Integrated vehicle vertical battery swapping system, method, device and storage medium

Abstract

The application provides an integrated vehicle vertical battery replacement system, method, equipment and storage medium. The system comprises: a first track perpendicular to a first battery replacement path, a first end of the first track forming a loading and unloading station adjacent to the first battery replacement path, and a plurality of charging seats arranged on at least one side of the first track; at least one overhead hoist robot for loading and unloading battery packs based on the loading and unloading station; at least one dynamic cache device arranged on one side of the first track, wherein the moving stroke of the dynamic cache device storing full battery packs passes through the loading and unloading station; and at least one carrying robot moving based on the first track, wherein the carrying robot and the dynamic cache device enter the loading and unloading station at different times. The application can provide the shortest battery replacement path through the dynamic cache device adjacent to the battery replacement station to reduce the waiting time of the overhead hoist robot, and is integrated in a container, thereby not only reducing the space occupied by the battery replacement station, but also greatly improving the promotion of the battery replacement efficiency of the battery replacement station.

Description

Technical Field

[0001] This invention relates to the field of battery swapping for large new energy vehicles, and more specifically, to an integrated vehicle vertical battery swapping system, method, equipment, and storage medium. Background Technology

[0002] Currently, most electric vehicles use a bottom-mounted battery swapping method, which requires supporting the vehicle, opening the battery compartment door at the bottom, and removing the battery from below for replacement. However, large new energy vehicles, such as heavy-duty unmanned trucks, are too heavy for bottom-mounted battery swapping, and the overall speed of bottom-mounted swapping is slow, reducing the turnover efficiency of battery swapping stations.

[0003] For battery swapping of trucks, especially heavy-duty trucks, most currently employ top-mounted installation methods. Examples include: CN215552604U, a battery swapping station for new energy heavy-duty trucks; CN214689108U, an electric heavy-duty truck battery swapping station with two-way lanes; CN110862008A, an electric heavy-duty truck charging and swapping system; and CN210634533U, a heavy-duty truck battery swapping station. The core equipment of these solutions includes a gantry crane, a vehicle-mounted battery swapping base, and a battery box. The main feature is that the battery pack is lifted from the top of the vehicle using a gantry crane for the swapping operation. The battery swapping process mainly includes: ① The vehicle enters the battery swapping waiting area, stops accurately, and then turns off the engine.

[0004] ② The RFID equipment on the battery swapping station side identifies vehicle information.

[0005] ③ The driver gets out of the vehicle, scans the code, and starts the battery swapping process.

[0006] ④ Unlock the vehicle battery base, use a crane to locate the battery pack, and lift the battery pack from the vehicle.

[0007] ⑤ The overhead crane moves the battery pack inside the battery compartment, hoisting the new battery pack onto the vehicle, and then returns the overhead crane to its original position.

[0008] ⑥ Once the new battery pack is in place, the vehicle battery base is locked, and the driver drives the vehicle away from the battery swapping station; However, these technical solutions all have the following drawbacks: ① The station height is greater than 6 meters, which is quite high and makes it difficult to transport the equipment as a whole; ② Each workstation requires a mobile device, which increases system complexity and cost; ③ Not suitable for mobile battery swapping, meaning that the battery swapping station can be conveniently moved to the destination at any time to swap batteries for trucks.

[0009] ④ The battery swapping cycle for a single electric heavy-duty truck at a battery swapping station is lengthy, resulting in slow swapping efficiency. This makes it unsuitable for use in scenarios such as docks where electric heavy-duty trucks are concentrated and frequent battery swapping operations are required. (One reason for the slow swapping is the excessively long journey involved in transporting empty or fully charged battery packs, causing the hoisting mechanism to wait for extended periods. Throughout the swapping process, the hoisting mechanism remains idle for a considerable time, leading to low swapping efficiency.)

[0010] Therefore, the present invention provides an integrated vehicle vertical battery swapping system, method, device and storage medium suitable for horizontal battery swapping mode. Summary of the Invention

[0011] To address the problems in the prior art, the present invention aims to provide an integrated vehicle vertical battery swapping system, method, device, and storage medium, which overcomes the difficulties of the prior art. It can provide the shortest battery swapping path through a dynamic buffer device adjacent to the battery swapping station to reduce the waiting time of the overhead crane robot. Furthermore, it is integrated into a container, which not only reduces the space occupied by the battery swapping station but also greatly accelerates the improvement of the battery swapping efficiency.

[0012] Embodiments of the present invention provide an integrated vehicle vertical battery swapping system, comprising: A first track is perpendicular to a first battery swapping path. The first end of the first track forms a loading and unloading station adjacent to the first battery swapping path. Several charging stations are arranged on at least one side of the first track. At least one overhead robot is used to load and unload battery packs at the loading and unloading station. At least one dynamic buffer device is disposed on one side of the first track, and the movement of the dynamic buffer device, which stores a fully charged battery pack, passes through the loading and unloading station; and At least one transport robot moves along the first track, and the transport robot and the dynamic buffer device enter the loading and unloading station in a time-sharing manner.

[0013] Preferably, it also includes a detection module for detecting the transport robot. After the transport robot leaves the loading and unloading station with the battery pack to be charged, the dynamic buffer device is activated to load the battery pack to be replaced and enter the loading and unloading station in a direction perpendicular to the first track.

[0014] Preferably, after the overhead crane robot removes the battery pack from the dynamic buffer device and the dynamic buffer device is reset, the transport robot transports another battery pack to be replaced to the dynamic buffer device.

[0015] Preferably, along the extension direction of the first track, a dynamic buffer device and several charging docks are arranged sequentially on both sides from the first end to the second end.

[0016] Preferably, a dynamic buffer device and several charging docks are arranged sequentially from the first end to the second end along the first side of the first track; and several charging docks are arranged sequentially along the second side of the first track.

[0017] Preferably, a dynamic buffer device and several charging bases are arranged sequentially from the first end to the second end along the first side of the first track; a fixed buffer device and several charging bases are arranged sequentially along the second side of the first track.

[0018] Preferably, the dynamic caching device includes: A set of forklift arms, the extension direction of which is perpendicular to the extension direction of the first track, supports the battery pack support plate to translate between the initial position on one side of the loading and unloading station and the loading and unloading station.

[0019] Preferably, the first track, the dynamic buffer devices and charging bases on both sides of the first track, and the handling robot are integrated into a container battery compartment, and the extension direction of the first track is parallel to the length direction of the battery pack and the length direction of the container.

[0020] Preferably, the overhead crane robot is positioned at the intersection of the first end and the first battery swapping path, and loads and unloads battery packs between the transport robot and the first battery swapping station of the first battery swapping path along the width direction of the electric vehicle. Furthermore, the travel distance of the overhead crane robot is coaxial with the first projection of the horizontal plane and the extension direction of the first track is coaxial with the second projection of the horizontal plane.

[0021] Preferably, the overhead crane robot includes: A lifting assembly is used to lift the battery pack; A lifting mechanism drives the lifting assembly to rise and fall; A trolley mechanism drives the lifting mechanism to move in a direction perpendicular to the extension direction of the first track; and A large vehicle mechanism drives the small vehicle mechanism to move along the travel distance between the first end of the first track and the first battery swapping station of the first battery swapping path.

[0022] Preferably, the dynamic caching device includes: A second track, the second track being perpendicular to the extension direction of the first track; and A battery pack support plate, the two sides of which move on a second track based on a set of guide wheels.

[0023] Preferably, the handling robot retrieves and places the battery pack from the dynamic buffer device or charging dock, including: A traveling mechanism moves along the extension direction of the track; A lifting mechanism is disposed above the traveling mechanism; and A fork mechanism, lifted by the lifting mechanism and having a fork stroke perpendicular to the extension direction of the track, is used to pick up and place the battery pack onto the charging base.

[0024] Preferably, the two ends of the first track form loading and unloading stations with different battery swapping paths, and are respectively equipped with top-mounted robots, dynamic buffer devices and handling robots.

[0025] Embodiments of the present invention also provide an integrated vehicle vertical battery swapping method, employing the aforementioned integrated vehicle vertical battery swapping system, comprising the following steps: S110, The overhead crane robot unloads the first battery pack to be charged from the electric vehicle to the transport robot; S120. After the transport robot leaves the loading and unloading station along the first track with the battery pack to be charged, the dynamic buffer device loads the second battery pack to be replaced and enters the loading and unloading station. S130, The overhead crane robot lifts the second battery pack from the dynamic buffer device in the loading and unloading station to the electric vehicle.

[0026] Preferably, the method further includes the following steps: S140. The transport robot obtains another third battery pack to be replaced from the charging dock. After the dynamic buffer device is reset, the transport robot enters the loading and unloading station and transports the third battery pack to the dynamic buffer device.

[0027] Preferably, step S140 is completed within the time frame between the electric vehicle leaving the first battery swapping station and the arrival of another electric vehicle at the first battery swapping station.

[0028] Embodiments of the present invention also provide another integrated vehicle vertical battery swapping method, employing the above-described integrated vehicle vertical battery swapping system, including the following steps: S210, The overhead crane robot unloads the first battery pack to be charged from the electric vehicle to the transport robot; S220, The transport robot first delivers the battery pack to be charged into the fixed buffer device; S230, The dynamic cache device loads the second battery pack to be replaced and enters the loading and unloading station; S240, the overhead crane robot lifts the second battery pack from the dynamic buffer device in the loading and unloading station to the electric vehicle. At the same time, the transport robot retrieves the battery pack to be charged from the fixed buffer device and transports it along the first track to an empty charging station.

[0029] Preferably, the method further includes the following steps: S250, the transport robot obtains another third battery pack to be replaced from another charging dock and returns to the loading and unloading station along the first track; S260. The transport robot enters the loading and unloading station and transports the third battery pack to the dynamic buffer device.

[0030] Embodiments of the present invention also provide an integrated vehicle vertical battery swapping device, comprising: processor; A memory in which executable instructions of the processor are stored; The processor is configured to perform the steps of the integrated vehicle vertical battery swapping method described above by executing the executable instructions.

[0031] Embodiments of the present invention also provide a computer-readable storage medium for storing a program that, when executed, implements the steps of the above-described integrated vehicle vertical battery swapping method.

[0032] The purpose of this invention is to provide an integrated vehicle vertical battery swapping system, method, device, and storage medium that can provide the shortest battery swapping path through a dynamic buffer device adjacent to the battery swapping station to reduce the waiting time of the overhead crane robot. Furthermore, it is integrated into a container, which not only reduces the space occupied by the battery swapping station but also greatly accelerates the improvement of the battery swapping efficiency. Attached Figure Description

[0033] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0034] Figure 1 This is a top view of the integrated vehicle vertical battery swapping system of the present invention.

[0035] Figure 2 This is a schematic diagram of the battery swapping station of the integrated vehicle vertical battery swapping system of the present invention.

[0036] Figure 3 This is a schematic diagram of the overhead crane robot in the integrated vehicle vertical battery swapping system of the present invention.

[0037] Figure 4 This is a schematic diagram of the dynamic buffer device in the integrated vehicle vertical battery swapping system of the present invention.

[0038] Figure 5 This is a perspective view of the transport robot and the first track in the integrated vehicle vertical battery swapping system of the present invention.

[0039] Figure 6 This is a perspective view of the transport robot in the integrated vehicle vertical battery swapping system of the present invention.

[0040] Figure 7 This is a perspective view of the fork mechanism in the integrated vehicle vertical battery swapping system of the present invention.

[0041] Figure 8 This is a perspective view of the container battery compartment in the integrated vehicle vertical battery swapping system of the present invention.

[0042] Figure 9 This is a top view of another integrated vehicle vertical battery swapping system according to the present invention.

[0043] Figures 10 to 18 This is a schematic diagram of the battery swapping process in an integrated vehicle vertical battery swapping system.

[0044] Figure 19 This is a flowchart of the integrated vehicle vertical battery swapping method of the present invention.

[0045] Figure 20 This is a schematic diagram of the integrated vehicle vertical battery swapping device of the present invention.

[0046] Figure 21 This is a schematic diagram of the structure of a computer-readable storage medium according to an embodiment of the present invention.

[0047] Figure Labels Detailed Implementation

[0048] The following specific examples illustrate the implementation methods of this application. Those skilled in the art can easily understand the other advantages and effects of this application from the content disclosed herein. This application can also be implemented or applied through other different specific embodiments, and various details in this application can be modified or changed according to different viewpoints and application systems without departing from the spirit of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0049] The embodiments of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily implement the application. This application may be embodied in many different forms and is not limited to the embodiments described herein.

[0050] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics represented in connection with that embodiment or example, which are included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics represented may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate different embodiments or examples represented in this application, as well as features of different embodiments or examples.

[0051] Furthermore, the terms "first" and "second" are used for illustrative purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the representation of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0052] For the purpose of clearly describing this application, devices that are not relevant to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0053] Throughout this specification, when it is said that a device is "connected" to another device, this includes not only "direct connection" but also "indirect connection" by placing other components in between. Furthermore, when it is said that a device "comprises" a certain constituent element, unless otherwise stated otherwise, this does not exclude other constituent elements, but rather implies that other constituent elements may be included.

[0054] When we say that a device is "above" another device, this can mean that it is directly above the other device, or it can mean that other devices are present in between. Conversely, when we say that a device is "directly" "above" another device, there are no other devices present in between.

[0055] Although the terms first, second, etc., are used in some instances herein to refer to various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, first interface and second interface, etc., are used. Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of features, steps, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0056] The technical terms used herein are for reference only to specific embodiments and are not intended to limit the scope of this application. The singular form used herein includes the plural form unless the statement explicitly indicates otherwise. The word "comprising" as used in the specification means to specify a particular characteristic, region, integer, step, operation, element, and / or component, and does not exclude the presence or addition of other characteristics, regions, integers, steps, operations, elements, and / or components.

[0057] Although not explicitly defined, all terms, including technical and scientific terms used herein, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. Terms defined in commonly used dictionaries shall be further interpreted as having a meaning consistent with the relevant technical literature and the content of this present application, and shall not be over-interpreted as having an ideal or overly formulaic meaning unless otherwise defined.

[0058] In conventional rail-based battery swapping systems, the charging status of battery packs on each charging station varies. The transport robot selects an empty charging station and a station with a fully charged battery pack based on the actual situation during the swap. (Based on probability, one of these target locations is usually closer to the start of the track, and the other is likely closer to the end). Therefore, after the overhead crane robot unloads the charged battery pack from the electric heavy truck and places it onto the transport robot, the transport robot must sequentially complete the following three stages: first, placing the used battery pack on an empty charging station (empty battery pack transport); second, moving the battery pack from the empty charging station to another station with a fully charged battery pack (empty movement); and third, moving the fully charged battery pack to the swapping station (fully charged battery pack transport). This three-stage process requires the transport robot to repeatedly start, accelerate, decelerate, and brake in each stage, resulting in wasted swapping time. Furthermore, during a single swap, the transport robot's furthest distance along the track is determined by the furthest position of either the empty charging station or the station with a fully charged battery pack on the track. Even if the first leg of the journey is very short, as long as the charging dock with a fully charged battery pack is at the end of the track, the entire transport robot must complete the round trip along the track in three segments. This empty-pack-retrieval mode means that as long as there is a target location (an empty charging dock or a charging dock with a fully charged battery pack) at the end of the track, long-distance transportation will occur. Furthermore, during the entire round trip of the transport robot, the overhead crane robot is in a waiting state (the overhead crane robot must wait for the transport robot to bring back a fully charged battery pack before it can load the battery pack onto the electric heavy truck). Therefore, how to shorten the waiting time of the overhead crane robot during the battery swapping process becomes a major challenge restricting the battery swapping speed.

[0059] Figure 1 This is a top view of the integrated vehicle vertical battery swapping system of the present invention. Figure 2 This is a schematic diagram of the battery swapping station of the integrated vehicle vertical battery swapping system of the present invention. Figure 1 and 2 As shown, the integrated vertical battery swapping system of the present invention is mainly applicable to electric heavy trucks in places such as docks and container yards, and is especially suitable for application scenarios where the battery swapping station needs to be arranged perpendicular to the lane. The integrated vertical battery swapping system includes: a first track 9, a top-mounted robot 3, a dynamic buffer device 4, and a handling robot 5. The first track 9 is perpendicular to a first battery swapping path, and the first end of the first track 9 forms a loading and unloading station 92 adjacent to the first battery swapping path. At least one side of the first track 9 is arranged with several charging seats. The top-mounted robot 3 loads and unloads battery packs based on the loading and unloading station 92. The dynamic buffer device 4 is set on one side of the loading and unloading station 92 of the first track 9. The moving stroke of the dynamic buffer device 4, which stores a fully charged battery pack, passes through the loading and unloading station 92 (see Figure 10The handling robot 5 moves along the first track 9, and the handling robot 5 and the dynamic buffer device 4 enter the loading and unloading station 92 in a timed manner. This invention can be achieved by moving the robot from the adjacent battery swapping station 91 (see...). Figure 10 The dynamic buffer device provides the shortest battery swapping path to reduce the waiting time of the overhead crane robot. After the transport robot 5 leaves the loading / unloading station 92 with the battery pack to be charged, the dynamic buffer device 4 is activated to load the battery pack to be replaced and immediately enters the loading / unloading station 92 along a direction perpendicular to the first track 9. This avoids the situation where a single transport robot 5 picks up and puts down the battery pack based on a round trip, greatly shortening the time required to swap batteries for a single electric truck. The electric truck leaves the battery swapping station quickly after the battery swap. This invention can reduce the battery swapping cycle and greatly accelerate the improvement of battery swapping efficiency at the battery swapping station. (Where, the X-axis is the extension direction of the first track 9, the Y-axis is the width direction of the first track 9, and the Z-axis is the height direction.)

[0060] In a preferred embodiment, a detection module for detecting the handling robot 5 is also included. After the handling robot 5 leaves the loading and unloading station 92 with the battery pack to be charged, the dynamic buffer device 4 is immediately activated to load the battery pack to be replaced and enter the loading and unloading station 92 in a direction perpendicular to the first track 9, thereby obtaining a shorter battery replacement time and reducing the waiting time of the overhead crane robot 3, but not limited thereto.

[0061] In a preferred embodiment, when the overhead crane robot (3) removes the battery pack from the dynamic buffer device (4) and the dynamic buffer device 4 is reset, the transport robot 5 transports another battery pack (fully charged) to be replaced to the dynamic buffer device 4, so that there is always a fully charged battery pack in the primary position of the dynamic buffer device 4, so as to prepare in advance for the next battery replacement, but not limited thereto.

[0062] In a preferred embodiment, within the time frame between the electric vehicle leaving the first battery swapping station and the arrival of another electric vehicle at the first battery swapping station, the transport robot 5 transports another battery pack (fully charged) to the dynamic buffer device 4. This allows the robot to complete the preparatory work for the next battery swap as early as possible by taking advantage of the time gap between the electric vehicle leaving the station after the battery swap and the arrival of another electric vehicle. However, this is not a limitation.

[0063] In a preferred embodiment, along both sides of the extension direction of the first track 9, from the first end to the second end, a dynamic buffer device 4 and several charging stations are arranged sequentially. The dynamic buffer device 4 located on the second side of the first track 9 can first move to the battery swapping station 91 to receive the battery pack to be charged lowered by the overhead crane robot 3 and reset it. Then, the dynamic buffer device 4 located on the first side of the first track 9 moves the battery pack to be replaced (fully charged) to the battery swapping station 91 to cooperate with the overhead crane robot 3 to lift the battery pack to be replaced. After the battery swapping is completed, the transport robot 5 transports the battery pack to be charged from the dynamic buffer device 4 on the second side of the first track 9 to other charging stations and brings back another fully charged battery pack to be stored in the dynamic buffer device 4 on the first side of the first track 9. This allows the transport robot 5 to operate without displacement during the battery swapping process. The combined use of two dynamic buffer devices 4 with different functions further shortens the battery swapping time and improves the battery swapping efficiency, but is not limited to this.

[0064] In a preferred embodiment, a dynamic buffer device 4 and several charging docks are arranged sequentially from the first end to the second end along the first side of the first track 9. Several charging docks are arranged sequentially along the second side of the first track 9, but this is not a limitation.

[0065] In a preferred embodiment, the overhead crane robot 3 is positioned at the intersection of the first end and the first battery swapping path, and loads and unloads battery packs between the transport robot 5 and the first battery swapping station of the first battery swapping path along the width direction of the electric vehicle. The travel of the overhead crane robot 3 is coaxial with the first projection of the horizontal plane and the extension direction of the first track 9 is coaxial with the second projection of the horizontal plane, but is not limited thereto.

[0066] Figure 3 This is a schematic diagram of the overhead crane robot in the integrated vehicle vertical battery swapping system of the present invention. Figure 3As shown, the overhead crane robot 3 includes: a large trolley mechanism 31, a small trolley mechanism 32, a lifting mechanism 33, and a lifting assembly 34. The lifting assembly 34 lifts the battery pack. The lifting mechanism 33 drives the lifting assembly 34 to rise and fall. The small trolley mechanism 32 drives the lifting mechanism 33 to move along a direction perpendicular to the extension direction of the first track 9. The large trolley mechanism 31 drives the small trolley mechanism 32 to move along its travel stroke between the first end of the first track 9 and the first battery swapping station of the first battery swapping path. The large trolley mechanism 31 mainly includes a large trolley main structure 311, large trolley wheels 312, and a large trolley track 313. The small trolley mechanism 32 mainly includes small trolley wheels 321 and a small trolley drive 322. The lifting mechanism 33 mainly includes a lifting drive 331 and a wire rope 332. The lifting assembly 34 mainly includes a lifting main structure 341 and a lifting locking pin 342. The lifting assembly 34 lifts the battery pack. The lifting mechanism 33 drives the lifting assembly 34 to rise and fall. The trolley mechanism 32 drives the lifting mechanism 33 to move in a direction perpendicular to the extension direction of the first track 9. The trolley mechanism 31 drives the trolley mechanism 32 to move along the travel distance between the first end of the first track 9 and the first battery swapping station of the first battery swapping path. Thus, the overhead crane robot 3 transports the battery pack from the electric vehicle to the handling robot 5 located at the loading and unloading station 92, or moves it to the buffer device 4 at the loading and unloading station 92 to hoist the battery pack onto the electric vehicle.

[0067] Figure 4 This is a schematic diagram of the dynamic buffer device in the integrated vehicle vertical battery swapping system of the present invention. Figure 4 As shown, the dynamic buffer device 4 includes: a drive unit 41, a traveling wheel 42, a guide wheel 43, a second track 44, and a battery pack support plate 45. The second track 44 is perpendicular to the extension direction of the first track 9. The two sides of the battery pack support plate 45 move on the second track 44 based on the guide wheel assembly, so that the battery pack support plate 45 has an initial state located on one side of the loading and unloading station 92 and a transport state after translation into the loading and unloading station 92.

[0068] Figure 5 This is a perspective view of the transport robot and the first track in the integrated vehicle vertical battery swapping system of the present invention. Figure 6 This is a perspective view of the transport robot in the integrated vehicle vertical battery swapping system of the present invention. Figure 7 This is a perspective view of the fork mechanism in the integrated vehicle vertical battery swapping system of the present invention. Figures 5 to 7 As shown, the handling robot 5 automatically retrieves and places battery packs from the dynamic buffer device 4 or charging base, including: a walking mechanism 51, a lifting mechanism 52, and a fork mechanism 53. The walking mechanism 51 moves along the extension direction of the track. The lifting mechanism 52 is disposed above the walking mechanism. The fork mechanism 53 is lifted by the lifting mechanism 52 and has a fork stroke perpendicular to the extension direction of the track to retrieve and place battery packs from the charging base.

[0069] In a preferred embodiment, the first track 9, the dynamic buffer devices 4 on both sides of the first track 9, the charging base, and the handling robot 5 are integrated into a standard container 71 used as a containerized battery compartment 7 (only the frame of the standard container 71 is shown in the drawings for easy viewing of the interior). The charging base includes a battery base 6 and a charger 72 disposed below the battery base 6 to charge the battery pack in the battery base 6. The extension direction of the first track 9 is parallel to the length direction of the battery pack and the length direction of the container. Through this structure, the present invention reduces the overall volume and facilitates movement and layout.

[0070] Figure 8 This is a perspective view of the container battery compartment in the integrated vehicle vertical battery swapping system of the present invention. Figure 8 As shown, the first track 9, the charging base, and the handling robot 5 are integrated into a standard container 71 used as a container battery compartment 7 (only the frame of the standard container 71 is shown in the drawing for easier viewing of the interior). The charging base includes a battery base 6 and a charger 72 disposed below the battery base 6 to charge the battery pack in the battery base 6. The extension direction of the first track 9 is parallel to the length direction of the battery pack and the length direction of the container. Through this structure, the present invention reduces the overall volume and facilitates movement and layout.

[0071] Figure 9 This is a top view of another integrated vehicle vertical battery swapping system according to the present invention. Figure 9 As shown, the two ends of the first track 9 form loading and unloading stations with different battery swapping paths, each equipped with a corresponding overhead crane robot 3, dynamic buffer device 4, and handling robot 5. This enables simultaneous battery swapping for two electric heavy-duty trucks based on the battery packs on both sides of the first track 9. The symmetrical arrangement of dual truck lanes, dual overhead crane robots, dual mobile buffer devices, and dual handling robots, along with the expansion of charging stations to 10, further enhances the battery swapping operation capacity. The battery swapping process is the same as described above. The overhead crane robot 3, dynamic buffer device 4, and handling robot 5 at the second end of the first track 9 are configured similarly to those at the first end and will not be repeated here.

[0072] See also Figures 1 to 9 This invention mainly includes a control room 1, an electric heavy truck 2, a top-mounted robot 3, a dynamic buffer device 4, a handling robot 5, a battery base 6, a containerized battery compartment 7, and a battery swapping canopy 8. The main functions of each component are as follows: Top-mounted robot 3: Unlocks the battery pack on the vehicle-mounted base, automatically removes empty batteries from the electric heavy truck 2 and transfers them to the handling robot 5, and automatically loads full batteries from the dynamic buffer device 4 onto the electric heavy truck 2. It has functions of traveling in the X direction, lifting and lowering in the Z direction, and fine-tuning in the Y direction, and is also equipped with an automatic lifting device.

[0073] Dynamic buffer device 4: buffers a full battery pack and has the function of moving along the Y direction.

[0074] Handling Robot 5: Responsible for transporting and transferring battery packs, automatically moving full batteries from battery base 6 to dynamic buffer device 4, and automatically interacting with overhead robot 3 to move empty batteries to battery base 6. It has functions of walking in the X direction, picking up batteries in the Y direction, and lifting in the Z direction.

[0075] Battery base 6: Connects the battery to the charger and is equipped with a quick-connect connector.

[0076] Container battery compartment 7: Stores batteries, manages the charging of empty batteries, and monitors and detects batteries.

[0077] Vehicle-mounted base (not shown in the picture): connects the battery to the battery swapping vehicle, and is equipped with a quick-connect connector to connect the battery to the battery swapping vehicle motor.

[0078] Positioning system (not shown in the figure): identifies information about the battery swapping vehicle, interacts with the vehicle and battery, guides the vehicle, and performs initial positioning.

[0079] Auxiliary systems (not shown in the diagram): Includes a fire suppression system, video surveillance system, and data server. Provides comprehensive monitoring and data processing for the entire site, and connects to a cloud server.

[0080] This invention, adapted to market needs, aims to develop a modular, containerized battery swapping station that enables rapid assembly, easy transportation, lightweight construction, high reliability, and fast battery swapping speed. Through the coordinated operation of key equipment within the station, the swapping speed and single-station operational capacity are significantly improved. A 40-foot standard container serves as the battery compartment, with eight battery charging stations evenly distributed on both sides, offering a compact space suitable for both sea and land transport. Battery packs do not need to cross adjacent packs during turnover, resulting in a low overall height for the station. The battery compartment houses a dedicated handling robot, eliminating the need for battery base relocation and reducing construction costs. Furthermore, the overhead crane robot uses steel cables to lift the battery packs when interacting with the electric heavy-duty truck. The steel cables offer flexibility as the battery packs approach and settle into the vehicle, facilitating error tolerance. This simple, low-cost, and feasible battery swapping solution was one of the earliest commercially viable options.

[0081] The battery swapping process of this invention mainly includes: ① The vehicle drives into the battery swapping station and arrives at the designated battery swapping location. The battery swapping vehicle then uploads its battery swapping request information.

[0082] ②The vehicle-mounted base unlocks the empty battery pack, the overhead robot locates the battery pack, and the transport robot receives the information and moves to the far left to wait for the empty battery pack to be transferred.

[0083] ③ The top-mounted robot adjusts its own state according to the parking position and posture of the battery swapping vehicle (specifically, it walks along the X direction and makes minor adjustments along the Y direction). It executes its own actions based on the data obtained by the laser sensor. The lifting mechanism lowers, the locking pin on the lifting device connects to the top lifting hole of the battery pack, and the lifting mechanism lifts the empty battery pack off the vehicle base and raises it to a certain height. The top-mounted robot walks along the X direction and makes minor adjustments along the Y direction to move to the top of the handling robot to hand over the empty battery pack.

[0084] ④ The transport robot places the empty battery pack onto the battery base at the charging station assigned by the system for charging. At the same time, the moving buffer device moves the full battery pack along the Y direction to directly below the overhead crane robot, and the overhead crane robot receives the full battery pack from the moving buffer device.

[0085] ⑤ The overhead robot moves along the X direction to directly above the vehicle, transfers the full battery to the vehicle's mounting base, and the locking mechanism on the vehicle locks it in place.

[0086] ⑥ The battery swapping vehicle drives out of the battery swapping station.

[0087] Figures 10 to 18 This is a schematic diagram of the battery swapping process in an integrated vehicle vertical battery swapping system. The following steps illustrate this process: Figure 10 As shown, the first end of the first track 9 is adjacent to the battery swapping station 91 of the first battery swapping path. From the first end to the second end, dynamic buffer devices 4 and charging stations 63, 65, and 67 are arranged sequentially on the first side of the first track 9. Charging stations 62, 64, 66, and 68 are arranged sequentially on the second side of the first track 9. The dynamic buffer device 4 is in its initial position on one side of the loading / unloading station 92, and a second battery pack (fully charged) awaiting replacement is temporarily stored on the dynamic buffer device 4. An idle handling robot 5 is located in the loading / unloading station 92. The electric heavy truck 2, carrying a battery pack 70 awaiting charging (low power, requiring replacement and charging), enters the area of ​​the battery swapping station 91 of the charging station.

[0088] like Figure 11 As shown, the overhead crane robot 3 unloads the first battery pack 70 to be charged from the electric heavy truck 2 and transfers it to the transport robot 5.

[0089] like Figure 12 , 13 As shown, when the handling robot 5 is detected to be carrying a battery pack to be charged and leaving the loading and unloading station 92 along the first track 9, the dynamic buffer device 4 is immediately activated to load the second battery pack to be replaced into the loading and unloading station 92.

[0090] like Figure 14 , 15As shown, the overhead crane robot 3 lifts the second battery pack onto the electric heavy truck 2 from the dynamic buffer device 4 in the loading / unloading station 92. After the battery swap is completed, the electric heavy truck 2 can leave the charging station. Simultaneously, the transport robot 5 transports the first battery pack 70 to the charging base 65 for charging, and obtains another fully charged third battery pack 72 from another charging base 66. Because the overhead crane robot 3 only needs to wait for the transport robot 5 to leave the loading / unloading station 92 before the dynamic buffer device 4 immediately enters the loading / unloading station 92, the waiting time of the overhead crane robot is greatly reduced, thus accelerating the battery swapping efficiency of the station.

[0091] like Figure 16 , 17 As shown in Figure 18, within the time range between the electric heavy truck 2 leaving the first battery swapping station and the other electric heavy truck 2' arriving at the first battery swapping station, after the dynamic buffer device 4 leaves the loading and unloading station 92 and resets, the handling robot 5 enters the loading and unloading station 92 and transports the third battery pack 72 to the dynamic buffer device 4, thus preparing for the next rapid battery swap.

[0092] In this invention, the dynamic caching device 4 and the handling robot 5 work together to shorten the waiting time of the overhead crane robot 3, and make full use of the time difference between the departure and arrival of the battery swapping vehicle to replenish the battery pack of the dynamic caching device 4 with a full charge, thereby preparing for the next rapid battery swapping.

[0093] Based on the above-mentioned technical features, the present invention has the following technical effects: 1. Fast battery swapping speed and large single-station operation capacity.

[0094] 2. The overall height of the battery swapping station is low.

[0095] 3. The battery base inside the battery swapping compartment does not require a transfer function, reducing costs.

[0096] 4. Steel cables are flexible and easy to make to accommodate errors. The technology is simple, low-cost, and highly feasible.

[0097] 5. Modular and containerized design facilitates sea and land transportation.

[0098] 6. Simple, reliable, truly unmanned, and remote.

[0099] Figure 19 This is a flowchart of the integrated vehicle vertical battery swapping method of the present invention. Figure 19 As shown, the integrated vehicle vertical battery swapping method of the present invention, using the above-mentioned integrated vehicle vertical battery swapping system, includes the following steps: S110, the top-mounted robot 3 unloads the first battery pack waiting to be charged from the electric vehicle and transfers it to the transport robot 5.

[0100] S120. After the handling robot 5 leaves the loading and unloading station 92 along the first track 9 with the battery pack to be charged, the dynamic buffer device 4 loads the second battery pack to be replaced and enters the loading and unloading station 92.

[0101] S130, the dynamic buffer device 4 in the top-mounted robot 3 self-loading and unloading station 92 lifts the second battery pack to the electric vehicle.

[0102] In a preferred embodiment, the following steps are included: S140. The transport robot obtains another third battery pack to be replaced from its self-charging base. After the dynamic buffer device is reset, the transport robot enters the loading and unloading station and transports the third battery pack to the dynamic buffer device. This ensures that there is always a fully charged battery pack in the dynamic buffer device 4 at the primary position, ready for the next swap. By taking advantage of the time gap between the electric vehicle leaving the station after the battery swap and another electric vehicle entering the station, the preparation work for the next battery swap can be completed as early as possible.

[0103] In a preferred embodiment, step S140 is completed within the time frame between the electric vehicle leaving the first battery swapping station and the arrival of another electric vehicle at the first battery swapping station. The transport robot 5 transports the other battery pack (fully charged) to the dynamic buffer device 4, thereby utilizing the time gap between the electric vehicle leaving the station after battery swapping and the other electric vehicle entering the station to complete the preparation work for the next battery swap as early as possible.

[0104] The integrated vehicle vertical battery swapping method of the present invention can provide the shortest battery swapping path through a dynamic buffer device adjacent to the battery swapping station to reduce the waiting time of the overhead crane robot. Furthermore, it is integrated into a container, which not only reduces the space occupied by the battery swapping station, but also greatly accelerates the improvement of the battery swapping efficiency of the station.

[0105] In a preferred embodiment, in the integrated vehicle vertical battery swapping system of the present invention, a dynamic buffer device 4 and several charging bases are arranged sequentially from the first end to the second end along the first side of the first track 9; a fixed buffer device (without the ability to move the battery pack) and several charging bases are arranged sequentially along the second side of the first track 9. The dynamic buffer device 4 includes a set of forklift arms, the extension direction of which is perpendicular to the extension direction of the first track 9, supporting the battery pack support plate 45 to translate between its initial position on one side of the loading / unloading station 92 and the loading / unloading station 92. In this embodiment, the forklift arms are suspended, thus avoiding the need for additional tracks. Other technical features are as described above and will not be repeated here.

[0106] The above-described integrated vehicle vertical battery swapping method, which combines dynamic buffer device 4 and fixed buffer device, includes the following steps: S210, the top-mounted robot 3 unloads the first battery pack waiting to be charged from the electric vehicle to the transport robot 5; S220, The handling robot 5 first sends the battery pack to be charged into the fixed buffer device; S230, dynamic cache device 4, loaded with the second battery pack to be replaced, enters loading and unloading station 92; S240, the overhead crane robot 3 lifts the second battery pack onto the electric vehicle from the dynamic buffer device 4 in the self-loading and unloading station 92. At the same time, the transport robot 5 retrieves the battery pack to be charged from the fixed buffer device and transports it to an empty charging station along the first track 9.

[0107] In a preferred embodiment, the following steps are also included: S250, the handling robot 5 obtains another third battery pack to be replaced from another charging dock and returns to the loading and unloading station 92 along the first track 9; S260, the handling robot 5 enters the loading and unloading station 92 and transports the third battery pack to the dynamic buffer device 4, so that there is always a fully charged battery pack in the primary position of the dynamic buffer device 4 to prepare for the next one. In this way, the preparation work for the next battery swap can be completed as early as possible by taking advantage of the time gap between the electric vehicle leaving the station after the battery swap and another electric vehicle entering the station.

[0108] The specific implementation process of the integrated vehicle vertical battery swapping method using the above-mentioned combination of dynamic buffer device 4 and fixed buffer device includes: after the top-mounted robot 3 lowers the battery pack to be charged to the transport robot 5, the transport robot 5 transports the battery pack to be charged to be temporarily stored in the fixed buffer device located on the second side of the first track 9. Then, the dynamic buffer device 4 located on the first side of the first track 9 moves the battery pack to be replaced (fully charged) to the battery swapping station 91, and the top-mounted robot 3 lifts the battery pack to be replaced and puts it into the electric heavy truck. After the battery swapping is completed, the transport robot 5 transports the battery pack to be charged from the fixed buffer device on the second side of the first track 9 to another charging station, and brings back another fully charged battery pack to be stored in the dynamic buffer device 4 on the first side of the first track 9. This allows the transport robot 5 to shorten the battery swapping time and improve the battery swapping efficiency by using the combination of dynamic buffer device 4 and fixed buffer device with different functions during the battery swapping process, since the transport robot 5 does not need to move. However, this is not a limitation.

[0109] This invention also provides an integrated vehicle vertical battery swapping device, including a processor and a memory storing executable instructions for the processor. The processor is configured to execute steps of an integrated vehicle vertical battery swapping method by executing the executable instructions.

[0110] As shown above, the integrated vehicle vertical battery swapping system of the present invention in this embodiment can provide the shortest battery swapping path through a dynamic buffer device adjacent to the battery swapping station to reduce the waiting time of the overhead crane robot. Furthermore, it is integrated into a container, which not only reduces the space occupied by the battery swapping station, but also greatly accelerates the improvement of the battery swapping efficiency of the station.

[0111] Those skilled in the art will understand that various aspects of the present invention can be implemented as systems, methods, or program products. Therefore, various aspects of the present invention can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "platform."

[0112] Figure 20 This is a schematic diagram of the integrated vehicle vertical battery swapping device of the present invention. See below for reference. Figure 20 To describe an electronic device 600 according to this embodiment of the present invention. Figure 20 The electronic device 600 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0113] like Figure 20 As shown, the electronic device 600 is presented in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including storage unit 620 and processing unit 610), a display unit 640, etc.

[0114] The storage unit stores program code, which can be executed by the processing unit 610 to perform the steps described in the above-described section on the electronic prescription transfer processing method according to various exemplary embodiments of the present invention. For example, the processing unit 610 can perform actions such as... Figure 19 The steps are shown in the figure.

[0115] Storage unit 620 may include readable media in the form of volatile storage units, such as random access memory (RAM) 6201 and / or cache memory 6202, and may further include read-only memory (ROM) 6203.

[0116] Storage unit 620 may also include a program / utility 6204 having a set (at least one) program module 6205, such program module 6205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0117] Bus 630 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0118] Electronic device 600 can also communicate with one or more external devices 700 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 600, and / or with any device that enables electronic device 600 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 650. Furthermore, electronic device 600 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 660. Network adapter 660 can communicate with other modules of electronic device 600 via bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0119] This invention also provides a computer-readable storage medium for storing a program that, when executed, implements the steps of an integrated vehicle vertical battery swapping method. In some possible implementations, various aspects of the invention can also be implemented as a program product comprising program code that, when run on a terminal device, causes the terminal device to perform the steps described in the above-described electronic prescription processing method section of this specification according to various exemplary embodiments of the invention.

[0120] As shown above, the integrated vehicle vertical battery swapping system of the present invention in this embodiment can provide the shortest battery swapping path through a dynamic buffer device adjacent to the battery swapping station to reduce the waiting time of the overhead crane robot. Furthermore, it is integrated into a container, which not only reduces the space occupied by the battery swapping station, but also greatly accelerates the improvement of the battery swapping efficiency of the station.

[0121] Figure 21 This is a schematic diagram of the structure of the computer-readable storage medium of the present invention. (Reference) Figure 21As shown, a program product 800 for implementing the above-described method according to an embodiment of the present invention is described. It may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0122] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0123] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0124] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0125] In summary, the purpose of this invention is to provide an integrated vehicle vertical battery swapping system, method, device, and storage medium that can provide the shortest battery swapping path through a dynamic buffer device adjacent to the battery swapping station to reduce the waiting time of the overhead crane robot. Furthermore, by integrating it into a container, it not only reduces the space occupied by the battery swapping station but also greatly accelerates the improvement of the battery swapping efficiency.

[0126] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. An integrated vehicle vertical battery swapping system, characterized in that, include: A first track (9) is perpendicular to a first battery swapping path. The first end of the first track (9) forms a loading and unloading station (92) adjacent to the first battery swapping path. A plurality of charging seats are arranged on at least one side of the first track (9). At least one overhead crane robot (3) loads and unloads battery packs based on the loading and unloading station (92); At least one dynamic buffer device (4) is disposed on one side of the first track (9), and the movement of the dynamic buffer device (4) storing a fully charged battery pack passes through the loading / unloading station (92); and At least one transport robot (5) moves based on the first track (9), and the transport robot (5) and the dynamic buffer device (4) enter the loading and unloading station (92) in a time-sharing manner. A detection module for detecting the transport robot (5) is activated when the transport robot (5) leaves the loading and unloading station (92) with a battery pack to be charged. The dynamic buffer device (4) is then activated to load a battery pack to be replaced and enter the loading and unloading station (92) in a direction perpendicular to the first track (9). When the overhead crane robot (3) removes the battery pack from the dynamic buffer device (4) and the dynamic buffer device (4) is reset, the transport robot (5) transports another battery pack to be replaced to the dynamic buffer device (4). The dynamic caching device (4) includes: a second track (44) perpendicular to the extension direction of the first track (9); and a battery pack support plate (45) on both sides of the battery pack support plate (45) moving on the second track (44) based on guide wheel sets; The handling robot (5) retrieves and places battery packs from the dynamic buffer device (4) or the charging dock, comprising: a walking mechanism (51) that moves along the extension direction of the first track; a lifting mechanism (52) disposed above the walking mechanism; and a fork mechanism (53) that is lifted by the lifting mechanism (52) and has a fork stroke perpendicular to the extension direction of the first track, for retrieving and placing the battery packs from the charging dock.

2. The integrated vehicle vertical battery swapping system as described in claim 1, characterized in that, Along the extension direction of the first track (9), a dynamic buffer device (4) and several charging seats are arranged sequentially from the first end to the second end on both sides.

3. The integrated vehicle vertical battery swapping system as described in claim 1, characterized in that, Along the first side of the first track (9), a dynamic buffer device (4) and several charging seats are arranged sequentially from the first end to the second end; along the second side of the first track (9), several charging seats are arranged sequentially.

4. The integrated vehicle vertical battery swapping system as described in claim 1, characterized in that, Along the first side of the first track (9), a dynamic buffer device (4) and several charging seats are arranged sequentially from the first end to the second end; along the second side of the first track (9), a fixed buffer device and several charging seats are arranged sequentially.

5. The integrated vehicle vertical battery swapping system as described in claim 1, characterized in that, The first track (9), the dynamic buffer devices (4) on both sides of the first track (9), the charging base, and the handling robot (5) are integrated into a container battery compartment (7). The extension direction of the first track (9) is parallel to the length direction of the battery pack and the length direction of the container.

6. The integrated vehicle vertical battery swapping system as described in claim 1, characterized in that, The top-mounted robot (3) is located at the intersection of the first end and the first battery swapping path. It loads and unloads battery packs between the transport robot (5) and the first battery swapping station of the first battery swapping path along the width direction of the electric vehicle. The travel of the top-mounted robot (3) is coaxial with the first projection of the horizontal plane and the extension direction of the first track (9) is coaxial with the second projection of the horizontal plane.

7. The integrated vehicle vertical battery swapping system as described in claim 5, characterized in that, The overhead crane robot (3) includes: A lifting assembly (34) is used to lift the battery pack; A lifting mechanism (33) drives the lifting assembly (34) to rise and fall; A trolley mechanism (32) drives the lifting mechanism (33) to move in a direction perpendicular to the extension direction of the first track (9); and A large vehicle mechanism (31) drives the small vehicle mechanism (32) to move along the travel distance between the first end of the first track (9) and the first battery swapping station of the first battery swapping path.

8. The integrated vehicle vertical battery swapping system as described in claim 1, characterized in that, The two ends of the first track (9) form loading and unloading stations with different battery swapping paths, and are respectively equipped with top-mounted robots (3), dynamic buffer devices (4) and handling robots (5).

9. An integrated vertical battery swapping method for vehicles, characterized in that, The integrated vehicle vertical battery swapping system as described in claim 6 includes the following steps: S110, The top-mounted robot (3) unloads the first battery pack to be charged from the electric vehicle to the transport robot (5). S120. After the transport robot (5) loads the battery pack to be charged and leaves the loading and unloading station (92) along the first track (9), the dynamic buffer device (4) loads the second battery pack to be replaced and enters the loading and unloading station (92). S130, the overhead crane robot (3) lifts the second battery pack from the dynamic buffer device (4) in the loading and unloading station (92) to the electric vehicle.

10. The integrated vehicle vertical battery swapping method as described in claim 9, characterized in that, It also includes the following steps: S140. The transport robot (5) obtains another third battery pack to be replaced from the charging base. After the dynamic buffer device (4) is reset, the transport robot (5) enters the loading and unloading station (92) and transports the third battery pack to the dynamic buffer device (4).

11. The integrated vehicle vertical battery swapping method as described in claim 10, characterized in that, Step S140 is completed within the time frame between the electric vehicle leaving the first battery swapping station and the arrival of another electric vehicle at the first battery swapping station.

12. An integrated vehicle vertical battery swapping device, characterized in that, include: processor; A memory in which executable instructions of the processor are stored; The processor is configured to perform the steps of the integrated vehicle vertical battery swapping method of claim 10 or 11 by executing the executable instructions.

13. A computer-readable storage medium for storing a program, characterized in that, When the program is executed by the processor, it implements the steps of the integrated vehicle vertical battery swapping method of claim 10 or 11.

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