A battery replacing method suitable for multi-model universal battery replacement

Abstract

The application provides a battery replacing method suitable for general battery replacing of multiple vehicle types, which can be used for battery replacing of vehicle types with an axle distance in the range of 2600-3800 mm; the application also provides a battery replacing platform suitable for the method, which comprises an axle distance adjusting module, a position supplementing module, a centering module, a lifting module and a battery unlocking module; the axle distance adjusting device can slide to adjust the axle distance of the battery replacing platform, so as to adapt to the battery replacing work of different axle distance vehicle types; the position supplementing module can supplement the position of the battery replacing platform when the axle distance adjusting module slides to increase the axle distance of the battery replacing platform; the centering module can center and adjust the wheels and the vehicle body of the vehicle, so that the vehicle faces the battery replacing platform and the battery frame of the vehicle faces the battery unlocking module; the battery unlocking module can unlock the battery frame of the vehicle; the battery unlocking module itself can realize floating fine adjustment, so that the alignment of the position of the battery unlocking module and the battery frame of the vehicle is more accurate; and the lifting module can lift the height position of the vehicle, so as to facilitate the battery replacing robot to perform the battery replacing work.

Description

Technical Field

[0001] This invention relates to the field of electric vehicle battery replacement technology, specifically a battery swapping method applicable to multiple vehicle models. Background Technology

[0002] With economic development and technological advancements, the development of new energy vehicles is gradually expanding, and the replacement of gasoline-powered vehicles by new energy vehicles has become a trend and direction of increasing public attention. Currently, to facilitate the use of new energy vehicles, the battery swapping model is being promoted. This involves users replacing their batteries with pre-charged battery packs at designated battery swapping stations, thereby extending the driving range of new energy vehicles. This significantly reduces the waiting time for users to charge their batteries, alleviates user anxiety about charging and range, and ultimately improves the user experience.

[0003] However, existing battery swapping platforms generally suffer from the following problems:

[0004] 1. Existing battery swapping stations can only meet the needs of vehicles with a specified wheelbase or similar wheelbases for battery swapping operations. When the wheelbases differ significantly, the battery swapping station or platform cannot perform battery swapping operations for vehicles with different wheelbases. Such battery swapping platforms are not suitable for universal charging and battery swapping operations for vehicles with different wheelbases.

[0005] 2. Due to differences in vehicle size and model, battery packs are not located in the same place. Some battery swapping platforms are designed for specific vehicle models, so the location of the battery unlocking device on these platforms is not easily changed, making it impossible to achieve universal battery unlocking for multiple vehicle models. This greatly increases the difficulty of battery swapping.

[0006] 3. Some existing battery swapping platforms lack lifting devices, making it difficult for these platforms to swap batteries for vehicles with low chassis, increasing the difficulty of battery swapping and affecting the efficiency of battery swapping.

[0007] 4. Since it is impossible to guarantee that the battery compartment of the vehicle is perfectly aligned with the battery swapping module when the vehicle enters the battery swapping platform, the battery swapping platform needs to first position the vehicle on the platform to ensure that the battery swapping trolley enters the accurate battery swapping position in order to achieve accurate battery pack replacement.

[0008] CN114132215A discloses a battery swapping station, comprising: a first battery compartment and a second battery compartment, arranged side-by-side with an interval between them; a first battery swapping device disposed between the first and second battery compartments, and positioned close to the first battery compartment; and a second battery swapping device disposed between the first and second battery compartments, and positioned close to the second battery compartment. A parking space is provided between the first and second battery swapping devices. Each of the first and second battery swapping devices includes: a first base; a gripper device; a first drive mechanism for driving the gripper device to move along a first trajectory; and a second drive mechanism for driving the first base to rotate and move along a second trajectory, the first trajectory being perpendicular to the second trajectory.

[0009] While the above-mentioned technical solution can shorten the battery swapping time and improve the battery swapping efficiency, it is still unable to effectively perform battery swapping when dealing with vehicles with significantly different wheelbases. In other words, the solution is not applicable to charging and swapping operations for various vehicle models and is limited by the vehicle's wheelbase and battery specifications.

[0010] For example, CN110315954A discloses an unlocking platform for battery swapping, including a support plate for placing battery components, a toggle mechanism body, a side push assembly, and a fixed base frame; the toggle mechanism body is disposed on both sides of the support plate and is used to unlock the battery components and the battery mounting bracket; the side push assembly is used to provide thrust for the support plate to move horizontally relative to the fixed base frame; when the toggle mechanism body unlocks the battery components, the side push assembly drives the support plate to move the battery components relative to the fixed base frame in a horizontal direction, so that the electrical connectors of the battery components are disengaged from the vehicle bottom interface.

[0011] While the above technical solutions can simplify the unlocking process and enable the unlocking of multiple latches at once, reducing costs, they are difficult to implement universal battery swapping when battery packs are located in different positions for different vehicle models.

[0012] For example, CN115556627A discloses a battery swapping platform, battery swapping equipment, and battery swapping station, belonging to the field of electric vehicle battery swapping technology. The battery swapping platform is used for installing and removing battery packs from electric vehicles. The platform includes a support section, a battery mounting section, and a drive section. The battery mounting section is mounted on the support section and is used for installing and removing the battery pack from the electric vehicle. The drive section drives the battery mounting section to move relative to the support section along a first direction and a second direction; the first direction is perpendicular to the second direction. The drive section of this invention can drive the battery mounting section to move along the mutually perpendicular first and second directions, thereby enabling the battery mounting section to adjust its position within the plane containing the first and second directions when positioning itself with the battery pack on the electric vehicle.

[0013] While the above technical solutions improve the positioning adjustment range and positioning accuracy of the battery swapping platform, the lack of a lifting device makes battery swapping more difficult when encountering vehicles with low chassis.

[0014] In view of the shortcomings of the existing technology, there is an urgent need for a battery swapping method that is applicable to multiple vehicle models and can be used for universal battery swapping. Summary of the Invention

[0015] To address the technical problems and shortcomings of the existing solutions, this invention proposes a universal battery swapping method applicable to multiple vehicle models, enabling battery swapping for different vehicle types. This method also proposes a universal battery swapping platform for multiple vehicle models, featuring a wheelbase adjustment module that allows for adjustable working length of the platform, thus solving the technical problem of difficulty in swapping batteries for vehicles with different wheelbases. Furthermore, it includes a liftable and movable battery unlocking module, allowing the battery swapping platform to align with the battery pack when vehicle specifications and models differ, further refining the alignment between the battery unlocking module and the battery pack through floating fine-tuning within this area.

[0016] To achieve the above objectives, this invention proposes a battery swapping method applicable to multiple vehicle models, comprising the following steps:

[0017] S1: The vehicle model is identified before the vehicle enters the battery swapping station;

[0018] S2: Establish a communication connection with the vehicle via a remote control terminal;

[0019] S3: Adjust the battery swapping platform and vehicle compatibility for connection;

[0020] S4: The battery swapping platform unlocks the vehicle's battery compartment;

[0021] S5: The battery swapping robot performs the battery swapping;

[0022] S6: After the battery swap is complete, relock the vehicle's battery compartment.

[0023] S7: The vehicle leaves the battery swapping platform and station;

[0024] The battery swapping platform includes a wheelbase adjustment module, a positioning module, a centering module, a lifting module, and a battery unlocking module; the wheelbase adjustment device can slide to adjust the wheelbase of the battery swapping platform to adapt to battery swapping operations for vehicles with different wheelbases.

[0025] The compensation module can compensate for the wheelbase of the battery swapping platform when the wheelbase adjustment module slides to increase the wheelbase of the battery swapping platform;

[0026] The centering module can center and adjust the vehicle's wheels and body so that the vehicle is facing the battery swapping platform and the vehicle's battery frame is facing the battery unlocking module.

[0027] The battery unlocking module can unlock the vehicle's battery frame; and the battery unlocking module itself can perform floating fine-tuning to ensure more precise alignment with the vehicle's battery frame.

[0028] The lifting module can raise the vehicle's height, making it easier for the battery swapping robot to perform battery swapping work.

[0029] The battery swapping station of the present invention also includes a display screen and a scheduling system; in step S1, when a vehicle enters the battery swapping station, the remote control terminal can identify the license plate and then obtain vehicle information to determine the vehicle model.

[0030] In step S2, after the remote control terminal confirms that the communication of each device is normal, it establishes a communication connection with the dispatch system and the display screen, and then establishes a communication connection with the vehicle. After the connection is successful, the remote control terminal starts to adjust the battery swapping platform through the dispatch system to adapt to the vehicle model (wheelbase, wheelbase, battery position, etc.), and then raises the barrier gate and displays a welcome message on the display screen.

[0031] In step S3, after the vehicle is detected to have fully entered the designated position of the battery swapping platform, a shutdown message is displayed on the screen to guide the user to turn off the vehicle. The dispatching system controls the centering module to center the vehicle, controls the lifting module to lift the vehicle, and controls the battery unlocking module to raise in preparation for unlocking the battery frame. The battery unlocking module performs battery unlocking after being precisely aligned with the battery frame through floating fine-tuning.

[0032] In step S4, the remote control terminal displays relevant prompts on the screen to indicate the unlocking progress to the user; after unlocking is complete, the remote control terminal controls the battery unlocking module to descend through the scheduling system; then the remote control terminal arranges the corresponding battery swapping robot to prepare for the battery swapping work.

[0033] In step S5, the remote control terminal displays relevant prompts on the screen to inform the user of the battery swapping progress, and controls the battery swapping robot to accurately identify the battery location and complete the battery swapping work; after the battery swapping is completed, the scheduling system controls the battery unlocking module to rise in preparation for relocking the battery frame.

[0034] In step S6, the remote control terminal displays relevant prompts on the screen to indicate the battery frame locking progress to the user; after the battery frame is locked, the dispatch system controls the battery unlocking module and the lifting module to descend and reset; and controls the centering module to reset and release the limit on the four wheels of the vehicle, and then raises the barrier gate.

[0035] In step S7, the remote control terminal displays a farewell message on the screen. After the vehicle leaves the battery swapping platform, the remote control terminal prepares for the next round of identification.

[0036] Preferably, step S3 includes:

[0037] S3.1: The battery swapping platform adjusts the wheelbase by translating the wheelbase adjustment module. When the target vehicle is a short wheelbase model, the wheelbase adjustment module translates to decrease the wheelbase of the battery swapping platform; when the target vehicle is a medium- or long wheelbase model, the wheelbase adjustment module translates in the opposite direction to increase the wheelbase of the battery swapping platform.

[0038] S3.2: In step S3.1, when the wheelbase adjustment module moves to increase the wheelbase of the battery swapping platform, the battery swapping platform controls the positioning module to rise and fill the original position of the wheelbase adjustment module to ensure the support effect for the vehicle; when the wheelbase adjustment module moves to decrease the wheelbase of the battery swapping platform, the battery swapping platform controls the positioning module to descend and reset to ensure that the translation channel of the wheelbase adjustment module is not occupied.

[0039] S3.3: After the wheelbase adjustment module and the compensation module are adjusted, the barrier gate is raised, and the vehicle enters the battery swapping platform to prepare for battery swapping.

[0040] The wheelbase adjustment module of this application can adapt to battery swapping operations for any vehicle model with a wheelbase of 2600mm-3800mm. When dealing with short-wheelbase vehicles, the wheelbase adjustment module can be set to not work or slide a small distance. When dealing with medium- to long-wheelbase vehicles such as light trucks, the wheelbase adjustment module slides a larger or maximum distance to make the working range length on the battery swapping platform match the vehicle's wheelbase. When the wheelbase adjustment module on the battery swapping platform shifts due to wheelbase adjustment, the replacement module of this application can automatically rise to fill the gap where the wheelbase adjustment module was originally located, ensuring that the battery swapping platform always provides good support for the vehicle. Furthermore, when the wheelbase adjustment module is reset, the replacement module can also automatically descend and reset below the wheelbase adjustment module, further saving space.

[0041] Preferably, step S3 further includes:

[0042] S3.4: When the user drives the vehicle into the battery swapping platform, the user will automatically perform initial alignment and then control the vehicle to shut off.

[0043] S3.5: The centering module fully opens 5 seconds after detecting that the front wheels of the vehicle are in position, and makes fine adjustments to the front wheels and / or rear wheels of the vehicle through roller transmission so that the vehicle body is facing the moving platform; then the front wheels and / or rear wheels of the vehicle are pushed horizontally by the push plate so that the battery frame of the vehicle is facing the area where the battery unlocking module is located, and then the four wheels of the vehicle are locked.

[0044] S3.6: The lifting module selects whether to activate based on the vehicle model and the height of the vehicle battery box. When the vehicle battery box is at a low height, the lifting module lifts and supports both sides of the vehicle to raise its height, making it easier for the battery swapping robot to perform the swapping operation.

[0045] The lifting module of this application can assist small vehicles with low chassis in battery swapping. By lifting the two sides of the vehicle body through the lifting module, the battery swapping robot can smoothly remove or put in the battery to complete the battery swapping work.

[0046] The centering module of this application includes a front wheel centering module and a rear wheel centering module. Through the cooperation of the two centering modules, the front and rear wheels of the vehicle can be controlled synchronously to make fine adjustments and alignment, and to drive the vehicle body to center, so as to improve the accuracy of the alignment between the electrolytic unlocking module of the battery swapping platform and the vehicle battery frame, without requiring the user to repeatedly drive the vehicle to adjust.

[0047] Preferably, step S4 further includes:

[0048] S4.1: The battery unlocking module rises and aligns with the vehicle's battery compartment.

[0049] S4.2: The battery unlocking module includes a battery detection component, which determines whether the battery unlocking module is precisely aligned with the vehicle's battery holder.

[0050] S4.3: If the battery unlocking module is not precisely aligned with the vehicle's battery frame, the battery detection component can detect and calculate the offset between the battery unlocking module and the vehicle's battery frame, and then fine-tune its own position by floating to make the battery unlocking module precisely aligned with the vehicle's battery frame.

[0051] S4.4: The battery unlocking module unlocks the vehicle battery box using the unlocking components.

[0052] The battery detection assembly has two sets, located at both ends of the battery unlocking module. Each battery detection assembly includes an elastic pressure bar and a metal proximity sensor. The elastic pressure bar passes through the unlocking module via a through hole, and the metal proximity sensor is located at the bottom of the unlocking module. The metal proximity sensor is used to detect the elastic pressure bar. When the battery frame presses against the elastic pressure bar, the elastic pressure bar extends downward, and the metal proximity sensor can detect the elastic pressure bar. When the metal proximity sensors in both sets of battery detection assemblies detect the corresponding elastic pressure bar, it can be determined that the battery frame is accurately aligned with the battery unlocking module.

[0053] Preferably, step S5 further includes:

[0054] S5.1: The vehicle battery compartment has been unlocked, and the battery swapping robot has begun swapping the battery.

[0055] S5,2: The battery swapping robot determines the XYZ axis position of the vehicle battery by taking pictures with a camera and moves to the corresponding position of the battery.

[0056] S5.3: After the battery swapping robot removes the depleted battery, it moves to the battery compartment and places the depleted battery into an empty charging slot in the battery compartment for charging;

[0057] S5.4: The battery swapping robot takes out a fully charged battery from the battery compartment and moves it to the XYZ axis position corresponding to the vehicle battery, and puts the fully charged battery into the vehicle;

[0058] S5.5: The battery swapping robot returns to its initial position after completing its work.

[0059] Preferably, step S6 further includes:

[0060] S6.1: The battery unlocking module resets the battery frame and then relocks it;

[0061] S6.2: The battery unlocking module and the lifting module are reset in succession;

[0062] S6.3: The centering module is reset to release the four wheels that have been locked in place;

[0063] S6.4: The barrier gate is raised, and the vehicle restarts after the battery swap is completed, preparing to leave the battery swapping platform.

[0064] Preferably, step S7 further includes:

[0065] S7.1: After the vehicle leaves the battery swapping platform, the replacement module and the wheelbase adjustment module are reset in succession, and the battery swapping platform is ready for the next battery swapping operation for the same or different vehicle models.

[0066] Preferably, the battery unlocking module includes a lifting frame assembly, a suspension frame assembly, and an unlocking component; the suspension frame assembly is movably connected to the lifting frame assembly via a chain, and the suspension frame assembly is suspended outside the lifting frame assembly via a chain; the top of the suspension frame assembly is provided with a sliding component, and the unlocking component is slidably connected to the suspension frame assembly via the sliding component.

[0067] The lifting frame assembly of this application can synchronously drive the suspension frame assembly and the unlocking assembly to lift and lower under the push of the lifting component, thereby changing the vertical position of the battery unlocking module. The suspension frame assembly of this application is only connected to the lifting frame assembly through a chain, achieving the effect of being suspended outside the lifting frame assembly. Since the lifting frame assembly is suspended, it can achieve floating fine adjustment. After the battery unlocking module is aligned with the area set by the battery frame, the suspension frame assembly can further improve the alignment between the battery unlocking module and the battery frame through floating fine adjustment in that area. The unlocking component of this application can slide along the suspension frame assembly through the sliding component, changing the lateral position of the unlocking component.

[0068] Preferably, the lifting frame assembly includes a lifting frame and extension plates; each of the four corners of the lifting frame is fixedly provided with an extension plate, and each extension plate is fixedly connected to one end of a chain;

[0069] The lifting frame assembly of this application suspends the suspension frame assembly at the four corners of the lifting frame via chains, and the suspension frame assembly is located on the outside of the lifting frame, so that the suspension frame assembly can achieve floating and fine adjustment of its position with the lifting frame as the center.

[0070] The suspension frame assembly includes a suspension frame and connecting plates; four connecting plates are symmetrically arranged on both sides of the suspension frame, each connecting plate is positioned corresponding to an extension plate and is located directly below the corresponding extension plate, the end of the chain away from the extension plate is fixedly connected to the connecting plate, and the suspension frame is levitably suspended on the outside of the lifting frame via the chain;

[0071] The suspension frame is connected to the other end of the chain, and the suspension frame and the lifting frame are connected only by the chain, so that the suspension frame can be suspended on the outside of the lifting frame and float relative to the lifting frame. This allows the unlocking component on the suspension frame to be finely adjusted in position, solving the problem that the existing general battery unlocking device is not accurate enough in aligning with the battery frame after adjusting the spatial position.

[0072] The unlocking component includes a movable frame and an unlocking platform; the unlocking platform is mounted on the movable frame, and the movable frame is slidably connected to the suspended frame via a sliding component; a driving device is provided at the bottom of the unlocking platform, and the driving device is used to drive the unlocking platform to slide.

[0073] Preferably, the bottom of the unlocking platform is provided with two sets of battery detection components, which are located on the left and right sides of the unlocking platform near the ends. Each battery detection component includes an elastic pressure rod and a metal proximity sensor. The elastic pressure rod passes through the unlocking platform through a through hole, and the metal proximity sensor is located at the bottom of the unlocking platform and is used to detect the elastic pressure rod.

[0074] Since the bottom of the battery frame is not completely flat and there are some reinforcing ribs, the unlocking platform of this application is also symmetrically provided with support bars. The support bars can make the battery frame fall smoothly on the unlocking platform. The battery detection component of this application is used to detect whether the battery is fully placed in the unlocking platform. Its working principle is as follows: when the battery frame presses against the elastic bar, the elastic bar extends downward. At this time, the metal proximity sensor can detect the elastic bar. When the metal proximity sensors in both sets of battery detection components detect the corresponding elastic bar, it can be determined that the battery frame is fully in contact with the platform.

[0075] Compared with the prior art, the present invention has the following advantages:

[0076] 1. The battery swapping method of the present invention, applicable to multiple vehicle models, can be used for battery swapping of any vehicle model with a wheelbase ranging from 2600mm to 3800mm. When dealing with short-wheelbase vehicles, the wheelbase adjustment module can be selected to not work or slide a small distance. When dealing with medium-to-long-wheelbase vehicles such as light trucks, the wheelbase adjustment module slides a larger or maximum distance to make the working range length value of the battery swapping platform match the wheelbase of the vehicle. When the wheelbase adjustment module on the battery swapping platform shifts due to wheelbase adjustment, the replacement module of this application can automatically rise to fill the gap where the wheelbase adjustment module was originally located, ensuring that the battery swapping platform always provides good support for the vehicle. Furthermore, when the wheelbase adjustment module is reset, the replacement module can also automatically descend and reset below the wheelbase adjustment module, further saving space.

[0077] 2. The lifting module of this application can assist small vehicles with low chassis in battery swapping. By lifting the two sides of the vehicle body through the lifting module, the battery swapping robot can smoothly remove or send the battery to complete the battery swapping work.

[0078] The centering module of this application includes a front wheel centering module and a rear wheel centering module. Through the cooperation of the two centering modules, the front and rear wheels of the vehicle can be controlled synchronously to make fine adjustments and alignment, and to drive the vehicle body to center, so as to improve the accuracy of the alignment between the electrolytic unlocking module of the battery swapping platform and the vehicle battery frame, without requiring the user to repeatedly drive the vehicle to adjust.

[0079] 3. The battery unlocking module of this application can achieve floating fine-tuning to ensure more precise alignment with the vehicle battery frame. The battery unlocking module of this application also includes two sets of battery detection components, which are located at both ends of the battery unlocking module. Each battery detection component includes an elastic pressure rod and a metal proximity sensor. The elastic pressure rod passes through the unlocking module through a through hole, and the metal proximity sensor is located at the bottom of the unlocking module. The metal proximity sensor is used to detect the elastic pressure rod. When the battery frame presses against the elastic pressure rod, the elastic pressure rod extends downward. At this time, the metal proximity sensor can detect the elastic pressure rod. When the metal proximity sensors in both sets of battery detection components detect the corresponding elastic pressure rod, it can be determined that the battery frame is precisely aligned with the battery unlocking module. Attached Figure Description

[0080] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0081] Figure 1This is a schematic diagram illustrating the steps of a battery swapping method applicable to multiple vehicle models according to the present invention;

[0082] Figure 2 This is one of the schematic diagrams of the battery swapping platform of the present invention.

[0083] Figure 3 This is the second schematic diagram of the battery swapping platform of the present invention.

[0084] Figure 4 This is a schematic diagram of the planar structure of the battery unlocking module of the present invention;

[0085] Figure 5 This is a three-dimensional structural diagram of the unlocking component of the present invention;

[0086] Figure 6 for Figure 5 Enlarged schematic diagram of part A;

[0087] Figure 7 This is a three-dimensional structural schematic diagram of the battery detection component of the present invention;

[0088] Figure 8 This is a partial three-dimensional structural diagram of the battery unlocking module of the present invention;

[0089] Figure 9 This is a schematic diagram of the connection structure between the lifting frame assembly and the suspension frame assembly of the present invention;

[0090] The following components are shown in the figure: wheelbase adjustment module 1, alignment module 2, centering module 3, lifting module 4, battery unlocking module 5, lifting frame assembly 51, lifting frame 511, extension plate 512, suspension frame assembly 52, suspension frame 521, connecting plate 522, unlocking assembly 53, moving frame 531, unlocking platform 532, sliding assembly 54, elastic pressure bar 55, and metal proximity sensor 56. Detailed Implementation

[0091] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0092] Example 1

[0093] like Figure 1-9 As shown, this embodiment proposes a battery swapping method applicable to multiple vehicle models, which can be used for battery swapping of any vehicle model with a wheelbase between 2600mm and 3800mm.

[0094] like Figure 1 As shown, it includes the following steps:

[0095] S1: The vehicle model is identified before the vehicle enters the battery swapping station;

[0096] S2: Establish a communication connection with the vehicle via a remote control terminal;

[0097] S3: Adjust the battery swapping platform and vehicle compatibility for connection;

[0098] S4: The battery swapping platform unlocks the vehicle's battery compartment;

[0099] S5: The battery swapping robot performs the battery swapping;

[0100] S6: After the battery swap is complete, relock the vehicle's battery compartment.

[0101] S7: The vehicle leaves the battery swapping platform and station;

[0102] like Figure 2-3 As shown, the battery swapping platform includes a wheelbase adjustment module 1, a positioning module 2, a centering module 3, a lifting module 4, and a battery unlocking module 5; the wheelbase adjustment device 1 can slide to adjust the wheelbase of the battery swapping platform to adapt to battery swapping operations for vehicles with different wheelbases.

[0103] The compensation module 2 can compensate for the wheelbase of the battery swapping platform when the wheelbase adjustment module slides to increase the wheelbase of the battery swapping platform;

[0104] The centering module 3 can center and adjust the vehicle's wheels and body so that the vehicle is facing the battery swapping platform and the vehicle's battery frame is facing the battery unlocking module.

[0105] The battery unlocking module 5 can unlock the vehicle's battery frame; and the battery unlocking module itself can perform floating fine-tuning to ensure more precise alignment with the vehicle's battery frame.

[0106] The lifting module 4 can raise the vehicle's height, making it easier for the battery swapping robot to perform battery swapping work.

[0107] The battery swapping station in this embodiment also includes a display screen and a dispatching system; in step S1, when a vehicle enters the battery swapping station, the remote control terminal can identify the license plate and then obtain vehicle information to determine the vehicle model.

[0108] In step S2, after confirming that all devices are communicating normally, the remote control terminal establishes a communication connection with the dispatch system and the display screen, and then establishes a communication connection with the vehicle. After the connection is successful, the remote control terminal starts to adjust the battery swapping platform through the dispatch system to adapt to the vehicle model (wheelbase, wheelbase height, battery position, etc.). Specifically, the wheelbase adjustment module 1 is used to adjust the accurate wheelbase distance, and the compensation module 2 is used to compensate for the original position of the wheelbase adjustment module 1 on the battery swapping platform. Then the barrier gate is raised and a welcome message is displayed on the display screen.

[0109] In step S3, after the vehicle is detected to have fully entered the designated position of the battery swapping platform, a shutdown message is displayed on the screen to guide the user to turn off the vehicle. The centering module 3 is controlled by the scheduling system to center the vehicle, the lifting module 4 is controlled to lift the vehicle, and the battery unlocking module 5 is controlled to rise to prepare for unlocking the battery frame. The battery unlocking module 5 performs battery unlocking work after accurately aligning with the battery frame through floating fine adjustment.

[0110] In step S4, the remote control terminal displays relevant prompts on the screen to indicate the unlocking progress to the user; after unlocking is complete, the remote control terminal controls the battery unlocking module 5 to descend through the scheduling system; subsequently, the remote control terminal arranges the corresponding battery swapping robot to prepare for battery swapping.

[0111] In step S5, the remote control terminal displays relevant prompts on the screen to indicate the battery swapping progress to the user, and controls the battery swapping robot to accurately identify the battery location and complete the battery swapping work; after the battery swapping is completed, the scheduling system controls the battery unlocking module 5 to rise in preparation for relocking the battery frame.

[0112] In step S6, the remote control terminal displays relevant prompts on the screen to indicate the battery frame locking progress to the user; after the battery frame is locked, the dispatch system controls the battery unlocking module 5 and the lifting module 4 to descend and reset; and controls the centering module 3 to reset and release the limit on the four wheels of the vehicle, and then raises the barrier.

[0113] In step S7, the remote control terminal displays a farewell message on the screen. After the vehicle leaves the battery swapping platform, the remote control terminal prepares for the next round of identification.

[0114] Step S3 includes:

[0115] S3.1: The battery swapping platform adjusts the wheelbase by translating the wheelbase adjustment module 1. When the target vehicle is a short wheelbase model, the wheelbase adjustment module 1 translates to reduce the wheelbase of the battery swapping platform; when the target vehicle is a medium- or long wheelbase model, the wheelbase adjustment module 1 translates in the opposite direction to increase the wheelbase of the battery swapping platform.

[0116] S3.2: In step S3.1, when the wheelbase adjustment module 1 moves to increase the wheelbase of the battery swapping platform, the battery swapping platform controls the positioning module 2 to rise and fill the original position of the wheelbase adjustment module 1 to ensure the support effect for the vehicle; when the wheelbase adjustment module 1 moves to decrease the wheelbase of the battery swapping platform, the battery swapping platform controls the positioning module 2 to descend and reset to ensure that the translation channel of the wheelbase adjustment module 1 is not occupied.

[0117] S3.3: After the wheelbase adjustment module 1 and the compensation module 2 have finished adjusting, the barrier gate is raised, and the vehicle enters the battery swapping platform to prepare for battery swapping.

[0118] Step S3 further includes:

[0119] S3.4: When the user drives the vehicle into the battery swapping platform, the user will automatically perform initial alignment and then control the vehicle to shut off.

[0120] S3.5: The centering module 3 fully opens 5 seconds after detecting that the front wheels of the vehicle are in position, and makes fine adjustments to the front wheels and / or rear wheels of the vehicle through roller transmission so that the vehicle body is facing the moving platform; then the front wheels and / or rear wheels of the vehicle are pushed to move horizontally by a push plate so that the battery frame of the vehicle is facing the area where the battery unlocking module 5 is located, and then the four wheels of the vehicle are locked.

[0121] S3.6: Lifting module 4 selects whether to start based on the vehicle model and the height position of the vehicle battery box. When the height position of the vehicle battery box is low, in order to facilitate the battery swapping robot to carry out the battery swapping work, lifting module 4 lifts and supports the two sides of the vehicle to raise the height position of the vehicle.

[0122] Step S4 further includes:

[0123] S4.1: The battery unlocking module 5 is raised and aligned with the position of the vehicle's battery frame;

[0124] S4.2: The battery unlocking module 5 includes a battery detection component, which enables the battery unlocking module 5 to determine whether it is precisely aligned with the vehicle's battery frame.

[0125] S4.3: If the battery unlocking module 5 is not precisely aligned with the vehicle's battery frame, the battery detection component can detect and calculate the offset value between the battery unlocking module 5 and the vehicle's battery frame, and then fine-tune its own position by floating to make the battery unlocking module 5 precisely aligned with the vehicle's battery frame.

[0126] S4.4: Battery unlocking module 5 unlocks the vehicle battery frame using unlocking components.

[0127] The battery detection assembly has two sets, located at both ends of the battery unlocking module 5. The battery detection assembly includes an elastic pressure bar and a metal proximity sensor. The elastic pressure bar passes through the battery unlocking module 5 through a through hole, and the metal proximity sensor is located at the bottom of the battery unlocking module 5. The metal proximity sensor is used to detect the elastic pressure bar. When the battery frame presses against the elastic pressure bar, the elastic pressure bar extends downward, and the metal proximity sensor can detect the elastic pressure bar. When the metal proximity sensors in both sets of battery detection assemblies detect the corresponding elastic pressure bar, it can be determined that the battery frame is accurately aligned with the battery unlocking module 5.

[0128] Step S5 further includes:

[0129] S5.1: The vehicle battery compartment has been unlocked, and the battery swapping robot has begun swapping the battery.

[0130] S5,2: The battery swapping robot determines the XYZ axis position of the vehicle battery by taking pictures with a camera and moves to the corresponding position of the battery.

[0131] S5.3: After the battery swapping robot removes the depleted battery, it moves to the battery compartment and places the depleted battery into an empty charging slot in the battery compartment for charging;

[0132] S5.4: The battery swapping robot takes out a fully charged battery from the battery compartment and moves it to the XYZ axis position corresponding to the vehicle battery, and puts the fully charged battery into the vehicle;

[0133] S5.5: The battery swapping robot returns to its initial position after completing its work.

[0134] Step S6 further includes:

[0135] S6.1: Battery unlocking module 5 resets the battery frame and then relocks it;

[0136] S6.2: Battery unlocking module 5 and lifting module 4 are reset in succession;

[0137] S6.3: Centering module 3 is reset to release the four wheels that have been positioned and locked;

[0138] S6.4: The barrier gate is raised, and the vehicle restarts after the battery swap is completed, preparing to leave the battery swapping platform.

[0139] Step S7 further includes:

[0140] S7.1: After the vehicle leaves the battery swapping platform, the replacement module 2 and the wheelbase adjustment module 1 are reset in succession, and the battery swapping platform is ready for the next battery swapping operation for the same or different vehicle models.

[0141] like Figure 4-9As shown, the battery unlocking module 5 includes a lifting frame assembly 51, a suspension frame assembly 52, and an unlocking component 53; the suspension frame assembly 52 is movably connected to the lifting frame assembly 51 via a chain, and the suspension frame assembly 52 is suspended on the outside of the lifting frame assembly 51 via a chain; a sliding component 54 is provided on the top of the suspension frame assembly 52, and the unlocking component 53 is slidably connected to the suspension frame assembly 52 via the sliding component 54.

[0142] The lifting frame assembly 51 includes a lifting frame 511 and extension plates 512; each of the four corners of the lifting frame 511 is fixedly provided with an extension plate 512, and each extension plate 512 is fixedly connected to one end of a chain.

[0143] The suspension frame assembly 52 includes a suspension frame 521 and a connecting plate 522. Four connecting plates 522 are symmetrically arranged on both sides of the suspension frame 521. The position of each connecting plate 522 corresponds to the extension plate 512 and the connecting plate 522 is located directly below the corresponding extension plate 512. The end of the chain away from the extension plate 512 is fixedly connected to the connecting plate 522. The suspension frame 521 is levitably suspended on the outside of the lifting frame 511 by the chain.

[0144] The unlocking component 53 includes a movable frame 531 and an unlocking platform 532; the unlocking platform 532 is disposed on the movable frame 531, and the movable frame 531 is slidably connected to the suspension frame 521 through a sliding component 54; the bottom of the unlocking platform 532 is provided with a driving device, which is used to drive the unlocking platform 532 to slide.

[0145] The bottom of the unlocking platform 532 is provided with two sets of battery detection components. The two sets of battery detection components are located on the left and right sides of the unlocking platform 532 near the ends. The battery detection components include an elastic pressure rod 55 and a metal proximity sensor 56. The elastic pressure rod 55 passes through the unlocking platform 532 through a through hole. The metal proximity sensor 56 is located at the bottom of the unlocking platform 532 and is used to detect the elastic pressure rod 55.

[0146] Since the suspension frame 521 in this embodiment is suspended outside the lifting frame 511 by a chain, the suspension frame assembly 52 can further make the alignment between the battery unlocking module 5 and the battery frame more precise by floating fine adjustment. When it is necessary to fine adjust the position of the battery unlocking module 5, the suspension frame 521 can float and shift around the lifting frame 511. After complete alignment, the unlocking platform 532 unlocks through the unlocking component. Since the bottom of the battery frame is not completely flat and there are some reinforcing ribs, this embodiment also includes a battery frame support bar. The battery frame support bar can make the battery frame fall smoothly on the unlocking platform 532. The battery detection component of this application is used to detect whether the battery is completely placed in the unlocking platform 532. Its working principle is as follows: when the battery frame of the battery presses down on the elastic pressure bar 55, the elastic pressure bar 55 extends downward. At this time, the metal proximity sensor 56 can detect the elastic pressure bar 55. When the metal proximity sensors 56 in both sets of battery detection components detect the corresponding elastic pressure bar 55, it can be determined that the battery frame is completely in contact with the platform.

[0147] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of the present invention. All equivalent changes or modifications made to the structure, features and principles described in the claims of the present invention should be included in the scope of the claims of the present invention.

[0148] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A battery swapping method applicable to multiple vehicle models, characterized in that, Includes the following steps: S1: The vehicle model is identified before the vehicle enters the battery swapping station; S2: Establish a communication connection with the vehicle via a remote control terminal; S3: Adjust the battery swapping platform and vehicle compatibility for connection; S4: The battery swapping platform unlocks the vehicle's battery compartment; S5: The battery swapping robot performs the battery swapping; S6: After the battery swap is complete, relock the vehicle's battery compartment. S7: The vehicle leaves the battery swapping platform and station; The battery swapping platform includes a wheelbase adjustment module (1), a positioning module (2), a centering module (3), a lifting module (4), and a battery unlocking module (5); the wheelbase adjustment module (1) can slide to adjust the wheelbase of the battery swapping platform to adapt to battery swapping operations for different wheelbase models; The compensation module (2) can compensate for the wheelbase of the battery swapping platform when the wheelbase adjustment module slides to increase the wheelbase of the battery swapping platform; The centering module (3) can center and adjust the wheels and body of the vehicle so that the vehicle is facing the battery swapping platform and the battery frame of the vehicle is facing the battery unlocking module. The battery unlocking module (5) can unlock the vehicle's battery frame; and the battery unlocking module itself can perform floating fine-tuning to ensure more accurate alignment with the vehicle's battery frame. The lifting module (4) can raise the height of the vehicle, making it easier for the battery swapping robot to perform battery swapping work; Step S3 includes: S3.1: The battery swapping platform adjusts the wheelbase by translating the wheelbase adjustment module (1). When the target vehicle is a short wheelbase model, the wheelbase adjustment module (1) translates to reduce the wheelbase of the battery swapping platform; when the target vehicle is a medium-long wheelbase model, the wheelbase adjustment module (1) translates in the opposite direction to increase the wheelbase of the battery swapping platform. S3.2: In step S3.1, when the wheelbase adjustment module (1) moves to increase the wheelbase of the battery swapping platform, the battery swapping platform raises the control module (2) to fill the original position of the wheelbase adjustment module (1) to ensure the support effect for the vehicle; when the wheelbase adjustment module (1) moves to decrease the wheelbase of the battery swapping platform, the battery swapping platform lowers and resets the control module (2) to ensure that the translation channel of the wheelbase adjustment module (1) is not occupied. S3.3: After the wheelbase adjustment module (1) and the replacement module (2) are adjusted, the barrier gate is raised and the vehicle enters the battery swapping platform to prepare for battery swapping; Step S3 further includes: S3.4: When the user drives the vehicle into the battery swapping platform, the user will automatically perform initial alignment and then control the vehicle to shut off. S3.5: The centering module (3) fully opens 5 seconds after detecting that the front wheels of the vehicle are in position, and makes fine adjustments to the front wheels and / or rear wheels of the vehicle through roller transmission so that the vehicle body is facing the moving platform; then the front wheels and / or rear wheels of the vehicle are pushed to move horizontally by the push plate so that the battery frame of the vehicle is facing the area where the battery unlocking module (5) is located, and then the four wheels of the vehicle are locked. S3.6: The lifting module (4) selects whether to start based on the vehicle model and the height position of the vehicle battery box. When the vehicle battery box When the height position is low, in order to facilitate the battery swapping robot to carry out the battery swapping work, the lifting module (4) lifts and supports the two sides of the vehicle to raise the height position of the vehicle. The battery unlocking module (5) includes a lifting frame assembly (51), a suspension frame assembly (52), and an unlocking component (53); the suspension frame assembly (52) is movably connected to the lifting frame assembly (51) via a chain, and the suspension frame assembly (52) is suspended on the outside of the lifting frame assembly (51) via a chain; the top of the suspension frame assembly (52) is provided with a sliding component (54), and the unlocking component (53) is slidably connected to the suspension frame assembly (52) via the sliding component (54); The lifting frame assembly (51) includes a lifting frame (511) and extension plates (512); each of the four corners of the lifting frame (511) is fixedly provided with an extension plate (512), and each extension plate (512) is fixedly connected to one end of a chain. The suspension frame assembly (52) includes a suspension frame (521) and connecting plates (522); four connecting plates (522) are symmetrically arranged on both sides of the suspension frame (521), each connecting plate (522) is positioned corresponding to an extension plate (512) and is located directly below the corresponding extension plate (512), and the end of the chain away from the extension plate (512) is fixedly connected to the connecting plate (522). The suspension frame (521) is levitably suspended on the outside of the lifting frame (511) by a chain; The unlocking component (53) includes a movable frame (531) and an unlocking platform (532); the unlocking platform (532) is mounted on the movable frame (531), and the movable frame (531) is slidably connected to the suspension frame (521) via a sliding component (54); the bottom of the unlocking platform (532) is provided with a driving device, which is used to drive the unlocking platform (532) to slide. The bottom of the unlocking platform (532) is provided with two sets of battery detection components. The two sets of battery detection components are located on the left and right sides of the unlocking platform (532) near the ends. The battery detection components include an elastic pressure rod (55) and a metal proximity sensor (56). The elastic pressure rod (55) passes through the unlocking platform (532) through a through hole. The metal proximity sensor (56) is located at the bottom of the unlocking platform (532) and is used to detect the elastic pressure rod (55).

2. The battery swapping method applicable to multiple vehicle models according to claim 1, characterized in that, Step S4 further includes: S4.1: The battery unlocking module (5) is raised and aligned with the position of the vehicle's battery frame; S4.2: The battery unlocking module (5) includes a battery detection component. The battery unlocking module (5) can determine whether the battery unlocking module (5) is accurately aligned with the battery frame of the vehicle through the battery detection component. S4.3: If the battery unlocking module (5) is not precisely aligned with the vehicle's battery frame, the offset value between the battery unlocking module (5) and the vehicle's battery frame can be detected and calculated by the battery detection component. Then, the position of the module is finely adjusted by floating to make the battery unlocking module (5) precisely aligned with the vehicle's battery frame. S4.4: The battery unlocking module (5) unlocks the vehicle battery frame through the unlocking component.

3. The battery swapping method applicable to multiple vehicle models according to claim 2, characterized in that, Step S5 further includes: S5.1: The vehicle battery compartment has been unlocked, and the battery swapping robot has begun swapping the battery. S5,2: The battery swapping robot determines the XYZ axis position of the vehicle battery by taking pictures with a camera and moves to the corresponding position of the battery. S5.3: After the battery swapping robot removes the depleted battery, it moves to the battery compartment and places the depleted battery into an empty charging slot in the battery compartment for charging; S5.4: The battery swapping robot takes out a fully charged battery from the battery compartment and moves it to the XYZ axis position corresponding to the vehicle battery, and puts the fully charged battery into the vehicle; S5.5: The battery swapping robot returns to its initial position after completing its work.

4. The battery swapping method applicable to multiple vehicle models according to claim 3, characterized in that, Step S6 further includes: S6.1: The battery unlocking module (5) resets the battery frame and then relocks it; S6.2: The battery unlocking module (5) and the lifting module (4) are reset in succession; S6.3: The centering module (3) is reset to release the four wheels that have been locked in place; S6.4: The barrier gate is raised, and the vehicle restarts after the battery swap is completed, preparing to leave the battery swapping platform.

5. A battery swapping method applicable to multiple vehicle models as described in claim 4, characterized in that, Step S7 further includes: S7.1: After the vehicle leaves the battery swapping platform, the replacement module (2) and the wheelbase adjustment module (1) are reset in succession, and the battery swapping platform is ready for the next battery swapping operation for the same or different vehicle models.

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