Battery swapping stations and their control methods

Abstract

This invention relates to the field of battery swapping technology, providing a storage and retrieval system, a battery swapping station, and a control method for the battery swapping station. The storage and retrieval system includes: a storage device comprising at least two stacked storage compartments, each storage compartment having support members on both sides of its bottom for supporting batteries, with a gap between the support members to form a receiving space; a lifting device, a traveling device, and a jacking mechanism. The traveling device has drive wheels and is movably mounted on the lifting device. The lifting device can drive the traveling device to face the receiving space at any height, and the traveling device can enter and exit the receiving space. The jacking mechanism is mounted on the traveling device and is used to drive the battery to rise and fall. Compared to existing technologies, this eliminates the steps of inserting the connecting device into the top frame of the battery and the pinning the pin to the top frame of the battery, thus reducing the steps required to remove the battery, making the operation more convenient, and increasing the battery removal efficiency.

Description

Technical Field

[0001] This invention relates to the field of battery swapping technology, and more particularly to a battery swapping station and a battery swapping station control method. Background Technology

[0002] In existing technologies, battery swapping stations typically include a rack for storing and retrieving batteries. The swapping station includes racks and a transfer device. The racks store batteries, and the transfer device places or removes batteries from the racks. The transfer device usually has a moving mechanism and a connecting device. The moving mechanism aligns the connecting device with a storage position on the rack and drives the connecting device into the top frame above the battery. Then, a pin on the connecting device extends and engages with the top frame. Finally, the moving mechanism drives the connecting device to lift the battery.

[0003] In existing transfer devices, when removing the battery, the first step is to align the drive connecting device with the storage position, then align the drive connecting device with the top frame of the battery, and finally insert the drive connecting device into the top frame before the pin is engaged with the top frame. This process is cumbersome and inconvenient. Summary of the Invention

[0004] This invention provides a battery swapping station and a battery swapping station control method to solve the shortcomings of the prior art in that the steps for removing batteries using a transfer device are relatively cumbersome and the operation is relatively inconvenient, thereby reducing the difficulty of battery removal.

[0005] This invention provides a battery swapping station, comprising:

[0006] A storage device includes at least two storage compartments arranged in an upper and lower stack. Each storage compartment has a support member on both sides of its bottom for supporting the battery, and there is a gap between the support members on both sides of the bottom of the storage compartment to form a receiving space.

[0007] The device includes a lifting device, a traveling device, and a lifting mechanism. The traveling device is equipped with a drive wheel and is movably mounted on the lifting device. The lifting device can drive the traveling device to be positioned relative to the receiving space at any height. The traveling device can enter and exit the receiving space. The lifting mechanism is mounted on the traveling device and is used to drive the battery to rise and fall.

[0008] According to a battery swapping station provided by the present invention, each layer of the storage device includes a plurality of storage positions arranged in sequence, and at least one of the walking device and the lifting device is movable along the arrangement direction of the storage positions.

[0009] According to a battery swapping station provided by the present invention, the traveling device is movably disposed along the arrangement direction of the storage positions, comprising:

[0010] The lifting device includes a support and a lifting seat that is ellipsably mounted on the support. The lifting seat extends along the arrangement direction of the storage space. The traveling device is mounted on the lifting seat and is capable of moving along the arrangement direction of the storage space and perpendicular to the arrangement direction of the storage space, respectively.

[0011] According to a battery swapping station provided by the present invention, the drive wheel includes at least three steering wheels or at least four Mecanum wheels.

[0012] According to a battery swapping station provided by the present invention, the lifting device is movably arranged along the arrangement direction of the storage positions, comprising:

[0013] The battery swapping station includes a guide structure, the extension direction of which is the same as the arrangement direction of the storage positions, and the support is movably mounted on the guide structure.

[0014] According to a battery swapping station provided by the present invention, the number of storage devices is set to a pair, and the lifting device, the traveling device and the jacking mechanism are arranged between the pair of storage devices.

[0015] The present invention also provides a battery swapping station, including a battery swapping device, a battery swapping station, a charging device, and the battery swapping station as described above;

[0016] The battery swapping station is opposite to the battery swapping device, at least one of the storage positions serves as a transfer station, the transfer station is opposite to the battery swapping device, the charging device is arranged around the battery swapping device, and the battery swapping device is used to transfer batteries between the transfer station, the battery swapping device, and the battery swapping station.

[0017] According to the battery swapping station provided by the present invention, the battery swapping device includes a rotating platform and a gripping mechanism disposed on the rotating platform. The gripping mechanism is configured as a pair and is used to grip batteries.

[0018] According to the battery swapping station provided by the present invention, the gripping mechanism is movably mounted on the rotary platform, and the movement trajectories of a pair of gripping mechanisms are arranged in parallel.

[0019] The present invention also provides a method for controlling a battery swapping station, comprising:

[0020] The system controls the operation of a lifting device, a traveling device, and a lifting mechanism to remove a fully charged battery from a storage compartment of a storage device and place it in a transfer compartment of the storage device. The storage device includes at least two stacked storage compartments, each with supports on both sides of its bottom for supporting the battery. These supports are spaced apart to form a receiving space. At least one of the storage compartments serves as the transfer compartment. The traveling device has drive wheels and is movably mounted on the lifting device. The lifting device drives the traveling device to move relative to the receiving space at any height. The traveling device can enter and exit the receiving space. The lifting mechanism is mounted on the traveling device and drives the battery to move up and down.

[0021] According to the battery swapping station control method provided by the present invention, after removing the fully charged battery and placing it in the transfer position of the storage device, the method further includes:

[0022] A gripping mechanism of the battery swapping device grips the fully charged battery on the transfer station, wherein the battery swapping device includes a rotating platform and a pair of gripping mechanisms;

[0023] Another gripping mechanism of the battery swapping device grips the low-charge battery of a vehicle parked at the battery swapping station.

[0024] The battery swapping device is controlled to place a fully charged battery in the battery compartment of the vehicle;

[0025] The battery swapping device is controlled to place the low-power battery on the charging device, and multiple charging devices are configured and arranged circumferentially along the battery swapping device.

[0026] Control the charging device to charge the low-power battery;

[0027] The battery swapping device is controlled to place the fully charged battery from the charging device into the transfer position;

[0028] Control the lifting device, traveling device and jacking mechanism to transfer the battery in the transfer position to the storage position.

[0029] The battery swapping station provided by this invention can store batteries through at least two stacked storage compartments. During battery retrieval, a lifting device drives a traveling device to align with the storage space of the compartment. The traveling device moves from the lifting device into the storage space via drive wheels. A lifting mechanism on the traveling device raises the battery, which is then lifted from the support member of the storage compartment. The traveling device then moves back to the lifting device to retrieve the battery. Similarly, when placing a battery, the traveling device is positioned relative to the target storage space. The traveling device moves from the lifting device into the storage space via drive wheels. The lifting mechanism on the traveling device lowers, allowing the battery to fall onto the support member of the target storage space.

[0030] With this configuration, the battery swapping station provided by this invention only requires aligning the walking device with the storage space of the storage compartment. The walking device then enters the storage space, lifts the battery, and transports it out of the storage compartment. Compared to the prior art's use of a transfer device to remove the battery, the battery swapping station provided by this invention eliminates the steps of inserting the connecting device into the top frame of the battery and the pinning the pin to the top frame of the battery. Therefore, fewer steps are required to remove the battery, making the operation more convenient and increasing the battery removal efficiency. Similarly, fewer steps are required to place the battery in the storage compartment, resulting in higher battery placement efficiency. Therefore, the battery swapping station provided by this invention can improve the efficiency of battery retrieval and placement.

[0031] The battery swapping station provided by this invention, since it includes the battery swapping station of this invention, also includes all the advantages of the battery swapping station mentioned above.

[0032] The battery swapping station control method provided by this invention allows for battery removal simply by aligning the walking device with the storage space. The walking device then enters the storage space, lifts the battery, and transports it out of the storage position. Compared to the prior art's method of using a transfer device to remove batteries, this invention eliminates the steps of inserting the connecting device into the top frame of the battery and the pinning the pin to the top frame. Therefore, fewer steps are required for battery removal, making the operation more convenient and increasing battery removal efficiency. Similarly, fewer steps are required to place the battery in the storage position, resulting in higher battery placement efficiency. Thus, the battery swapping station provided by this invention improves battery retrieval and placement efficiency. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 These are schematic diagrams of the structure of a battery swapping station provided in some embodiments of the present invention;

[0035] Figure 2 These are schematic diagrams of the walking device and lifting mechanism provided in some embodiments of the present invention;

[0036] Figure 3 These are schematic diagrams of the structure of a battery swapping station provided in some embodiments of the present invention;

[0037] Figure 4 This is a top view of a battery swapping station provided in some embodiments of the present invention;

[0038] Figure 5 This is a schematic diagram of the structure of a battery swapping device provided in some embodiments of the present invention.

[0039] Figure label:

[0040] 1. Battery swapping device; 101. Rotary platform; 102. Moving seat; 103. Connecting assembly; 104. Moving device; 2. Storage device; 201. Storage rack; 202. Transfer position; 203. Storage position; 204. Support component; 3. Lifting device; 301. Support; 302. Lifting seat; 4. Traveling device; 5. Lifting mechanism; 6. Battery swapping station; 7. Vehicle; 8. Guide structure. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0042] In existing technologies, when removing batteries, the transfer device first aligns the drive connecting device with the storage position, then aligns the drive connecting device with the top frame of the battery, inserts the drive connecting device into the top frame, and finally engages the pin with the top frame. This process is cumbersome and inconvenient. To address the cumbersome and inconvenient process of removing batteries using existing transfer devices and to reduce the difficulty of battery removal, this invention provides a battery swapping station, a battery swapping station control method, and the following:

[0043] The following is combined with Figures 1 to 5 The battery swapping station provided in the embodiments of the present invention is described.

[0044] Specifically, the battery swapping station includes a storage device 2, a lifting device 3, a traveling device 4, and a lifting mechanism 5.

[0045] The storage device 2 includes at least two stacked storage compartments 203, each with a support member 204 on both sides of its bottom for supporting the battery. A gap exists between the support members 204 on both sides of the bottom of the storage compartment 203, forming an accommodating space. It should be noted that "stacked" here refers to... Figure 1 The storage device 2 can be configured as a storage rack 201, which may be a shelf formed by welding or fastening profiles. Alternatively, the support member 204 may be a support base. For example, the support base may be formed by welding or fastening profiles, or it may be formed by machining.

[0046] The walking device 4 is equipped with drive wheels for moving the walking device 4. For example, the drive wheels are located at the bottom of the walking device 4. The walking device 4 is movably mounted on the lifting device 3 via the drive wheels. The lifting device 3 can drive the walking device 4 to be positioned relative to a receiving space at any height. The walking device 4 can enter and exit the receiving space. A lifting mechanism 5 is mounted on the walking device 4 and is used to drive the battery to rise and fall. Specifically, the width of the receiving space is greater than or equal to the width of the walking device 4 and the width of the lifting mechanism 5, and the height of the receiving space is greater than or equal to the minimum height of the walking device 4 and the lifting mechanism 5 combined. Optionally, the lifting mechanism 5 includes a lifting platform and a drive mechanism. The drive mechanism connects the walking device 4 and the lifting platform and is used to drive the lifting platform to rise and fall. For example, the drive mechanism can be a lead screw and nut drive mechanism, a hydraulic cylinder, a pneumatic cylinder, or a scissor mechanism.

[0047] The battery swapping station provided in this embodiment of the invention can store batteries through storage positions 203 arranged in at least two layers stacked vertically by the storage device 2. During the process of retrieving a battery from a storage position 203, a lifting device 3 drives a traveling device 4 to be positioned relative to the receiving space of the storage position 203. The traveling device 4 moves from the lifting device 3 into the receiving space via its drive wheels. A lifting mechanism 5 on the traveling device 4 rises to lift the battery placed on the support member 204 of the storage position 203. Then, the traveling device 4 moves to the lifting device 3 to retrieve the battery from the storage position 203. Similarly, when placing a battery, the traveling device 4 is positioned relative to the receiving space of the target storage position 203. The traveling device 4 moves from the lifting device 3 into the receiving space via its drive wheels. The lifting mechanism 5 on the traveling device 4 descends, causing the battery to fall onto the support member 204 of the target storage position 203.

[0048] With this configuration, the battery swapping station provided in this embodiment of the invention only needs to align the walking device 4 with the accommodating space of the storage position 203 to allow the walking device 4 to enter the accommodating space, lift the battery, and transport it out of the storage position 203. Compared to the prior art's process of using a transfer device to remove the battery, the battery swapping station provided in this embodiment of the invention eliminates the steps of inserting the connecting device into the top frame of the battery and the pin engaging with the top frame of the battery. Therefore, fewer steps are required to remove the battery, and the docking process between the connecting device and the battery, as well as the process between the pin and the battery, are saved. The required docking accuracy is lower, the operation is more convenient, and the battery removal efficiency is higher. Similarly, fewer steps are required to place the battery in the storage position 203, and the battery placement efficiency is also higher. Therefore, the battery swapping station provided in this embodiment of the invention can improve the battery retrieval and placement efficiency.

[0049] In some embodiments provided by the present invention, each storage compartment 203 of the storage device 2 includes a plurality of sequentially arranged storage compartments 203. Specifically, the plurality of storage compartments 203 in each layer are arranged sequentially in a horizontal direction. At least one of the walking device 4 and the lifting device 3 is movable along the arrangement direction of the storage compartments 203, that is, at least one of the walking device 4 and the lifting device 3 can move along the arrangement direction of the storage compartments 203. By providing a plurality of storage compartments 203 in each layer, the battery swapping station can store more batteries, thereby meeting the larger battery swapping capacity demand of the battery swapping station. By making at least one of the walking device 4 and the lifting device 3 movable along the arrangement direction of the storage compartments 203, the walking device 4 can be positioned relative to any accommodating space in any layer, thereby enabling the walking device 4 to remove batteries from any storage compartment 203 and place batteries in any storage compartment 203.

[0050] In some embodiments provided by the present invention, the walking device 4 is movably disposed along the arrangement direction of the storage position 203, including:

[0051] The lifting device 3 includes a support 301 and a lifting seat 302 that is movably mounted on the support 301, wherein the lifting seat 302 extends along the arrangement direction of the storage positions 203. For example, the length of the lifting seat 302 along the arrangement direction of the storage positions 203 is greater than the length of the storage device 2 along the arrangement direction of the storage positions 203. A traveling device 4 is mounted on the lifting seat 302, that is, the traveling device 4 is movably mounted on the lifting seat 302 via drive wheels. The traveling device 4 can move along the arrangement direction of the storage positions 203 and perpendicular to the arrangement direction of the storage positions 203, respectively. The traveling device 4 moves along the arrangement direction of the storage positions 203 so that it can be positioned opposite any accommodating space within the floor, and the traveling device 4 moves perpendicular to the arrangement direction of the storage positions 203 so that it can enter and exit the accommodating space.

[0052] Taking battery removal as an example, firstly, the lifting platform 302 drives the walking device 4 to rise or fall to the layer where the target storage position 203 is located. Then, the walking device 4 is controlled to move along the arrangement direction of the storage positions 203 on the lifting platform 302 so that the walking device 4 is opposite to the target storage position 203. Then, the walking device 4 moves perpendicular to the arrangement direction of the storage positions 203 to enter the receiving space at the bottom of the target storage position 203, and then the lifting mechanism 5 is raised to lift the battery in the target storage position 203. Finally, the walking device 4 retracts from the target storage position 203 back to the lifting platform 302 to remove the battery from the target storage position.

[0053] Optionally, the support 301 can be a support frame formed by welding or fasteners connecting profiles. The lifting seat 302 is slidably connected to the support 301, and the lifting seat 302 can be driven to lift by a screw and nut drive mechanism, a cylinder, a hydraulic cylinder, a gear and rack drive mechanism, or a winch wire rope.

[0054] In some embodiments provided by this invention, the drive wheel includes at least three steering wheels. It should be noted that steering wheels are existing technology products, capable of providing both driving force and steering. Therefore, by using at least three steering wheels, the walking device 4 can move in two mutually perpendicular directions. Furthermore, since the walking device 4 does not need to turn to change direction, it occupies less space during movement. Of course, the drive wheel is not limited to including at least three steering wheels; for example, the drive wheel can also include at least four Mecanum wheels. Similarly, by using at least four Mecanum wheels, the walking device 4 can move in two mutually perpendicular directions, and since the walking device 4 does not need to turn to change direction, it occupies less space during movement. Optionally, the walking device 4 can be configured as an AGV (Automated Guided Vehicle).

[0055] In some embodiments provided by the present invention, the lifting device 3 is movably disposed along the arrangement direction of the storage position 203, including:

[0056] The battery swapping station includes a guide structure 8, the extension direction of which is the same as the arrangement direction of the storage positions 203. For example, the guide structure 8 can be configured as a guide rail, the guide rail being arranged in the same direction as the storage positions 203. A lifting device 3 is movably mounted on the guide structure 8. Specifically, the support 301 of the lifting device 3 is movably mounted on the guide structure 8, and the support 301 can move along the guide structure 8 under the drive of a screw and nut drive mechanism, a hydraulic cylinder, a drive wheel, or a gear and rack drive mechanism.

[0057] Taking battery removal as an example, the lifting platform 302 can first drive the walking device 4 to rise or fall to the layer where the target storage position 203 is located. Then, the lifting platform 3 moves along the guide structure 8 so that the walking device 4 is opposite to the target storage position 203. Alternatively, the lifting platform 3 can first move along the guide structure 8 so that the walking device 4 moves horizontally to the column where the target storage position 203 is located. Then, the lifting platform 3 drives the walking device 4 to rise or fall to be opposite to the target storage position 203. Then, the walking device 4 moves along a direction perpendicular to the arrangement of the storage positions 203 to enter the receiving space at the bottom of the target storage position 203. Then, the lifting mechanism 5 is raised to lift the battery in the target storage position 203. Finally, the walking device 4 retracts from the target storage position 203 back to the lifting platform 302 to remove the battery.

[0058] In some embodiments provided by this invention, the number of storage devices 2 is set to a pair, and the lifting device 3, the traveling device 4, and the jacking mechanism 5 are arranged between the pair of storage devices 2. This arrangement can make full use of the space within the battery swapping station to store batteries, thereby improving the battery swapping capacity of the station.

[0059] refer to Figures 1-5 As shown, an embodiment of the present invention also provides a battery swapping station.

[0060] Specifically, the battery swapping station includes a battery swapping device 1, a battery swapping station 6, a charging device, and the battery swapping station as described above.

[0061] In this configuration, the battery swapping station 6 is opposite to the battery swapping device 1. At least one of the multiple storage positions 203 of the storage device 2 serves as a transfer position 202, which is opposite to the battery swapping device 1. For example, the storage device 2 and the battery swapping station 6 are respectively located on opposite sides of the battery swapping device 1. The storage positions 203 are mainly used to store fully charged batteries and are usually filled with them. The transfer position 202 serves as a reserved transfer space and is usually left empty. Batteries are only placed in the transfer position 202 when there is a need to transfer batteries between the battery swapping device 1 and the storage position 203. Charging devices are located around the battery swapping device 1. For example, multiple charging devices are arranged in a ring structure, and the side of the ring structure opposite to the battery swapping station 6 has a notch so that the battery swapping device 1 can swap batteries for the vehicle 7 through the notch. Similarly, the side of the ring structure opposite to the transfer position 202 also has a notch so that the battery swapping device 1 can retrieve and place batteries from the transfer position 202. The battery swapping device 1 is used to transfer batteries between the transfer station 202, the battery swapping device 1 and the battery swapping station 6.

[0062] It should be noted that a battery swapping station includes all the advantages of a battery swapping station, which will not be elaborated here.

[0063] In addition, during the battery swapping process, the traveling device 4 transfers the fully charged battery from storage position 203 to transfer position 202. The battery swapping device 1 removes the low-charge battery from the vehicle 7 parked at the battery swapping station 6 and places the fully charged battery from transfer position 202 into the battery slot of vehicle 7. The battery swapping device 1 places the low-charge battery onto the charging device, which charges the low-charge battery. After charging is complete, the battery swapping device 1 places the battery from the charging device into transfer position 202, and then the traveling device 4 transfers the battery from transfer position 202 to storage position 203 for storage.

[0064] This configuration, compared to existing technologies where batteries can only be stored around the periphery of the battery swapping device 1, allows the battery swapping station provided in this embodiment to have a charging device located around the periphery of the battery swapping device 1 for charging the batteries, while the storage device 2 stores the batteries. The battery swapping device 1 enables the transfer of batteries between the swapping station 6, the charging device, and the transfer station 202. The walking device 4, the lifting device 3, and the lifting mechanism 5 enable the transfer of batteries between the transfer station 202 and the storage station 203. This allows for the storage of a large number of batteries in the battery swapping station, without being limited by the periphery of the battery swapping device 1, thus increasing the number of batteries the station can store. This solves the problem in existing technologies where the number of batteries arranged around the periphery of the battery swapping device 1 is relatively small, making it difficult to meet the needs of situations with high battery swapping demands. Furthermore, by placing the charging device around the periphery of the battery swapping device 1 for charging the batteries and the storage device 2 for storing the batteries, the space utilization rate of the battery swapping station can be improved, increasing the number of batteries that the station can hold.

[0065] In some embodiments of the present invention, the battery swapping device 1 includes a rotary platform 101 and a gripping mechanism disposed on the rotary platform 101. The gripping mechanisms are configured as a pair and are used to grip batteries. The moving trajectories of the pair of gripping mechanisms are arranged in parallel, and as shown in the figure, the gripping directions of the pair of gripping mechanisms can be opposite, or they can be the same. For example, the rotary platform 101 may include a slewing bearing, which drives the gripping mechanism to rotate, thereby changing the gripping direction of the gripping mechanism so that the gripping mechanism can face the battery swapping station 6, the transfer station 202, and the charging device respectively. Optionally, a guide rail is provided on the rotary platform 101, and the gripping mechanism is movably disposed on the guide rail. The gripping mechanism can move along the guide rail under the drive of a traveling wheel, a lead screw and nut drive mechanism, a gear and rack drive mechanism, or a hydraulic cylinder. Optionally, the gripping mechanism includes a moving base 102 and a connecting assembly 103. The movable seat 102 is movably mounted on the guide rail of the rotary platform 101, and the connecting assembly 103 is used to connect to the battery. For example, the connecting assembly 103 is vertically detachable from the movable seat 102, and can be driven by a screw and nut drive mechanism, a gear and rack drive mechanism, a winch wire rope, or a hydraulic cylinder. The connecting assembly 103 is provided with a retractable pin, allowing it to be inserted into the top frame of the battery, with the pin extending out to engage with the top frame of the battery. In other words, the battery swapping device 1 lifts the battery by hoisting, suitable for lifting and replacing the battery in the vehicle 7.

[0066] The working process of the battery swapping device 1 equipped with a pair of gripping mechanisms includes: before the vehicle 7 arrives at the battery swapping station, the first gripping mechanism grabs the fully charged battery placed in the transfer position 202 by the walking device 4. After the vehicle 7 enters the battery swapping station 6, the second gripping mechanism grabs the low-charge battery of the vehicle 7, and then the first gripping mechanism places the fully charged battery in the battery position of the vehicle 7, completing the battery swapping process, and the vehicle 7 can leave. The second gripping mechanism then places the low-charge battery on the charging device for charging. With this configuration, the vehicle 7 does not need to wait for the battery swapping device 1 to grab a fully charged battery, nor does it need to wait for the battery swapping device 1 to place the low-charge battery on the charging device during the battery swapping process. That is, grabbing a fully charged battery and placing a low-charge battery can be performed when the vehicle 7 is not present, thereby reducing the waiting time of the vehicle 7 and improving the battery swapping speed of the vehicle 7.

[0067] In some embodiments of the present invention, the battery swapping device 1 further includes a moving device 104, which is movably configured, and a rotating platform 101 is mounted on the moving device 104. For example, the ground of the battery swapping station is provided with a guide rail, the extension direction of which is the same as the length direction of the battery swapping station 6. The moving device 104 is slidably configured on the guide rail and can move along the guide rail under the drive of a traveling wheel, a lead screw and nut drive mechanism, a gear and rack drive mechanism, or a hydraulic cylinder. With this configuration, when the parking position of the vehicle 7 is inaccurate, the orientation of the gripping mechanism can be adjusted by the moving device 104 to be opposite to the battery position of the vehicle 7, so that the battery swapping device 1 can swap the battery of the vehicle 7. At the same time, it can reduce the accuracy requirement of the battery swapping device for the parking position of the vehicle 7, thereby reducing the skill requirement of the driver.

[0068] This invention also provides a battery swapping station control method, which is implemented based on a battery swapping station, for example, it can be implemented based on the battery swapping station described above. The implementing entity of the battery swapping station control method can be a battery swapping station control system.

[0069] Specifically, the control methods for battery swapping stations include:

[0070] The lifting device 3, the traveling device 4, and the lifting mechanism 5 are controlled to operate, so as to remove a fully charged battery from the storage position 203 of the storage device 2 and place it in the transfer position 202 of the storage device 2. Specifically, the traveling device 4 is driven by the lifting device 3 to be opposite to the receiving space of the storage position 203. The traveling device 4 moves from the lifting device 3 into the receiving space through the drive wheels. The lifting mechanism 5 on the traveling device 4 rises to lift the battery set on the support member 204 of the storage position 203. Then the traveling device 4 moves to the lifting device 3 to remove the battery from the storage position 203.

[0071] The storage device 2 includes at least two stacked storage compartments 203. Each storage compartment 203 has a support member 204 on both sides of its bottom for supporting the battery, and there is a gap between the support members 204 to form a receiving space. At least one of the storage compartments 203 serves as a transfer compartment 202. The walking device 4 is equipped with drive wheels and is movably mounted on the lifting device 3. The lifting device 3 drives the walking device 4 to move relative to the receiving space at any height, allowing the walking device 4 to enter and exit the receiving space. A lifting mechanism 5 is mounted on the walking device 4 and is used to drive the battery to rise and fall.

[0072] The battery swapping station control method provided in this embodiment of the invention only requires aligning the walking device 4 with the receiving space of the storage position 203 when removing the battery. This allows the walking device 4 to enter the receiving space, lift the battery, and transport it out of the storage position 203. Compared to the prior art's process of removing the battery using a transfer device, the battery swapping station control method provided by this invention eliminates the steps of inserting the connecting device into the top frame of the battery and the pin engaging with the top frame of the battery. Therefore, fewer steps are required to remove the battery, and the docking process between the connecting device and the battery, as well as the process between the pin and the battery, are saved. The required docking accuracy is lower, the operation is more convenient, and the battery removal efficiency is higher. Similarly, fewer steps are required to place the battery in the storage position 203, and the battery placement efficiency is also higher. Therefore, the battery swapping station provided by this invention can improve the battery retrieval and placement efficiency.

[0073] In some embodiments provided by the present invention, after removing the fully charged battery and placing it in the transfer position 202 of the storage device 2, the method further includes:

[0074] First, a gripping mechanism of the battery swapping device 1 grips a fully charged battery on the transfer station 202. The battery swapping device 1 includes a rotating platform 101 and a pair of gripping mechanisms.

[0075] Specifically, the gripping mechanism is movably mounted on the rotary platform 101. The moving trajectories of the pair of gripping mechanisms are arranged in parallel, and the gripping directions of the pair of gripping mechanisms can be opposite or the same. For example, before the vehicle 7 enters the battery swapping station, the first of the two gripping mechanisms can grip the fully charged battery of the transfer station 202. The first gripping mechanism mentioned here is for ease of description only and should not be construed as a specific limitation on the gripping mechanism. The transfer station 202 is arranged opposite to the battery swapping device 1.

[0076] Secondly, another gripping mechanism of the battery swapping device 1 grabs the low-charge battery of the vehicle 7 parked at the battery swapping station 6.

[0077] Specifically, after the vehicle 7 stops at the battery swapping station 6, the second of the two gripping mechanisms grabs the low-charge battery from the vehicle 7. Optionally, the battery swapping station 6 and the storage device 2 are respectively located on both sides of the battery swapping device 1.

[0078] Next, the control battery swapping device 1 places the fully charged battery in the battery position of vehicle 7.

[0079] Specifically, taking a battery swapping device 1 with a pair of gripping mechanisms gripping in opposite directions as an example, after the second gripping mechanism takes out the low-charge battery of the vehicle 7, the rotating platform 101 is controlled to rotate 180° so that the first gripping mechanism is opposite to the vehicle 7, and the first gripping mechanism is controlled to place the fully charged battery in the battery position of the vehicle 7.

[0080] Next, the battery swapping device 1 is controlled to place the low-power battery on the charging device. Multiple charging devices are set up and arranged around the circumference of the battery swapping device 1.

[0081] Specifically, the second gripping mechanism of the battery swapping device 1 places the gripped low-charge battery onto the charging device. Optionally, the charging device includes a charging base on which the battery is mounted, and the charging base is used to charge the battery. Optionally, multiple charging devices are arranged in a ring structure, and a notch is provided on the side of the ring structure opposite to the battery swapping station 6, so that the battery swapping device 1 can swap the battery of the vehicle 7 through the notch. Similarly, a notch is also provided on the side of the ring structure opposite to the transfer station 202, so that the battery swapping device 1 can pick up and place the battery into the transfer station 202.

[0082] Next, control the charging device to charge the low-power battery.

[0083] Specifically, the low-power battery is charged using a charging device to increase its capacity.

[0084] Next, the control battery swapping device 1 places the fully charged battery from the charging device into the transfer position 202.

[0085] Specifically, the gripping mechanism of the battery swapping device 1 removes the fully charged battery from the charging device and places it in the transfer position 202.

[0086] Finally, the lifting device 3, the traveling device 4, and the lifting mechanism 5 are controlled to move the battery in the transfer position 202 to the storage position 203.

[0087] Specifically, the lifting device 3 is controlled to align the traveling device 4 with the receiving space of the transfer position 202. Then, the traveling device 4 is controlled to move from the lifting device 3 into the receiving space. Next, the lifting mechanism 5 on the traveling device 4 is controlled to rise to lift the battery in the transfer position 202. Finally, the traveling device 4 is controlled to retract from the receiving space back to the lifting device 3 to remove the battery from the transfer position 202. The process of placing the battery in the storage position 203 will not be described in detail.

[0088] Compared to existing technologies where batteries can only be stored in the battery swapping device 1, the battery swapping station control method provided in this embodiment of the invention charges the batteries through a charging device located around the battery swapping device 1, stores the batteries through a storage device 2, and enables the batteries to move between the battery swapping station 6, the charging device, and the transfer station 202 through the battery swapping device 1. Furthermore, the battery moves between the transfer station 202 and the storage station 203 through a traveling device 4, a lifting device 3, and a lifting mechanism 5. This allows a large number of batteries to be stored in the storage device 2 of the battery swapping station, without being limited by the peripheral space of the battery swapping device 1, thereby increasing the number of batteries that the battery swapping station can store. This solves the problem in existing technologies where the number of batteries arranged around the battery swapping device 1 is relatively small, making it difficult to meet the needs of situations with large battery swapping demands.

[0089] In some embodiments provided by the present invention, controlling the charging device to charge a low-power battery includes:

[0090] During periods of low electricity prices, the charging device is controlled to charge batteries with low power levels.

[0091] For example, electricity consumption is lower at night, resulting in lower electricity prices. Charging low-charge batteries with charging devices at this time can reduce the operating costs of battery swapping stations.

[0092] Furthermore, when the number of low-power batteries is greater than the number of battery swapping devices 1, the low-power batteries can be placed in storage position 203 of storage device 2. During periods of low electricity prices, the low-power batteries in storage position 203 can be taken out and placed in charging device for charging. Finally, the fully charged batteries can be placed back in storage position 203 for storage.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A battery swap station, characterized by, include: The storage device (2) includes at least two storage positions (203) arranged in a stacked manner. Each storage position (203) has a support member (204) for supporting the battery on both sides of its bottom, and there is a gap between the support members (204) on both sides of the bottom of the storage position (203) to form a accommodating space. The device includes a lifting device (3), a walking device (4), and a lifting mechanism (5). The walking device (4) is provided with a drive wheel and is movably mounted on the lifting device (3). The lifting device (3) can drive the walking device (4) to face the accommodating space at any height. The walking device (4) can enter and exit the accommodating space. The lifting mechanism (5) is mounted on the walking device (4) and is used to drive the battery to lift. The battery swapping device (1) includes a rotating platform (101) and a gripping mechanism disposed on the rotating platform (101). The gripping mechanism is configured as a pair and is used to grip the battery. The gripping mechanism is movably disposed on the rotating platform (101). The moving trajectories of the pair of gripping mechanisms are arranged in parallel. The battery swapping device (1) also includes a moving device (104), and the rotating platform (101) is mounted on the moving device (104). A battery swapping station (6) and a charging device are provided. The battery swapping station (6) is opposite to the battery swapping device (1). At least one of the storage positions (203) serves as a transfer position (202), which is opposite to the battery swapping device (1). The charging device is located around the battery swapping device (1). The battery swapping device (1) is used to transfer batteries between the transfer position (202), the charging device, and the battery swapping station (6). The moving device (104) can move along the length of the battery swapping station (6). The charging device charges the low-power batteries during periods of low electricity prices. When the number of low-power batteries is greater than the number of charging devices, the low-power batteries are placed in the storage position (203) of the storage device (2). During periods of low electricity prices, the low-power batteries in the storage position (203) are taken out and placed in the charging device for charging. After that, the fully charged batteries are placed back in the storage position (203) for storage.

2. The battery swap station of claim 1, wherein, Each storage space (203) of the storage device (2) includes a plurality of storage spaces (203) arranged in sequence, and at least one of the walking device (4) and the lifting device (3) is movable along the arrangement direction of the storage spaces (203).

3. The battery swap station of claim 2, wherein, The walking device (4) is movable along the arrangement direction of the storage position (203), and includes: The lifting device (3) comprises a support (301) and a lifting seat (302) arranged on the support (301) in a lifting manner, the lifting seat (302) extends along the arrangement direction of the storage positions (203), and the walking device (4) is arranged on the lifting seat (302), and the walking device (4) can move along the arrangement direction of the storage positions (203) and the direction perpendicular to the arrangement direction of the storage positions (203) respectively.

4. The battery swap station of claim 3, wherein, The driving wheel comprises at least three steering wheels or at least four Mecanum wheels.

5. The battery swap station of claim 2, wherein, The lifting device (3) is movably arranged along the arrangement direction of the storage positions (203) and comprises: The battery replacement station comprises a guide structure (8), the extension direction of the guide structure (8) is the same as the arrangement direction of the storage positions (203), and the lifting device (3) is movably arranged on the guide structure (8).

6. The battery swap station according to any one of claims 1-5, characterized in that, The number of the storage devices (2) is arranged as a pair, and the lifting device (3), the walking device (4) and the jacking mechanism (5) are arranged between the pair of storage devices (2).

7. A battery swap station control method applied to the battery swap station of any one of claims 1-6, characterized in that, Comprise: Control the actions of the lifting device (3), the walking device (4) and the jacking mechanism (5) to take out the full-power battery from the storage position (203) of the storage device (2) and place it in the transfer position (202) of the storage device (2), wherein the storage device (2) comprises at least two layers of the storage positions (203) arranged in a stacked manner, the bottom of each of the storage positions (203) is provided with a support (204) for supporting the battery, and the supports (204) on both sides of the bottom of each of the storage positions (203) have a spacing to form an accommodation space, at least one of the storage positions (203) is used as the transfer position (202), the walking device (4) is provided with a driving wheel and is movably arranged on the lifting device (3) through the driving wheel, the lifting device (3) is used to drive the walking device (4) to be opposite to the accommodation space at any height position, the walking device (4) can enter and exit the accommodation space, and the jacking mechanism (5) is arranged on the walking device (4) and is used to drive the battery to lift.

8. The battery swap station control method of claim 7, wherein, After taking out the full-power battery and placing it in the transfer position (202) of the storage device (2), further comprising: Control one of the grabbing mechanisms of the battery replacement device (1) to grab the full-power battery on the transfer position (202), wherein the battery replacement device (1) comprises a rotating platform (101) and a pair of grabbing mechanisms; Control another of the grabbing mechanisms of the battery replacement device (1) to grab the low-power battery of the vehicle (7) parked at the battery replacement station (6); Control the battery replacement device (1) to place the full-power battery in the battery position of the vehicle (7); Control the battery replacement device (1) to place the low-power battery on the charging device, and the charging device is arranged as a plurality of charging devices arranged along the circumference of the battery replacement device (1); Control the charging device to charge the low-power battery; controlling the battery swapping device (1) to place the fully charged battery on the charging device in the transfer position (202); controlling the lifting device (3), the walking device (4) and the jacking mechanism (5) to transfer the battery in the transfer position (202) to the storage position (203).

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