A battery replacement method and system

Abstract

The present invention relates to the field of battery replacement technology for new energy vehicles, and specifically, to a battery replacement method and system. The battery replacement method includes: based on the presence of a first vehicle in the battery replacement area, the battery replacement robot moves the charged battery box with the highest power in the battery replacement station to the side of the first vehicle; the battery replacement robot moves the low-power battery box on the first vehicle to the second station of the battery replacement robot; the battery replacement robot moves the charged battery box with the highest power to the first vehicle; obtains the position of the idle charging seat unit in the battery replacement station; the battery replacement robot moves to the side of the idle bottom charging seat, and obtains the position of the charged battery box with the highest power in the charging seat unit, and whether there is a second vehicle in the battery replacement area; the first adjustment component of the battery replacement robot moves the low-power battery box to the bottom charging seat and the second adjustment component of the battery replacement robot grabs the charged battery box with the highest power. This solves the problem of how to efficiently replace batteries for new energy vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of battery replacement for new energy vehicles, and in particular to a battery replacement method and system. Background Art

[0002] New energy vehicles are being vigorously promoted because of their environmental protection, fast power response, low noise, and light vibration. New energy vehicles generally use multiple batteries in series or parallel to obtain the specified current and / or voltage to power new energy vehicles. Since multiple batteries are scattered, not conducive to fixation, and the safety is also poor, multiple batteries can be stored in a box to form a battery box, so as to facilitate the fixation and disassembly of the battery. New energy vehicles usually have two modes of replenishing electricity: charging and battery replacement. The charging mode has mature technology, simple supporting facilities, and a wider range of popularization. For example, vehicles can be charged in community parking lots, public parking lots, etc. The disadvantage is that for larger capacity battery boxes, the charging time is too long, which affects the user experience. In contrast, the battery replacement mode can complete the replenishment of vehicle energy by disassembling and assembling the battery box once, greatly improving the efficiency of energy replenishment. New energy trucks have a large load capacity, require large power, and use a large battery box capacity. Therefore, new energy trucks generally use the method of replacing battery boxes to replenish electricity.

[0003] The general battery replacement robot first takes out the low-power battery box from the new energy vehicle and places it on the battery box placement rack, and then takes out the charged battery box from the battery box placement rack and installs it on the vehicle. This operation takes a long time to replace the battery and has low efficiency. Summary of the invention

[0004] In order to solve the problem of how to efficiently replace batteries in new energy vehicles, the present invention provides a battery replacement method and system.

[0005] In a first aspect, the present invention provides a battery replacement method, the battery replacement method comprising:

[0006] Step S11, based on the presence of a first vehicle in the battery swapping area, the battery swapping robot moves the charged battery box with the highest power in the battery swapping station to the side of the first vehicle;

[0007] Step S12: based on the battery swapping robot being located at one side of the first vehicle, the battery swapping robot moves the low-power battery box on the first vehicle to a second workstation of the battery swapping robot;

[0008] Step S13, based on the low-power battery box being moved to the second station, the battery-swapping robot moves the charged battery box with the highest power to the first vehicle;

[0009] Step S14, based on the charged battery box with the highest power being moved into the battery cabinet of the first vehicle, the position of the idle charging seat unit in the battery swap station is obtained;

[0010] Step S15, based on the bottom charging seat of the charging seat unit being idle, the battery swap robot moves to the side of the idle bottom charging seat, and obtains the position of the charged battery box with the highest power in the charging seat unit and whether there is a second vehicle in the battery swap area;

[0011] Step S16, based on the battery swap robot moving to the idle side of the bottom charging seat, the charged battery box with the highest power being located in the high-level charging seat, and the second vehicle existing in the battery swap area, the first adjustment component of the battery swap robot moves the low-power battery box to the bottom charging seat and the second adjustment component of the battery swap robot grabs the charged battery box with the highest power.

[0012] In some embodiments, the charged battery with the highest power in step S16 is the charged battery with the highest power whose power is greater than or equal to a set power.

[0013] In some embodiments, the battery replacement method further includes:

[0014] Step S1611, based on the battery-swapping robot moving to the side of the idle bottom-level charging seat, the power of the charged battery box in the charging seat unit is less than the set power, and the second vehicle exists in the battery-swapping area, the first adjustment component moves the low-power battery box to the idle bottom-level charging seat;

[0015] Step S1612, based on the low-power battery box moving to the idle bottom charging seat, the battery-swapping robot obtains the power and position of the charged battery box in the other charging seat units;

[0016] Step S1613, based on the fact that the charged battery box with the highest power is located in the bottom charging seat of the other charging seat units, the battery swapping robot moves to the side of the other charging seat units where the charged battery box with the highest power is located;

[0017] Step S1614, based on the battery-swapping robot moving to the side of the other charging seat unit where the rear-charged battery box with the highest power is located, the first adjusting component grabs the rear-charged battery box with the highest power;

[0018] Step S1615, based on the first adjusting component grabbing the charged battery box with the highest power, the first adjusting component moves the charged battery box with the highest power to the second station.

[0019] In some embodiments, the battery replacement method further includes:

[0020] Step S1511, based on the high-level charging seat of the charging seat unit being idle, the battery-swapping robot moves to the side of the idle high-level charging seat, obtains the power level and position of the charged battery box in the charging seat unit, and simultaneously obtains whether there is a second vehicle in the battery-swapping area; the charging seat unit includes the high-level charging seat and the low-level charging seat; the high-level charging seat and the low-level charging seat are spaced apart along the height direction of the charging seat unit; the high-level charging seat is higher than the low-level charging seat;

[0021] Step S1512, based on the fact that the battery-exchanging robot moves to the side of the idle high-level charging seat, the power of the charged battery box in the charging seat unit is greater than or equal to the set power, the second vehicle exists in the battery-exchanging area, the charged battery box with the highest power is located at the bottom-level charging seat, and the high-level charging seat is idle, the first adjustment component moves the low-power battery box to the first station; wherein the first station and the second station are spaced apart along the length direction of the first adjustment component; the second adjustment component is within the projection range of the second station toward the direction of the second adjustment component; the projection area of ​​the second station toward the direction of the second adjustment component overlaps with the second adjustment component;

[0022] Step S1513, based on the low-power battery box moving to the first station, the second adjustment component moves the low-power battery box to a second height, and the first adjustment component grabs the charged battery box with the highest power in the bottom charging seat; wherein the second height includes the top surface of the second adjustment component being flush with the bottom surface of the cavity of the idle high-level charging seat;

[0023] Step S1514, based on the second adjusting component, the low-power battery box is moved to the second height, and the second adjusting component moves the low-power battery box into the charging seat at the high level;

[0024] Step S1515, based on the first adjusting component grabbing the charged battery box with the highest power in the bottom charging seat, the first adjusting component moves the charged battery box to the second station.

[0025] In some embodiments, the battery replacement method further includes:

[0026] Step S15121, based on the battery-swapping robot moving to the side of the idle high-rise charging seat, the battery box with the highest charge level being located in another high-rise charging seat, the battery box with the highest charge level being greater than or equal to the set level, and there being a second vehicle in the battery-swapping area, the first adjustment component moves the low-charge battery box to the first station of the battery-swapping robot; wherein one high-rise charging seat is detachably connected to another high-rise charging seat along the height direction of the high-rise charging seat;

[0027] Step S15122: based on the low-battery box being moved to the first station, the second adjusting component moves the low-battery box to a second height; wherein the second height includes the top surface of the second adjusting component being flush with the inner bottom surface of the idle high-rise charging seat cavity;

[0028] Step S15123, based on the low-power battery box being moved to the second height, the second adjustment component moves the low-power battery box to the idle charging seat;

[0029] Step S15124, based on the low-power battery box moving to the idle charging seat, the second adjustment component moves to a first height; wherein the first height includes the top surface of the second adjustment component being flush with the bottom surface of the charged battery box with the highest power in the high-level charging seat;

[0030] Step S15125, based on the second adjusting component moving to the first height, the second adjusting component grabs the charged battery box with the highest power.

[0031] In some embodiments, the battery replacement method further includes:

[0032] Step S1641, based on the battery-exchanging robot moving to the side of the idle bottom-level charging seat, the power of at least some of the charged battery boxes in the charging seat unit being greater than or equal to the set power and less than the full power, there being no second vehicle in the battery-exchanging area, and the charged battery box with the highest power being located at the high-level charging seat, the second adjustment component moves to a first height; wherein the first height includes the top surface of the second adjustment component being flush with the bottom surface of the charged battery box with the highest power in the high-level charging seat;

[0033] Step S1642, based on the second adjusting component moving to the first height, the second adjusting component moves the charged battery box with the highest power to the lifting position of the second adjusting component;

[0034] Step S1643, based on the fact that the charged battery box with the highest power level moves to the lifting position, the second adjusting component moves the charged battery box to the first station;

[0035] Step S1644, based on the second adjustment component moving to the first station, the first adjustment component moves the charged battery box with the highest power to the idle bottom charging seat;

[0036] Step S1645, based on the fact that the charged battery box with the highest power is moved to the idle bottom charging seat, the first adjustment component moves the low-power battery box to the first station;

[0037] Step S1646: based on the low-battery box being moved to the first station, the second adjusting component moves the low-battery box to a second height; wherein the second height includes the top surface of the second adjusting component being flush with the inner bottom surface of the idle high-rise charging seat cavity;

[0038] Step S1647, based on the low-battery box moving to the second height, the second adjustment component moves the low-battery box to the vacant high-level charging seat.

[0039] In some embodiments, the battery replacement method further includes:

[0040] Step S1561, based on the battery-exchanging robot moving to the side of the idle bottom-level charging seat, the power of at least part of the rechargeable battery boxes in the charging seat unit being equal to the full power, there being no second vehicle in the battery-exchanging area, and the rechargeable battery box with the highest power being located at the high-level charging seat, the second adjustment component moves to a first height; wherein the first height includes the top surface of the second adjustment component being flush with the bottom surface of the rechargeable battery box with the highest power in the high-level charging seat;

[0041] Step S1562, based on the second adjustment component moving to the first height, the first adjustment component moves the low-power battery box to an empty charging seat, and the second adjustment component moves the fully-charged battery box to a lifting position;

[0042] Step S1563, based on the first adjustment component moving the low-power battery box to the empty charging seat and the second adjustment component moving the fully charged battery box to the lifting position, the first adjustment component moves the fully charged battery box to the second station.

[0043] In some embodiments, the battery replacement method further includes:

[0044] Step S1564, based on the first adjustment component, the charged battery box with a power equal to the full power is moved to the second station, and the low-power battery box is moved to the first station;

[0045] Step S1565: based on the low-battery box being moved to the first station, the second adjusting assembly moves the low-battery box to a second height;

[0046] Step S1566: based on the low-battery box moving to the second height, the second adjustment component moves the low-battery box to an empty high-level charging seat.

[0047] In some embodiments, step S13 includes:

[0048] Step S131, based on the low-power battery box moving to the second station, the second adjusting component of the battery swapping robot moves the charged battery box with the highest power to the first station; wherein the second adjusting component moves along the height direction of the battery swapping robot; the first station and the second station are spaced apart along the length direction of the first adjusting component; the second adjusting component is within the projection range of the second station toward the direction of the second adjusting component; the projection area of ​​the second station toward the direction of the second adjusting component coincides with the second adjusting component;

[0049] Step S132, based on the fact that the charged battery box with the highest power level is moved to the first station, the first adjusting component moves the charged battery box with the highest power level into the battery cabinet.

[0050] In a second aspect, the present invention provides a battery replacement system, the battery replacement system is applied to any of the battery replacement methods in the first aspect, and the battery replacement system includes:

[0051] A battery-swapping robot, the battery-swapping robot comprising a frame assembly, a first adjustment assembly, and a second adjustment assembly; the frame assembly comprises a first frame and two second frames; the first adjustment assembly is detachably connected to the first frame; the first adjustment assembly is used to grab the battery box; one end of the second frame is detachably connected to the first frame, and the other end extends in a direction away from the first frame; the two second frames are spaced apart in a width direction of the first frame; the second adjustment assembly is movably connected to the second frame; the second adjustment assembly moves in a height direction of the second frame; the second adjustment assembly is used to grab the battery box;

[0052] A battery-swapping vehicle, the battery-swapping vehicle comprising a vehicle assembly and a battery cabinet assembly; the battery cabinet assembly comprising a battery cabinet body and a low-power battery box; the vehicle assembly is detachably connected to the battery cabinet body; the low-power battery box can be detachably connected to the battery cabinet body; the low-power battery box is arranged in a cavity of the battery cabinet body; the bottom end of the low-power battery box is spaced from the bottom surface of the internal cavity of the battery cabinet body;

[0053] A battery swap station, the battery swap station comprising a plurality of charging cabinet components and a post-charging battery box; the charging cabinet component comprises a charging cabinet body and a charging seat unit; the charging seat unit is detachably connected to the charging cabinet body; the charging seat unit comprises a bottom charging seat and a high-rise charging seat; the bottom charging seat is detachably connected to the charging cabinet body; the high-rise charging seat is detachably connected to the charging cabinet body; the bottom charging seat and the high-rise charging seat are sequentially spaced along the height direction of the charging cabinet body; the post-charging battery box is electrically connected to the bottom charging seat; the low-charge battery box is electrically connected to the bottom charging seat; the post-charging battery box is electrically connected to the high-rise charging seat; the low-charge battery box is electrically connected to the high-rise charging seat;

[0054] The battery swap system includes a battery swap state; the battery swap state includes a first state, a second state, and a third state;

[0055] The first state includes that the battery-swapping robot is located at one side of the battery cabinet; the first adjustment component moves toward or away from the battery cabinet; part of the first adjustment component is located between the bottom end of the low-battery battery box and the bottom surface of the internal cavity of the battery cabinet and abuts against the battery cabinet; part of the first adjustment component is detachably connected to the low-battery battery box or the charged battery box, and drives the low-battery battery box or the charged battery box to move away from or toward the frame component;

[0056] The second state includes that the battery-swapping robot is located on one side of the idle charging seat unit; the top surface of the second adjustment component is flush with the bottom surface of the rechargeable battery box with the highest power in the high-level charging seat; part of the second adjustment component is detachably connected to the rechargeable battery box, and drives the rechargeable battery box to move toward the direction close to the frame component;

[0057] The third state includes the battery-exchanging robot being located on the idle side of the charging seat unit; part of the first adjustment component is detachably connected to the low-power battery box, and drives the low-power battery box to move toward the direction close to the battery cabinet.

[0058] In order to solve the problem of how to efficiently replace batteries for new energy vehicles, the present invention has the following advantages:

[0059] When the first vehicle arrives at the battery swap area, the battery swap robot can load the charged battery box with the highest power in the battery swap station to the side of the first vehicle, then take out the low-power battery box of the first vehicle and place it in the second station, and move the charged battery box to the first vehicle. In this way, the battery swap robot can replace the battery box of the battery swap vehicle without going back and forth, reducing the waiting time of the battery swap vehicle and improving the efficiency of battery swap.

[0060] When there is a second vehicle in the battery swap area, the battery swap robot can carry the low-power battery box taken out from the first vehicle and move to the charging seat unit with an empty bottom charging seat, put the low-power battery box into the bottom charging seat through the first adjustment component, and grab the charged battery box with the highest power through the second adjustment component. The battery pick-up and placement operations are carried out simultaneously, further improving the battery swap efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 A schematic diagram of a battery replacement method according to an embodiment is shown;

[0062] Figure 2 A schematic diagram of a power exchange system according to an embodiment is shown;

[0063] Figure 3 A schematic diagram of a battery-swapping vehicle according to an embodiment is shown;

[0064] Figure 4 A schematic diagram of a power exchange system in another embodiment is shown;

[0065] Figure 5 A schematic diagram of a battery-swapping robot according to an embodiment is shown;

[0066] Figure 6 A schematic diagram of a first adjustment component of a battery-swapping robot according to an embodiment is shown;

[0067] Figure 7 A partial schematic diagram of a first guide unit of a battery-swapping robot according to an embodiment is shown;

[0068] Figure 8 A schematic diagram of a second adjustment component of a battery-swapping robot according to an embodiment is shown.

[0069] Figure numerals: 10 battery-swapping robot; 11 frame assembly; 111 first frame; 1111 base; 1112 driving member; 1113 adjusting chassis; 112 second frame; 113 crossbeam; 12 first adjusting assembly; 121 first guide unit; 1211 first driving part; 1212 adjusting seat; 1213 connecting member; 1214 first slide rail; 1215 first lifting part; 1216 guide groove; 122 grabbing unit; 1221 driving module; 12211 second driving part; 12212 grabbing seat; 12213 third driving part; 12214 grabbing body; 1222 grabbing head; 123 second guide unit; 1231 second slide rail; 1232 third slide rail; 123 3 second lifting part; 1234 side guide part; 13 second adjustment component; 131 lifting unit; 1311 fourth driving part; 1312 lifting seat; 132 propulsion unit; 1321 fifth driving part; 1322 propulsion module; 13221 propulsion seat; 13222 propulsion head; 13223 sixth driving part; 1323 fourth slide rail; 20 battery swapping vehicle; 21 vehicle assembly; 211 vehicle body; 212 walking part; 22 battery cabinet assembly; 221 battery cabinet; 222 locking part; 223 low-power battery box; 30 battery swapping station; 31 charging cabinet assembly; 311 charging cabinet; 312 charging seat unit; 3121 bottom charging seat; 3122 high-rise charging seat; 32 battery box after charging. DETAILED DESCRIPTION

[0070] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0071] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0072] This embodiment discloses a battery replacement method, such as Figure 1 As shown, it may include:

[0073] New energy vehicles mostly use multiple batteries in series or in parallel to obtain the specified current and / or voltage to power new energy vehicles. Since multiple batteries are scattered, not conducive to fixation, and the safety is also poor, multiple batteries can be stored in a box to form a battery box, so as to obtain the required current or voltage, and can increase the safety of vehicle driving. Usually, the battery box can be charged or replaced to replenish energy for new energy vehicles. For new energy trucks or vans, due to their large load, large power required, and large corresponding battery box capacity, it may take a long time in charging mode, so it is more suitable to replenish energy by replacing the battery box. The general battery replacement method is to take out the low-power battery box 223 of the battery replacement vehicle 20, move it to the charging seat unit 312, and then take out the charged battery box 32 from the charging seat unit 312 and transfer it to the battery replacement vehicle 20. The efficiency is not high enough, so a new battery replacement method is proposed to improve it. The battery replacement system applied to this battery replacement method may include a battery replacement area, a battery replacement robot 10, a battery replacement vehicle 20, and a battery replacement station 30. The battery swapping area refers to the place where the battery swapping work is carried out, and there can be an unlimited number of such areas. Figure 2 The battery swap robot 10, the battery swap vehicle 20 and the battery swap station 30 are shown. Figure 3 As shown, the battery swap vehicle 20 may include a vehicle component 21 and a battery cabinet component 22. The vehicle component 21 may include a vehicle body 211 and a running part 212. The vehicle body 211 is the main part of the vehicle component 21, and the running part 212 may drive the vehicle body 211 to move. The battery cabinet component 22 may include a battery cabinet 221, a locking part 222, and a low-power battery box 223. The battery cabinet 221 may be fixed on the vehicle body 211 to accommodate the battery box; the locking part 222 is fixedly connected to the battery cabinet 221, and may be used to lock and fix the low-power battery box 223. Figure 4 As shown, the battery swap station 30 may include a plurality of charging cabinet assemblies 31, and the charging cabinet assemblies 31 are fixed to the ground. One charging cabinet assembly 31 may include a charging cabinet body 311 and a plurality of charging seat units 312. The charging cabinet body 311 may be detachably connected to the charging seat unit 312, and may be used to place the charging seat unit 312 and supply power to the charging seat unit 312. The charging seat unit 312 may replenish the power for the low-power battery box 223, so that it is converted into a charged battery box 32. The low-power battery box 223 refers to a battery box whose power has not reached the set power of the battery box, such as a battery box to be replenished with energy taken out by the battery swap vehicle 20; the charged battery box 32 refers to a battery box whose power reaches the set power after being charged by the charging seat unit 312. The charging seat unit 312 may include a bottom charging seat 3121 and a high-level charging seat 3122. The bottom charging seat 3121 refers to the charging seat in the charging seat unit 312 that is closer to the ground, and the high-level charging seat 3122 refers to the charging seat in the charging seat unit 312 that is farther from the ground. As shown Figure 5As shown, the battery-swap robot 10 may include a frame assembly 11, a first adjustment assembly 12, and a second adjustment assembly 13. The frame assembly 11 may be made of a profile to ensure that the structure has sufficient strength and is light in weight. The frame assembly 11 may be detachably connected to the first adjustment assembly 12 and the second adjustment assembly 13, and may be used to fix the first adjustment assembly 12 and the second adjustment assembly 13. The first adjustment assembly 12 may grab and place the battery box in the charging seat unit 312 and the battery box in the battery-swap vehicle 20; the second adjustment assembly 13 may grab and place the battery box in the charging seat unit 312. The lower projection of the second adjustment assembly 13 corresponds to the first station of the first adjustment assembly 12, which may be used to place a battery box; in addition, the first adjustment assembly 12 may also be provided with a second station, which may also be used to place a battery box, so that when the battery-swap robot 10 is performing a pick-and-place operation on the battery box, the first station may be located between the second station and the battery-swap vehicle 20, and the second station and the first station do not interfere with each other. The second adjustment component 13 may include a lifting position, which can be used to place a battery box. The second adjustment component 13 may also include a lifting unit 131, so that when the battery box is located at the lifting position of the second adjustment component 13, the lifting unit 131 can drive the battery box to move in the vertical direction, so as to adapt to different heights of the high-rise charging seat 3122. The battery swap vehicle 20 may include a first vehicle and a second vehicle, the first vehicle refers to a vehicle that starts the battery swap work, and the second vehicle refers to a vehicle that is ready to perform the battery swap work after the first vehicle.

[0074] like Figure 1 As shown, the battery replacement method suitable for new energy vehicle battery replacement may include:

[0075] Step S11, when the first vehicle enters the battery exchange area, the battery exchange robot 10 can obtain the position of the charged battery box 32 with the highest power. The charged battery box 32 with the highest power can be located at the bottom charging seat 3121 of the charging seat unit 312, and then the battery exchange robot 10 can move to the corresponding charging seat unit 312, grab the charged battery box 32 with the highest power to the first station through the first adjustment component 12, and lift the charged battery box 32 to a certain height through the lifting unit 131 of the second adjustment component 13 to avoid interference or collision between the charged battery box 32 and the low-power battery box 223 during the process of the battery exchange robot 10 taking out the low-power battery box 223 from the battery cabinet 221. Then the battery exchange robot 10 can load the charged battery box 32 with the highest power and move it to the side of the first vehicle where the low-power battery box 223 is placed, so that the battery exchange robot 10 can perform battery exchange work on the first vehicle.

[0076] Step S12, when the battery-swapping robot 10 is loaded with the charged battery with the highest power and moves to the side of the battery box to be replaced in the first vehicle, the battery-swapping robot 10 can adjust its own position so that the first adjustment component 12 and the low-power battery box 223 have a relatively suitable position. Then, the low-power battery box 223 on the first vehicle can be moved to the second station of the battery-swapping robot 10 through the first adjustment component 12.

[0077] Step S13, based on the low-power battery box 223 moving to the second workstation, the battery swap robot 10 can move the charged battery box 32 from the lifting position of the second adjustment component 13 to the first workstation of the first adjustment component 12 through the lifting unit 131 of the second adjustment component 13, and then the first adjustment component 12 can place the charged battery box 32 from the first workstation into the battery swap vehicle 20, that is, the corresponding position of the battery cabinet 221 of the first vehicle here.

[0078] Step S14, the charged battery box 32 with the highest power is moved into the cabinet of the first vehicle, and a low-power battery box 223 is placed at the second station of the battery swap robot 10. The battery swap robot 10 can obtain the location of the idle charging seat unit 312 in the battery swap station 30, so as to facilitate the placement of the low-power battery box 223 into the charging seat unit 312.

[0079] Step S15, based on the fact that the bottom-level charging seat 3121 of the charging seat unit 312 is idle, the battery-swapping robot 10 can obtain information such as the position and height of the bottom-level charging seat 3121 of the charging seat unit 312, and then move to the side of the idle bottom-level charging seat 3121, adjust the battery-swapping robot 10 and the charging seat unit 312 to have a relatively suitable position, and obtain the position of the charged battery box 32 with the highest power in the charging seat unit 312, and information about whether there is a second vehicle in the battery-swapping area.

[0080] Step S16, based on the battery swap robot 10 moving to a suitable distance on one side of the idle bottom-level charging seat 3121, the highest-charged battery box 32 being located in the high-level charging seat 3122, and the second vehicle being present in the battery swap area, and the low-charge battery box 223 being located in the second station, the battery swap robot 10 can adjust the relative angles, heights, and other states of the relevant components of the first adjustment component 12 to match the position, height, and other information of the idle bottom-level charging seat 3121, and at the same time can adjust the height of the second adjustment component 13 to match the height of the charged battery box 32 with the highest charge. Then the first adjustment component 12 of the battery swap robot 10 can deliver the low-charge battery box 223 from the second station to the idle bottom-level charging seat 3121 for charging, and at the same time the second adjustment component 13 of the battery swap robot 10 can grab the charged battery box 32 with the highest charge and place it in the lifting position. Thereby, preparations for battery swapping for the second vehicle can be completed. In this process, the operations of placing the low-power battery box 223 into the bottom charging seat 3121 and taking out the charged battery box 32 from the upper charging seat 3122 are carried out simultaneously, further improving the battery replacement efficiency.

[0081] In some other embodiments, when the first vehicle arrives at the battery exchange area, the charged battery box 32 with the highest power may also be located at the high-level charging seat 3122 of the charging seat unit 312. At this time, the battery exchange robot 10 can grab the charged battery box 32 with the highest power to the lifting position through the second adjustment component 13. When the battery exchange robot 10 carries the charged battery box 32 with the highest power to the appropriate position on the side of the battery exchange vehicle 20, the battery exchange robot 10 can grab the low-power battery box 223 through the first adjustment component 12 and move it to the second station of the first adjustment component 12, and then the lifting unit 131 of the second adjustment component 13 can transfer the charged battery box 32 with the highest power to the first station, and can be pushed to the corresponding position of the battery cabinet 221 via the first adjustment unit.

[0082] In some other embodiments, the battery-swapping robot 10 can flexibly select and judge according to actual needs by grabbing the charged battery box 32 through the first adjustment component 12 or the second adjustment component 13, and this selection can be completed through a pre-set program. For example, the battery box is charged by the charging base unit 312, and the charging base unit 312 can record the power, position and height information of the battery box, and transmit the information to the battery-swapping robot 10. If the height of the charged battery box 32 with the highest power is higher, the second adjustment component 13 is used to grab it. If the height is lower, the first adjustment component 12 is used to grab it. This reduces the operating steps of the battery-swapping robot 10 and is beneficial to improving the battery-swapping efficiency.

[0083] In this embodiment, the charged battery with the highest power in step S16 refers to the one with the highest power among the charged batteries whose battery power is greater than or equal to the set power, so that the battery swap vehicle 20 can obtain as much cruising range as possible after entering the battery swap station 30 once to complete the battery swap operation.

[0084] In this embodiment, the battery replacement method also includes steps S1611 to S1615, and each step will be described in detail below.

[0085] Step S1611, based on the battery swap robot 10 moving to the side of the vacant bottom-level charging seat 3121, the power of the charged battery box 32 in the charging seat unit 312 is less than the set power, and there is a second vehicle in the battery swap area, the battery swap robot 10 can adjust its own position so that the battery swap robot 10 and the charging seat unit 312 are at a suitable distance, and then the first adjustment component 12 can move the low-power battery box 223 from the second workstation to the vacant bottom-level charging seat 3121, so that the charging seat unit 312 can start charging the low-power battery box 223.

[0086] Step S1612, based on the low-power battery box 223 moving to the vacant bottom-level charging seat 3121, the battery-swapping robot 10 can obtain the power and position of the charged battery boxes 32 in other charging seat units 312, so as to obtain the charged battery with the highest power and transfer it to the second vehicle. If the charged battery box 32 has less power, the cruising range of the battery-swapping vehicle 20 will be reduced, and the number of battery swaps for the battery-swapping vehicle 20 will increase within a certain mileage, affecting the driving experience. Therefore, the battery-swapping robot 10 can give priority to finding and transferring the charged battery box 32 with the most power and reaching the set power.

[0087] Step S1613, based on the fact that the battery box 32 with the highest power is located in the bottom charging seat 3121 of the other charging seat units 312, the battery swap robot 10 can move to the side of the other charging seat units 312 where the battery box 32 with the highest power is located, and adjust the relative position of the first adjustment component 12 and the battery box 32 with the highest power to facilitate the first adjustment component 12 to grab the battery box 32 from the bottom charging seat 3121 of the charging seat unit 312.

[0088] Step S1614, based on the battery-swapping robot 10 moving to the side of the other charging seat unit 312 where the rear-charging battery box 32 with the highest power is located, the first adjustment component 12 can grab the rear-charging battery box 32 with the highest power to facilitate guiding the rear-charging battery box 32 to move toward the direction of the battery-swapping robot 10.

[0089] Step S1615, based on the first adjustment component 12 grabbing the charged battery box 32 with the highest power, the first adjustment component 12 can move the charged battery box 32 with the highest power to the second station, so that the battery swap robot 10 can carry out the battery swap work for the second vehicle. At the same time, the charged battery box 32 is located in the second station to avoid the charged battery box 32 from causing obstruction when the battery swap robot 10 takes out the low-power battery box 223 from the battery swap vehicle 20.

[0090] In this embodiment, the battery replacement method may further include step S1511 to step S1515, and each step may be described in detail below.

[0091] Step S1511, based on the idleness of the high-level charging seat 3122 of the charging seat unit 312, the battery swap robot 10 can move to the side of the idle high-level charging seat 3122 and obtain the power and position of the charged battery box 32 in the charging seat unit 312, and at the same time obtain whether there is a second vehicle in the battery swap area, so as to facilitate the control of the next action of the battery swap robot 10, so that the battery swap robot 10 can choose to transfer the charged battery box 32 with the highest power, so that the battery swap vehicle 20 can obtain a longer battery life through a single battery swap, thereby improving the battery swap efficiency. The charging seat unit 312 may include a high-level charging seat 3122 and a low-level charging seat 3121. The high-level charging seat 3122 and the low-level charging seat 3121 are arranged at intervals along the height direction of the charging seat unit 312, and the height of the high-level charging seat 3122 is higher than that of the low-level charging seat 3121.

[0092] Step S1512, based on the battery-swapping robot 10 moving to the side of the idle high-level charging seat 3122, the power of the charged battery box 32 in the charging seat unit 312 is greater than or equal to the set power, there is a second vehicle in the battery-swapping area, the charged battery box 32 with the highest power is located at the bottom-level charging seat 3121, and the high-level charging seat 3122 is idle, the first adjustment component 12 can move the low-power battery box 223 to the first station. Among them, the first station and the second station are spaced along the length direction of the first adjustment component 12. The length direction of the first adjustment component 12 refers to the fastest direction of approaching or moving away from the battery-swapping vehicle 20 during the battery-swapping process. The second adjustment component 13 can be located within the projection range of the second station in the direction of the second adjustment component 13, and the projection area of ​​the second station in the direction of the second adjustment component 13 coincides with the second adjustment component 13. Thereby, the first station and the lifting position can coincide in the vertical direction.

[0093] Step S1513, based on the low-power battery box 223 moving to the first station, the second adjustment component 13 can move the low-power battery box 223 to the lifting position, and by adjusting the height of the second adjustment component 13, the low-power battery box 223 can reach the second height. The first adjustment component 12 can grab the charged battery box 32 with the highest power in the bottom charging seat 3121 to facilitate its movement in the direction close to the battery swap robot 10. Among them, the second height can include the top surface of the component of the second adjustment component 13 supporting the low-power battery box 223 or the charged battery box 32 being flush with the bottom surface of the cavity of the idle high-level charging seat 3122, so that the battery box can smoothly enter the corresponding high-level charging seat 3122 at this height.

[0094] Step S1514, based on the second adjustment component 13 moving the low-battery box 223 to the second height, the battery swap robot 10 can control the second adjustment component 13 to move the low-battery box 223 to the corresponding high-level charging seat 3122 for charging.

[0095] Step S1515, based on the first adjustment component 12 grabbing the charged battery box 32 with the highest power in the bottom charging seat 3121, the first adjustment component 12 can move the charged battery box 32 to the second station. In this process, the battery swap robot 10 grabs the charged battery box 32 and places the low-power battery box 223 at the same time, which can improve the battery swap efficiency. In addition, through such an operation, the low-power battery box 223 loaded by the battery swap robot 10 can be replaced with a charged battery box 32, which is convenient for the next battery swap and reduces the waiting time of the vehicle.

[0096] In this embodiment, the battery replacement method also includes steps S15121 to S15125, and each step will be described in detail below.

[0097] Step S15121, based on the battery swap robot 10 moving to the side of the idle high-level charging seat 3122, the battery box 32 with the highest power after charging is located in another high-level charging seat 3122 of the same charging seat unit 312, the power of the battery box 32 with the highest power after charging is greater than or equal to the set power, and there is a second vehicle in the battery swap area, the first adjustment component 12 can move the low-power battery box 223 to the first station of the battery swap robot 10, so that the lifting unit 131 of the second adjustment component 13 can lift the low-power battery box 223 to a certain height. Among them, one high-level charging seat 3122 is functionally the same as another high-level charging seat 3122, and can be detachably connected along the height direction of the charging seat unit 312.

[0098] Step S15122, based on the low-power battery box 223 moving to the first station, the second adjustment component 13 moves upward, and the low-power battery box 223 changes from being supported by the first adjustment component 12 to being supported by the second adjustment component 13, and the second adjustment component 13 can move the low-power battery box 223 to the second height. When the low-power battery box 223 is at the second height, the bottom surface of the battery box is flush with the inner bottom surface of the cavity of the idle high-rise charging seat 3122, so that the low-power battery box 223 can smoothly enter the idle high-rise charging seat 3122 corresponding to the charging seat unit 312. Among them, the second height can include the top surface of the component of the second adjustment component 13 supporting the bottom surface of the battery box is flush with the inner bottom surface of the cavity of the idle high-rise charging seat 3122, so that the battery box 32 or the low-power battery box 223 can smoothly enter the corresponding high-rise charging seat 3122 after charging at this height.

[0099] Step S15123 , based on the low-power battery box 223 moving to the second height, the second adjustment component 13 can move the low-power battery box 223 to an empty high-level charging seat 3122 , so as to charge the low-power battery box 223 through the high-level charging seat 3122 .

[0100] Step S15124, based on the low-power battery box 223 moving to the idle high-level charging seat 3122, the second adjustment component 13 can move to the first height, so that the second adjustment component 13 can grab the charged battery box 32 with the highest power. The first height can include the top surface of the component of the second adjustment component 13 supporting the bottom surface of the charged battery box 32 being flush with the bottom surface of the cavity of the high-level charging seat 3122 that accommodates the charged battery box 32 with the highest power, so that the second adjustment component 13 can grab the charged battery box 32 with the highest power and smoothly enter the lifting position of the second adjustment component 13.

[0101] Step S15125, based on the second adjustment component 13 moving to the first height, the second adjustment component 13 can grab the charged battery box 32 with the highest power and move it toward the direction close to the battery swap robot 10, and can make the charged battery box 32 in a lifting position, so as to facilitate the subsequent battery swap process to move the charged battery box 32 to the first working position of the first adjustment component 12.

[0102] In this embodiment, the battery replacement method may further include steps S1641 to S1647, and each step may be described in detail below.

[0103] Step S1641, based on the battery swap robot 10 moving to the side of the idle bottom charging seat 3121, the power of at least some of the rechargeable battery boxes 32 in the charging seat unit 312 is greater than or equal to the set power and less than the full power, there is no second vehicle in the battery swap area, and the rechargeable battery box 32 with the highest power is located at the high-level charging seat 3122, the second adjustment component 13 can adjust the height to the first height. Among them, the first height can include the top surface of the component of the second adjustment component 13 that plays the role of a track and the bottom surface of the cavity of the high-level charging seat 3122 that accommodates the rechargeable battery box 32 with the highest power, so as to facilitate the second adjustment component 13 to grab the rechargeable battery box 32 with the highest power and smoothly enter the lifting position of the second adjustment component 13.

[0104] Step S1642, based on the second adjustment component 13 moving to the first height, the second adjustment component 13 can move the charged battery box 32 with the highest power to the lifting position of the second adjustment component 13, and the battery swap robot 10 can determine that the battery box can be stably supported by the second adjustment component 13, and the battery box will not fall during the movement of the second adjustment component 13, thereby facilitating the transfer of the low-power battery box 223 to the first workstation.

[0105] Step S1643, based on the fact that the charged battery box 32 with the highest power is moved to the lifting position, and the low-power battery box 223 is located at the second station of the first adjustment component 12, the lifting unit 131 of the second adjustment component 13 can move the charged battery box 32 to the first station of the first adjustment component 12, so that the first adjustment component 12 can place the charged battery box 32 into the bottom charging seat 3121.

[0106] Step S1644, based on the second adjustment component 13, the charged battery box 32 is moved to the first station of the first adjustment component 12, and the first adjustment component 12 can move the charged battery box 32 with the highest power to the vacant bottom charging seat 3121 of the charging seat unit 312. Therefore, when the battery swap vehicle 20 arrives again, the charged battery box 32 can be taken from the bottom charging seat 3121, and then moved to the side of the battery swap vehicle 20 for battery swapping, repeating the existing steps to improve the battery swapping efficiency.

[0107] Step S1645, based on the charged battery box 32 with the highest power being moved to the vacant bottom-level charging seat 3121, the first adjustment component 12 can move the low-power battery box 223 from the second station to the first station, so that the second adjustment component 13 can move the low-power battery box 223 to the vacant high-level charging seat 3122 through the lifting unit 131, thereby charging the low-power battery box 223.

[0108] Step S1646, based on the low-power battery box 223 moving to the first station, the second adjustment component 13 can move upward, so that the low-power battery box 223 is supported by the first component and then changed to be supported by the second adjustment component 13, so that the low-power battery box 223 can be lifted to the second height. When the low-power battery box 223 is at the second height. The bottom surface of the low-power battery box 223 is flush with the inner bottom surface of the cavity of the idle high-rise charging seat 3122. Among them, the second height can include the top surface of the component that performs the guide rail function in the second adjustment component 13 being flush with the inner bottom surface of the cavity of the idle high-rise charging seat 3122, so as to facilitate the low-power battery box 223 to smoothly enter the idle high-rise charging seat 3122.

[0109] Step S1647, based on the low-power battery box 223 being lifted to the second height, the battery-exchanging robot 10 can determine that the battery can be smoothly moved from the lifting position of the second adjustment component 13 to the vacant high-level charging seat 3122, and then the second adjustment component 13 can move the low-power battery box 223 to the vacant high-level charging seat 3122, so that the corresponding high-level charging seat 3122 can charge the low-power battery box 223.

[0110] In this embodiment, the battery replacement method also includes steps S1561 to S1563, and each step will be described in detail below.

[0111] Step S1561, based on the battery swap robot 10 moving to a suitable position on one side of the idle bottom charging seat 3121, the power of at least part of the rechargeable battery box 32 in the charging seat unit 312 is equal to the full power, there is no second vehicle in the battery swap area, and the rechargeable battery box 32 with the highest power is located at the high-level charging seat 3122, the second adjustment component 13 can adjust the height to the first height. Among them, the first height can include the top surface of the component of the second adjustment component 13 that plays the role of a track and the bottom surface of the cavity of the high-level charging seat 3122 that accommodates the rechargeable battery box 32 with the highest power, so as to facilitate the second adjustment component 13 to grab the rechargeable battery box 32 with the highest power and smoothly enter the lifting position of the second adjustment component 13.

[0112] Step S1562: Based on the second adjustment component 13 moving to the first height, the first adjustment component 12 can move the low-power battery box 223 to the vacant bottom charging seat 3121, and at the same time, the second adjustment component 13 can grab the fully charged battery box 32 and move it to the lifting position in the direction of the battery swap robot 10. In this process, the operation of placing the low-power battery box 223 and grabbing the charged battery box 32 is performed simultaneously, which improves the working efficiency of the battery swap robot 10.

[0113] Step S1563, based on the first adjustment component 12, the low-power battery box 223 is moved to the vacant charging seat, and the second adjustment component 13 moves the fully charged battery box 32 to the lifting position, and can be moved to the first station through the lifting unit 131, and then the first adjustment component 12 can move the fully charged battery box 32 to the second station. In this way, when the next battery swap vehicle 20 arrives, the battery swap robot 10 does not need to take the charged battery box 32 from the charging seat unit 312, and can directly start the battery swap operation on the battery swap vehicle 20, which reduces the waiting time of the vehicle and improves the battery swap efficiency.

[0114] In this embodiment, the battery replacement method may further include steps S1564 to S1566, and each step may be described in detail below.

[0115] Step S1564, based on the first adjustment component 12, the charged battery box 32 with a power equal to the full power is moved to the second station, and the battery swap robot 10 can move the low-power battery box 223 from the bottom charging seat 3121 to the first station through the first adjustment component 12.

[0116] Step S1565, based on the low-battery battery box 223 moving to the first station of the first adjustment component 12, the low-battery battery box 223 can be made to reach the second height through the lifting unit 131 of the second adjustment component 13, and the low-battery battery box 223 is at the corresponding lifting position.

[0117] Step S1566, based on the low-power battery box 223 moving to the second height, the top surface of the component supporting the bottom surface of the low-power battery box 223 in the second adjustment component 13 is flush with the bottom surface of the cavity of the idle high-level charging seat 3122, so that the second adjustment component 13 can smoothly move the low-power battery box 223 from the lifting position to the corresponding idle high-level charging seat 3122. By transferring the low-power battery box 223 to the idle high-level charging seat 3122 for charging, a position can be reserved in the bottom-level charging seat 3121. Therefore, when the low-power battery box 223 is fully charged and there is a second vehicle in the battery exchange area, the battery exchange robot 10 can move to the idle bottom-level charging seat 3121 after completing the battery exchange work for the first vehicle, and put the low-power battery box 223 into the bottom-level charging seat 3121, while taking out the charged battery box 32 from the high-level charging seat 3122, which can shorten the time interval between two battery exchange operations and improve the battery exchange efficiency.

[0118] In this embodiment, step S13 may further include: step S131 to step S132, and each step may be described in detail below.

[0119] Step S131, based on the low-power battery box 223 moving to the second station, the second adjustment component 13 of the battery swap robot 10 can be lowered to a certain height, and the charged battery box 32 with the highest power is moved from the lifting position to the first station, and the battery is supported by the first adjustment component 12, so as to facilitate the subsequent smooth movement of the charged battery box 32 to the battery cabinet 221 of the battery swap vehicle 20. Among them, the second adjustment component 13 can move along the height direction of the battery swap robot 10. The first station and the second station are spaced along the length direction of the first adjustment component 12, and both can be used to place battery boxes. The length direction of the first adjustment component 12 refers to the direction in which the first adjustment component 12 approaches or moves away from the battery swap vehicle 20 the fastest during the battery swap process. The second adjustment component 13 can be within the projection range of the second station in the direction of the second adjustment component 13, and the projection area of ​​the second station in the direction of the second adjustment component 13 can overlap with the second adjustment component 13.

[0120] Step S132, based on the charged battery box 32 with the highest power being moved to the first workstation, the first adjustment component 12 can move the charged battery box 32 with the highest power to the corresponding position in the battery cabinet 221 of the battery swap vehicle 20, so that the charged battery box 32 can provide power to the battery swap vehicle 20.

[0121] In this embodiment, if Figure 2 As shown, the battery swap system may include a battery swap robot 10, a battery swap vehicle 20, and a battery swap station 30. Figure 5As shown, the battery swap robot 10 can be used to disassemble and carry battery boxes to complete the battery swap work. The battery swap robot 10 may include: a frame assembly 11, a first adjustment assembly 12 and a second adjustment assembly 13. The frame assembly 11 can be used to fix and support the first adjustment assembly 12 and the second adjustment assembly 13. The frame assembly 11 may include a first frame 111 and two second frames 112. The first adjustment assembly 12 can be detachably connected to the first frame 111, and can perform grabbing and placement operations on the battery box in the charging seat unit 312 and the battery box in the battery swap vehicle 20. The first frame 111 is located at the bottom of the battery swap robot 10, and can be used to support the second frame 112 and the first adjustment assembly 12. The second frame 112 can be vertically arranged on the first frame 111, one end of the second frame 112 is detachably connected to the first frame 111, and the other end of the second frame 112 extends upward in a direction away from the first frame 111. The direction in which the battery-exchange robot 10 moves forward can be defined as the length direction of the first frame 111, and the direction perpendicular to the length direction of the first frame 111 on the horizontal plane is the width direction of the first frame 111. The two second frames 112 can be spaced apart along the width direction of the first frame 111, so that the two second frames 112 can provide stable support on the left and right for the second adjustment component 13 and the battery box. The second adjustment component 13 can grab and place the battery box in the charging seat unit 312. At the same time, the second adjustment component 13 can be flexibly connected to the second frame 112 to achieve height adjustment.

[0122] like Figure 3 As shown, the battery swap vehicle 20 may include a vehicle component 21 and a battery cabinet component 22. The vehicle component 21 serves as the main body of the battery swap vehicle 20, and the battery cabinet component 22 is detachably connected to the vehicle component 21, which is convenient for the inspection and maintenance of the device. The battery cabinet component 22 can also provide energy for the movement of the vehicle component 21. The battery cabinet component 22 may include a battery cabinet 221 and a low-power battery box 223. The battery cabinet 221 can be used to store and fix the battery box, and can protect the battery box from damage. The battery cabinet 221 can be detachably connected to the vehicle component 21, which is convenient for installation and replacement of damaged parts. The low-power battery box 223 can be placed in the hollow cavity of the battery cabinet 221, and can be fixed to the battery cabinet 221 by a detachable connection method to prevent the low-power battery box 223 from sliding in the battery cabinet 221 or colliding with the battery cabinet 221, thereby damaging the battery box. At the same time, the detachable connection method is also conducive to the disassembly and assembly of the battery box, which increases convenience. The bottom end of the low-power battery box 223 can be spaced apart from the battery cabinet 221, so that a gap can be left at the bottom of the battery box, so that when the battery box is taken in and out, the relevant parts of the first adjustment component 12 can extend into the bottom of the battery box, so that the battery box can be taken out smoothly.

[0123] The battery swap station 30 can provide a charged battery box 32 for the battery swap vehicle 20, and replenish energy for the low-power battery box 223 taken out by the battery swap vehicle 20. The battery swap station 30 may include multiple charging cabinet assemblies 31 and charged battery boxes 32. The charging cabinet assembly 31 can be fixed to the ground, and one charging cabinet assembly 31 may include a charging cabinet 311 and multiple charging seat units 312. The charging cabinet 311 can be detachably connected to the charging seat unit 312. The charging cabinet 311 can be used to place the charging seat unit 312 to provide a stable support for the charging seat unit 312. A low-power battery box 223 refers to a battery box whose power has not reached the set power of the battery box, such as a battery box taken out by the battery swap vehicle 20 to be replenished with energy; a charged battery box 32 refers to a battery box whose power reaches the set power after being charged by the charging seat unit 312. The charging seat unit 312 may include a bottom charging seat 3121 and a high-rise charging seat 3122. The bottom charging seat 3121 refers to the charging seat in the charging seat unit 312 that is closer to the ground, and the high-rise charging seat 3122 refers to the charging seat in the charging seat unit 312 that is farther from the ground. The bottom charging seat 3121 is detachably connected to the battery cabinet 221, and the high-rise charging seat 3122 is detachably connected to the battery cabinet 221. The bottom charging seat 3121 and the high-rise charging seat 3122 are arranged in sequence along the height direction of the charging cabinet 311. When the battery box is placed in the charging seat, the battery box can be electrically connected to the corresponding charging seat. After charging, the battery box 32 can be placed in the bottom charging seat 3121 and electrically connected to the bottom charging seat 3121; the low-power battery box 223 can be placed in the bottom charging seat 3121 and electrically connected to the bottom charging seat 3121; after charging, the battery box 32 can be placed in the upper charging seat 3122 and electrically connected to the upper charging seat 3122; the low-power battery box 223 can be placed in the upper charging seat 3122 and electrically connected to the upper charging seat 3122. Thus, the charging seat can supply power to the battery box and obtain information such as the power, position, and height of the battery box.

[0124] The battery swap system may include a battery swap state, and the battery swap state may include a first state, a second state, and a third state.

[0125] The first state may include the battery-swapping robot 10 being located on one side of the battery cabinet 221, so as to facilitate the interaction between the battery-swapping robot 10 and the battery cabinet 221. Some components of the first adjustment component 12 may move in a direction close to or away from the battery cabinet 221. Part of the first adjustment component 12 may be located between the bottom end of the low-power battery box 223 and the bottom surface of the internal cavity of the battery cabinet 221 and abut against the battery cabinet 221, and then may bear the weight of the low-power battery box 223 or the battery box 32 after charging. Part of the first adjustment component 12 may be detachably connected to the low-power battery box 223 or the battery box 32 after charging, driving the low-power battery box 223 or the battery box 32 after charging to move away from or close to the frame component 11, thereby realizing the transfer of the low-power battery box 223 or the battery box 32 after charging between the charging seat unit 312 and the battery-swapping robot 10.

[0126] The second state may include the battery swap robot 10 being located on one side of the idle charging seat unit 312. The top surface of the second adjustment component 13 is flush with the bottom surface of the highest-charged battery box 32 in the high-level charging seat 3122, so as to facilitate the smooth movement of the charged battery box 32 between the battery swap robot 10 and the charging seat unit 312. Part of the second adjustment component 13 can be detachably connected to the charged battery box 32, and drive the charged battery box 32 to move toward the frame component 11, so as to realize the transfer of the charged battery box 32 from the charging seat unit 312 to the battery swap robot 10.

[0127] The third state may include the battery swap robot 10 being located on one side of an idle charging seat unit 312, part of the first adjustment component 12 being detachably connected to the low-power battery box 223, and driving the low-power battery box 223 to move toward the battery cabinet 221, thereby achieving the transfer of the low-power battery box 223 from the battery swap robot 10 to the charging seat unit 312.

[0128] In other embodiments, Figure 5 As shown, the frame assembly 11 may also include a crossbeam 113, which is fixedly connected to the end of the two second frames 112 away from the first frame 111, and is used to offset the torque generated by the second adjustment assembly 13 and the low-power battery box 223 or the charged battery box 32, so that the second frame 112 can be more solid and not easy to tilt. The first frame 111 may include a base 1111, a driving member 1112 and an adjustment chassis 1113. The base 1111 can serve as a frame to support and fix various components. The driving member 1112 can be installed on the side of the base 1111 close to the ground, and is detachably connected to the base 1111, and is used to drive the battery exchange robot 10 to move between the battery exchange vehicle 20 and the battery exchange station 30. The adjustment chassis 1113 can be installed on the upper surface of the base 1111, and is detachably connected to the base 1111. The first adjustment assembly 12 can be installed on the adjustment chassis 1113, so that the first adjustment assembly 12 is easy to install.

[0129] like Figure 4 , Figure 5 As shown, the first adjustment assembly 12 is disposed on the first frame 111 and is detachably connected to the first frame 111. Figure 6 As shown, the first adjustment component 12 may include two grabbing units 122, two first guide units 121, and two second guide units 123. The grabbing unit 122 is used to grab the battery box. The first guide unit 121 and the second guide unit 123 are used to guide the sliding of the battery box at different stages. The grabbing unit 122 may include a driving module 1221 and a grabbing head 1222. The driving module 1221 is used to drive the grabbing unit 122 to move forward and backward, so that the grabbing unit 122 grabs the battery box and moves the position of the battery box. The grabbing head 1222 is used to grab the battery box. The driving module 1221 is detachably connected to the first frame 111; the driving module 1221 is drivingly connected to the grabbing head 1222 to drive the grabbing head 1222 to move forward and backward. In this way, the grabbing unit 122 can be moved to one side of the battery box by the driving module 1221, and after the battery box is grabbed by the grabbing head 1222, the battery box is driven to move to a desired position along the second guide unit 123 by the driving module 1221. The second guide unit 123 is detachably connected to the first frame 111, which is convenient for installation and removal of various components and can be easily repaired. In order to store the charged battery box 32 and the low-power battery box 223 on the battery-swapping robot 10, the battery-swapping robot 10 can complete the replacement of the charged battery box 32 and the low-power battery box 223 in one round trip. The first station and the second station can be set on the first adjustment component 12. Figure 5 As shown, the first station and the second station can be arranged at intervals. The first station can be located at the front of the first adjustment component 12, and the second station can be located at the rear of the first adjustment component 12. In this way, the charged battery box 32 and the low-power battery box 223 can be placed at the first station and the second station respectively, thereby completing the replacement of the charged battery box 32 and the low-power battery box 223. When replacing the battery, first grab the charged battery box 32 and place it in the lifting position, that is, above the first station; then grab the low-power battery box 223 on the battery exchange vehicle 20 and place it in the second station. Then, the charged battery box 32 placed above the first station is lowered to the first station. In this way, the charged battery box 32 is in the first station, and the low-power battery box 223 is in the second station. The low-power battery box 223 blocks the grabbing head 1222 from pushing the charged battery box 32 at the first station. In order to allow the grabbing head 1222 to push the charged battery box 32 at the first station to the battery exchange vehicle 20, as Figure 6As shown, the gripping head 1222 can be set to include a folded state and an unfolded state. In the folded state, the highest point of the gripping head 1222 is lower than the bottom surface of the battery box when the battery box is placed in the second station (i.e., the top of the second guide unit 123). At this time, the gripping head 1222 can pass from the bottom of the battery box to the first station. In the unfolded state, the top of the gripping head 1222 is higher than the bottom surface of the battery box when the battery box is placed in the second station (i.e., the top of the second guide unit 123). At this time, the gripping head 1222 can contact the side of the battery box, thereby pushing the battery box. When the charged battery box 32 is in the first station and the low-power battery box 223 is in the second station, the gripping head 1222 changes to a folded state, passes through the bottom of the low-power battery box 223, and then changes to an unfolded state, pushing the charged battery box 32 onto the battery swap vehicle 20. Then, the grab head 1222 changes to a folded state, passes through the bottom of the low-power battery box 223 to the initial position, and then changes to an unfolded state, pushing the low-power battery box 223 to the first station, and then placing it on the charging cabinet assembly 31. The two second frames 112 can be arranged on both sides of the width direction of the first station, so that the low-power battery box 223 on the first station can be lifted, and then the low-power battery box 223 can be pushed to the charging cabinet assembly 31 through the second adjustment assembly 13.

[0130] As shown Figure 2 , Figure 6 As shown, in order to save effort in moving the battery box, the battery box is prevented from falling due to the height difference when the battery box moves between the charging cabinet assembly 31 and the battery swap robot 10, or between the battery swap vehicle 20 and the battery swap robot 10. The first adjustment assembly 12 may also include a first guide unit 121. Figure 2 As shown, the first guide unit 121 may include a first driving portion 1211, an adjustment seat 1212, a connecting piece 1213, a first slide rail 1214, a first lifting portion 1215, and a guide groove 1216. The first driving portion 1211 is detachably connected to the first frame 111. The first driving portion 1211 is drivingly connected to the adjustment seat 1212, and drives the adjustment seat 1212 to reciprocate forward or backward within a certain stroke. In turn, the first slide rail 1214 is driven to reciprocate forward or backward within a certain stroke. In this way, the extended length of the first slide rail 1214 can be adjusted to allow the battery box to be taken and placed. The driving mode adopted by the first driving portion 1211 is not limited and can be selected according to actual conditions. For example, it can be a ball screw drive, a sliding screw drive, or a sprocket drive. As shown in FIG. Figure 7As shown, the adjustment seat 1212 may be provided with a guide groove 1216, and the guide groove 1216 may penetrate the adjustment seat 1212 along the length direction of the second guide unit 123. One end of the connecting piece 1213 is slidably connected to the guide groove 1216, and the other end is detachably connected to one end of the first slide rail 1214. In this way, the driving force generated by the first driving part 1211 can be transmitted to the first slide rail 1214 through the adjustment seat 1212 and the connecting piece 1213, so that the first slide rail 1214 can be telescopically moved. At the same time, the connecting piece 1213 can slide up and down in the guide groove 1216, and cooperate with the first slide rail 1214, so as to facilitate the adjustment of the height and angle of the first slide rail 1214. Figure 6 As shown, the first lifting part 1215 is detachably connected to the first slide rail 1214, and the first lifting part 1215 can lift the bottom surface of the first slide rail 1214 by adjusting its own height, thereby adjusting the height and inclination angle of the first slide rail 1214. Figure 4 , Figure 6 As shown, when grabbing the low-charge battery box 223 from the battery-swapping vehicle 20, the first slide rail 1214 extends into the space below the bottom surface of the low-charge battery box 223 in the battery cabinet 221, and then the first lifting part 1215 lifts the first slide rail 1214, allowing the top of the first slide rail 1214 to abut against the low-charge battery box 223, thereby lifting the low-charge battery box 223. In this way, the low-charge battery box 223 can be lifted off the bottom surface of the battery cabinet 221 and slide along the first slide rail 1214, making it easier to drag the low-charge battery box 223. At the same time, the bottom end of the first lifting part 1215 can abut against the bottom surface of the battery cabinet 221, thereby providing support for the first lifting part 1215, sharing the force of the first lifting part 1215 to the battery cabinet 221 of the battery swap vehicle 20, protecting the first lifting part 1215, and preventing the first lifting part 1215 from being deformed due to excessive gravity, thereby affecting the sliding of the low-power battery box 223 thereon. During the driving of the battery swap vehicle 20, the battery box will inevitably tilt. When the battery box is tilted in the vertical direction, such as Figure 4 , Figure 6 As shown, as the first slide rail 1214 extends into the bottom of the low-power battery box 223, the first lifting portion 1215, the adjustment seat 1212, the connector 1213 and the guide groove 1216 cooperate to gradually make the inclination angle of the first slide rail 1214 the same as the inclination angle of the low-power battery box 223, so that the first slide rail 1214 is in full contact with the bottom of the low-power battery box 223. In this way, when the low-power battery box 223 is lifted to leave the battery cabinet 221, the low-power battery box 223 can be prevented from tipping over due to insufficient contact between the low-power battery box 223 and the first lifting portion 1215, and the first slide rail 1214 can be prevented from being damaged by the impact force generated by the low-power battery box 223.

[0131] like Figure 5 and Figure 6As shown, in order to ensure that the battery box moves smoothly during the transfer process and avoid tilting to one side, two first guide units 121 can be provided, and the two first guide units 121 can be spaced apart along the width direction of the first frame 111. In this way, during the process of guiding the transfer of the battery box, the battery box is provided with left and right support and guidance, making the transfer process safer and more stable.

[0132] In order to make the second guide unit 123 more stable when receiving the battery box, and at the same time let the second guide unit 123 share more of the weight of the battery box to protect the first guide unit 121. Figure 6 As shown, the second guide unit 123 may include a second slide rail 1231, a third slide rail 1232, and a second lifting portion 1233. Figure 1 As shown, the second slide rail 1231 can be detachably connected to the first frame 111, which is convenient for the disassembly, assembly and maintenance of parts. The end of the third slide rail 1232 close to the second slide rail 1231 is movably connected to the first frame 111, so that the third slide rail 1232 can rotate a certain angle around the end of the third slide rail 1232 close to the second slide rail 1231. One end of the second lifting part 1233 is detachably connected to the first frame 111, and the other end is drivingly connected to the third slide rail 1232, driving the third slide rail 1232 to move up and down, so that the inclination angle of the third slide rail 1232 can be changed. During the battery replacement process, the inclination angle of the third slide rail 1232 can be adjusted to a suitable position through the second lifting part 1233, so that after the battery box moves a certain distance along the first guide unit 121, it can smoothly transition to the third slide rail 1232, and then it can enter the second slide rail 1231 through the guidance of the third slide rail 1232, and adjust the posture of the battery box to horizontal through the second slide rail 1231, and then reach the designated position.

[0133] like Figure 5 and Figure 6 As shown, the second guide unit 123 may further include a side guide portion 1234. The side guide portion 1234 may be disposed outside the first guide unit 121 and detachably connected to the first frame 111, and is used to guide the low-power battery box 223 to enter the second station.

[0134] In order to make the battery box smoother during movement, the supporting force on the battery box should be distributed symmetrically, such as Figure 5 and Figure 6 As shown, the first adjustment assembly 12 may include two second guide units 123. The two second guide units 123 are spaced apart along the width direction of the first frame 111, and may be symmetrically arranged on both sides of the width direction of the first frame 111. In this way, the two second guide units 123 jointly support and guide the movement of the battery box, so that the battery box moves more smoothly.

[0135] Since the battery box is inevitably tilted when placed, and the battery box is large in size, a small tilt angle in the horizontal direction may cause the grabbing unit 122 to be unable to grab the battery box. In order to avoid the above phenomenon, Figure 6 As shown, the driving module 1221 may include a second driving unit 12211, a grab seat 12212, a third driving unit 12213, and a grab body 12214. The second driving unit 12211 may be a chain drive, which has a large vibration and a low precision, and is used to achieve a large movement of the grab unit 122. The third driving unit 12213 may be a screw drive, which has a small vibration and a high precision, and is used to achieve a small fine adjustment of the grab head 1222. The second driving unit 12211 may be detachably connected to the first frame 111, thereby fixing the second driving unit 12211. The second driving unit 12211 may be drivingly connected to the grab seat 12212, driving the entire grab seat 12212 to move back and forth, achieving a long distance of movement, thereby quickly grabbing the battery box. The third driving part 12213 is detachably connected to the grab seat 12212, and the third driving part 12213 is fixed on the grab seat 12212 to move with the grab seat 12212. The third driving part 12213 can be connected to the grab body 12214 to drive the grab body 12214 to move forward and backward, thereby achieving fine adjustment of the distance between the grab body 12214 and the battery box. Figure 6 As shown, when the battery box is tilted in the horizontal direction, the second driving unit 12211 is adjusted to drive the grabbing seat 12212 to move. It is possible that one grabbing head 1222 contacts the battery box while the other grabbing head 1222 does not contact the battery box, and the battery box cannot be grabbed. At this time, the grabbing body 12214 can be driven to move by the third driving unit 12213 to fine-tune the grabbing head 1222 to grab the battery box. In order to enable the grabbing unit 122 to pass through the bottom of the battery box when the battery box is placed in the second station, and then complete the placement of other battery boxes, the grabbing head 1222 can be designed to be foldable. The grabbing body 12214 can be connected to the grabbing head 1222, and the grabbing body 12214 drives the grabbing head 1222 to rotate around the connection between the grabbing body 12214 and the grabbing body 12214. In this way, the grabbing head 1222 can be rotated to a height equivalent to that of the grabbing body 12214, thereby preventing the grabbing head 1222 from interfering with the bottom of the battery box and allowing the grabbing head 1222 to pass smoothly.

[0136] In order to prevent the battery box from being tilted when being grasped, the grasping force of the battery box can be distributed symmetrically. Figure 5 and Figure 6As shown, the first adjustment assembly 12 may include two gripping units 122. The two gripping units 122 are spaced apart along the width direction of the first frame 111, and may be symmetrically arranged on both sides of the width direction of the first frame 111. In this way, the battery box is gripped together by the two gripping units 122, which can make the grip more secure and less prone to deflection.

[0137] like Figure 5 As shown, one second adjustment component 13 is detachably connected to one second frame 112, and another second adjustment component 13 is detachably connected to another second frame 112, and the two second adjustment components 13 can be placed on the same horizontal plane. In this way, the battery box can be placed horizontally on the two second adjustment components 13, so that the battery box can be pushed from the second adjustment component 13 to the charging cabinet component 31 or pulled out from the charging cabinet component 31 to the second adjustment component 13. The second adjustment component 13 may include a lifting unit 131 and a propulsion unit 132. The lifting unit 131 may be detachably connected to the second frame 112, and the propulsion unit 132 is connected to the lifting unit 131 by driving. The lifting unit 131 can control the rise and fall of the propulsion unit 132, and the specific implementation method is not limited and can be selected according to actual conditions, for example, it can be a chain drive, a belt drive, or a gear rack drive, etc. The propulsion unit 132 has two states: a lowered state and a raised state. When the propulsion unit 132 is in a lowered state, the propulsion unit 132 is located in the first station, and the top surface of the propulsion unit 132 is flush with the top surface of the second guide unit 123 or the top surface of the propulsion unit 132 is lower than the top surface of the second guide unit 123. This ensures that the battery box falls onto the second guide unit 123, and the battery box is supported by the second guide unit 123, and then the position of the battery box is moved by the second guide unit 123 so that it can be moved to the second station. When the propulsion unit 132 is in a raised state, the distance between the horizontal plane where the bottom surface of the propulsion unit 132 is located and the horizontal plane where the top surface of the second guide unit 123 is located must be greater than the first distance, and the first distance can be the height of the battery box. In this way, when the propulsion unit 132 is in a raised state to support the battery box, it does not affect the movement of other battery boxes on the first adjustment assembly 12, and other battery boxes can move under the lifted battery box. Thus, when the charged battery box 32 is placed on the upper part of the second frame 112, the low-power battery box 223 is taken out from the vehicle and placed on the second station of the first frame 111, and then the charged battery box 32 is lowered to the lowered state, and the charged battery box 32 is pushed to the battery replacement vehicle 20 through the grabbing unit 122. This saves battery replacement time and improves battery replacement efficiency.

[0138] like Figure 5As shown, the lifting unit 131 may include a fourth driving unit 1311 and a lifting seat 1312. The fourth driving unit 1311 may be detachably connected to the second frame 112, so that the fourth driving unit 1311 is fixed to the second frame 112, which can facilitate the operation and maintenance of the walking unit 212. The fourth driving unit 1311 may be drivably connected to the lifting seat 1312, and the fourth driving unit 1311 is controlled to drive the lifting seat 1312 to move up and down along the second frame 112, thereby adjusting the height of the lifting seat 1312, and the charged battery boxes 32 of different heights can be taken or the low-power battery boxes 223 can be pushed to different positions of the charging cabinet assembly 31. The lifting seat 1312 includes two symmetrical parts, which are detachably connected to the two second frames 112 respectively, and can provide support for the propulsion unit 132, driving the propulsion unit 132 to move up and down together. The propulsion unit 132 may include two parallel fourth rails 1323, which are spaced apart on both sides above the first station and can be detachably connected to the lifting seat 1312, so as to facilitate up and down movement with the lifting seat 1312. The two parallel fourth rails 1323 may include slightly protruding rollers, so that the low-power battery box 223 or the battery box 32 after charging is subjected to less friction when moving on the fourth rails 1323, so that the low-power battery box 223 or the battery box 32 after charging can smoothly enter and exit the corresponding high-level charging seat 3122 from the lifting position along the fourth rails 1323 through the propulsion unit 132. The shortest distance between the two symmetrical parts of the propulsion unit 132 is the shortest distance between the two parallel fourth slide rails 1323, and the shortest distance is slightly smaller than the length of the low-power battery box 223 or the battery box 32 after charging, so that the bottom surface of the low-power battery box 223 or the battery box 32 after charging can be supported by the fourth slide rail 1323, and it can be driven to move up and down with the second adjustment component 13. In the working state, the second adjustment component 13 needs to be partially located below the low-power battery box 223 or the battery box 32 after charging, and the two fourth slide rails 1323 need to be in direct contact with the bottom surface of the low-power battery box 223 or the battery box 32 after charging, so as to bear the weight of the low-power battery box 223 or the battery box 32 after charging and drive it to achieve up and down movement. If the low-power battery box 223 or the battery box after charging is already located at the first work station, the lifting seat 1312 may not be able to continue moving downward due to the obstruction of the low-power battery box 223 or the battery box after charging 32, and the two fourth slide rails 1323 detachably connected to the lifting seat 1312 cannot reach under the low-power battery box 223 or the battery box after charging 32, and cannot drive the low-power battery box 223 or the battery box after charging 32 to move together.Therefore, when it is necessary to move the low-power battery box 223 or the charged battery box 32 at the first workstation upward, it is necessary to ensure that the lifting seat 1312 and the fourth slide rail 1323 are moved into place before the low-power battery box 223 or the charged battery box 32 reaches the first workstation, so that the two fourth slide rails 1323 can be located on both sides below the low-power battery box 223 or the charged battery box 32, thereby supporting the up and down movement of the low-power battery box 223 or the charged battery box 32.

[0139] like Figure 8 As shown, the propulsion unit 132 may include a fifth driving unit 1321 and a propulsion module 1322. The fifth driving unit 1321 may drive the propulsion module 1322 to move forward and backward by chain transmission, belt transmission, etc., so that the propulsion module 1322 is close to or away from the battery box, thereby pushing the low-power battery box 223 into the charging cabinet assembly 31 through the propulsion module 1322, or moving the charged battery box 32 from the charging cabinet assembly 31 to the propulsion module 1322. The propulsion module 1322 is used to push the battery box onto the charging cabinet assembly 31 or pull the battery box from the charging cabinet assembly 31 to the propulsion unit 132, thereby realizing the removal of the battery box 32 and the low-power battery box 223 after charging. The fifth driving unit 1321 can be detachably connected to the lifting seat 1312 and move up and down with the lifting seat 1312.

[0140] The propulsion unit 132 includes a lowered state and a raised state. Figure 6 , Figure 8As shown, when the propulsion unit 132 is in the lowered state, the fourth slide rail 1323 is located in the first station, and the top surface of the fourth slide rail 1323 is flush with the top surface of the second guide unit 123 or the top surface of the fourth slide rail 1323 is lower than the top surface of the second guide unit 123. In this way, after the battery box is lowered along the second frame 112 to the first frame 111, the battery box can be smoothly supported by the original fourth slide rail 1323 and then supported by the second guide unit 123, without the battery box being unable to be transferred to the first frame 111 due to the gap between the bottom of the battery box and the second guide unit 123. At the same time, it can also be avoided that the grasping unit 122 on the first adjustment component 12 cannot contact and move the battery box due to the deviation of the battery box height. When the propulsion unit 132 is in the lifted state, the bottom surface of the fourth slide rail 1323 and the top surface of the second guide unit 123 are spaced apart by a first distance, and the first distance can be greater than the height of the battery box. In this way, when one battery box is located above the second frame 112, the other battery box can pass through the bottom of the upper battery box without affecting the movement of the battery box on the first frame 111, so that one robot can store two battery boxes at the same time. In this way, the battery box 32 after charging, the battery box 223 with low power, the battery box 32 after charging and the battery box 223 with low power can be installed in one trip, thereby reducing the battery replacement time and improving the efficiency of battery replacement.

[0141] like Figure 8 As shown, the propulsion module 1322 may include a propulsion seat 13221, a propulsion head 13222, and a sixth driving unit 13223. The propulsion seat 13221 can realize a relatively large movement of the propulsion module 1322 through chain transmission, so as to quickly grab the battery box. The propulsion head 13222 can realize a relatively small fine adjustment of the propulsion module 1322 through a screw drive. When the battery box is tilted in the horizontal direction, only by adjusting the propulsion seat 13221, one propulsion head 13222 may contact the battery box while the other propulsion head 13222 does not contact the battery box, and the battery box cannot be grabbed. At this time, the battery box can be grabbed by fine-tuning the propulsion head 13222. The sixth driving unit 13223 can drive the propulsion head 13222 to move along a certain stroke. The sixth driving unit 13223 can adopt a ball screw transmission to enhance the accuracy of control, so that when the propulsion head 13222 contacts with the low-power battery box 223 or the charged battery box 32, the propulsion speed during contact can be better controlled to avoid damage to the low-power battery box 223 or the charged battery box 32.

[0142] like Figure 3As shown, the vehicle assembly 21 may further include a vehicle body 211 and a running part 212, wherein the vehicle body 211 is the main part of the vehicle assembly 21, and the running part 212 may drive the vehicle body 211 to move. The battery cabinet assembly 22 may include a locking part 222 for fixing the low-power battery box 223 or the charged battery box 32 to the battery cabinet 221.

[0143] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present disclosure, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present disclosure.

Claims

1. A battery replacement method, characterized in that: The battery replacement method comprises: Step S11, based on the presence of a first vehicle in the battery swapping area, the battery swapping robot moves the charged battery box with the highest power in the battery swapping station to the side of the first vehicle; Step S12: based on the battery swapping robot being located at one side of the first vehicle, the battery swapping robot moves the low-power battery box on the first vehicle to a second workstation of the battery swapping robot; Step S13, based on the low-power battery box being moved to the second station, the battery-swapping robot moves the charged battery box with the highest power to the first vehicle; Step S14, based on the charged battery box with the highest power being moved into the battery cabinet of the first vehicle, the position of the idle charging seat unit in the battery swap station is obtained; Step S15, based on the bottom charging seat of the charging seat unit being idle, the battery swap robot moves to the side of the idle bottom charging seat, and obtains the position of the charged battery box with the highest power in the charging seat unit and whether there is a second vehicle in the battery swap area; Step S16, based on the battery-swapping robot moving to the idle side of the bottom-level charging seat, the charged battery box with the highest power being located in the high-level charging seat, and the second vehicle existing in the battery-swapping area, the first adjustment component of the battery-swapping robot moves the low-power battery box to the bottom-level charging seat, and the second adjustment component of the battery-swapping robot grabs the charged battery box with the highest power; The battery replacement method further includes: Step S1611, based on the battery-swapping robot moving to the side of the idle bottom-level charging seat, the power of the charged battery box in the charging seat unit is less than the set power, and the second vehicle exists in the battery-swapping area, the first adjustment component moves the low-power battery box to the idle bottom-level charging seat; Step S1612, based on the low-power battery box moving to the idle bottom charging seat, the battery-swapping robot obtains the power and position of the charged battery box in the other charging seat units; Step S1613, based on the fact that the charged battery box with the highest power is located in the bottom charging seat of the other charging seat units, the battery swapping robot moves to the side of the other charging seat units where the charged battery box with the highest power is located; Step S1614, based on the battery-swapping robot moving to the side of the other charging seat unit where the rear-charged battery box with the highest power is located, the first adjusting component grabs the rear-charged battery box with the highest power; Step S1615, based on the first adjusting component grabbing the charged battery box with the highest power, the first adjusting component moves the charged battery box with the highest power to the second station.

2. A battery replacement method according to claim 1, characterized in that: In step S16, the charged battery with the highest power is the charged battery with the highest power that is greater than or equal to the set power.

3. A battery replacement method according to claim 1, characterized in that: The battery replacement method further includes: Step S1511, based on the high-level charging seat of the charging seat unit being idle, the battery-swapping robot moves to the side of the idle high-level charging seat, obtains the power level and position of the charged battery box in the charging seat unit, and simultaneously obtains whether there is a second vehicle in the battery-swapping area; the charging seat unit includes the high-level charging seat and the low-level charging seat; the high-level charging seat and the low-level charging seat are spaced apart along the height direction of the charging seat unit; the high-level charging seat is higher than the low-level charging seat; Step S1512, based on the fact that the battery-exchanging robot moves to the side of the idle high-level charging seat, the power of the charged battery box in the charging seat unit is greater than or equal to the set power, the second vehicle exists in the battery-exchanging area, the charged battery box with the highest power is located at the bottom-level charging seat, and the high-level charging seat is idle, the first adjustment component moves the low-power battery box to the first station; wherein the first station and the second station are spaced apart along the length direction of the first adjustment component; the second adjustment component is within the projection range of the second station toward the direction of the second adjustment component; the projection area of ​​the second station toward the direction of the second adjustment component overlaps with the second adjustment component; Step S1513, based on the low-power battery box moving to the first station, the second adjustment component moves the low-power battery box to a second height, and the first adjustment component grabs the charged battery box with the highest power in the bottom charging seat; wherein the second height includes the top surface of the second adjustment component being flush with the bottom surface of the cavity of the idle high-level charging seat; Step S1514, based on the second adjusting component, the low-power battery box is moved to the second height, and the second adjusting component moves the low-power battery box into the charging seat at the high level; Step S1515, based on the first adjusting component grabbing the charged battery box with the highest power in the bottom charging seat, the first adjusting component moves the charged battery box to the second station.

4. A battery replacement method according to claim 3, characterized in that: The battery replacement method further includes: Step S15121, based on the battery-swapping robot moving to the side of the idle high-rise charging seat, the battery box with the highest charge level being located in another high-rise charging seat, the battery box with the highest charge level being greater than or equal to the set level, and there being a second vehicle in the battery-swapping area, the first adjustment component moves the low-charge battery box to the first station of the battery-swapping robot; wherein one high-rise charging seat is detachably connected to another high-rise charging seat along the height direction of the high-rise charging seat; Step S15122: based on the low-battery box being moved to the first station, the second adjusting component moves the low-battery box to a second height; wherein the second height includes the top surface of the second adjusting component being flush with the inner bottom surface of the idle high-rise charging seat cavity; Step S15123, based on the low-power battery box being moved to the second height, the second adjustment component moves the low-power battery box to the idle charging seat; Step S15124, based on the low-power battery box moving to the idle charging seat, the second adjustment component moves to a first height; wherein the first height includes the top surface of the second adjustment component being flush with the bottom surface of the charged battery box with the highest power in the high-level charging seat; Step S15125, based on the second adjusting component moving to the first height, the second adjusting component grabs the charged battery box with the highest power.

5. A battery replacement method according to claim 1, characterized in that: The battery replacement method further includes: Step S1641, based on the battery-exchanging robot moving to the side of the idle bottom-level charging seat, the power of at least some of the charged battery boxes in the charging seat unit being greater than or equal to the set power and less than the full power, there being no second vehicle in the battery-exchanging area, and the charged battery box with the highest power being located at the high-level charging seat, the second adjustment component moves to a first height; wherein the first height includes the top surface of the second adjustment component being flush with the bottom surface of the charged battery box with the highest power in the high-level charging seat; Step S1642, based on the second adjusting component moving to the first height, the second adjusting component moves the charged battery box with the highest power to the lifting position of the second adjusting component; Step S1643, based on the fact that the charged battery box with the highest power level moves to the lifting position, the second adjusting component moves the charged battery box to the first station; Step S1644, based on the second adjustment component moving to the first station, the first adjustment component moves the charged battery box with the highest power to the idle bottom charging seat; Step S1645, based on the fact that the charged battery box with the highest power is moved to the idle bottom charging seat, the first adjustment component moves the low-power battery box to the first station; Step S1646: based on the low-battery box being moved to the first station, the second adjusting component moves the low-battery box to a second height; wherein the second height includes the top surface of the second adjusting component being flush with the inner bottom surface of the idle high-rise charging seat cavity; Step S1647, based on the low-battery box moving to the second height, the second adjustment component moves the low-battery box to the vacant high-level charging seat.

6. A battery replacement method according to claim 1, characterized in that: The battery replacement method further includes: Step S1561, based on the battery-exchanging robot moving to the side of the idle bottom-level charging seat, the power of at least part of the rechargeable battery boxes in the charging seat unit being equal to the full power, there being no second vehicle in the battery-exchanging area, and the rechargeable battery box with the highest power being located at the high-level charging seat, the second adjustment component moves to a first height; wherein the first height includes the top surface of the second adjustment component being flush with the bottom surface of the rechargeable battery box with the highest power in the high-level charging seat; Step S1562, based on the second adjustment component moving to the first height, the first adjustment component moves the low-power battery box to an empty charging seat, and the second adjustment component moves the fully-charged battery box to a lifting position; Step S1563, based on the first adjustment component moving the low-power battery box to the empty charging seat and the second adjustment component moving the fully charged battery box to the lifting position, the first adjustment component moves the fully charged battery box to the second station.

7. A battery replacement method according to claim 6, characterized in that: The battery replacement method further includes: Step S1564, based on the first adjustment component, the charged battery box with a power equal to the full power is moved to the second station, and the low-power battery box is moved to the first station; Step S1565: based on the low-battery box being moved to the first station, the second adjusting assembly moves the low-battery box to a second height; Step S1566: based on the low-battery box moving to the second height, the second adjustment component moves the low-battery box to an empty high-level charging seat.

8. A battery replacement method according to claim 1, characterized in that: Step S13 includes: Step S131, based on the low-power battery box moving to the second station, the second adjusting component of the battery swapping robot moves the charged battery box with the highest power to the first station; wherein the second adjusting component moves along the height direction of the battery swapping robot; the first station and the second station are spaced apart along the length direction of the first adjusting component; the second adjusting component is within the projection range of the second station toward the direction of the second adjusting component; the projection area of ​​the second station toward the direction of the second adjusting component coincides with the second adjusting component; Step S132, based on the fact that the charged battery box with the highest power is moved to the first station, the first adjusting component moves the charged battery box with the highest power into the battery cabinet.

9. A battery replacement system, characterized in that: The battery replacement system is applied to a battery replacement method as described in any one of claims 1 to 8, and the battery replacement system includes: A battery-swapping robot, the battery-swapping robot comprising a frame assembly, a first adjustment assembly, and a second adjustment assembly; the frame assembly comprises a first frame and two second frames; the first adjustment assembly is detachably connected to the first frame; the first adjustment assembly is used to grab the battery box; one end of the second frame is detachably connected to the first frame, and the other end extends in a direction away from the first frame; the two second frames are spaced apart in a width direction of the first frame; the second adjustment assembly is movably connected to the second frame; the second adjustment assembly moves in a height direction of the second frame; the second adjustment assembly is used to grab the battery box; A battery-swapping vehicle, the battery-swapping vehicle comprising a vehicle assembly and a battery cabinet assembly; the battery cabinet assembly comprising a battery cabinet body and a low-power battery box; the vehicle assembly is detachably connected to the battery cabinet body; the low-power battery box is detachably connected to the battery cabinet body; the low-power battery box is disposed in a cavity of the battery cabinet body; the bottom end of the low-power battery box is spaced from the bottom surface of the internal cavity of the battery cabinet body; A battery swap station, the battery swap station comprising a plurality of charging cabinet components and a post-charging battery box; the charging cabinet component comprises a charging cabinet body and a charging seat unit; the charging seat unit is detachably connected to the charging cabinet body; the charging seat unit comprises a bottom charging seat and a high-rise charging seat; the bottom charging seat is detachably connected to the charging cabinet body; the high-rise charging seat is detachably connected to the charging cabinet body; the bottom charging seat and the high-rise charging seat are sequentially spaced along the height direction of the charging cabinet body; the post-charging battery box is electrically connected to the bottom charging seat; the low-charge battery box is electrically connected to the bottom charging seat; the post-charging battery box is electrically connected to the high-rise charging seat; the low-charge battery box is electrically connected to the high-rise charging seat; The battery swap system includes a battery swap state; the battery swap state includes a first state, a second state, and a third state; The first state includes that the battery-swapping robot is located at one side of the battery cabinet; the first adjustment component moves toward or away from the battery cabinet; part of the first adjustment component is located between the bottom end of the low-battery battery box and the bottom surface of the internal cavity of the battery cabinet and abuts against the battery cabinet; part of the first adjustment component is detachably connected to the low-battery battery box or the charged battery box, and drives the low-battery battery box or the charged battery box to move away from or toward the frame component; The second state includes that the battery-swapping robot is located on one side of the idle charging seat unit; the top surface of the second adjustment component is flush with the bottom surface of the rechargeable battery box with the highest power in the high-level charging seat; part of the second adjustment component is detachably connected to the rechargeable battery box, and drives the rechargeable battery box to move toward the direction close to the frame component; The third state includes the battery-exchanging robot being located on the idle side of the charging seat unit; part of the first adjustment component is detachably connected to the low-power battery box, and drives the low-power battery box to move toward the direction close to the battery cabinet.

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