used to determine that the tray 1 has risen to the predetermined height when the distance detected by three or more distance sensors is less than a first predetermined value; otherwise, it determines that the tray 1 has not risen to the predetermined height and controls the lifting mechanism 2 to drive the tray 1 to continue rising until the tray 1 rises to the predetermined height; or,

[0056] When sensor 4 includes a stress sensor, the stress sensor is used to detect the magnitude of the stress on the guide fork 3.

[0057] The judgment unit 5 is used to determine that the tray has risen to the predetermined height when the stress detected by three or more stress sensors is greater than the second predetermined value; otherwise, it determines that the tray 1 has not risen to the predetermined height and controls the lifting mechanism 2 to drive the tray 1 to continue rising until the tray 1 rises to the predetermined height.

[0058] The predetermined height is the height used to unlock the battery.

[0059] The pallet 1 includes a fixed pallet 11 and a movable pallet 12, and both the fixed pallet 11 and the movable pallet 12 are equipped with guide forks 3;

[0060] The vertical relationship between the fixed disk 11 and the movable disk 12 is not limited; that is, the fixed disk 11 can be installed on the movable disk 12, and the movable disk 12 can also be installed on the fixed disk 11.

[0061] The guide fork 3 on the fixed plate 11 engages with the positioning block e on the vehicle, and the guide fork 3 on the movable plate 12 engages with the positioning block d of the battery A.

[0062] The judgment unit 5 is also used to control the moving plate 11 to move horizontally relative to the fixed plate 12 to unlock the battery A after determining that the tray 1 has risen to a predetermined height.

[0063] In this embodiment, the battery swapping device is equipped with a distance sensor or a stress sensor at the guide fork. The distance sensor detects the distance between the battery positioning block and the bottom surface of the guide fork to determine whether the battery has reached the unlocking position. Alternatively, the stress sensor detects the magnitude of the stress on the guide fork to determine whether the battery has reached the unlocking position, thereby achieving the purpose of unlocking the battery. This avoids installing sensors and unnecessary circuits on the car, reducing the manufacturing cost of the car.

[0064] Example 3

[0065] The battery swapping equipment in this embodiment is a further improvement on embodiment 2, specifically:

[0066] Both the fixed tray 11 and the movable tray 12 of the tray 1 are square structures.

[0067] Preferably, the battery swapping equipment includes four guide forks 3, wherein two guide forks 3 are fixed on both sides of the fixed disk 11, and the remaining two guide forks 3 are fixed on both sides of the movable disk 12, and the four guide forks 3 are distributed at the four corners of the square structure.

[0068] In this embodiment, the battery swapping device is equipped with distance sensors or stress sensors at four guide forks. The distance sensors detect the distance between the battery positioning block and the bottom surface of the guide fork to determine whether the battery has reached the unlock position, or the stress sensors detect the magnitude of the stress on the guide fork to determine whether the battery has reached the unlock position. This avoids installing sensors and unnecessary circuits on the car and reduces the manufacturing cost of the car.

[0069] Example 4

[0070] The control method for the battery swapping equipment in this embodiment is used to control the battery swapping equipment in any one of the embodiments 1 to 3.

[0071] like Figure 4 As shown, when the sensor includes a distance sensor, the control method for the battery swapping equipment in this embodiment specifically includes:

[0072] S1011, The distance sensor detects the distance between the battery positioning block and the bottom surface of the guide fork;

[0073] S1012. Determine whether there are three or more distance sensors that detect distances that are all less than the first predetermined value. If yes, proceed to step S1013; otherwise, proceed to step S1014.

[0074] S1013. Confirm that the pallet has been raised to the predetermined height, and proceed to step S1015;

[0075] S1014. Control the lifting mechanism to continue raising the pallet until the pallet rises to the predetermined height, and execute step S1015.

[0076] S1015, Control the movable disk to move horizontally relative to the fixed disk to unlock the battery; or...

[0077] like Figure 5 As shown, when the sensor includes a stress sensor, the control method includes the following steps:

[0078] S1021, The stress sensor detects the magnitude of the stress on the guide fork;

[0079] S1022. The judgment unit is used to execute step S1023 if the magnitude of the stress detected by three or more stress sensors is greater than the second predetermined value, and to execute step S1024 if the stress is greater than the second predetermined value.

[0080] S1023. Confirm that the pallet has been raised to the predetermined height, and proceed to step S1025;

[0081] S1024. Control the lifting mechanism to continue raising the pallet until the pallet rises to the predetermined height, and execute step S1025.

[0082] S1025, Control the moving disk to move horizontally relative to the fixed disk to unlock the battery.

[0083] In this embodiment, the battery swapping device is equipped with a distance sensor or a stress sensor at the guide fork. The distance sensor detects the distance between the battery positioning block and the bottom surface of the guide fork to determine whether the battery has reached the unlocking position. Alternatively, the stress sensor detects the magnitude of the stress on the guide fork to determine whether the battery has reached the unlocking position. This avoids installing sensors and unnecessary circuits on the car, reducing the car's manufacturing cost. Furthermore, by using the battery swapping device's own components for detection and judgment during the battery swapping process, the increased manufacturing cost of the car is avoided.

[0084] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A battery swapping device, comprising a tray and a lifting mechanism, wherein the tray moves up and down under the drive of the lifting mechanism, characterized in that, The battery swapping device also includes at least three guide forks for engaging with positioning blocks on the battery and on the vehicle. The guide fork is fixed to the tray; The battery swapping device also includes sensors for determining whether the tray has risen to a predetermined height, which is the height for unlocking the battery. The guide forks are configured to correspond one-to-one with the sensors. The tray includes a fixed tray and a movable tray; both the fixed tray and the movable tray are provided with guide forks; the guide forks on the fixed tray engage with positioning blocks on the vehicle, and the guide forks on the movable tray engage with positioning blocks on the battery.

2. The battery swapping equipment as described in claim 1, characterized in that, When the sensor includes a distance sensor, the distance sensor is used to detect the distance between the battery positioning block and the bottom surface of the guide fork; or, When the sensor includes a stress sensor, the stress sensor is used to detect the magnitude of the stress on the guide fork.

3. The battery swapping equipment as described in claim 2, characterized in that, The battery swapping equipment also includes a judgment unit, which is electrically connected to the sensor. When the sensor includes a distance sensor, the determining unit is configured to determine that the tray has risen to the predetermined height when the distance detected by three or more of the distance sensors is less than a first predetermined value; otherwise, it determines that the tray has not risen to the predetermined height and controls the lifting mechanism to drive the tray to continue rising until the tray rises to the predetermined height; or, When the sensor includes a stress sensor, the determination unit is used to determine that the tray has risen to the predetermined height when the stress detected by three or more stress sensors is greater than a second predetermined value; otherwise, it determines that the tray has not risen to the predetermined height and controls the lifting mechanism to drive the tray to continue rising until the tray rises to the predetermined height.

4. The battery swapping equipment as described in claim 3, characterized in that, The determination unit is also used to control the movable tray to move horizontally relative to the fixed tray to unlock the battery after determining that the tray has risen to the predetermined height.

5. The battery swapping equipment as described in claim 1, characterized in that, Both the fixed disk and the movable disk have a square structure; The battery swapping equipment includes four guide forks; The two guide forks are respectively fixed on both sides of the fixed disk and the two guide forks are respectively fixed on both sides of the movable disk.

6. The battery swapping equipment as described in claim 1, characterized in that, The battery locking pin and the guide fork are in a fixed relative position.

7. A control method for a power swapping device, characterized in that, The control method is used to control the battery swapping equipment as described in any one of claims 1-6; When the sensor includes a distance sensor, the control method includes the following steps: S11, The distance sensor detects the distance between the battery positioning block and the bottom surface of the guide fork; S12. Determine whether there are three or more distance sensors that detect distances that are all less than the first predetermined value. If yes, proceed to step S13; otherwise, proceed to step S14. S13. Determine that the tray has been raised to the predetermined height; S14. Control the lifting mechanism to drive the tray to continue rising until the tray rises to the predetermined height; or, When the sensor includes a stress sensor, the control method includes the following steps: S21. The stress sensor detects the magnitude of the stress on the guide fork; S22. The judgment unit is used to execute step S23 if the magnitude of the stress detected by three or more stress sensors is greater than the second predetermined value, and to execute step S24 if not. S23. Determine that the tray has been raised to the predetermined height; S24. Control the lifting mechanism to drive the tray to continue rising until the tray rises to the predetermined height.

8. The control method for the power swapping equipment as described in claim 7, characterized in that, When the tray includes a fixed tray and a movable tray, the control method further includes: After the tray rises to the predetermined height, the movable tray is controlled to move horizontally relative to the fixed tray to unlock the battery.

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