A coal mine underground electric vehicle power supply quick change device and a power supply quick change method

Abstract

The present application belongs to the technical field of mine electric vehicles, and provides a coal mine underground electric vehicle power supply quick changing device and a power supply quick changing method, which comprises a battery quick changing mechanism, a whole vehicle moving positioning module, a vehicle body posture sensor and a controller, the quick changing base and the quick changing battery rack are detachably connected, the positioning structure of the quick changing base is used for positioning the quick changing battery rack when the quick changing base and the quick changing battery rack are connected, the locking structure of the quick changing base is used for locking the quick changing battery rack when the quick changing base and the quick changing battery rack are connected, the whole vehicle moving positioning module is used for detecting the position of the coal mine underground electric vehicle, and the vehicle body posture sensor is used for detecting the ground slope where the coal mine underground electric vehicle is located. The present application has the characteristics of flexible operation and simple structure, and only needs to be connected with the underground simple hoisting tool and the fork loading equipment to realize the on-site quick replacement of the battery of the coal mine underground electric vehicle, so that the continuous underground operation demand of the coal mine electric explosion-proof rubber-tyred vehicle is met.

Description

Technical Field

[0001] This invention relates to the field of electric mining vehicles, and in particular to a power supply quick-change device and method for electric vehicles in underground coal mines. Background Technology

[0002] Explosion-proof trackless rubber-tired vehicles for underground coal mines have the advantages of flexible operation and high transportation efficiency, and are widely used in major mining areas across China. With the development of electric vehicle technology and the increasing demands for energy conservation and emission reduction in underground coal mines, various new types of pure electric explosion-proof trackless rubber-tired vehicles powered by explosion-proof batteries have emerged. Due to their low noise and zero pollution characteristics, they are gradually replacing traditional diesel-powered explosion-proof trackless rubber-tired vehicles. However, due to the requirements of mine safety regulations and the development of chemical battery technology, the electric components such as motors and batteries used in electric explosion-proof trackless rubber-tired vehicles need to undergo explosion-proof treatment. This treatment significantly increases the weight of the components, resulting in lower energy density in the explosion-proof batteries and severely limiting the vehicle's range. Consequently, the vehicles need to be frequently brought to the surface for charging, which severely restricts the working efficiency of electric explosion-proof rubber-tired vehicles and cannot fully meet the needs of continuous underground operations.

[0003] Therefore, given that chemical battery technology cannot be significantly improved in the short term, developing vehicle battery fast-swapping technology is necessary. Currently, traditional ground-based battery fast-swapping stations are already well-established, but the battery fast-swapping mechanisms used on the ground are quite complex. They require the construction of dedicated battery fast-swapping stations and the installation of specialized large-scale precision automated hoisting equipment. In addition, the vehicle body also needs to be equipped with a sophisticated and complex battery locking mechanism. These requirements are difficult to meet under the complex and harsh conditions of underground coal mines. Furthermore, the distance between the surface and underground areas in most coal mines is far, and changing batteries at the surface takes a long time. Therefore, developing underground fast-swapping technology for electric vehicles in coal mines is necessary. Summary of the Invention

[0004] The purpose of this invention is to provide a quick-change device and method for power supply of electric vehicles in coal mines, so as to solve the problems existing in the prior art. It can realize the rapid on-site replacement of batteries of electric vehicles in coal mines with simple underground hoisting tools and forklift equipment, thus meeting the continuous underground operation needs of electric explosion-proof rubber-wheeled vehicles in coal mines.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides a quick-swap power supply device for electric vehicles in coal mines, including a battery quick-swap mechanism, a vehicle movement positioning module, a vehicle posture sensor, and a controller. The battery quick-swap mechanism includes a quick-swap base and a quick-swap battery rack. The quick-swap base is mounted on the frame of the electric vehicle in the coal mine, and the quick-swap battery rack is used to hold batteries or battery packs. The quick-swap base and the quick-swap battery rack are detachably connected. The quick-swap base includes a positioning structure and a locking structure. The positioning structure is used to lock the quick-swap battery rack when the quick-swap base and the quick-swap battery rack are connected. The positioning system includes a locking structure for locking the quick-change battery rack when the quick-change base and the quick-change battery rack are connected; a vehicle movement positioning module for detecting the position of the underground electric vehicle; a vehicle body attitude sensor for detecting the ground slope where the underground electric vehicle is located; and the locking structure, the vehicle movement positioning module, and the vehicle body attitude sensor are all electrically connected to the controller.

[0007] Preferably, the quick-change base includes a base frame, a frame fixing seat, a frame fixing plate, and a buffer pad. The positioning structure and the locking structure are both disposed on the base frame. Two frame fixing seats are respectively disposed on both sides of the base frame. Each frame fixing seat is connected to a frame fixing plate. Each frame fixing plate is connected to the frame. An inclined support beam is also disposed between each frame fixing seat and the base frame. Several buffer pads are disposed on the base frame.

[0008] Preferably, the positioning structure includes locking pins and limiting blocks. There are several locking pins, which are used to extend into the quick-change battery holder. There are at least two limiting blocks, which are located outside the locking structure and are used to limit the position of the quick-change battery holder. A base distance sensor is provided on the base frame, which is electrically connected to the controller and is used to detect the distance between the quick-change battery holder and the base frame.

[0009] Preferably, the locking structure is a locking cylinder assembly, which includes a cylinder seat, a locking cylinder, a load-bearing limiting block, a cylinder distance sensor, a sensor sensing plate, and a pin. The cylinder distance sensor is electrically connected to the controller. The cylinder seat, the cylinder distance sensor, and the load-bearing limiting block are all mounted on the quick-change base. The cylinder body of the locking cylinder is hinged to the cylinder seat. The telescopic end of the locking cylinder is hinged to one end of the pin. The pin is located in the through hole of the load-bearing limiting block, and the other end of the pin is used to extend into the quick-change battery holder. The sensor sensing plate is located at the hinge point between the telescopic end of the locking cylinder and the pin. The cylinder distance sensor is located between the cylinder seat and the sensor sensing plate.

[0010] Preferably, there are four locking structures, with two locking structures located near one end of the quick-change base and the other two locking structures located near the other end of the quick-change base. The locking cylinders of the two locking structures located near the same end of the quick-change base are positioned facing each other when extended.

[0011] Preferably, the quick-change battery rack includes an upper hanger and a lower frame, the upper hanger being connected to the lower frame; the bottom of the lower frame is provided with two layers of load-bearing beams, the upper load-bearing beam being provided with a battery fixing seat for placing a battery or battery pack, the lower load-bearing beam being provided with a locking cylinder pad, and a forklift guide plate being provided between the two layers of load-bearing beams.

[0012] Preferably, it also includes a low-voltage backup power module mounted on the vehicle frame, the low-voltage backup power module being used to supply power to the power quick-switch device for the underground electric vehicle in the coal mine.

[0013] The present invention also provides a power switching method using the aforementioned fast power switching device for underground electric vehicles in coal mines, comprising the following steps:

[0014] S1. When the vehicle's battery is low, the driver stops the vehicle and issues a battery swapping request command. The vehicle's mobile positioning module detects the vehicle's location, and the vehicle's attitude sensor detects the ground slope where the vehicle is located. If the vehicle is not in a high-risk environment and the ground slope is less than 5°, battery swapping is allowed.

[0015] S2. Select either overhead or forklift-mounted battery swapping method based on the location of the backup battery or battery pack and the surrounding environment and equipment conditions.

[0016] S3, the locking cylinder retracts. When the distance sensor of each cylinder detects that each locking cylinder has fully retracted, proceed to the next operation.

[0017] S4. Lift or fork the old battery or battery pack along with the quick-change battery rack in a direction perpendicular to the vehicle frame surface. After exceeding the height of the locking pin, move the old battery or battery pack along with the quick-change battery rack horizontally and place the old battery or battery pack along with the quick-change battery rack on one side of the vehicle.

[0018] S5, from the other side of the vehicle, the spare battery or battery pack is placed on the quick-change base via the same trajectory through the secondary positioning;

[0019] S6. When the base distance sensor detects that the battery quick-change bracket has fully fallen and inserted the locking pin, the locking cylinder extends and presses the battery quick-change bracket, completing the battery swap.

[0020] The present invention achieves the following technical effects compared to the prior art:

[0021] Compared to the prior art, this invention offers significantly lower cost and higher reliability. By combining a vehicle-to-vehicle mobile positioning module with a vehicle posture sensor fusion technology, this invention can determine in real time whether the vehicle's environment is suitable for battery swapping, greatly reducing the safety hazards in coal mines caused by battery swapping operations. Furthermore, this invention has a simple structure, high reliability, and facilitates on-site maintenance and repair underground. It enables rapid on-site replacement of batteries for electric vehicles in coal mines, meeting the continuous operation requirements of electric explosion-proof rubber-wheeled vehicles in coal mines and significantly improving mine production efficiency and safety. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the power supply quick-change device for underground electric vehicles in coal mines according to the present invention.

[0024] Figure 2 This is a schematic diagram of the battery quick-swap mechanism of the present invention;

[0025] Figure 3 This is a schematic diagram of the quick-change base of the present invention;

[0026] Figure 4 This is a schematic diagram of the locking cylinder assembly of the present invention;

[0027] Figure 5 This is a schematic diagram of the quick-change battery holder of the present invention;

[0028] Figure 6 This is a schematic diagram of the control flow of the vehicle battery fast-swap system of the present invention;

[0029] The components are as follows: 101-Battery quick-change mechanism, 102-Battery or battery pack, 201-Vehicle movement positioning module, 202-Vehicle posture sensor, 301-Vehicle body, 401-Low-voltage backup power module; 1011-Quick-change base, 1012-Quick-change battery rack; 1-Base frame, 2-Frame fixing seat, 3-Frame fixing plate, 4-Buffer pad, 5-Locking pin, 6-Base distance sensor, 7-Control system junction box, 8-Locking cylinder assembly, 9-Diagonal support beam, 10-Limit block; 11-Cylinder seat, 12-Locking cylinder, 13-Bearing limit block, 14-Cylinder distance sensor, 15-Sensor sensing plate, 16-Pin; 17-Hanger pin, 18-Battery fixing seat, 19-Locking cylinder pad, 20-Forklift guide plate, 21-Upper hanger, 22-Lower frame. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] The purpose of this invention is to provide a quick-change device and method for power supply of electric vehicles in coal mines, so as to solve the problems existing in the prior art. It can realize the rapid on-site replacement of batteries of electric vehicles in coal mines with simple underground hoisting tools and forklift equipment, thus meeting the continuous underground operation needs of electric explosion-proof rubber-wheeled vehicles in coal mines.

[0032] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] Example 1

[0034] like Figures 1-5As shown: This embodiment provides a quick-swap power supply device for an electric vehicle in a coal mine, including a battery quick-swap mechanism 101, a vehicle movement positioning module 201, a vehicle posture sensor 202, and a controller. The battery quick-swap mechanism 101 includes a quick-swap base 1011 and a quick-swap battery rack 1012. The quick-swap base 1011 is bolted to the frame of the electric vehicle in the coal mine. The quick-swap battery rack 1012 is used to hold batteries or battery packs 102. The quick-swap base 1011 and the quick-swap battery rack 1012 are detachably connected. The quick-swap base 1011 includes a positioning structure and a locking structure. The positioning structure is used to position the quick-swap battery rack 1012 when the quick-swap base 1011 and the quick-swap battery rack 1012 are connected. The locking structure is used to lock the quick-change battery rack 1012 when the quick-change base 1011 and the quick-change battery rack 1012 are connected. The vehicle movement positioning module 201 is used to install on the body 301 of the underground electric vehicle and to detect the position of the underground electric vehicle. The body posture sensor 202 is used to install on the frame of the underground electric vehicle and to detect the ground slope where the underground electric vehicle is located. The locking structure, the vehicle movement positioning module 201 and the body posture sensor 202 are electrically connected to the controller. When the vehicle needs to change batteries in the underground coal mine, the quick-change battery rack 1012 is replaced along with the battery or battery pack 102. Compared to the prior art, this embodiment offers significantly lower cost and higher reliability. By combining the vehicle movement positioning module 201 and the vehicle posture sensor 202 in the underground coal mine, this embodiment can determine in real time whether the vehicle's environment is suitable for battery swapping, greatly reducing the safety hazards in the coal mine caused by battery swapping. At the same time, this embodiment has a simple structure, high reliability, and is easy to maintain and repair underground. It can realize the rapid on-site replacement of batteries for electric vehicles in underground coal mines, meeting the continuous operation requirements of electric explosion-proof rubber-wheeled vehicles in coal mines, and greatly improving mine production efficiency and safety.

[0035] Specifically, in this embodiment, a low-voltage backup power module 401 is also included, which is used to supply power to the electric vehicle power swapping device in the coal mine. When a battery swapping request is received from the operator, the controller extracts data from the on-board mobile positioning module and the vehicle posture sensor 202 to determine whether the current environment and location of the vehicle meet the battery swapping conditions; otherwise, the battery swapping operation is not allowed.

[0036] In this embodiment, the quick-change base 1011 includes a base frame 1, a frame mounting base 2, a frame mounting plate 3, and buffer pads 4. The positioning and locking structures are both mounted on the base frame 1. Two frame mounting bases 2 are respectively mounted on both sides of the base frame 1. Each frame mounting base 2 is connected to a frame mounting plate 3, and each frame mounting plate 3 is bolted to the frame. The distance between the two frame mounting plates 3 on the same side matches the width of the frame. A diagonal support beam 9 is also provided between each frame mounting base 2 and the base frame 1 for reinforcement. Several buffer pads 4 are provided on the base frame 1 to absorb the impact generated by the bumps of the quick-change battery rack 1012 during vehicle operation. A control system junction box 7 is also provided on the crossbeam of the base frame 1 for connecting to the controller.

[0037] In this embodiment, the positioning structure includes locking pins 5 and limiting blocks 10. There are several locking pins 5, preferably four in this embodiment. One end of the locking pin 5 is fixed to the base frame 1, and the other end of the locking pin 5 is used to extend into the quick-change battery holder 1012 to limit the swaying of the quick-change battery holder 1012 on the horizontal plane. The limiting blocks 10 are welded to the inner ring of the base frame 1. There are at least two limiting blocks 10, which are located on the outside of the locking structure. The limiting blocks 10 are used to limit the position of the quick-change battery holder 1012. A base distance sensor 6 is provided in the reserved hole slot on the base frame 1. The base distance sensor 6 is electrically connected to the controller. The base distance sensor 6 is used to detect the distance between the quick-change battery holder 1012 and the base frame 1. The measured distance between the quick-change battery holder 1012 and the base frame 1 determines whether the quick-change battery holder 1012 is in the correct position.

[0038] In this embodiment, the locking structure is a locking cylinder assembly 8, which includes a cylinder seat 11, a locking cylinder 12, a bearing limiting block 1310, a cylinder distance sensor 14, a sensor sensing plate 15, and a pin 16. The cylinder distance sensor 14 is electrically connected to the controller. The extension and retraction direction of the locking cylinder 12 is parallel to the surface of the base frame 1. The axis of the locking cylinder 12 is parallel to the length direction of the frame. The axis of the locking cylinder 12 and the axis of the pin 16 are coaxial. The cylinder seat 11 and the cylinder distance sensor 14 are both located on the upper surface of the base frame 1. The bearing limiting block 1310... The cylinder body of the locking cylinder 12 is hinged to the cylinder seat 11, and the telescopic end of the locking cylinder 12 is hinged to one end of the pin 16. The pin 16 is located in the through hole of the bearing limit block 1310 and can move in the through hole. The other end of the pin 16 is used to extend into the quick-change battery rack 1012. The sensor plate 15 is located at the hinge between the telescopic end of the locking cylinder 12 and the pin 16. The cylinder distance sensor 14 is located between the cylinder seat 11 and the sensor plate 15, and the cylinder distance sensor 14, the cylinder seat 11 and the sensor plate 15 are located on the same vertical plane.

[0039] In this embodiment, there are four locking structures. Two locking structures are located near one end of the quick-change base 1011, and the other two locking structures are located near the other end of the quick-change base 1011. The locking cylinders 12 of the two locking structures located near the same end of the quick-change base 1011 are arranged facing each other when extended.

[0040] When the quick-change battery rack 1012 is hoisted, it is first coarsely positioned by the limit block 10. As the quick-change battery rack 1012 falls, it cooperates with the locking pin 5 on the quick-change base 1011 to achieve secondary precise positioning of the quick-change battery rack 1012.

[0041] In this embodiment, the quick-change battery rack 1012 includes an upper hanger 21 and a lower frame 22. The upper hanger 21 is connected to the lower frame 22 via a hanger pin 17. The bottom of the lower frame 22 is provided with two layers of load-bearing beams. A battery fixing seat 18 matching the size of the battery or battery pack 102 is welded onto the upper load-bearing beam. The battery fixing seat 18 is used to place the battery or battery pack 102. A locking cylinder pad 19 is provided on the lower load-bearing beam. When the quick-change battery rack 1012 falls onto the quick-change base 1011, the locking cylinder 12 on the quick-change base 1011 extends and contacts the locking cylinder pad 19, which serves to vertically press the quick-change battery rack 1012. A forklift guide plate 20 is provided between the two layers of load-bearing beams. The forklift guide plate 20 is used to guide the forks of the forklift. The length direction of the forklift guide plate 20 is perpendicular to the length direction of the vehicle body.

[0042] Example 2

[0043] like Figure 6 As shown: This embodiment provides a power switching method using the power switching device for underground electric vehicles in coal mines according to Embodiment 1, including the following steps:

[0044] S1. When the vehicle's battery is low, the driver stops the vehicle and issues a battery swapping request command. The vehicle's mobile positioning module detects the vehicle's location, and the vehicle attitude sensor 202 detects the ground slope where the vehicle is located. When the vehicle is not in a high-risk environment and the ground slope is <5°, battery swapping is allowed.

[0045] High-risk environments refer to geologically unstable areas with methane and CO concentrations >0.5% or poor roof support conditions, as well as areas in coal mine roadways where electric vehicles are not permitted to enter, etc. The mine shall make specific provisions for these high-risk areas and embed the high-risk area location points into the vehicle positioning program in advance.

[0046] S2, depending on the location of the backup battery or battery pack 102 and the environmental and equipment conditions, select the overhead or forklift-mounted battery swapping method;

[0047] S3, the controller controls each locking cylinder 12 to retract. When the distance sensor 14 of each cylinder detects that each locking cylinder 12 has fully retracted, the green light illuminates, and the next operation is performed.

[0048] S4, the old battery or battery pack 102 together with the quick-change battery rack 1012 is lifted or forked in a direction perpendicular to the surface of the vehicle frame. After exceeding the height of the locking pin 5, the old battery or battery pack 102 together with the quick-change battery rack 1012 is moved horizontally and placed on the ground on one side of the vehicle body.

[0049] S5, from the other side of the vehicle, the spare battery or battery pack 102 is placed on the quick-change base 1011 via the same trajectory through the secondary positioning.

[0050] S6. When the base distance sensor 6 detects that the battery quick-change bracket has completely fallen and inserted the locking pin 16, the green light turns on, and the controller controls the locking cylinder 12 to extend and press the battery quick-change bracket, thus completing the battery swap.

[0051] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A quick-change power supply device for electric vehicles in coal mines, characterized in that: The system includes a battery quick-swap mechanism, a vehicle motion positioning module, a vehicle body attitude sensor, and a controller. The battery quick-swap mechanism includes a quick-swap base and a quick-swap battery rack. The quick-swap base is mounted on the frame of the underground electric vehicle, and the quick-swap battery rack is used to hold batteries or battery packs. The quick-swap base and the quick-swap battery rack are detachably connected. The quick-swap base includes a positioning structure and a locking structure. The positioning structure is used to position the quick-swap battery rack when the quick-swap base and the quick-swap battery rack are connected, and the locking structure is used to lock the quick-swap battery rack when the quick-swap base and the quick-swap battery rack are connected. The vehicle motion positioning module is mounted on the body of the underground electric vehicle and is used to detect the position of the underground electric vehicle. The vehicle body attitude sensor is mounted on the frame of the underground electric vehicle and is used to detect the ground slope where the underground electric vehicle is located. The locking structure, the vehicle motion positioning module, and the vehicle body attitude sensor are all electrically connected to the controller. The locking structure is a locking cylinder assembly, which includes a cylinder seat, a locking cylinder, a load-bearing limiting block, a cylinder distance sensor, a sensor sensing plate, and a pin. The cylinder distance sensor is electrically connected to the controller. The cylinder seat, the cylinder distance sensor, and the load-bearing limiting block are all mounted on the quick-change base. The cylinder body of the locking cylinder is hinged to the cylinder seat. The telescopic end of the locking cylinder is hinged to one end of the pin. The pin is located in the through hole of the load-bearing limiting block, and the other end of the pin is used to extend into the quick-change battery holder. The sensor sensing plate is located at the hinge point between the telescopic end of the locking cylinder and the pin. The cylinder distance sensor is located between the cylinder seat and the sensor sensing plate.

2. The quick-change power supply device for underground electric vehicles in coal mines according to claim 1, characterized in that: The quick-change base includes a base frame, a frame fixing seat, a frame fixing plate, and a buffer pad. The positioning structure and the locking structure are both set on the base frame. Two frame fixing seats are respectively set on both sides of the base frame. Each frame fixing seat is connected to a frame fixing plate. Each frame fixing plate is connected to the frame. An inclined support beam is also set between each frame fixing seat and the base frame. Several buffer pads are set on the base frame.

3. The quick-change power supply device for underground electric vehicles in coal mines according to claim 2, characterized in that: The positioning structure includes locking pins and limiting blocks. There are several locking pins, which are used to extend into the quick-change battery holder. There are at least two limiting blocks, which are located on the outside of the locking structure and are used to limit the position of the quick-change battery holder. A base distance sensor is provided on the base frame, which is electrically connected to the controller and is used to detect the distance between the quick-change battery holder and the base frame.

4. The quick-change power supply device for underground electric vehicles in coal mines according to claim 1, characterized in that: The locking structure consists of four parts. Two of the locking structures are located near one end of the quick-change base, and the other two are located near the other end of the quick-change base. The locking cylinders of the two locking structures located near the same end of the quick-change base are positioned facing each other when extended.

5. The quick-change power supply device for underground electric vehicles in coal mines according to claim 1, characterized in that: The quick-change battery rack includes an upper hanger and a lower frame, with the upper hanger connected to the lower frame. The bottom of the lower frame has two layers of load-bearing beams. The upper load-bearing beam has a battery mounting seat for placing batteries or battery packs. The lower load-bearing beam has a locking cylinder pad. A forklift guide plate is provided between the two load-bearing beams.

6. The quick-change power supply device for underground electric vehicles in coal mines according to claim 1, characterized in that: It also includes a low-voltage backup power module mounted on the vehicle frame, which is used to supply power to the power quick-switch device of the underground electric vehicle in the coal mine.

7. A power switching method using the power switching device for underground electric vehicles in coal mines according to any one of claims 1-6, characterized in that: Includes the following steps: S1. When the vehicle's battery is low, the driver stops the vehicle and issues a battery swapping request command. The vehicle's mobile positioning module detects the vehicle's location, and the vehicle's attitude sensor detects the ground slope where the vehicle is located. If the vehicle is not in a high-risk environment and the ground slope is less than 5°, battery swapping is allowed. S2. Select either overhead or forklift-mounted battery swapping method based on the location of the backup battery or battery pack and the surrounding environment and equipment conditions. S3, the locking cylinder retracts. When the distance sensor of each cylinder detects that each locking cylinder has fully retracted, proceed to the next operation. S4. Lift or fork the old battery or battery pack along with the quick-change battery rack in a direction perpendicular to the vehicle frame surface. After exceeding the height of the locking pin, move the old battery or battery pack along with the quick-change battery rack horizontally and place the old battery or battery pack along with the quick-change battery rack on one side of the vehicle. S5, from the other side of the vehicle, the spare battery or battery pack is placed on the quick-change base via the same trajectory through the secondary positioning; S6. When the base distance sensor detects that the battery quick-change bracket has fully fallen and inserted the locking pin, the locking cylinder extends and presses the battery quick-change bracket, completing the battery swap.

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