A battery replacement device and method

Abstract

The present invention relates to the field of vehicle battery replacement technology, and specifically, to a battery replacement device and method. Among them, the battery replacement device includes a lifting assembly and a grabbing assembly. The lifting assembly includes a lifting unit and a first guide unit. The first guide unit includes a first guide module and a second guide module. The outer peripheral wall of the second guide module is slidably connected to the inner peripheral wall of the first guide module. The grabbing assembly includes a grabbing unit and a second guide unit. The area of ​​the second guide unit gradually decreases from one end close to the grabbing unit toward the direction close to the lifting unit. The battery replacement device includes a first state and a second state. In this way, the problem of inconvenience in lifting caused by the swing of the battery box during the battery replacement process is solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle battery replacement technology, and in particular to a battery replacement device and method. Background Art

[0002] New energy vehicles are being vigorously promoted due to their environmental protection, fast power response, low noise, and light vibration. The ways to supplement energy for new energy vehicles usually include charging and battery replacement. New energy vehicles usually use multiple batteries in series or parallel to form a battery box to provide energy for the vehicle. Different energy supplementation methods can be given priority for different application scenarios. In the battery replacement mode, a lifting assembly can be used to lift the battery box with less power on the battery replacement vehicle away from the battery replacement vehicle, and at the same time lift the battery box with more power and lift it to the designated position of the battery replacement vehicle.

[0003] Since the lifting components are at a certain height from the battery box during the battery replacement process, the battery box is prone to swing during the lifting process, which is not conducive to improving the lifting stability. At the same time, the battery box is prone to collide with other objects due to swinging, which adds difficulty to the lifting work. Summary of the invention

[0004] In order to solve the problem of inconvenience in lifting caused by the swing of the battery box during the battery replacement process, the present invention provides a battery replacement device and method.

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

[0006] A hoisting assembly, the hoisting assembly includes a lifting unit and a first guide unit; the first guide unit includes a first guide module and a second guide module; one end of the first guide module is detachably connected to the lifting unit, and the other end extends away from the lifting unit; the outer peripheral wall of the second guide module is slidably connected to the inner peripheral wall of the first guide module;

[0007] A grabbing assembly, the grabbing assembly comprising a grabbing unit and a second guide unit; one end of the second guide unit is detachably connected to the grabbing unit, and the other end extends toward the lifting unit; the area of ​​the second guide unit gradually decreases from the end close to the grabbing unit toward the lifting unit; the grabbing unit is drivingly connected to the lifting unit;

[0008] The battery exchange device includes a first state and a second state; the first state includes the second guide module being sleeved on the outer peripheral side of the second guide unit, and the distance between the lifting unit and the grasping unit includes a first distance; the second state includes the second guide module being sleeved on the outer peripheral side of the second guide unit, and the distance between the lifting unit and the grasping unit includes a second distance; the first distance is greater than the second distance.

[0009] In some embodiments, the second guide module includes a second sleeve and a second guide port; the outer peripheral wall of the second sleeve is slidably connected to the inner peripheral wall of the first guide module; one end of the second guide port is fixedly connected to an end of the second sleeve away from the first guide module, and the other end extends in a direction away from the first guide module; the inner diameter of the second guide port gradually increases from an end close to the first guide module to an end away from the first guide module.

[0010] In some embodiments, the first guide module includes a first sleeve and a first guide port; one end of the first sleeve is detachably connected to the lifting unit, and the other end extends toward the second guide module; one end of the first guide port is fixedly connected to the end of the first sleeve close to the second guide module, and the other end extends toward the second guide module; the inner diameter of the first guide port gradually increases from the end close to the first sleeve toward the direction close to the second sleeve; the first guide port is adapted to the second guide port;

[0011] The first state further includes that the inner peripheral wall of the first guide opening is spaced apart from the outer peripheral wall of the second guide opening; the second state further includes that the inner peripheral wall of the first guide opening is abutted against the outer peripheral wall of the second guide opening.

[0012] In some embodiments, the first sleeve comprises an elliptical tubular body; and the second sleeve comprises an elliptical tubular body.

[0013] In some embodiments, the maximum dimension of the first sleeve along the first direction is smaller than the maximum dimension of the first sleeve along the second direction; the maximum dimension of the second sleeve along the first direction is smaller than the maximum dimension of the second sleeve along the second direction; the first direction is parallel to the length direction of the grabbing unit; the second direction is parallel to the width direction of the grabbing unit.

[0014] In some embodiments, the first guide module further includes a sliding groove; the sliding groove penetrates from the outer peripheral wall of the first sleeve to the inner peripheral wall of the first sleeve along the first direction;

[0015] The second guide module further includes a sliding portion; the sliding portion is detachably connected to the second sleeve; the sliding portion is arranged on one side of the second sleeve along the first direction; the sliding portion is slidably connected to the sliding groove;

[0016] The first state also includes the sliding part being located at one end of the sliding slot close to the grabbing unit; the second state also includes the sliding part being located at one end of the sliding slot close to the lifting unit.

[0017] In some embodiments, the lifting assembly includes two first guide units; the two first guide units are spaced apart along the first direction.

[0018] In some embodiments, the grabbing unit includes a grabbing body, a grabbing portion, and a guide portion; the grabbing portion is movably connected to the grabbing body; one end of the guide portion is detachably connected to the grabbing body, and the other end extends away from the lifting unit; one end of the second guide unit is detachably connected to the grabbing body, and the other end extends toward the lifting unit; the lifting unit is drivingly connected to the grabbing body.

[0019] In some embodiments, the second guide unit includes a guide rod and a guide cone; one end of the guide rod is detachably connected to the grasping unit, and the other end extends toward the lifting unit; one end of the guide cone is fixedly connected to an end of the guide rod close to the lifting unit, and the other end extends toward the lifting unit; the area of ​​the guide cone gradually decreases from the end close to the grasping unit toward the lifting unit.

[0020] In a second aspect, the present invention provides a battery replacement method, which is applied to a battery replacement device in any embodiment of the first aspect. The battery replacement method includes:

[0021] Step S11, based on the triggering of the battery replacement instruction, the grabbing component descends to a set position;

[0022] Step S12, based on the grabbing assembly descending to the set position, the grabbing assembly grabs the battery box;

[0023] Step S13, based on the grabbing assembly grabbing the battery box, the lifting unit drives the grabbing assembly to rise; wherein, during the rising process of the grabbing assembly, the distance between the end of the first guiding module away from the second guiding module and the end of the second guiding module away from the first guiding module gradually decreases;

[0024] Step S14, driving the grabbing assembly to rise based on the lifting unit, and obtaining a swing angle of the grabbing assembly;

[0025] Step S15, based on the swing angle being greater than or equal to a set angle, the grabbing assembly stops rising;

[0026] Step S16, based on the swing angle being smaller than the set angle, the grabbing assembly rises.

[0027] In order to solve the problem of inconvenience in lifting caused by the swing of the battery box during the battery replacement process, the present invention has the following advantages:

[0028] 1 The hoisting assembly includes a first guide unit, the grabbing assembly includes a second guide unit, and a part of the first guide unit is sleeved on the outer peripheral side of the second guide unit. When the hoisting assembly drives the grabbing assembly to rise or fall during the battery replacement process, the swing of the second guide unit during the rising and falling process of the second guide unit can be limited by the first guide unit; and one end of the second guide unit is fixedly connected to the grabbing unit, thereby limiting the swing of the grabbing unit; the grabbing unit can grab the battery box, further limiting the swing of the battery box during the battery replacement process.

[0029] 2 The first guide unit includes a first guide module and a second guide module, and the outer peripheral wall of the second guide module is slidably connected to the inner peripheral wall of the first guide module, so that the first guide unit can be retracted, which is convenient for the first guide unit to limit the swing of the second guide unit over a longer distance, and further improves the effect of limiting the swing of the battery box during the battery replacement process.

[0030] By setting the cross-sectional area of ​​the second guide unit in the horizontal direction to gradually decrease from the end close to the grabbing unit to the end close to the lifting unit, on the one hand, it is beneficial for the second guide unit to enter the space surrounded by the inner peripheral wall of the second guide module; on the other hand, when the second guide unit abuts against the inner peripheral wall of the second guide module, the maximum swing amplitude of the battery box can be limited to gradually decrease during the battery box continues to rise, thereby reducing the impact force on the battery box during the second guide module limiting the swing. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of a battery replacement device according to an embodiment is shown;

[0032] Figure 2 A front view of a power exchange device according to an embodiment is shown;

[0033] Figure 3 A top view of a battery replacement device according to an embodiment is shown;

[0034] Figure 4 A schematic diagram of a first guiding unit according to an embodiment is shown;

[0035] Figure 5 A schematic diagram of a battery replacement method according to an embodiment is shown.

[0036] Figure numerals: 10 lifting assembly; 11 displacement unit; 12 lifting unit; 121 lifting part; 122 cable; 13 first guide unit; 131 first guide module; 1311 first sleeve; 1312 first guide port; 1313 sliding groove; 132 second guide module; 1321 second sleeve; 1322 second guide port; 1323 sliding part; 20 grabbing assembly; 21 grabbing unit; 211 grabbing body; 212 grabbing part; 213 guide part; 22 second guide unit; 221 guide rod; 222 guide cone. DETAILED DESCRIPTION

[0037] 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.

[0038] 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.

[0039] In this embodiment, due to the flexible connection between the hoisting assembly 10 and the battery box during the battery replacement process, it is easy to be affected by external factors and cause shaking. The length direction of the battery box is parallel to the length direction of the hoisting assembly 10. Due to the larger windward surface, it is more likely to swing, thereby increasing the difficulty of hoisting. Therefore, a battery replacement device is proposed to solve the problem of inconvenience in hoisting due to the swing of the battery box during the battery replacement process.

[0040] like Figure 1 As shown, the battery replacement device may include a hoisting assembly 10 and a grabbing assembly 20. The hoisting assembly 10 may be used to drive the grabbing assembly 20 to rise or fall, and the grabbing assembly 20 may be used to grab the battery box.

[0041] like Figure 2 As shown, the hoisting assembly 10 may include a lifting unit 12 and a first guide unit 13. The first guide unit 13 may cooperate with a component on the grabbing unit 21 to limit the swing of the grabbing unit 21. Figure 4 As shown, the first guide unit 13 may include a first guide module 131 and a second guide module 132. The first guide module 131 and the second guide module 132 may both be cylindrical. Figure 2 As shown, one end of the first guide module 131 can be detachably connected to the lifting unit 12, and the other end can extend in a direction away from the lifting unit 12, so that the swing of the grabbing assembly 20 can be limited by the first guide module 131. The first guide module 131 can be sleeved on the outer peripheral side of the second guide module 132, and the first guide module 131 can be slidably connected to the second guide module 132, so that the outer peripheral wall of the second guide module 132 can slide along the inner peripheral wall of the first guide module 131, so that the length of the first guide unit 13 can be adjusted. That is, the first guide unit 13 is retractable, which is convenient for the first guide unit 13 to limit the swing of the grabbing assembly 20 over a longer distance, further improving the effect of limiting the swing of the battery box during the battery replacement process.

[0042] like Figure 2 As shown, the grabbing assembly 20 may include a grabbing unit 21 and a second guide unit 22. The grabbing unit 21 may be used to grab and place the battery box. The second guide unit 22 may cooperate with the first guide unit 13 to limit the swing of the battery box. One end of the second guide unit 22 may be detachably connected to the grabbing unit 21, and the other end may extend toward the lifting unit 12, so as to facilitate the cooperation between the second guide unit 22 and the first guide unit 13.

[0043] The cross-sectional area of ​​the second guide unit 22 along the horizontal direction can be gradually reduced from the end close to the grabbing unit 21 to the direction close to the lifting unit 12. Part of the second guide unit 22 can be in the shape of an inclined surface or a cone. In the process of the lifting assembly 10 driving the grabbing assembly 20 to rise, if there is an error in the horizontal position of the second guide module 132 and the second guide unit 22, the inclined surface or the cone surface of the second guide unit 22 can slide relative to the inner peripheral wall of the second guide module 132 to complete the guidance, so that the second guide unit 22 can enter the space surrounded by the inner peripheral wall of the second guide module 132. After the second guide unit 22 abuts against the inner peripheral wall of the second guide module 132, the inclined surface or the cone surface of the second guide module 132 can limit the maximum swing amplitude of the battery box to gradually decrease during the battery box continues to rise, thereby reducing the impact force on the battery box during the second guide module 132 limiting the swing. When the lifting unit 12 drives the grabbing unit 21 to rise or fall, when the second guide unit 22 is ready to enter the second guide module 132, at least part of the second guide unit 22 is located in the projection area of ​​the second guide module 132 along the vertical direction, which facilitates the partial entry of the second guide unit 22 into the space surrounded by the inner wall of the second guide module 132, so that the swing of the second guide unit 22 can be limited by the first guide unit 13, thereby limiting the swing of the grabbing assembly 20 and the battery box. At the same time, since the first guide unit 13 is retractable, it is convenient for the first guide unit 13 to limit the swing of the second guide unit 22 over a longer distance, further improving the effect of limiting the swing of the battery box during the battery replacement process.

[0044] The battery replacement device may include a first state and a second state. The first state may include that the second guide module 132 is sleeved on the outer peripheral side of the second guide unit 22, that is, the swing of the second guide unit 22 can be limited by the second guide module 132, and the distance between the lifting unit 12 and the grabbing unit 21 may include a first distance. The second state may include that the second guide module 132 is sleeved on the outer peripheral side of the second guide unit 22, that is, the swing of the second guide unit 22 can be limited by the second guide module 132, and the distance between the lifting unit 12 and the grabbing unit 21 may include a second distance. The first distance is greater than the second distance. When the battery replacement device is in the first state, the battery box is far away from the lifting unit 12 at this time. If affected by external factors, the swingable amplitude of the battery box is relatively large. When the battery replacement device changes from the first state to the second state, the battery box moves toward the lifting unit 12. Since the cross-sectional area of ​​the second guide unit 22 in the horizontal direction can gradually decrease from the end close to the grabbing unit 21 to the end close to the lifting unit 12, the maximum swing amplitude of the battery box is limited and gradually reduced, which can reduce the impact force of the first guide unit 13 in the process of limiting the swing of the battery box.

[0045] In other embodiments, Figure 3As shown, the lifting assembly 10 may include a displacement unit 11; Figure 1 , Figure 2 As shown, the lifting unit 12 may include a lifting portion 121 and a cable 122. The lifting portion 121 may be slidably connected to the displacement assembly, so that the lifting portion 121 may move in the horizontal direction along the displacement unit 11. One end of the cable 122 is fixedly connected to the lifting portion 121, and the other end is fixedly connected to the grab assembly 20. The lifting portion 121 may gather or unfold the cable 122, thereby driving the other end of the cable 122 to rise or fall, and further driving the grab assembly 20 to drive the battery box to rise or fall.

[0046] In this embodiment, if Figure 2 , Figure 4 As shown, the second guide module 132 may include a second sleeve 1321 and a second guide port 1322. The first guide module 131 may be sleeved on the outer peripheral side of the second guide module 132, and the first guide module 131 may be slidably connected to the second guide module 132, so that the length of the first guide unit 13 can be extended and retracted, so that the first guide unit 13 can limit the swing of the second guide unit 22 over a longer distance, and further improve the effect of limiting the swing of the battery box during the battery replacement process. One end of the second guide port 1322 may be fixedly connected to the end of the second sleeve 1321 away from the first guide module 131, and the other end may extend in a direction away from the first guide module 131. The inner diameter of the second guide port 1322 may gradually increase from the end close to the first guide module 131 toward the end away from the first guide module 131. By setting the second guide opening 1322, when the lifting component 10 drives the grabbing component 20 to rise or fall, the second guide unit 22 can more easily enter the space surrounded by the inner wall of the second sleeve 1321, so that the second guide unit 22 can only swing within the second sleeve 1321, thereby limiting the swing of the grabbing unit 21 and the battery box.

[0047] In this embodiment, if Figure 2 , Figure 4As shown, the first guide module 131 may include a first sleeve 1311 and a first guide opening 1312. One end of the first sleeve 1311 may be detachably connected to the lifting unit 12, so that the swing of the first sleeve 1311 may be limited by the lifting unit 12. The other end of the first sleeve 1311 may extend toward the direction close to the second guide module 132, so that the first sleeve 1311 and the second guide module 132 can cooperate. One end of the first guide opening 1312 may be fixedly connected to the end of the first sleeve 1311 close to the second guide module 132, and the other end may extend toward the direction close to the second guide module 132. The inner diameter of the first guide opening 1312 gradually increases from the end close to the first sleeve 1311 to the direction close to the second sleeve 1321. In the process of the hoisting assembly 10 driving the grab assembly 20 to rise, the conical space formed by the first guide opening 1312 facilitates the gradual contraction of the swing space of the second guide module 132, and weakens the impact force of the swing of the second guide module 132 on the first guide module 131. The first guide opening 1312 is adapted to the second guide opening 1322 so that when the outer peripheral wall of the second sleeve 1321 moves upward along the inner peripheral wall of the first sleeve 1311 to the highest point, the first guide opening 1312 can abut against the second guide opening 1322 , and the second guide opening 1322 can be surrounded by the first guide opening 1312 .

[0048] The first state may also include that the inner peripheral wall of the first guide opening 1312 and the outer peripheral wall of the second guide opening 1322 are spaced apart in the vertical direction, in which case the swing amplitude of the battery box can be relatively large. The second state may also include that the inner peripheral wall of the first guide opening 1312 and the outer peripheral wall of the second guide opening 1322 abut in the vertical direction, in which case the swing amplitude of the battery box can be limited to a relatively small range.

[0049] In this embodiment, if Figure 4 As shown, the first sleeve 1311 may include an elliptical tubular body, and the second sleeve 1321 may include an elliptical tubular body. By setting the first sleeve 1311 and the second sleeve 1321 as elliptical tubular bodies, relative rotation between the first sleeve 1311 and the second sleeve 1321 can be avoided during the hoisting process. During the hoisting process, in order to reduce the sliding friction between the first sleeve body and the second sleeve body, coating, heat treatment and other methods can be used to reduce the surface roughness and reduce the friction. If the first sleeve 1311 and the second sleeve 1321 are both round tubes, it is necessary to process the entire inner surface of the first sleeve 1311 and the entire outer surface of the second sleeve 1321, and the processing area is large. The first sleeve 1311 and the second sleeve 1321 are both set as elliptical tubular bodies, which can reduce the contact area of ​​the first sleeve 1311 and the second sleeve 1321 during the relative sliding process, and can reduce the processing area for reducing the surface roughness.

[0050] In this embodiment, if Figure 4As shown, the maximum dimension of the first sleeve 1311 along the first direction is smaller than the maximum dimension of the first sleeve 1311 along the second direction; the maximum dimension of the second sleeve 1321 along the first direction is smaller than the maximum dimension of the second sleeve 1321 along the second direction; the first direction is parallel to the length direction of the grabbing unit 21; the second direction is parallel to the width direction of the grabbing unit 21. The length direction of the battery box can be parallel to the length direction of the grabbing unit 21. The battery box is more likely to swing along the second direction due to the larger windward surface in the length direction of the battery box. Therefore, the maximum dimensions of the first sleeve 1311 and the second sleeve 1321 along the first direction can be smaller than the maximum dimension of the first sleeve 1311 along the second direction, thereby reserving more buffer space for the swing of the second guide unit 22.

[0051] In this embodiment, if Figure 4 As shown, the first guide module 131 may further include a sliding groove 1313. The sliding groove 1313 may penetrate from the outer circumferential wall of the first sleeve 1311 to the inner circumferential wall of the first sleeve 1311 along the first direction. The length direction of the sliding groove 1313 may coincide with the lifting direction of the hoisting battery box.

[0052] The second guide module 132 may further include a sliding portion 1323. One end of the sliding portion 1323 may be detachably connected to the second sleeve 1321, and the other end extends toward the first sleeve 1311. The sliding portion 1323 is slidably connected to the sliding groove 1313. By providing the sliding portion 1323 and the sliding groove 1313, the sliding portion 1323 may slide up and down in the sliding groove 1313, and the second sleeve 1321 may slide up and down along the sliding groove 1313 through the sliding portion 1323, thereby realizing the telescopic nature of the first guide unit 13, so that the first guide unit 13 can limit the swing of the second guide unit 22 over a longer distance. The length direction of the battery box is parallel to the length direction of the grabbing unit 21. Since the windward surface is larger, the battery box is more likely to swing along the second direction. Therefore, the sliding portion 1323 can be set on one side of the second sleeve 1321 along the first direction, so that the second guide module 132 can swing a certain amplitude in the second direction with the sliding portion 1323 as the center, avoiding damage caused by rigid contact with the second guide module 132 during the swinging process of the second guide unit 22.

[0053] The first state may also include the sliding portion 1323 being located at one end of the sliding slot 1313 close to the gripping unit 21, in which case the spacing between the first sleeve 1311 and the second sleeve 1321 is large, and the second guide module 132 may have a large swing range. The second state may also include the sliding portion 1323 being located at one end of the sliding slot 1313 close to the lifting unit 12, in which case the spacing between the first sleeve 1311 and the second sleeve 1321 is small, and the swing of the second guide module 132 is further limited.

[0054] In this embodiment, if Figure 2 As shown, the hoisting assembly 10 may include two first guide units 13. The two first guide units 13 may be spaced apart along the first direction. The grabbing assembly 20 may include two second guide units 22 corresponding to the two first guide units 13, respectively, so as to reduce the swing of the grabbing assembly 20 along the first direction (i.e., the length direction of the grabbing unit 21), and improve the effect of limiting the swing of the first guide unit 13.

[0055] In this embodiment, if Figure 2 As shown, the grabbing unit 21 may include a grabbing body 211, a grabbing portion 212, and a guide portion 213. The grabbing portion 212 may be movably connected to the grabbing body 211. One end of the guide portion 213 may be detachably connected to the grabbing body 211, and the other end may extend in a direction away from the lifting unit 12; the cross-sectional area of ​​the guide portion 213 along the horizontal direction may gradually decrease from the side close to the grabbing unit 21 toward the direction away from the grabbing unit 21. When the grabbing unit 21 grabs the battery box, one or more guide portions 213 are used in combination to facilitate the positioning between the grabbing unit 21 and the battery box, thereby facilitating the grabbing unit 21 to grab the battery box. One end of the second guide unit 22 may be detachably connected to the grabbing body 211, and the other end may extend in a direction close to the lifting unit 12. The lifting unit 12 may be drivingly connected to the grabbing body 211. The gripping body 211 can be used to fix the gripping portion 212 and the guide portion 213. The lifting assembly 10 drives the gripping body 211 to rise or fall, thereby realizing the rising and falling of the gripping assembly 20. The gripping portion 212 can be movably connected to the side of the gripping body 211 close to the battery box during the lifting process, and can be used to grab the battery box. The guide portion 213 can be detachably connected to the side of the gripping body 211 close to the battery box during the lifting process. When the gripping unit 21 grabs the battery box, even if there is an error in the position of the battery box and the gripping body 211, the gripping unit 21 can grab the designated position of the battery box under the guidance of the guide portion 213.

[0056] In this embodiment, if Figure 2As shown, the second guide unit 22 may include a guide rod 221 and a guide cone 222. One end of the guide rod 221 may be detachably connected to the grabbing unit 21, and the other end may extend toward the direction close to the lifting unit 12, so as to cooperate with the first guide unit 13 to limit its own swing. One end of the guide cone 222 may be fixedly connected to the end of the guide rod 221 close to the lifting unit 12, and the other end may extend toward the direction close to the lifting unit 12. The cross-sectional area of ​​the guide cone 222 along the horizontal plane may gradually decrease from the end close to the grabbing unit 21 toward the direction close to the lifting unit 12. Therefore, during the hoisting process, it is convenient for the guide cone 222 to enter the space formed by the inner circumferential wall of the second guide module 132, and it is convenient for the second guide unit 22 to enter the space formed by the inner circumferential wall of the second guide module 132, so that the first guide unit 13 can limit the swing of the second guide unit 22, thereby limiting the swing of the grabbing unit 21 and the battery box.

[0057] A battery replacement method, applied to a battery replacement device in any of the above embodiments, such as Figure 5 As shown, the battery replacement method may include:

[0058] Step S11, based on the trigger of the battery replacement instruction, the grabbing assembly 20 can be lowered to a set position to facilitate the grabbing assembly 20 to grab the battery box.

[0059] Step S12 , based on the grabbing assembly 20 descending to the set position, the grabbing assembly 20 can grab the battery box through the grabbing unit 21 .

[0060] Step S13, based on the gripping assembly 20 gripping the battery box, the lifting unit 12 can drive the gripping assembly 20 to rise until the second guide unit 22 abuts against the inner peripheral wall of the second guide module 132, and then the maximum swing amplitude of the gripping assembly 20 and the battery box can be gradually limited by the first guide unit 13. In the process of the gripping assembly 20 rising, the distance between the end of the first guide module 131 away from the second guide module 132 and the end of the second guide module 132 away from the first guide module 131 can be gradually reduced, so that the first guide module 131 can also gradually limit the maximum swing amplitude of the second guide module 132.

[0061] In step S14, the lifting unit 12 drives the grabbing assembly 20 to rise, and the swing angle of the grabbing assembly 20 can be obtained.

[0062] Step S15, based on the swing angle being greater than or equal to the set angle, the grab assembly 20 stops rising to avoid a large impact force on the battery exchange device due to a large swing amplitude of the grab assembly 20 or the battery box.

[0063] Step S16, based on the swing angle being smaller than the set angle, the maximum swing amplitude of the grab assembly 20 and the battery box can be gradually limited by the first guiding unit 13, and the grab assembly 20 rises.

[0064] 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 device, characterized in that: The power exchange device comprises: A hoisting assembly, the hoisting assembly includes a lifting unit and a first guide unit; the first guide unit includes a first guide module and a second guide module; one end of the first guide module is detachably connected to the lifting unit, and the other end extends away from the lifting unit; the outer peripheral wall of the second guide module is slidably connected to the inner peripheral wall of the first guide module; A grabbing assembly, the grabbing assembly comprising a grabbing unit and a second guide unit; one end of the second guide unit is detachably connected to the grabbing unit, and the other end extends toward the lifting unit; the area of ​​the second guide unit gradually decreases from the end close to the grabbing unit toward the lifting unit; the grabbing unit is drivingly connected to the lifting unit; The battery exchange device includes a first state and a second state; the first state includes that the second guide module is sleeved on the outer periphery of the second guide unit, and the distance between the lifting unit and the grabbing unit includes a first distance; the second state includes that the second guide module is sleeved on the outer periphery of the second guide unit, and the distance between the lifting unit and the grabbing unit includes a second distance; the first distance is greater than the second distance; The second guide module comprises a second sleeve and a second guide opening; the outer peripheral wall of the second sleeve is slidably connected to the inner peripheral wall of the first guide module; one end of the second guide opening is fixedly connected to the end of the second sleeve away from the first guide module, and the other end extends in a direction away from the first guide module; the inner diameter of the second guide opening gradually increases from the end close to the first guide module to the end away from the first guide module; The first guide module comprises a first sleeve and a first guide port; one end of the first sleeve is detachably connected to the lifting unit, and the other end extends toward the second guide module; one end of the first guide port is fixedly connected to the end of the first sleeve close to the second guide module, and the other end extends toward the second guide module; the inner diameter of the first guide port gradually increases from the end close to the first sleeve toward the direction close to the second sleeve; the first guide port is adapted to the second guide port; The first state further includes that the inner peripheral wall of the first guide opening and the outer peripheral wall of the second guide opening are spaced apart; the second state further includes that the inner peripheral wall of the first guide opening and the outer peripheral wall of the second guide opening are abutted against each other; The first sleeve comprises an elliptical tubular body; the second sleeve comprises an elliptical tubular body; The maximum dimension of the first sleeve along the first direction is smaller than the maximum dimension of the first sleeve along the second direction; the maximum dimension of the second sleeve along the first direction is smaller than the maximum dimension of the second sleeve along the second direction; the first direction is parallel to the length direction of the grabbing unit; the second direction is parallel to the width direction of the grabbing unit.

2. A battery replacement device according to claim 1, characterized in that: The first guide module further includes a sliding groove; the sliding groove penetrates from the outer peripheral wall of the first sleeve to the inner peripheral wall of the first sleeve along the first direction; The second guide module further includes a sliding portion; the sliding portion is detachably connected to the second sleeve; the sliding portion is arranged on one side of the second sleeve along the first direction; the sliding portion is slidably connected to the sliding groove; The first state also includes the sliding part being located at one end of the sliding slot close to the grabbing unit; the second state also includes the sliding part being located at one end of the sliding slot close to the lifting unit.

3. A battery replacement device according to claim 1, characterized in that: The hoisting assembly includes two first guide units; the two first guide units are arranged at intervals along the first direction.

4. A battery replacement device according to claim 1, characterized in that: The grabbing unit includes a grabbing body, a grabbing portion, and a guiding portion; the grabbing portion is movably connected to the grabbing body; one end of the guiding portion is detachably connected to the grabbing body, and the other end extends in a direction away from the lifting unit; one end of the second guiding unit is detachably connected to the grabbing body, and the other end extends in a direction close to the lifting unit; the lifting unit is drivingly connected to the grabbing body.

5. A battery replacement device according to claim 1, characterized in that: The second guide unit includes a guide rod and a guide cone; one end of the guide rod is detachably connected to the grabbing unit, and the other end extends toward the lifting unit; one end of the guide cone is fixedly connected to an end of the guide rod close to the lifting unit, and the other end extends toward the lifting unit; the area of ​​the guide cone gradually decreases from the end close to the grabbing unit toward the lifting unit.

6. A battery replacement method, characterized in that: The battery replacement method is applied to a battery replacement device according to any one of claims 1 to 5, and the battery replacement method includes: Step S11, based on the triggering of the battery replacement instruction, the grabbing component descends to a set position; Step S12, based on the grabbing assembly descending to the set position, the grabbing assembly grabs the battery box; Step S13, based on the grabbing assembly grabbing the battery box, the lifting unit drives the grabbing assembly to rise; wherein, during the rising process of the grabbing assembly, the distance between the end of the first guiding module away from the second guiding module and the end of the second guiding module away from the first guiding module gradually decreases; Step S14, driving the grabbing assembly to rise based on the lifting unit, and obtaining a swing angle of the grabbing assembly; Step S15, based on the swing angle being greater than or equal to a set angle, the grabbing assembly stops rising; Step S16, based on the swing angle being smaller than the set angle, the grabbing assembly rises.

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