Battery swap station and method for removing battery pack from side of battery swap station

Abstract

The present invention discloses a battery swap station and a method for sideways access to a battery pack at the battery swap station, which belongs to the technical field of battery swap stations. The battery swap station includes a battery pack storage rack, an avoidance plug-in mechanism, and a battery swap device. A battery pack storage position is provided on the battery pack storage rack; an avoidance plug-in mechanism is provided on both sides of the battery pack storage position, and the avoidance plug-in mechanism includes a female head, and the female head can reciprocate along a second horizontal direction and can reciprocate along a first horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction; the battery swap device includes an operating end, and the operating end can reciprocate along a first horizontal direction and can be raised and lowered in a vertical direction. The present invention improves the battery swap efficiency of the battery swap station.

Description

Technical Field

[0001] The present invention relates to the technical field of battery swap stations, and in particular to a battery swap station and a method for sideways access to a battery pack at the battery swap station. Background Art

[0002] When a battery swap station is used to replace the battery pack of a vehicle to be swapped, the depleted battery pack on the vehicle to be swapped needs to be removed first.

[0003] In the prior art, the battery swapping equipment in the battery swapping station removes the exhausted battery pack on the vehicle to be replaced. On the vehicle to be replaced, the charging male connector and the liquid cooling male connector of the battery pack are horizontally oriented toward the center of the vehicle to be replaced, that is, when the vehicle to be replaced drives to the replacement point of the battery swapping station, the charging male connector of the exhausted battery pack on the vehicle to be replaced faces away from the charging female connector of the battery pack storage rack, and the liquid cooling male connector of the exhausted battery pack faces away from the liquid cooling female connector of the battery pack storage rack. After the battery swapping equipment removes the exhausted battery pack, it is necessary to rotate the exhausted battery pack 180° before the charging male connector of the exhausted battery pack can be oriented toward and plugged into the charging female connector of the battery pack storage rack, and the liquid cooling male connector of the exhausted battery pack can be oriented toward and plugged into the liquid cooling female connector of the battery pack storage rack.

[0004] In the process of removing the deflated battery pack from the vehicle to be replaced, after the battery replacement equipment removes the deflated battery pack, it is necessary to rotate the removed deflated battery pack 180° before placing the deflated battery pack on the battery pack storage rack of the battery replacement station, which prolongs the battery replacement time and affects the battery replacement efficiency, thereby adversely affecting the service capabilities of the battery replacement station. Summary of the invention

[0005] The object of the present invention is to provide a battery swap station and a method for lateral removal of battery packs at the battery swap station, so as to improve the efficiency of lateral removal of battery packs at the battery swap station, thereby improving the battery swap efficiency.

[0006] As conceived above, the technical solution adopted by the present invention is:

[0007] Battery swap station, including:

[0008] A battery pack storage rack, wherein the battery pack storage rack is provided with a battery pack storage position;

[0009] An avoidance plug-in mechanism, one of which is disposed on both sides of the battery pack storage position, the avoidance plug-in mechanism comprising a female head, the female head can reciprocate along the second horizontal direction and can reciprocate along the first horizontal direction, the first horizontal direction being perpendicular to the second horizontal direction;

[0010] The battery exchange device includes an operating end, which can reciprocate along a first horizontal direction and can be raised and lowered along a vertical direction.

[0011] Optionally, the avoidance plugging and unplugging mechanism includes:

[0012] a first moving member;

[0013] A first avoidance plug-in mechanism guide rail extends along the second horizontal direction, and the first moving member is slidably disposed on the first avoidance plug-in mechanism guide rail;

[0014] The second avoidance plug-in mechanism guide rail is arranged on the first movable member and extends along the first horizontal direction, and the female head member is slidably arranged on the second avoidance plug-in mechanism guide rail.

[0015] Optionally, the avoidance plug-in mechanism further includes a second moving member, the female head member is fixedly disposed on the second moving member, and the second moving member is slidably disposed on the guide rail of the second avoidance plug-in mechanism.

[0016] Optionally, the battery replacement device includes:

[0017] A battery replacement device body, wherein the operating end is arranged on the battery replacement device body;

[0018] The floating mechanism is arranged at the operating end.

[0019] Optionally, the floating mechanism comprises:

[0020] A base, arranged at the operating end, wherein the base is provided with a mounting plate capable of reciprocating along the first horizontal direction;

[0021] A floating plate, floatingly connected to the mounting plate, wherein a battery pack clamping position is provided on an upper surface of the floating plate;

[0022] A floating plate guide rail is arranged at the operating end. Two sides of the base are respectively provided with one floating plate guide rail at intervals. Two sides of the floating plate are respectively in floating sliding connection with the two floating plate guide rails.

[0023] Optionally, the floating plate is universally connected to the mounting plate.

[0024] Optionally, the floating mechanism further comprises a sliding connection member, the sliding connection member is slidably connected to the floating plate guide rail, and the floating plate is floatingly connected to the sliding connection member.

[0025] Optionally, the sliding connection comprises:

[0026] A first sliding block, slidably connected to the floating plate guide rail;

[0027] The side connection block is fixedly connected to the first sliding block, and the floating plate is floatingly connected to the side connection block.

[0028] Optionally, the floating mechanism further includes a floating plate side floating assembly, and the floating plate side floating assembly includes:

[0029] A floating connection block, fixedly connected to the floating plate;

[0030] A floating screw, the upper end of which is movably connected to the floating connection block, and the lower end of which is fixedly connected to the side connection block of the sliding connection member;

[0031] The floating elastic member is sleeved on the floating screw, the upper end of the floating elastic member elastically abuts against the lower surface of the floating connection block, and the lower end of the floating elastic member elastically abuts against the upper surface of the floating connection block.

[0032] Optionally, a step structure is provided on the side connecting block, and the step structure includes a horizontal step surface and a vertical step surface, the surface of the floating connecting block facing the vertical step surface can abut against the vertical step surface, and the lower surface of the floating connecting block can abut against the horizontal step surface.

[0033] The method for removing the battery pack from the side of the battery swap station is to use the above-mentioned battery swap station to remove the depleted battery pack of the vehicle to be replaced, and includes the following steps:

[0034] S12, controlling the operating end of the battery swapping device to move forward along the first horizontal direction to the bottom of the vehicle to be replaced, and disconnecting the low-power battery pack from the vehicle to be replaced;

[0035] S13, controlling the operating end of the battery replacement device to move in the opposite direction along the first horizontal direction to remove the low-power battery pack;

[0036] S14, controlling the operating end to move to the entrance end of the vacant battery pack storage position, the two avoidance plug-in mechanisms corresponding to the battery pack storage position drive the two female head components to move along the second horizontal direction and make the two female head components move away from each other, and the operating end continues to move in the opposite direction along the first horizontal direction to place the low-power battery pack in the battery pack storage position;

[0037] S15, controlling the operating terminal to reset;

[0038] S16. After controlling the female connector to move along the second horizontal direction to reset, control the female connector to move along the first horizontal direction until it is plugged into the male connector of the depleted battery pack.

[0039] Optionally, before step S12, the following steps need to be performed:

[0040] S10, obtaining the spatial coordinates of the forking point of the low-power battery pack on the vehicle to be replaced;

[0041] S11. According to the spatial coordinates of the fork point, control the battery exchange equipment to move to the battery pack removal position.

[0042] Optionally, the step S12 includes:

[0043] S121, controlling the operating end of the battery swapping device to move forward along the first horizontal direction to the unlocking position of the low-power battery pack, controlling the servo motor of the operating end of the battery swapping device to switch to the torque mode, and the servo motor drives the operating end to push into the low-power battery pack, and when the torque of the servo motor reaches the unlocking torque, the low-power battery pack is unlocked from the vehicle to be replaced;

[0044] S122, controlling the operating end to move in the opposite direction along the first horizontal direction by a set distance;

[0045] S123, controlling the operating end to descend to the height of the spatial coordinate position of the forking point, and controlling the operating end to move forward along the first horizontal direction to a fixed lifting position below the low-power battery pack;

[0046] S124, controlling the operating end to rise until the operating end is engaged with the low-power battery pack.

[0047] When the battery swap station proposed in the present invention is in operation, the vehicle to be replaced drives to the parking space of the battery swap station, that is, when replacing the battery, the operating end of the battery swap equipment moves forward along the first horizontal direction to remove the deflated battery pack on the vehicle to be replaced. Subsequently, the operating end moves in the opposite direction along the first horizontal direction, removes the deflated battery pack and transports it to the battery pack storage position. When the operating end transports the deflated battery pack to the entrance position of the battery pack storage position, the two female head parts of the two avoidance plug-in mechanisms corresponding to the battery pack storage position both move along the second horizontal direction and the two female head parts move away from each other to avoid the placement of the deflated battery pack. After the deflated battery pack is placed in the battery pack storage position, the operating end is reset. After the two female head parts are reset, the two female head parts simultaneously move along the first horizontal direction toward the deflated battery pack until they are plugged into the male head part on the deflated battery pack.

[0048] When the battery swap station removes the deflated battery pack from the vehicle to be swapped and stores it on the battery pack storage rack, there is no need to rotate the deflated battery pack 180°. The operating end can complete the storage of the deflated battery pack by moving it horizontally along the first horizontal direction, thereby improving the battery swap efficiency.

[0049] The method for lateral removal of battery packs at a battery swap station proposed in the present invention does not require the deflated battery packs to be rotated 180° when removing the deflated battery packs from the vehicle to be swapped and storing them on a battery pack storage rack. The operating end can complete the storage of the deflated battery packs by moving horizontally along a first horizontal direction, thereby improving the battery swap efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1It is a partial structural schematic diagram of a battery swap station provided in Embodiment 1 of the present invention;

[0051] Figure 2 yes Figure 1 A magnified view of some structures in ;

[0052] Figure 3 is a schematic diagram of the structure of a battery pack storage rack provided in Embodiment 1 of the present invention;

[0053] Figure 4 yes Figure 3 The schematic diagram after some structures are hidden;

[0054] Figure 5 yes Figure 3 The enlarged view of point B in the middle;

[0055] Figure 6 is a schematic diagram of a first-angle view of the avoidance plugging and unplugging mechanism provided in the first embodiment of the present invention;

[0056] Figure 7 is a schematic diagram of a second viewing angle of the avoidance plugging and unplugging mechanism provided in the first embodiment of the present invention;

[0057] Figure 8 is a schematic diagram of the avoidance plugging and unplugging mechanism provided in the first embodiment of the present invention from a third viewing angle;

[0058] Fig. 9 yes Figure 8 A magnified view of some structures;

[0059] Fig.10 is a partial schematic diagram of a battery swapping device provided in Embodiment 1 of the present invention;

[0060] Fig.11 is a structural schematic diagram of a floating mechanism provided in Embodiment 1 of the present invention;

[0061] Fig.12 yes Fig.11 A magnified schematic diagram of the structure in the middle;

[0062] Fig.13 This is a schematic diagram of the decomposition of the floating mechanism provided in the first embodiment of the present invention. Figure 1 ;

[0063] Fig.14 yes Fig.13 A magnified schematic diagram of the structure in the middle;

[0064] Fig.15 This is a schematic diagram of the decomposition of the floating mechanism provided in the first embodiment of the present invention. Figure 2 ;

[0065] Fig.16 yes Fig.15 An enlarged schematic diagram of a part of the structure;

[0066] Fig.17 yes Fig.15 A top view of a part of the structure;

[0067] Fig.18 yes Fig.16 An enlarged schematic diagram of the mounting plate, annular limiting ring, clamping plate and floating member in FIG.

[0068] Fig.19 is a schematic diagram of a floating member provided in Embodiment 1 of the present invention;

[0069] Fig. 20 This is a schematic diagram of the decomposition of the floating mechanism provided in the first embodiment of the present invention. Figure 3 ;

[0070] Fig.21 yes Fig. 20 The enlarged view of point A in the middle;

[0071] Fig. 22 It is a flow chart of the method for sideways removal of battery packs at a battery swap station provided in the second embodiment of the present invention.

[0072] In the figure:

[0073] 10. Battery pack storage rack;

[0074] 11. Base; 111. Mounting plate; 1111. Floating groove; 11111. Annular limiting ring; 1112. Floating member; 11121. Connecting plate; 11122. Shrinking shaft; 11123. Floating hemispherical part; 1113. Card plate; 1114. First supporting plate; 11141. Buffer block; 1115. Second supporting plate; 12. Floating plate; 121. Battery pack card connection position; 1211. Bump; 122. Rolling member; 13. Floating plate guide rail; 14. Sliding connector; 141. Side connecting block; 142. First sliding block; 151. Floating connecting block; 152. Floating screw; 153. Floating elastic member; 161. Horizontal step surface; 162. Vertical step surface; 171. Floating mechanism drive assembly mounting frame; 172. Floating mechanism drive motor; 173. Rotating shaft; 174. Transmission belt;

[0075] 21. first driver; 211. first linear driver; 212. connecting rod; 22. first moving member; 221. first moving member slider; 23. first avoidance plug-in mechanism guide rail; 24. second avoidance plug-in mechanism guide rail; 25. female head member; 26. second moving member; 261. second moving member slider; 27. second driver;

[0076] 31. Horizontal movable rack; 311. Ceiling rail; 312. Floor rail; 33. Secondary telescopic mechanism; 34. Lifting rack. DETAILED DESCRIPTION

[0077] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the present invention are further described below in conjunction with the accompanying drawings and through specific implementation methods. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for the convenience of description, only the parts related to the present invention are shown in the accompanying drawings, not all.

[0078] Embodiment 1

[0079] See also Figure 1-Figure 21 , this embodiment provides a battery swap station.

[0080] Specifically, see Figure 1-Figure 4 The battery swap station includes a battery pack storage rack 10 and a battery swap device, and a battery pack storage position is provided on the battery pack storage rack 10. Specifically, when the battery pack is stored in the battery pack storage position, the charging male connector and the liquid cooling male connector of the battery pack are both extended in the horizontal direction.

[0081] The battery pack storage position is used to charge a low-power battery pack or store a fully-charged battery pack. The battery replacement device includes an operating end that can reciprocate along a first horizontal direction and can be raised and lowered along a vertical direction.

[0082] See also Figure 3-Figure 5 The battery swap station also includes an avoidance plug-in mechanism. An avoidance plug-in mechanism is provided on both sides of the battery pack storage position, and the avoidance plug-in mechanism includes a female head 25, which can reciprocate along the second horizontal direction and can reciprocate along the first horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction.

[0083] In this embodiment, when the battery swap station removes the deflated battery pack from the vehicle to be swapped and stores it on the battery pack storage rack 10, there is no need to rotate the deflated battery pack 180°. The operating end can complete the storage of the deflated battery pack by moving it horizontally along the first horizontal direction, thereby improving the battery swap efficiency.

[0084] It can be understood that since a battery pack is provided with a charging male connector and a liquid cooling male connector, an avoidance plug-in mechanism is provided on both sides of each battery pack storage position on the battery pack storage rack 10, and the two female connectors 25 on both sides of each battery pack storage position are respectively a charging female connector and a liquid cooling female connector.

[0085] Specifically, see Figure 6-Figure 9 In this embodiment, the avoidance and plugging mechanism has both avoidance function and plugging function, and when applied to a battery swap station, it can improve the battery swap efficiency.

[0086] Specifically, in this embodiment, the avoidance plugging and unplugging mechanism includes a first moving member 22 , a first avoidance plugging and unplugging mechanism guide rail 23 , a second avoidance plugging and unplugging mechanism guide rail 24 and a female head member 25 .

[0087] The first avoidance plug-in mechanism guide rail 23 extends along the second horizontal direction, and the first moving member 22 is slidably disposed on the first avoidance plug-in mechanism guide rail 23 .

[0088] The second avoidance plug-in mechanism guide rail 24 is disposed on the first moving member 22 and extends along a first horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction.

[0089] The female connector 25 is slidably disposed on the second avoidance plug-in mechanism guide rail 24. Specifically, the female connector 25 is a charging female connector or a liquid cooling female connector.

[0090] The avoidance plug-in mechanism provided in this embodiment is installed on the battery pack storage rack 10 of the battery swap station when in use. The second horizontal direction is the axial direction when the vehicle to be swapped is located in the parking space in the battery swap station. Specifically, the parking space is the battery swapping space.

[0091] In actual use, the first avoidance plug-in mechanism guide rail 23 of the avoidance plug-in mechanism is installed along the second horizontal direction on the front side of the entrance end of the battery pack storage position on the battery pack storage rack 10, and the first movable member 22 can move along the second avoidance plug-in mechanism guide rail 24 to drive the female head member 25 to avoid the battery pack at the entrance end of the battery pack storage position; the female head member 25 can reciprocate along the second avoidance plug-in mechanism guide rail 24 to plug into the battery pack on the battery pack storage position or unplug the battery pack relative to the battery pack storage position.

[0092] After the avoidance plug-in mechanism is applied to the battery swap station, when the battery is swapped at the operating end of the battery swapping equipment in the battery swapping station, after the operating end removes the deflated battery pack from the vehicle to be swapped, the operating end does not need to rotate the deflated battery pack 180°, and continues to drive the deflated battery pack to move laterally toward the battery pack storage position on the battery pack storage rack 10. At this time, the first movable member 22 performs an avoidance action: that is, the first movable member 22 moves forward along the second avoidance plug-in mechanism guide rail 24 to avoid the moving space required for the deflated battery pack to pass through the entrance end of the battery pack storage position. After the operating end of the battery swapping equipment moves the deflated battery pack to the battery pack storage position, the operating end is reset.

[0093] Next, the first moving member 22 is reset: the first moving member 22 moves in the opposite direction along the second avoidance plug-in mechanism guide rail 24 until the female connector 25 is in the same straight line with the male connector of the depleted battery pack along the first horizontal direction.

[0094] Next, the female connector 25 performs the plugging action: the female connector 25 moves forward along the second avoidance plugging and unplugging mechanism guide rail 24 toward the low-power battery pack until the female connector 25 is plugged into the male connector on the low-power battery pack.

[0095] When the avoidance plug-in mechanism provided in this embodiment is applied to the battery pack storage rack 10 of the battery swap station, the battery swap equipment of the battery swap station does not need to rotate 180° when transferring the low-power battery on the vehicle to be replaced to the battery pack storage rack 10. The low-power battery pack can be directly transferred to the battery pack storage rack 10 by horizontal movement, thereby improving the battery swap efficiency. Accordingly, when the battery swap equipment transfers the fully charged battery pack on the battery pack storage rack 10 to the vehicle to be replaced, the battery swap equipment does not need to rotate 180°. The low-power battery pack can be directly transferred to the battery pack storage rack 10 by horizontal movement, thereby improving the battery swap efficiency.

[0096] When the operating end of the battery exchange device drives the low-power battery pack to move horizontally toward the battery pack storage position close to the battery pack storage rack 10, the two avoidance plug-in mechanisms corresponding to one battery pack storage position first perform an avoidance action, that is, the two first moving parts 22 of the two avoidance plug-in mechanisms move in directions away from each other to prevent the first moving parts 22 from interfering with the placement of the low-power battery pack in the battery pack storage position. After the low-power battery pack is placed in the battery pack storage position, the two first moving parts 22 are reset first, so that the connection line between the charging female connector and the charging male connector of the low-power battery pack is parallel to the first horizontal direction, and the connection line between the liquid cooling female connector and the liquid cooling male connector of the low-power battery pack is parallel to the first horizontal direction, and then the charging female connector and the liquid cooling female connector move forward and approach the low-power battery pack at the same time, until the charging female connector and the liquid cooling female connector are plugged into the low-power battery pack.

[0097] When the depleted battery pack is fully charged in the battery pack storage position, the battery pack is now a fully charged battery pack.

[0098] When the operating end of the battery swapping device needs to remove a fully charged battery pack from a battery pack storage position, the two avoidance plug-in mechanisms corresponding to one battery pack storage position first perform the removal action, that is, the charging female connector and the liquid cooling female connector move in opposite directions to disengage from the fully charged battery pack; after the charging female connector and the liquid cooling female connector are unplugged, the two avoidance plug-in mechanisms corresponding to one battery pack storage position perform the avoidance action again, that is, the two first moving parts 22 of the two avoidance plug-in mechanisms move in a direction away from each other to avoid the first moving parts 22 interfering with the removal action of the fully charged battery pack. The operating end of the battery swapping device moves horizontally to remove the fully charged battery pack.

[0099] Specifically, Figure 6Taking the orientation shown as an example, the positive movement of the first moving member 22 is to move to the left, and the reverse movement is to move to the right. The positive movement of the female head member 25 is to move backward, and the reverse movement is to move forward. That is, the moving direction of the first moving member 22 when performing the avoidance action is the positive movement; the moving direction of the female head member 25 when performing the plugging action is the positive movement.

[0100] Furthermore, a first moving member slider 221 is provided on the first moving member 22 , and the first moving member slider 221 is slidably disposed on the first avoidance plug-in mechanism guide rail 23 , so that the first moving member 22 can slide smoothly relative to the first avoidance plug-in mechanism guide rail 23 .

[0101] Furthermore, in order to realize the reciprocating movement of the first moving member 22 along the first avoidance plugging mechanism guide rail 23, in this embodiment, the avoidance plugging mechanism further includes a first driver 21, and the first moving member 22 is disposed at the output end of the first driver 21. In actual use, the first driver 21 is fixed on the battery pack storage rack 10.

[0102] Specifically, the first driver 21 includes a first linear driver 211 and a connecting rod 212 .

[0103] The first linear drive 211 is configured to be fixed on the battery pack storage rack 10. The first linear drive 211 is an electric push rod. An electric push rod is an electric drive device that converts the rotational motion of the motor into the linear reciprocating motion of the push rod. One end of the connecting rod 212 is hinged to the output end of the first linear drive 211, and the other end is fixedly connected to the first moving member 22. The first linear drive 211 cooperates with the connecting rod 212 to drive the first moving member 22 to move along the first avoidance plug-in mechanism guide rail 23.

[0104] Furthermore, in order to achieve fixed installation of the first linear drive 211 on the battery pack storage rack 10, in this embodiment, the avoidance plug-in mechanism further includes a first linear drive fixing plate, and the first linear drive 211 is fixedly disposed on the first linear drive fixing plate. The first linear drive fixing plate is configured to be fixedly disposed on the battery pack storage rack 10.

[0105] Furthermore, in order to achieve stable installation and stable movement of the female head component 25, in this embodiment, the avoidance plug-in mechanism also includes a second moving component 26, the female head component 25 is fixedly arranged on the second moving component 26, and the second moving component 26 is slidably arranged on the second avoidance plug-in mechanism guide rail 24.

[0106] In order to realize the sliding of the second moving member 26 relative to the second avoidance plugging mechanism guide rail 24, in this embodiment, the avoidance plugging mechanism further includes a second driver 27, which is fixedly arranged on the first moving member 22, and the second moving member 26 is arranged at the output end of the second driver 27. Specifically, the second driver 27 is an electric push rod.

[0107] Furthermore, a second moving member slider 261 is provided on the second moving member 26 , and the second moving member slider 261 is slidably disposed on the second avoidance plug-in mechanism guide rail 24 , so that the second moving member 26 can slide smoothly relative to the second avoidance plug-in mechanism guide rail 24 .

[0108] Specifically, in actual use, the first avoidance plug-in mechanism guide rail 23 of the avoidance plug-in mechanism is fixedly arranged along the second horizontal direction at the front side of the entrance end of the battery pack storage position of the battery pack storage rack 10, and an avoidance plug-in mechanism is arranged on both sides of each battery pack storage position, and the two female connectors 25 on both sides of each battery pack storage position are respectively a charging female connector and a liquid cooling female connector.

[0109] Furthermore, the battery swap station includes a plurality of battery pack storage racks 10, and the plurality of battery pack storage racks 10 are arranged at intervals along the second horizontal direction. The arrangement of the plurality of battery pack storage racks 10 enables the battery swap station to store more battery packs.

[0110] The following is a detailed introduction to the battery replacement equipment.

[0111] The battery exchange device can also move back and forth along the second horizontal direction.

[0112] Specifically, see Fig.10 In this embodiment, the battery swapping device includes a battery swapping device body, and the operating end is arranged on the battery swapping device body.

[0113] The battery exchange device body includes a horizontal movable frame 31, a first-level telescopic mechanism ( Fig.12 Not shown) and a secondary telescopic mechanism 33.

[0114] The horizontally movable frame 31 can move back and forth along a second horizontal direction, which is perpendicular to the first horizontal direction.

[0115] The primary telescopic mechanism is arranged on the horizontal moving frame 31 along the first horizontal direction.

[0116] The secondary telescopic mechanism 33 is disposed on the output end of the primary telescopic mechanism 22 along the first horizontal direction.

[0117] Specifically, the primary telescopic mechanism and the secondary telescopic mechanism 33 are in the form of common guide rail slides.

[0118] The primary telescopic mechanism includes a primary guide rail extending along the first horizontal direction and fixedly arranged on the horizontal movable frame 31, and a primary slide is slidably arranged on the primary guide rail. The secondary telescopic mechanism 33 includes a secondary guide rail extending along the first horizontal direction and fixedly arranged on the primary slide, and a secondary slide is slidably arranged on the secondary guide rail. The secondary slide of the secondary telescopic mechanism 33 is the operating end of the battery exchange device.

[0119] Specifically, the horizontal movable frame 31 is a frame-shaped structure, including a lower beam, a first side beam, an upper beam and a second side beam connected in sequence. In order to ensure that the horizontal movable frame 31 can move strictly in the second horizontal direction, in this embodiment, the battery exchange device also includes a ceiling rail 311 and a ground rail 312, the lower beam and the ground rail 312 are slidably matched, and the upper beam and the ceiling rail 311 are slidably matched.

[0120] Furthermore, in order to control the lifting and lowering of the operating end of the battery swapping equipment, in this embodiment, the battery swapping equipment body also includes a lifting frame 34, which can be lifted and lowered in the vertical direction on the horizontal movable frame 31, and the first-level telescopic mechanism 22 is slidably set on the lifting frame 34 along the first horizontal direction.

[0121] Specifically, the lifting frame 34 can be lifted and lowered along the first side beam and the second side beam to avoid deviation in the lifting direction.

[0122] Furthermore, a rotating plate is also provided on the lifting frame 34, and the rotating plate can rotate in a horizontal plane relative to the lifting frame 34, that is, the rotating plate is always arranged horizontally, and the first-level telescopic mechanism is arranged on the rotating plate, so that the operating end can rotate. Preferably, the rotation range of the rotating plate is -10° to +10°, which further adapts to the parking error. Specifically, a rotating plate driving mechanism is also provided on the lifting frame 34, and the rotating plate driving mechanism includes a rotating plate driving motor, an active rotating gear and a passive rotating gear. The rotating plate driving motor is fixed on the lifting frame 34, and the active rotating gear is coaxially fixed on the output shaft of the rotating plate driving motor. The passive rotating gear is rotatably arranged on the lifting frame 34 and meshes with the active rotating gear for transmission, and the rotating plate is fixedly installed on the passive rotating gear. Specifically, the axes of the active rotating gear and the passive rotating gear are both in the vertical direction.

[0123] Furthermore, in order to enable the battery swapping device to adapt to the parking error and body yaw error of the battery swapping vehicle at the battery swapping point, in this embodiment, refer to Figure 11-Figure 21 The battery replacement device also includes a floating mechanism, which is arranged at the operating end.

[0124] Specifically, see Figure 11-Figure 14 The floating mechanism includes a base 11, a floating plate 12 and a floating plate guide rail 13.

[0125] The base 11 is provided with a mounting plate 111 which can reciprocate along a first horizontal direction.

[0126] The floating plate 12 is connected to the mounting plate 111 in a floating manner, and a battery pack clamping position 121 is disposed on the upper surface of the floating plate 12. Preferably, the floating plate 12 is made of a steel plate.

[0127] A floating plate guide rail 13 is disposed at intervals on both sides of the base 11, and both sides of the floating plate 12 are respectively in floating and sliding contact with the two floating plate guide rails 13. That is, the floating plate 12 can float relative to the floating plate guide rail 13 and can slide along the floating plate guide rail 13.

[0128] When the floating mechanism provided in this embodiment is in use, the base 11 and the floating plate guide rail 13 are fixedly installed at the operating end of the battery replacement device, and the floating mechanism performs the battery replacement operation. Specifically, the base 11 and the floating plate guide rail 13 are arranged at the output end of the secondary telescopic mechanism 33, and further, the base 11 and the floating plate guide rail 13 of the floating mechanism are arranged on the secondary slide plate.

[0129] Since the mounting plate 111 of the floating mechanism can also reciprocate along the first horizontal direction, the battery exchange device has a three-stage telescopic function.

[0130] When removing a deflated battery pack from the vehicle to be replaced, the mounting plate 111 is controlled to move forward along the first horizontal direction, so that the floating plate 12 extends into the lower bottom surface of the battery transfer frame of the vehicle to be replaced. As the floating plate 12 gradually extends, the battery pack engaging position 121 and the battery transfer frame of the deflated battery pack are aligned up and down. Then, the operating end of the battery replacement device is controlled to move upward, so that the battery pack engaging position 121 is engaged with the battery transfer frame of the deflated battery pack. Then, the mounting plate 111 is controlled to move in the opposite direction along the first horizontal direction, and the floating plate 12 pulls out the battery transfer frame of the deflated battery pack, thereby completing the battery pack removal operation of the vehicle to be replaced.

[0131] During the process of removing a deflated battery pack from a vehicle to be replaced, if there is a deviation in the upper and lower alignment between the battery pack engaging position 121 and the battery transfer frame of the deflated battery pack, during the process of controlling the upward movement of the operating end of the battery replacement equipment and engaging the battery pack engaging position 121 with the battery transfer frame of the deflated battery pack, the floating plate 12 can float relative to the mounting plate 11, thereby allowing the battery pack engaging position 121 to be smoothly engaged with the battery transfer frame of the deflated battery pack.

[0132] When placing a fully charged battery pack on the vehicle to be replaced, the fully charged battery pack is first placed on the floating plate 12, and the battery pack engaging position 121 on the floating plate 12 is engaged with the battery transfer frame of the fully charged battery pack, and the mounting plate 111 is controlled to move forward along the first horizontal direction, so that the floating plate 12 extends into the lower bottom surface of the battery transfer frame of the vehicle to be replaced. As the floating plate 12 gradually extends, the battery transfer frame of the fully charged battery pack is aligned with its installation position on the vehicle to be replaced, and then the operating end of the battery replacement device is controlled to move upward, so that the fully charged battery pack is installed on the vehicle to be replaced; then the operating end of the battery replacement device is controlled to move downward, and the fully charged battery pack is disengaged from the battery pack engaging position 121, and the mounting plate 111 is controlled to move in the opposite direction along the first horizontal direction until the floating mechanism is reset.

[0133] During the process of placing a fully-charged battery pack into the vehicle to be replaced, if there is a deviation in the vertical alignment of the battery adapter frame of the fully-charged battery pack and its installation position on the vehicle to be replaced, then during the process of controlling the upward movement of the operating end of the battery replacement equipment, the floating plate 12 can float relative to the mounting plate 111, and the floating plate 12 drives the battery adapter frame of the fully-charged battery pack to float during the floating process, so that the battery adapter frame of the fully-charged battery pack is accurately aligned with its installation position on the vehicle to be replaced, thereby ensuring that the fully-charged battery pack can be smoothly installed on the vehicle to be replaced.

[0134] The floating mechanism provided in this embodiment can limit the floating plate 12 to accurately reciprocate along the first horizontal direction when replacing the battery pack, so as to avoid the deviation of the track of the floating plate 12. At the same time, the floating plate 12 is connected to the mounting plate 111 in a floating manner, that is, the floating plate 12 can float relative to the mounting plate 111. Even if the parking error and body yaw error of the vehicle to be replaced exist in the parking space of the battery replacement station, the floating plate 12 can drive the low-charged battery pack or the fully-charged battery pack to float relative to the vehicle to be replaced, so that the low-charged battery pack can be accurately removed and the fully-charged battery pack can be accurately installed.

[0135] Specifically, in this embodiment, the battery pack snap-in position 121 is a groove structure, and the square tube on the battery adapter frame can be snapped into the groove structure. Specifically, a battery pack snap-in position 121 is formed by two oppositely arranged protrusions 1211. Preferably, along a second horizontal direction perpendicular to the first horizontal direction, two battery pack snap-in positions 121 are arranged on the floating plate 12 at intervals. Optionally, the material of the protrusion 1211 is nylon.

[0136] Furthermore, in this embodiment, a rolling member 122 is rotatably provided on the upper surface of the floating plate 12, and the highest point of the rolling member 122 is lower than the highest point of the protrusion 1211, so as to prevent the rolling member 122 from interfering with the installation of the battery adapter frame when the square tube on the battery adapter frame is clamped in the battery pack clamping position 121.

[0137] Specifically, see Fig.12 In this embodiment, the axis direction of the rolling element 122 extends along the second horizontal direction. When removing the exhausted battery pack on the vehicle to be replaced, if there is a parking error and a body yaw error in the parking space of the vehicle to be replaced in the battery replacement station, resulting in a deviation between the battery pack clamping position 121 and the battery transfer frame of the exhausted battery pack, then in the process of controlling the upward movement of the battery replacement equipment operating end, the floating plate 12 will float relative to the exhausted battery pack on the vehicle to be replaced. During the floating process, there is rolling friction between the lower surface of the battery transfer frame of the exhausted battery pack and the rolling element 122, and the rolling friction force is smaller than the sliding friction force, which facilitates the floating of the floating plate 12.

[0138] Specifically, in this embodiment, the rolling member 122 is a roller that is rolled on the floating plate 12. Specifically, in this embodiment, along the first horizontal direction, a rolling member 122 is respectively disposed on both sides of each battery pack engaging position 121.

[0139] Further, see Figure 15-17 In this embodiment, in order to realize the reciprocating movement of the mounting plate 111 along the first horizontal direction, the floating mechanism further includes a floating mechanism driving component, and the floating mechanism driving component drives the mounting plate 111 to reciprocate along the first horizontal direction.

[0140] Specifically, in this embodiment, the base 11 is a frame-shaped structure, including two first support plates 1114 arranged opposite to each other along the second horizontal direction, and the first support plates 1114 extend along the first horizontal direction. The base 11 also includes two second support plates 1115, and the two second support plates 1115 are respectively arranged at both ends of the first support plate 1114, and the two ends of each second support plate 1115 are respectively connected to the ends of the two first support plates 1114.

[0141] Two ends of the mounting plate 111 are slidably connected to the two first supporting plates 1114 .

[0142] Preferably, a buffer block 11141 is provided at one end of the first support plate 1114 facing the vehicle to be replaced. During the battery replacement operation, the end of the first support plate 1114 facing the vehicle to be replaced first abuts against the vehicle to be replaced, and when the end of the first support plate 1114 facing the vehicle to be replaced abuts against the vehicle to be replaced, the buffer block 11141 can buffer the impact between the two.

[0143] When the buffer block 11141 abuts against the vehicle to be replaced, the floating mechanism driving assembly will drive the mounting plate 111 to approach the vehicle to be replaced along the first horizontal direction to perform the battery replacement operation.

[0144] Specifically, see Fig.17The floating mechanism driving assembly includes a floating mechanism driving assembly mounting frame 171 and a floating mechanism driving motor 172 .

[0145] The floating mechanism driving assembly mounting frame 171 is a frame-shaped structure, and is fixedly mounted on a second supporting plate 1115 .

[0146] The floating mechanism driving motor 172 is fixedly mounted on the outer side of the floating mechanism driving assembly mounting frame 171. The output shaft of the floating mechanism driving motor 172 rotates through the side wall of the floating mechanism driving assembly mounting frame 171 and extends into the floating mechanism driving assembly mounting frame 171. A rotating shaft 173 is rotatably arranged in the floating mechanism driving assembly mounting frame 171. The axial direction of the rotating shaft 173 extends along the second horizontal direction. Both ends of the rotating shaft 173 extend out of the floating mechanism driving assembly mounting frame 171. In the floating mechanism driving assembly mounting frame 171, a passive bevel gear is coaxially fixed on the rotating shaft 173. A driving bevel gear is coaxially fixed on the output shaft of the floating mechanism driving motor 172. The driving bevel gear meshes with the passive bevel gear for transmission, so that the floating mechanism driving motor 172 drives the rotating shaft 173 to rotate.

[0147] Furthermore, the floating mechanism driving assembly further includes two transmission belts 174 arranged opposite to each other, and the transmission belts 174 extend along the first horizontal direction. One end of each transmission belt 174 is rotatably sleeved on one end of the rotating shaft 174, and the other end is rotatably arranged on another second support plate 1115 away from the floating mechanism driving assembly mounting frame 171. The mounting plate 111 is fixedly connected to the two transmission belts 174, and when the transmission belts 174 move, the mounting plate 111 can be driven to move.

[0148] The floating mechanism driving motor 172 transmits power to the transmission belt 174 via the active bevel gear, the passive bevel gear and the rotating shaft 173 in sequence, and then the transmission belt 174 drives the mounting plate 111 to reciprocate relative to the first supporting plate 1114 .

[0149] Preferably, in this embodiment, the floating plate 12 is universally connected to the mounting plate 111 in a floating manner to enhance the adaptability of the floating mechanism.

[0150] Specifically, see Figure 16-Figure 19 In this embodiment, the mounting plate 111 is provided with a floating groove 1111 and a floating member 1112, the floating member 1112 is floatingly connected in the floating groove 1111, and the floating plate 12 is fixedly connected to the floating member 1112. Specifically, the floating member 1112 is universally floatingly connected in the floating groove 1111.

[0151] The floating member 1112 floats universally relative to the mounting plate 111 , thereby driving the floating plate 12 to float.

[0152] Specifically, see Fig.19In this embodiment, the floating member 1112 is an integrally formed structure, including a connecting plate 11121, a reduced diameter shaft 11122 and a floating hemispherical portion 11123.

[0153] The floating plate 12 is fixedly connected to the connecting plate 11121 .

[0154] The reduced diameter shaft 11122 is coaxially arranged on the side of the connecting plate 11121 facing the floating groove 1111 , an annular limiting ring 11111 is arranged in the floating groove 1111 , and the reduced diameter shaft 11122 passes through the annular limiting ring 11111 through a coaxial gap.

[0155] The floating hemispherical portion 11123 is coaxially arranged on the side of the reduced diameter shaft 11122 away from the connecting plate 11121 . The floating hemispherical portion 11123 passes through the annular limiting ring 11111 through a coaxial gap and is floatingly arranged in the floating groove 1111 .

[0156] The annular limiting ring 11111 can limit the radial floating of the floating member 1112.

[0157] Furthermore, in order to prevent the floating member 1112 from being separated from the floating groove 1111, in this embodiment, a clamping plate 1113 is provided on the floating plate 12, and an avoidance arc groove is provided on the clamping plate 1113. A gap is set between the side of the avoidance arc groove and the side of the diameter reduction shaft 11122. The diameter of the connecting plate 11121 is larger than the diameter of the avoidance arc groove, and the diameter of the upper surface of the floating hemispherical part 11123 is larger than the diameter of the avoidance arc groove. The above-mentioned dimensional relationship enables the upper surface of the clamping plate 1113 to abut against the lower surface of the connecting plate 11121, and the lower surface of the clamping plate 1113 to abut against the upper surface of the floating hemispherical part 11123, thereby limiting the axial floating of the floating member 1112.

[0158] Specifically, a clamping plate 1113 is respectively disposed on both sides of the floating member 1112. The side surfaces of the two avoiding arc grooves of the two clamping plates 1113 are both disposed with a gap between the side surfaces of the reduced diameter shaft 11122.

[0159] Specifically, an annular limit ring installation step surface is provided in the floating groove 1111. After the annular limit ring 11111 is fixedly installed on the annular limit ring installation step surface, the floating hemispherical part 11123 is floated from top to bottom in the floating groove 1111, and then two clamping plates 1113 are installed, so that the floating part 1112 can float relative to the mounting plate 111.

[0160] Further, see Fig.14 , Fig.15 , Fig. 20 and Fig.21In this embodiment, the floating mechanism further includes a sliding connection member 14 , which can be slidably connected to the floating plate guide rail 13 , and the floating plate 12 is floatingly connected to the sliding connection member 14 .

[0161] Specifically, in this embodiment, the sliding connection member 14 includes a side connection block 141 and a first slider 142, the first slider 142 is slidably connected to the floating plate guide rail 13, the side connection block 141 is fixedly connected to the side of the first slider 142, and the floating plate 12 is floatingly connected to the side connection block 141, so that when the floating plate 12 floats with the floating member 1112, the connection between the floating plate 12 and the floating plate guide rail 13 can also float adaptively.

[0162] Specifically, see Fig.12 , Fig. 20 and Fig.21 In this embodiment, the floating mechanism further includes a floating plate side floating assembly to achieve floating of the floating plate 12 relative to the floating plate guide rail 13 .

[0163] Specifically, see Fig.21 The floating plate side floating assembly includes a floating connection block 151 , a floating screw 152 and a floating elastic member 153 .

[0164] The floating connection block 151 is fixedly connected to the floating plate 12. Specifically, the floating connection block 151 is fixedly connected to the lower surface of the floating plate 12.

[0165] The upper end of the floating screw 152 is movably connected to the floating connection block 151, and the lower end is fixedly connected to the sliding connection member 14. Specifically, the lower end of the floating screw 152 is fixedly connected to the side connection block 141. The upper end of the floating screw 152 can float radially and axially relative to the floating connection block 151.

[0166] The floating elastic member 153 is sleeved on the floating screw 152, and the upper end of the floating elastic member 153 elastically abuts against the lower surface of the floating connection block 151, and the lower end of the floating elastic member 153 elastically abuts against the upper surface of the floating connection block 151. Specifically, the floating elastic member 153 is a compression spring.

[0167] Specifically, a countersunk hole is provided on the floating connection block 151 , and the floating screw 152 passes through the countersunk hole and is movably connected to the floating connection block 151 .

[0168] Specifically, in this embodiment, the floating screw 152 is a plug screw, the top nut of which falls into the countersunk hole, the upper end is clearance-matched with the floating connection block 151 , and the external thread end of the lower end is threadedly connected to the side connection block 141 .

[0169] Specifically, in this embodiment, four floating plate side floating assemblies are provided, and the four floating plate side floating assemblies are respectively located at four corners of the lower surface of the floating plate 12 .

[0170] Furthermore, in this embodiment, a step structure is provided on the side connecting block 141, and the step structure includes a horizontal step surface 161 and a vertical step surface 162. The surface of the floating connecting block 151 facing the vertical step surface 162 can float until it abuts against the vertical step surface 162, and the lower surface of the floating connecting block 151 can float until it abuts against the horizontal step surface 161.

[0171] The lower surface of the floating connection block 151 can float downward until it abuts against the horizontal step surface 161 , thereby limiting the downward movement of the floating connection block 151 and preventing the floating connection block 151 from moving downward excessively when the battery pack is placed on the floating plate 12 .

[0172] The surface of the floating connection block 151 facing the vertical step surface 162 can float horizontally until it abuts against the vertical step surface 162 , thereby being able to relieve the radial load on the floating screw 152 .

[0173] Preferably, a grab detection sensor is also provided on the floating plate 12 to determine whether the floating mechanism has stably grabbed the battery transfer frame. Exemplarily, the grab detection sensor is provided on the floating connection block 151, and includes a transmitting end and a receiving end; if the floating mechanism successfully grabs the battery transfer frame, the infrared rays emitted by the transmitting end can be reflected by the battery transfer frame to the receiving end, indicating that the grab is successful; if the receiving end does not receive a signal, it indicates that the grab fails.

[0174] Specifically, if the battery adapter frame is engaged with the battery pack engaging position 121 , it means that the capture is successful.

[0175] For example, when removing the exhausted battery pack from the vehicle to be replaced, the operating end of the battery replacement device is controlled to move upward so that the battery pack engaging position 121 engages with the battery adapter frame of the exhausted battery pack. The battery adapter frame of the exhausted battery pack will apply a lateral load to the floating plate 12, and the lateral load will be transmitted to the floating screw 152, so that the floating screw 152 bears a radial load. If the radial load is too large, the floating screw 152 may break; and the surface of the floating connection block 151 facing the vertical step surface 162 can float horizontally until it abuts against the vertical step surface 162, so that the lateral load can be transmitted to the side connection block 141, and the radial load on the floating screw 152 can be unloaded.

[0176] For example, when placing a fully charged battery pack on a vehicle to be replaced, the operating end of the battery replacement device is controlled to move upward, so that when the fully charged battery pack is installed on the vehicle to be replaced, the battery adapter frame of the fully charged battery pack will apply a lateral load to the floating plate 12, and the lateral load will be transmitted to the floating screw 152, so that the floating screw 152 bears a radial load. If the radial load is too large, the floating screw 152 may break; and the surface of the floating connection block 151 facing the vertical step surface 162 can float downward to abut against the vertical step surface 162, so that the lateral load can be transmitted to the side connection block 141, and the radial load on the floating screw 152 can be unloaded.

[0177] The floating mechanism provided in this embodiment allows the vehicle to have a yaw error of ±5°, a pitch error of ±3°, and a roll error of ±3°.

[0178] The battery swap station provided in this embodiment controls the battery swap time within 120 seconds, which not only improves the battery swap efficiency of the entire battery swap station, but also increases the service capacity of the entire battery swap station to 480 times / 24 hours.

[0179] Specifically, a liquid cooling system is provided on the battery pack storage rack 10 of the battery swap station to cool the low-power battery pack being charged to increase the charging current. Specifically, a liquid cooling pipeline is arranged on each battery pack storage position, so that the charging rate of the battery pack can reach 1C.

[0180] Specifically, photoelectric sensors are provided on both sides of the battery swap channel of the battery swap station to detect the vehicle to be swapped entering the battery swap channel, obtain the body posture of the vehicle to be swapped, and inform the driver of the current body posture by voice to guide the driver to stop the vehicle to be swapped at a suitable swapping potential. Optionally, two photoelectric sensors are provided on each side of the battery swap channel.

[0181] Furthermore, the battery pack storage position of the battery pack storage rack 10 includes two battery pack placement cache positions arranged vertically, the upper one is a fully charged battery position, and the lower one is a low-charged battery position. Before the vehicle to be replaced enters the battery replacement station, the battery replacement equipment places the fully charged battery pack in the fully charged battery position. When the vehicle to be replaced stops at the replacement position, the battery replacement equipment directly moves the low-charged battery pack taken out from the vehicle to be replaced horizontally and places it in the low-charged battery position, and then moves the operating end upward to take out the fully charged battery pack from the fully charged battery position and install it on the vehicle to be replaced, thereby shortening the journey of taking and placing the battery pack and reducing the battery replacement time.

[0182] 3D cameras are installed on both sides of the battery swap channel of the battery swap station. The 3D cameras are set 700mm away from the outer side of the battery pack on the vehicle to be swapped, so that the recognition and positioning accuracy of the 3D camera can be controlled within ±2mm.

[0183] By adjusting the wide angle of the 3D camera, the recognition width of the battery pack on the vehicle to be replaced can be increased, allowing the driver to park with an error of up to ±20cm.

[0184] Specifically, the vehicle to be replaced is a light truck. Battery replacement equipment and battery pack storage racks 10 are provided on both sides of the battery replacement channel, so that the battery replacement equipment on both sides can replace the battery of the vehicle to be replaced from both sides of the vehicle to be replaced.

[0185] Specifically, when the battery swap station is working, after the light truck to be replaced enters the battery swap channel, the photoelectric sensors on both sides of the battery swap channel begin to detect the posture of the light truck body, and inform the driver of the light truck body posture error through voice broadcast, so that the driver can adjust the light truck body posture. After the light truck stops at the preset parking space, the 3D camera obtains the position and posture of the low-power battery pack on the light truck, and transmits the position and posture data to the control system of the battery swap station. The control system first moves the battery swap equipment on both sides of the battery swap station to the working position based on the obtained position and posture data of the low-power battery pack on the light truck. After that, the battery swap equipment adjusts its own position and posture to adapt to the position and posture of the low-power battery pack on the light truck. Next, the battery swap equipment on both sides synchronously takes the battery pack from the light truck and moves it horizontally to the battery pack storage racks 10 on both sides of the battery swap station. Then, the battery swapping equipment takes out the fully charged battery from the battery pack storage rack 10, and the 3D camera obtains the battery position data on the light truck again and transmits it to the battery swapping station control system, and then sends instructions to the battery swapping equipment. The battery swapping equipment on both sides of the battery swapping station synchronously puts the fully charged battery into the battery position on the light truck. After that, the battery swapping equipment on both sides of the battery swapping station synchronously retracts to the original position, and the side battery swapping of the light truck is completed, and the driver is prompted to drive the light truck out of the battery swapping channel. Finally, the stackers on both sides of the battery swapping station take out the deflated battery from the deflated battery position and place it into the charging position on the charging battery rack to start charging. During the charging process, the liquid cooling system starts to dissipate the heat generated during the charging process.

[0186] Embodiment 2

[0187] See also Fig. 22 This embodiment provides a method for removing a battery pack from a battery swap station, and uses the battery swap station in Embodiment 1 to remove a depleted battery pack from a vehicle to be replaced.

[0188] Specifically, the method for removing the battery pack from the side of the battery swap station includes the following steps:

[0189] S12, controlling the operating end of the battery swapping device to move forward along the first horizontal direction to the bottom of the vehicle to be swapped, and disconnecting the low-power battery pack from the vehicle to be swapped; specifically, the movement of the operating end toward the vehicle to be swapped is the forward movement;

[0190] S13, controlling the operating end of the battery exchange device to move in the opposite direction along the first horizontal direction to remove the low-power battery pack;

[0191] S14, controlling the operating end to move to the entrance end of the vacant battery pack storage position, the two avoidance plug-in mechanisms corresponding to the battery pack storage position drive the two female head components 25 to move along the second horizontal direction and make the two female head components 25 move away from each other, and the operating end continues to move in the opposite direction along the first horizontal direction to place the low-power battery pack in the battery pack storage position;

[0192] S15, control the operation terminal to reset;

[0193] S16. After the female connector 25 is controlled to move along the second horizontal direction to reset, the female connector 25 is controlled to move along the first horizontal direction until it is plugged into the male connector of the battery pack with low power.

[0194] Specifically, in step S16, the charging female connector is plugged into the charging male connector, and the liquid cooling female connector is plugged into the liquid cooling male connector.

[0195] Furthermore, before step S12, the following steps need to be performed:

[0196] S10, obtaining the spatial coordinates of the forking point of the low-power battery pack on the vehicle to be replaced;

[0197] S11. According to the spatial coordinates of the fork-picking point, control the battery swapping equipment to move to the battery pack picking position.

[0198] Specifically, in step S10, when the vehicle to be replaced enters the battery replacement station, it first drives to the battery replacement point on its own; after the control system of the battery replacement station sends an in-place instruction, the control system controls the 3D camera to perform 3D imaging of the vehicle to be replaced, and outputs the spatial coordinates (X, Y, Z, θ) of the forking point of the low-power battery pack to the control system.

[0199] Specifically, in step S12, the control system calculates the motion parameters of the operating end of the battery swapping device based on the spatial coordinates (X, Y, Z, θ) of the forking point of the deflated battery pack, and the motion parameters of the operating end include: the movement distance along the first horizontal direction, the movement distance along the second horizontal direction, and the movement distance along the vertical direction; then, the operating end starts to move and moves to the battery pack removal position.

[0200] Further, step S12 includes:

[0201] S121, control the operating end of the battery swapping device to move forward along the first horizontal direction to the unlocking position of the low-power battery pack, control the servo motor of the operating end of the battery swapping device to switch to the torque mode, and the servo motor drives the operating end to push the low-power battery pack inside. When the torque of the servo motor reaches the unlocking torque, the low-power battery pack is unlocked from the vehicle to be replaced;

[0202] S122, controlling the operating end to move in the reverse direction along the first horizontal direction by a set distance; optionally, the set distance is 95 mm-105 mm, preferably 100 mm;

[0203] S123, controlling the operating end to descend to the height of the spatial coordinate position of the forking point, and controlling the operating end to move forward along the first horizontal direction to a fixed lifting position below the low-power battery pack;

[0204] S124, controlling the operating end to rise until the operating end is connected with the low-power battery pack.

[0205] Specifically, in step S124, the battery pack engaging position 121 of the floating mechanism of the operating end is engaged with the battery adapter frame of the low-power battery pack.

[0206] The above embodiments are only to illustrate the basic principles and characteristics of the present invention. The present invention is not limited by the above embodiments. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and modifications, which are within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A battery swap station, characterized in that: include: A battery pack storage rack (10), wherein a battery pack storage position is provided on the battery pack storage rack (10); An avoidance plug-in mechanism, wherein one avoidance plug-in mechanism is disposed on both sides of the battery pack storage position, the avoidance plug-in mechanism comprising a female head (25), the female head (25) being capable of reciprocating along a second horizontal direction and being capable of reciprocating along a first horizontal direction, the first horizontal direction being perpendicular to the second horizontal direction; A battery replacement device, comprising an operating end, the operating end being capable of reciprocating along the first horizontal direction and being capable of rising and falling along the vertical direction; The battery replacement equipment comprises: A battery replacement device body, wherein the operating end is arranged on the battery replacement device body; A floating mechanism, arranged at the operating end; The power exchange device body comprises a horizontal movable frame (31), a telescopic mechanism and a lifting frame (34); the horizontal movable frame (31) can reciprocate along a second horizontal direction; the lifting frame (34) can be lifted and lowered on the horizontal movable frame (31) along a vertical direction; the telescopic mechanism is slidably arranged on the lifting frame (34) along a first horizontal direction; The floating mechanism comprises: A base (11) is arranged at the operating end, and a mounting plate (111) capable of reciprocating along the first horizontal direction is arranged on the base (11); A floating plate (12) is connected to the mounting plate (111) in a floating manner, and a battery pack clamping position (121) is provided on the upper surface of the floating plate (12); A floating plate guide rail (13) is arranged at the operating end, and one floating plate guide rail (13) is arranged at intervals on both sides of the base (11), and both sides of the floating plate (12) are respectively in floating sliding connection with the two floating plate guide rails (13); The base (11) and the floating plate guide rail (13) are arranged at the output end of the telescopic mechanism; The floating plate (12) is universally connected to the mounting plate (111); The mounting plate (111) is provided with a floating groove (1111) and a floating member (1112); the floating member (1112) is floatingly connected in the floating groove (1111); and the floating plate (12) is fixedly connected to the floating member (1112); The floating member (1112) comprises a connecting plate (11121), a reduced diameter shaft (11122) and a floating hemispherical portion (11123); The floating plate (12) is fixedly connected to the connecting plate (11121); The reduced diameter shaft (11122) is coaxially arranged on a side of the connecting plate (11121) facing the floating groove (1111), an annular limiting ring (11111) is arranged in the floating groove (1111), and the reduced diameter shaft (11122) passes through the annular limiting ring (11111) with a coaxial gap; The floating hemispherical portion (11123) is coaxially arranged on a side of the reduced diameter shaft (11122) away from the connecting plate (11121); the floating hemispherical portion (11123) passes through the annular limiting ring (11111) through a coaxial gap and is floatingly arranged in the floating groove (1111); The floating plate (12) is provided with a clamping plate (1113), and an avoidance arc groove is provided on the clamping plate (1113). A gap is set between the side of the avoidance arc groove and the side of the reduced diameter shaft (11122). The diameter of the connecting plate (11121) is larger than the diameter of the avoidance arc groove, and the diameter of the upper surface of the floating hemispherical part (11123) is larger than the diameter of the avoidance arc groove.

2. The battery swap station according to claim 1, characterized in that: The avoidance plugging and unplugging mechanism comprises: A first moving member (22); A first avoidance plug-in mechanism guide rail (23) extending along the second horizontal direction, and the first moving member (22) is slidably arranged on the first avoidance plug-in mechanism guide rail (23); The second avoidance plugging and unplugging mechanism guide rail (24) is arranged on the first moving member (22) and extends along the first horizontal direction, and the female head member (25) is slidably arranged on the second avoidance plugging and unplugging mechanism guide rail (24).

3. The battery swap station according to claim 2, characterized in that: The avoidance plug-in mechanism further comprises a second moving member (26), the female head member (25) is fixedly arranged on the second moving member (26), and the second moving member (26) is slidably arranged on the second avoidance plug-in mechanism guide rail (24).

4. The battery swap station according to claim 1, characterized in that: The floating mechanism further comprises a sliding connection member (14), wherein the sliding connection member (14) is slidably connected to the floating plate guide rail (13), and the floating plate (12) is floatingly connected to the sliding connection member (14).

5. The battery swap station according to claim 4, characterized in that: The sliding connection member (14) comprises: A first sliding block (142) slidably connected to the floating plate guide rail (13); The side connection block (141) is fixedly connected to the first sliding block (142), and the floating plate (12) is floatingly connected to the side connection block (141).

6. The battery swap station according to claim 5, characterized in that: The floating mechanism further includes a floating plate side floating assembly, and the floating plate side floating assembly includes: A floating connection block (151) fixedly connected to the floating plate (12); A floating screw (152), the upper end of which is movably connected to the floating connection block (151), and the lower end of which is fixedly connected to the side connection block (141) of the sliding connection member (14); The floating elastic member (153) is sleeved on the floating screw (152), the upper end of the floating elastic member (153) elastically abuts against the lower surface of the floating connection block (151), and the lower end of the floating elastic member (153) elastically abuts against the upper surface of the floating connection block (151).

7. The battery swap station according to claim 6, characterized in that: The side connection block (141) is provided with a step structure, the step structure comprising a horizontal step surface (161) and a vertical step surface (162); the surface of the floating connection block (151) facing the vertical step surface (162) can abut against the vertical step surface (162); and the lower surface of the floating connection block (151) can abut against the horizontal step surface (161).

8. A method for removing a battery pack from a battery swap station, characterized in that: Using the battery swap station described in any one of claims 1 to 7 to remove the depleted battery pack of the vehicle to be swapped, comprises the following steps: S12, controlling the operating end of the battery swapping device to move forward along the first horizontal direction to the bottom of the vehicle to be replaced, and disconnecting the low-power battery pack from the vehicle to be replaced; S13, controlling the operating end of the battery replacement device to move in the opposite direction along the first horizontal direction to remove the low-power battery pack; S14, controlling the operating end to move to the entrance end of an empty battery pack storage position, the two avoidance plug-in mechanisms corresponding to the battery pack storage position drive the two female head parts (25) to move along the second horizontal direction and make the two female head parts (25) move away from each other, and the operating end continues to move in the opposite direction along the first horizontal direction to place the low-power battery pack in the battery pack storage position; S15, controlling the operating terminal to reset; S16, after controlling the female connector (25) to move along the second horizontal direction to reset, control the female connector (25) to move along the first horizontal direction until it is plugged into the male connector of the depleted battery pack.

9. The method for removing a battery pack from a battery swap station according to claim 8, characterized in that: Before step S12, the following steps need to be performed: S10, obtaining the spatial coordinates of the forking point of the low-power battery pack on the vehicle to be replaced; S11. According to the spatial coordinates of the fork point, control the battery exchange equipment to move to the battery pack removal position.

10. The method for removing a battery pack from a battery swap station according to claim 9, characterized in that: The step S12 comprises: S121, controlling the operating end of the battery swapping device to move forward along the first horizontal direction to the unlocking position of the low-power battery pack, controlling the servo motor of the operating end of the battery swapping device to switch to the torque mode, and the servo motor drives the operating end to push into the low-power battery pack, and when the torque of the servo motor reaches the unlocking torque, the low-power battery pack is unlocked from the vehicle to be replaced; S122, controlling the operating end to move in the opposite direction along the first horizontal direction by a set distance; S123, controlling the operating end to descend to the height of the spatial coordinate position of the forking point, and controlling the operating end to move forward along the first horizontal direction to a fixed lifting position below the low-power battery pack; S124, controlling the operating end to rise until the operating end is engaged with the low-power battery pack.

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