Battery replacement mechanism and control method

Abstract

The application discloses a battery replacing mechanism and a control method, and relates to the technical field of new energy sources.The battery replacing mechanism comprises a battery replacing box and a rotating table for bearing the battery replacing box.A sliding channel for linear motion of the battery replacing box is fixed on the rotating table.Driving mechanisms are installed on both sides of one end of the sliding channel.Springs for buffering when the battery replacing box is installed are installed on the other end of the sliding channel.Pressure sensors are installed on the springs.The battery replacing mechanism is used for replacing batteries through cooperation of a forward and backward structure on the rotating table and corresponding battery replacing boxes, and is used for cooperating with an electric control system, so that the stability and safety of battery replacement can be greatly improved, and the problems of high cost caused by construction of a battery replacing station and stability and precision caused by hoisting with a vehicle in the prior art are solved.

Description

Technical Field

[0001] This invention relates to the field of new energy technology, specifically to a battery swapping mechanism and control method for electric excavators. Background Technology

[0002] With the continuous advancement of technology, battery swapping technology is constantly being updated, and battery swapping standards are also being continuously improved and perfected. Currently, the existing technology for battery swapping of electric excavators often involves the robotic arm of the battery swapping station grabbing the battery swapping box to replace it. Alternatively, battery swapping can be performed using a truck-mounted crane, which is suitable for situations where there is no battery swapping station or the equipment cannot be moved.

[0003] However, existing technologies for battery swapping stations are often difficult and costly to construct, and current battery swapping stations cannot be completely unattended. Furthermore, the battery swapping boxes have different standards from each OEM, making automatic battery swapping stations unable to adapt to different OEMs and limiting their application. On the other hand, truck-mounted crane battery swapping is costly, inconvenient to operate, and difficult to align with the interfaces. Summary of the Invention

[0004] The purpose of this invention is to provide a battery swapping mechanism and control method to solve the problems of the prior art, such as the high construction difficulty, inability to be applied to different working conditions, difficulty in docking, and inconvenience in operation, as mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a battery swapping mechanism, comprising: a battery swapping box and a turntable for supporting the battery swapping box;

[0006] The turntable is fixed with a slide for the linear movement of the battery swapping box. A drive mechanism is installed on both sides of one end of the slide, and a spring for buffering when installing the battery swapping box is installed at the other end of the slide. A pressure sensor is installed on the spring.

[0007] The turntable is hinged to a foldable mechanism at one end near the drive mechanism. A hydraulic cylinder is hinged to the foldable mechanism. The other end of the hydraulic cylinder is hinged to the turntable. The hydraulic cylinder is connected to the output end of a solenoid valve, and the input end of the solenoid valve is connected to a motor pump. The hydraulic cylinder is extended and retracted by the pump body controller, causing the foldable mechanism to flip.

[0008] The slide rail is provided with a coarse positioning for easy installation of the battery swapping box, and a proximity switch is installed on the slide rail near the coarse positioning.

[0009] The battery swapping box includes a transmission mechanism on one side that meshes with the drive mechanism, a sliding structure that slides on the slide rail, and a positioning hole that matches the coarse positioning.

[0010] Preferably, the battery swapping box further includes a gyroscope sensor installed on the battery swapping box.

[0011] Preferably, the drive mechanism and the coarse positioning are arranged symmetrically on the left and right sides.

[0012] Preferably, the drive mechanism comprises a gearbox meshing with the transmission mechanism, a speed sensor mounted on the gear shaft of the gearbox, a motor for rotating the gearbox, and a gear controller for controlling the gearbox.

[0013] Preferably, the gyroscope sensor, the pressure sensor, the speed sensor, the gear controller, the proximity switch, and the pump controller are electrically connected to the vehicle control unit (VCU) for receiving signals.

[0014] Preferably, the vehicle control unit (VCU) is electrically connected to an instrument panel for displaying feedback information.

[0015] Preferably, the vehicle control unit (VCU) is electrically connected to the rotary alarm.

[0016] Preferably, the foldable mechanism is connected to the turntable via a connecting shaft.

[0017] Preferably, the foldable mechanism is provided with rollers to facilitate the forward and backward movement of the battery swapping box.

[0018] A control method for a battery swapping mechanism, based on the aforementioned battery swapping mechanism, includes battery swapping box replacement under two conditions: S1 (low power) and S2 (full power). Specifically, the method is as follows:

[0019] Replacement of the battery swapping box under S1 power loss conditions includes:

[0020] S11 Battery Swapping Preparation Steps: Adjust the transfer vehicles and the vehicles that need battery swapping to enter the preparation state.

[0021] S12 Foldable mechanism unfolding steps: Open the foldable mechanism to allow the battery swapping box to be removed;

[0022] S13 Battery Swapping Box Exit Procedure: Exit the battery swapping box when it is out of power.

[0023] S14 power saving mode steps: When the battery swap box is disconnected from the positioning mechanism, the whole vehicle enters power saving mode.

[0024] S2 battery replacement under full charge includes:

[0025] S21 Battery Swapping Preparation Steps: Install the fully charged battery swapping box onto the positioning mechanism;

[0026] S22 Battery Swapping Box Pushing Procedure: Detect the battery swapping box and push it into the turntable;

[0027] S23 Battery swapping box locking procedure: The battery swapping box is locked in place and the foldable mechanism is closed.

[0028] Preferably, the replacement of the battery swapping box under the S1 power shortage condition is specifically as follows:

[0029] S11 Battery Swapping Preparation Steps: Adjust the transport vehicle carrying the battery swapping box to the vicinity of the foldable mechanism, and remove the battery swapping box from the transport vehicle. At the same time, disconnect the entire vehicle that needs battery swapping from the high voltage.

[0030] S12 foldable mechanism unfolding steps: By issuing an unfolding command to the vehicle controller VCU, the vehicle controller VCU transmits the control signal to the pump body controller. After receiving the signal, the pump body controller controls the motor pump to extend the cylinder. The foldable mechanism unfolds by rotating around the hinge axis until it connects with the transfer vehicle carrying the battery swapping box.

[0031] S13 Battery Swapping Box Exit Procedure: After the foldable mechanism is fully unfolded, a running command is sent to the vehicle controller (VCU). The VCU transmits a control signal to the gear controller. Upon receiving the signal, the gear controller reverses the gear mechanism of the gearbox, which is driven to rotate by the motor. The gearbox meshes with the transmission mechanism on the battery swapping box, causing the sliding structure of the battery swapping box to slide outward on the slide rail until the rear of the battery swapping box is roughly positioned past the proximity switch. After this, most of the battery swapping box is located on the foldable mechanism roller. The proximity switch sends a feedback signal to the VCU, which then sends a control signal to the gear controller to stop the gearbox from running.

[0032] S14 Power Saving Mode Steps: When the speed sensor on the gearbox shaft senses that the operation has stopped, it feeds back the signal to the vehicle controller (VCU) to enter power saving mode. The battery swapping box is lifted and moved using auxiliary tools to separate the positioning hole on the battery swapping box from the coarse positioning, thus completing the battery swapping box replacement under the S1 power depletion condition.

[0033] Preferably, the replacement of the battery swapping box under the fully charged condition S2 specifically includes the following:

[0034] S21 Battery Swapping Preparation Steps: Transfer the fully charged battery swapping box on the roller of the foldable mechanism to a position close to the coarse positioning. Lift the battery swapping box with auxiliary tools and move the positioning hole of the battery swapping box to the coarse positioning. Engage the positioning hole on the battery swapping box with the coarse positioning. At the same time, measure the horizontal tilt angle using the gyroscope sensor on the battery swapping box. When the tilt angle is greater than the preset angle, feed the signal back to the vehicle controller VCU. The vehicle controller VCU will then send a control signal to the rotation alarm.

[0035] S22 battery swapping box pushing steps: When the tilt angle of the gyroscope sensor meets the setting, the vehicle controller (VCU) sends a control signal to the gear controller, which controls the gearbox gear mechanism to rotate forward and drives the gearbox to rotate through the motor. At the same time, the gearbox gear mechanism meshes with the transmission mechanism, so that the sliding structure of the battery swapping box slides on the slide rail.

[0036] S23 Battery Swapping Box Locking Procedure: When the battery swapping box comes into contact with the pressure sensor, a pressure signal is generated. The pressure sensor feeds back the signal to the vehicle controller (VCU). The VCU then sends a signal to the gear controller, which controls the gearbox to stop running and lock. The VCU also sends a control signal to the pump controller to retract the hydraulic cylinder, completing the battery swapping box replacement under the S2 fully charged condition.

[0037] Preferably, the preset horizontal tilt angle in the S21 battery swapping preparation step is 5 degrees.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] This invention utilizes a forward and backward mechanism on a turntable in conjunction with a corresponding battery swapping box for battery swapping. Combined with an electronic control system, this method significantly increases the stability and safety of battery swapping. It also solves the problems of high costs caused by the need to construct battery swapping stations and stability and accuracy issues caused by the need for vehicle-mounted hoisting in existing technologies. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the overall structure of a battery swapping mechanism according to the present invention;

[0041] Figure 2 This is a schematic diagram of a turntable structure for a battery swapping mechanism according to the present invention;

[0042] Figure 3 This is a schematic diagram of the battery swapping box structure of a battery swapping mechanism according to the present invention;

[0043] Figure 4 This is a schematic diagram of the overall side view of a battery swapping mechanism according to the present invention;

[0044] Figure 5 This is a schematic diagram of the electrical control structure of a battery swapping mechanism according to the present invention;

[0045] Figure 6 This is a schematic diagram of the loss-point battery swapping process of the control method of the battery swapping mechanism of the present invention;

[0046] Figure 7 This is a schematic diagram of the full-charge battery swapping process of the control method for a battery swapping mechanism according to the present invention.

[0047] In the diagram: 1. Battery swapping box; 11. Transmission mechanism; 12. Sliding structure; 13. Positioning hole; 14. Gyroscope sensor; 2. Turntable; 21. Slide rail; 22. Pressure sensor; 23. Spring; 24. Gearbox; 241. Speed ​​sensor; 242. Gear controller; 243. Motor; 25. Connecting shaft; 26. Foldable mechanism; 27. Hydraulic cylinder; 28. Coarse positioning; 29. ​​Proximity switch; 3. Vehicle control unit (VCU); 4. Pump body controller; 5. Motor pump; 6. Solenoid valve; 7. Instrument; 8. Rotation alarm. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] Example

[0050] Please see Figures 1-5 ,like Figure 1 As shown, a battery swapping mechanism consists of a battery swapping box 1 and a turntable 2 for supporting the battery swapping box 1.

[0051] Combination Figure 2 and Figure 5 As shown, a slide rail 21 for linear movement of the battery swapping box 1 is fixed on the turntable 2. Drive mechanisms are installed on both sides of one end of the slide rail 21. The drive mechanism consists of a gearbox 24 meshing with the transmission mechanism 11, a speed sensor 241 mounted on the gear shaft of the gearbox 24, a motor 243 for rotating the gearbox 24, and a gear controller 242 for controlling the gearbox 24. A spring 23 for buffering during the installation of the battery swapping box 1 is installed at the other end of the slide rail 21. A pressure sensor 22 is mounted on the spring 23.

[0052] One end of the turntable 2 near the drive mechanism is hinged to a foldable mechanism 26 via a connecting shaft 25. A hydraulic cylinder 27 is hinged to the foldable mechanism 26, and the other end of the hydraulic cylinder 27 is hinged to the turntable 2. The hydraulic cylinder 27 is connected to the output end of the solenoid valve 6, and the input end of the solenoid valve 6 is connected to the motor pump 5. The hydraulic cylinder 27 is extended and retracted by the pump body controller 4, which causes the foldable mechanism 26 to flip. The foldable mechanism 26 is provided with a roller to facilitate the advance and retreat of the battery swapping box 1. The slide 21 is provided with a coarse positioning 28 to facilitate the installation of the battery swapping box 1. Two sets of coarse positioning 28 are symmetrically arranged on the left and right sides, and a proximity switch 29 is installed on the slide 21 near the coarse positioning 28.

[0053] like Figure 3As shown, the battery swapping box 1 includes a transmission mechanism 11 that meshes with the drive mechanism, a sliding structure 12 that slides on the slide rail 21, a positioning hole 13 that matches the coarse positioning 28, and a gyroscope sensor 14 mounted on the battery swapping box 1.

[0054] The gyroscope sensor 14, pressure sensor 22, speed sensor 241, gear controller 242, proximity switch 29, pump controller 4, and rotation alarm 8 are electrically connected to the vehicle controller VCU3 to receive signals, and the vehicle controller VCU3 is also electrically connected to the instrument 7 to display feedback information.

[0055] Please see Figure 6 and Figure 7 In specific implementation, a control method for a battery swapping mechanism is based on the aforementioned battery swapping mechanism. This method is divided into two parts: S1 replacement of battery swapping box 1 under low power condition and S2 replacement of battery swapping box 1 under full power condition.

[0056] like Figure 6 As shown, the replacement of the battery swapping box 1 under the power shortage condition is divided into S11 pre-battery swapping preparation steps, S12 unfolding steps of the foldable mechanism 26, S13 exiting steps of the battery swapping box 1, and S14 power saving mode steps.

[0057] S11 Battery Swapping Preparation Steps: Adjust the transport vehicle carrying the battery swapping box 1 to the vicinity of the foldable mechanism 26, and remove the battery swapping box 1 from the transport vehicle. At the same time, de-energize the entire vehicle that needs battery swapping.

[0058] S12 Foldable mechanism 26 unfolding steps: By issuing an unfolding command to the vehicle controller VCU3, the vehicle controller VCU3 transmits the control signal to the pump controller 4. After receiving the signal, the pump controller 4 controls the motor pump 5 to extend the oil cylinder 27. The foldable mechanism 26 unfolds around the hinge axis until it connects with the transfer vehicle carrying the battery swapping box.

[0059] S13 Battery Swapping Box 1 Exit Procedure: After the foldable mechanism 26 is fully unfolded, an operation command is sent to the vehicle controller VCU3. The vehicle controller VCU3 transmits a control signal to the gear controller 242. Upon receiving the signal, the gear controller 242 reverses the gear mechanism of the gearbox 24. The motor 243 drives the gearbox 24 to rotate. The gearbox 24 meshes with the transmission mechanism 11 on the battery swapping box 1, causing the sliding structure 12 of the battery swapping box 1 to slide outward on the slide rail 21. Until the coarse positioning 28 of the tail of the battery swapping box 1 passes the proximity switch 29, most of the battery swapping box 1 is located on the roller of the foldable mechanism 26. The proximity switch 29 feeds back a signal to the vehicle controller VCU3, which then sends a control signal to the gear controller 242 to stop the operation of the gearbox 24.

[0060] S14 Power Saving Mode Steps: When the speed sensor 241 on the gearbox 24 shaft senses that the operation has stopped, it feeds back the signal to the vehicle controller VCU3 to enter the power saving mode; the battery swapping box 1 is lifted and moved by manual operation of auxiliary tools so that the positioning hole 13 on the battery swapping box 1 is separated from the coarse positioning 28, and the depleted battery swapping box 1 is loaded into the transport vehicle to complete the replacement of battery swapping box 1 under the S1 depleted power condition.

[0061] like Figure 7 As shown, the replacement of battery swapping box 1 under the full-charge condition in S2 is divided into three steps: S21 preparation steps before battery swapping, S22 pushing steps of battery swapping box 1, and S23 locking steps of battery swapping box 1.

[0062] S21 Battery Swapping Preparation Steps: Transfer the fully charged battery swapping box 1 on the roller of the foldable mechanism 26 to a position close to the coarse positioning 28. Lift the battery swapping box 1 manually using auxiliary tools and move the positioning hole 13 of the battery swapping box 1 onto the coarse positioning 28. Engage the positioning hole 13 on the battery swapping box 1 with the coarse positioning 28. Simultaneously, measure the horizontal tilt angle using the gyroscope sensor 14 on the battery swapping box 1. When the tilt angle exceeds the preset angle of 5 degrees, feed the signal back to the vehicle controller VCU3. The vehicle controller VCU3 then sends a control signal to the rotation alarm 8. At this point, the level of the battery swapping box 1 needs to be adjusted until it meets the requirements.

[0063] S22 Battery Swapping Box 1 Pushing Steps: When the tilt angle of the gyroscope sensor 14 meets the setting, the vehicle controller VCU3 sends a control signal to the gear controller 242. The gear controller 242 controls the gear mechanism of the gearbox 24 to rotate forward, and the motor 243 drives the gearbox 24 to rotate. At the same time, the gear mechanism of the gearbox 24 meshes with the transmission mechanism 11, so that the sliding structure 12 of the battery swapping box 1 slides on the slide rail 21.

[0064] S23 Battery Swapping Box 1 Locking Procedure: When the battery swapping box 1 comes into contact with the pressure sensor 22, a pressure signal is generated. The pressure sensor 22 feeds back the signal to the vehicle controller VCU3. The vehicle controller VCU3 sends a signal to the gear controller 242. The gear controller 242 controls the gearbox 24 to stop running and lock. The vehicle controller VCU3 also sends a control signal to the pump controller 4 to retract the cylinder 27, completing the battery swapping of the battery swapping box 1 under the full-charge condition of S2.

[0065] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A battery swapping mechanism, characterized in that, include: The battery swapping box (1) and the turntable (2) for carrying the battery swapping box (1); The turntable (2) is fixed with a slide (21) for the linear movement of the battery swapping box (1). Both sides of one end of the slide (21) are equipped with drive mechanisms. The other end of the slide (21) is equipped with a spring (23) for buffering when installing the battery swapping box (1). A pressure sensor (22) is installed on the spring (23). The turntable (2) is hinged to a foldable mechanism (26) at one end near the drive mechanism. A hydraulic cylinder (27) is hinged to the foldable mechanism (26). The other end of the hydraulic cylinder (27) is hinged to the turntable (2). The hydraulic cylinder (27) is connected to the output end of a solenoid valve (6), and the input end of the solenoid valve (6) is connected to a motor pump (5). The motor pump (5) is electrically connected to the pump body controller (4) to control the extension and retraction of the hydraulic cylinder (27) so that the foldable mechanism (26) flips. The slide rail (21) is provided with a coarse positioning (28) to facilitate the installation of the battery swapping box (1), and a proximity switch (29) is installed on the slide rail (21) near the coarse positioning (28). The battery swapping box (1) includes a transmission mechanism (11) that meshes with the drive mechanism, a sliding structure (12) that slides on the slide rail (21), and a positioning hole (13) that is adapted to the coarse positioning (28). The battery swapping box (1) also includes a gyroscope sensor (14) installed on the battery swapping box (1). The drive mechanism and the coarse positioning (28) are arranged symmetrically on the left and right sides; The drive mechanism consists of a gearbox (24) meshing with the transmission mechanism (11), a speed sensor (241) mounted on the gear shaft of the gearbox (24), a motor for rotating the gearbox (24), and a gear controller (242) for controlling the gearbox (24). The gyroscope sensor (14), the pressure sensor (22), the speed sensor (241), the gear controller (242), the proximity switch (29), and the pump controller (4) are electrically connected to the vehicle controller (VCU) (3) to receive signals.

2. The battery swapping mechanism according to claim 1, characterized in that: The vehicle controller (VCU) (3) is electrically connected to an instrument (7) for displaying feedback information.

3. The battery swapping mechanism according to claim 2, characterized in that: The vehicle controller (VCU) (3) is electrically connected to the rotary alarm (8).

4. The battery swapping mechanism according to any one of claims 1-3, characterized in that: The foldable mechanism (26) is connected to the turntable (2) via a connecting shaft (25).

5. The battery swapping mechanism according to claim 4, characterized in that: The foldable mechanism (26) is provided with rollers to facilitate the forward and backward movement of the battery swapping box (1).

6. A control method for a battery swapping mechanism, based on the battery swapping mechanism according to any one of claims 1-5, characterized in that, This method includes replacing the battery swapping box (1) under the S1 low-power condition and replacing the battery swapping box (1) under the S2 full-power condition; specifically as follows: Replacement of the S1 power swap box (1) under low power conditions includes: S11 Battery Swapping Preparation Steps: Adjust the transfer vehicles and the vehicles that need battery swapping to enter the preparation state. S12 Foldable mechanism (26) unfolding step, opening the foldable mechanism (26) for the battery swapping box (1) to exit; S13 Battery Swapping Box (1) Exit Step: Exit the low-power battery swapping box (1). S14 power saving mode steps: The power-loss battery swapping box (1) is disconnected from the positioning mechanism and the whole vehicle enters power saving mode; Replacement of the S2 fully charged battery swapping box (1) includes: S21 Preparation steps before battery swapping: Install the fully charged battery swapping box (1) on the positioning mechanism; S22 Battery swapping box (1) pushing step: detect the battery swapping box (1) and push it into the turntable (2); S23 Battery swapping box (1) locking procedure: Battery swapping box (1) is locked in place and the foldable mechanism (26) is closed.

7. The control method for the battery swapping mechanism according to claim 6, characterized in that: The replacement of the battery swapping box (1) under the S1 power shortage condition is as follows: S11 Battery swapping preparation steps: Adjust the transport vehicle carrying the battery swapping box (1) to the vicinity of the foldable mechanism (26), and take out the battery swapping box (1) from the transport vehicle. At the same time, put the entire vehicle that needs battery swapping down the high voltage. S12 Foldable Mechanism (26) unfolding steps: By issuing an unfolding command to the vehicle controller VCU (3), the vehicle controller VCU (3) transmits the control signal to the pump body controller (4). After receiving the signal, the pump body controller (4) controls the motor pump (5) to extend the cylinder (27). The foldable mechanism (26) unfolds around the hinge axis until it connects with the transfer vehicle carrying the battery swapping box. S13 Battery Swapping Box (1) Exit Steps: After the foldable mechanism (26) is fully unfolded, a running command is sent to the vehicle controller VCU (3). The vehicle controller VCU (3) transmits the control signal to the gear controller (242). After receiving the signal, the gear controller (242) reverses the gear mechanism of the gearbox (24). The gearbox (243) is driven to rotate by the motor (243). The gearbox (24) meshes with the transmission mechanism (11) on the battery swapping box (1), so that the sliding structure (12) of the battery swapping box (1) slides outward on the slide rail (21) until the rear coarse positioning (28) of the battery swapping box (1) passes the proximity switch (29). After that, most of the battery swapping box (1) is located on the roller of the foldable mechanism (26). The proximity switch (29) sends a feedback signal to the vehicle controller VCU (3). The vehicle controller VCU (3) sends a control signal to the gear controller (242) to stop the operation of the gearbox (24). S14 Power Saving Mode Steps: When the speed sensor (241) on the gearbox (24) shaft senses that the operation has stopped, it feeds back the signal to the vehicle controller VCU (3) to enter the power saving mode. The battery swapping box (1) is lifted and moved by the auxiliary tool so that the positioning hole (13) on the battery swapping box (1) is separated from the coarse positioning (28), and the battery swapping box (1) is replaced under the S1 power depletion condition.

8. The control method for the battery swapping mechanism according to claim 7, characterized in that: The replacement of the battery swapping box (1) under the full-charge condition of S2 specifically includes the following: S21 Battery Swapping Preparation Steps: Transfer the fully charged battery swapping box (1) on the roller of the foldable mechanism (26) to a position close to the coarse positioning (28). Lift the battery swapping box (1) with auxiliary tools and move the positioning hole (13) of the battery swapping box (1) to the coarse positioning (28). Engage the positioning hole (13) on the battery swapping box (1) with the coarse positioning (28). At the same time, measure the horizontal tilt angle using the gyroscope sensor (14) on the battery swapping box (1). When the angle is greater than the preset angle, feed the signal back to the vehicle controller VCU (3). Send a control signal to the rotation alarm (8) through the vehicle controller VCU (3). S22 battery swapping box (1) pushing steps: When the tilt angle of the gyroscope sensor (14) meets the setting, the vehicle controller VCU (3) sends a control signal to the gear controller (242), the gear controller (242) controls the gear mechanism of the gearbox (24) to rotate forward, and the motor (243) drives the gearbox (24) to rotate. At the same time, the gear mechanism of the gearbox (24) meshes with the transmission mechanism (11), so that the sliding structure (12) of the battery swapping box (1) slides on the slide rail (21); S23 Battery Swapping Box (1) Locking Steps: When the battery swapping box (1) comes into contact with the pressure sensor (22), a pressure signal is generated. The pressure sensor (22) feeds back the signal to the vehicle controller VCU (3). The vehicle controller VCU (3) sends a signal to the gear controller (242). The gear controller (242) controls the gearbox (24) to stop running and lock. The vehicle controller VCU (3) sends a control signal to the pump controller (4) to make the cylinder (27) retract and complete the replacement of the battery swapping box (1) under the full charge condition of S2.

9. The control method for the battery swapping mechanism according to claim 8, characterized in that: The preset horizontal tilt angle in the S21 battery swapping preparation step is 5 degrees.

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