Battery swap station and control method thereof

Abstract

The battery replacing station comprises a box shell, battery holders, a transfer base and a battery replacing robot, the box shell is provided with an upper cavity and a lower cavity, the battery holders are arranged in the upper cavity, the transfer base is arranged in the lower cavity, and the projections of the battery holders to the plane where the transfer base is located are located on the two sides of the transfer base; the battery replacing robot is arranged in the upper cavity, the battery replacing robot is provided with a telescopic arm, a battery gripping apparatus is arranged on the telescopic arm, and the telescopic arm can drive the battery gripping apparatus to move between the upper cavity and the outer portion of the box shell so as to transfer the battery box on the outer side of the upper cavity and the outer side of the box shell; and the battery replacing robot can drive the battery gripping apparatus to move between the upper cavity and the lower cavity so as to transfer the battery box between the upper cavity and the lower cavity. In the embodiment of the invention, the internal space of the box shell is divided into the upper part and the lower part, the battery holder is arranged in the upper cavity, and the transfer seat is arranged in the lower cavity, so that the internal space of the box shell is fully utilized, and the interference of taking and placing the battery box by the battery replacement robot is reduced or avoided.

Description

Technical Field

[0001] The present invention relates to the field of battery swapping technology, and more specifically, to a battery swapping station and a control method thereof. Background Art

[0002] As new energy technologies become increasingly mature, electric vehicles are gradually appearing in people's vision. In the prior art, battery swap stations are provided for electric vehicles. The battery swap station usually includes a box shell, a battery holder, a transfer seat and a battery swap robot. The transfer seat, the battery holder and the battery swap robot are all arranged in the cavity of the box shell. The battery box can be conveniently placed on the battery holder, and the transfer seat can conveniently store the battery box for transfer. The battery swap robot has a telescopic arm, which can extend or retract to the box shell to transfer the battery box between the electric vehicles inside and outside the battery swap station. The transfer station and the battery holder in the battery swap station provided on the market are located at the same horizontal height. After the battery box is placed on the transfer seat, it has a certain impact on the battery swap robot's transfer of other battery boxes. The battery swap robot needs to avoid the battery box on the transfer seat to transfer other battery boxes. The battery swap logic is complicated and it is not easy to improve the efficiency of battery swap. Summary of the invention

[0003] In order to solve one of the above-mentioned technical defects, an embodiment of the present application provides a battery swap station and a control method thereof.

[0004] This application adopts the following technical solutions: The first object of the present application is to provide a battery swap station, comprising: A box shell, wherein the box shell has an upper cavity and a lower cavity, and the upper cavity and the lower cavity are connected; A plurality of battery holders, each of the battery holders being disposed in the upper cavity; A transfer seat, the transfer seat is arranged in the lower cavity, and the projections of the battery seats onto the plane where the transfer seat is located are located on both sides of the transfer seat; A battery-swapping robot, which is arranged in the upper cavity, has a telescopic arm, on which a battery gripper is arranged, and the telescopic arm can drive the battery gripper to move between the upper cavity and the outside of the box shell, so as to transfer the battery box between the upper cavity and the outside of the box shell; the battery-swapping robot can drive the battery gripper to move between the upper cavity and the lower cavity, so as to transfer the battery box between the upper cavity and the lower cavity.

[0005] Optionally, each of the battery seats is divided into at least two battery seat groups, and each battery seat group includes two battery seats arranged in sequence along the telescopic direction of the telescopic arm; The battery seat groups are arranged in sequence along a direction perpendicular to the telescopic arm, and there is a gap between two adjacent battery seat groups; The projection of the intermediate transfer seat onto the plane where the battery seats are located falls into the gap between two adjacent battery seat groups.

[0006] Optionally, the battery swap station includes two transfer seats, which are arranged in sequence along the telescopic direction of the telescopic arm.

[0007] Optionally, the battery swap station includes a fire-fighting compartment, and the fire-fighting compartment is arranged in the lower cavity; The fire fighting chamber and the transfer seat are arranged in sequence along the telescopic direction of the telescopic arm.

[0008] Optionally, the battery swap station includes a charger, which is disposed outside the box shell and is electrically connected to the battery holder.

[0009] Optionally, the battery swap station includes a door body and a door drive mechanism; The box shell has a door opening connected to the upper cavity; The door body is movably arranged on the outer wall of the box shell; The door driving mechanism is arranged on the box shell, and the door driving mechanism is drivingly connected to the door body. The door driving mechanism can drive the door body to slide along the box shell to close or open the door opening.

[0010] Optionally, the battery swap station includes a canopy, the canopy is connected to the box shell, and a battery swap channel is formed between the canopy and the box shell; The door opening connects the battery exchange channel and the upper cavity.

[0011] Optionally, two guide rails are arranged in the upper cavity, and the two guide rails are arranged in sequence along the telescopic direction of the telescopic arm; The battery-swapping robot has two side frames, and the two side frames are slidably connected to corresponding guide rails respectively; The telescopic arm is connected to the side frame.

[0012] Optionally, the battery swap station includes a synchronous transmission mechanism; The two side frames are each provided with a track matching wheel, and the track matching wheel can be slidably connected to the corresponding guide rail; The synchronous transmission mechanism is arranged in the upper cavity, and is respectively connected to the two side frames in a transmission manner. The movement of one side frame can drive the other side frame to move synchronously through the synchronous transmission mechanism.

[0013] Optionally, the synchronous transmission mechanism includes a first transmission device and two second transmission devices; The two second transmission devices are respectively located on both sides of the upper cavity along the telescopic direction of the telescopic arm, and the two second transmission devices are respectively connected to the corresponding side frames in a transmission manner; The first transmission device is located between the two second transmission devices, and two ends of the first transmission device are respectively connected to the two second transmission devices in a transmission manner.

[0014] Optionally, the second transmission device comprises two synchronous pulleys and a synchronous belt sleeved on the synchronous pulleys; The side frame is connected to the synchronous belt; The two ends of the first transmission device are respectively connected to the corresponding synchronous pulleys or synchronous belts of the second transmission device.

[0015] Optionally, two connecting seats are provided on the side frame; The synchronous belt is a strip-shaped body, and the synchronous belt is sleeved on the two pulleys, and the two ends of the synchronous belt are respectively connected to the two connecting seats.

[0016] Optionally, a hinged joint is provided on the connecting seat, and an articulated fitting is provided at the end of the synchronous belt; The hinged fitting body and the hinged head are rotatably connected.

[0017] Optionally, the first transmission device comprises a rotating shaft, and an extending direction of the rotating shaft is perpendicular to the synchronous belt; Both ends of the rotating shaft are respectively connected to corresponding synchronous pulleys on the two second transmission devices.

[0018] Optionally, the rotation axis includes a plurality of short axes; Each of the short shafts is arranged in sequence, and the two short shafts at both ends are respectively connected to the corresponding synchronous pulleys on the two second transmission devices; Two adjacent short shafts are connected via a universal joint.

[0019] The second object of the present application is to provide a control method for the above-mentioned battery swap station, comprising the following steps: Step S1, the telescopic arm of the battery-swapping robot extends out of the upper cavity and grabs the low-power battery box on the electric vehicle; Step S2: The telescopic arm of the battery-swapping robot retracts to drive the depleted battery box into the upper cavity, and unloads the battery box to the transfer seat in the lower cavity; Step S3: the battery-exchanging robot controls the battery gripper to grab the fully charged battery box in the upper cavity and extends the battery box out of the upper cavity to be loaded into the first electric vehicle; Step S4: the telescopic arm of the battery-swapping robot retracts into the upper cavity, and the battery-swapping robot controls the battery gripper to grab the depleted battery box in the lower cavity and install it into a battery holder in the upper cavity.

[0020] Optionally, the control method includes: Step S1, the telescopic arm of the battery-swapping robot extends out of the upper cavity and grabs the battery box with low power on the first electric vehicle; Step S2, the telescopic arm of the battery-swapping robot retracts to drive the depleted battery box into the upper chamber, and unloads the battery box onto a transfer seat in the lower chamber; Step S3: the battery-exchanging robot controls the battery gripper to grab the fully charged battery box in the upper cavity and extends the battery box out of the upper cavity to be loaded into the first electric vehicle; Step S4: the battery-swapping robot grabs the low-power battery box on the second electric vehicle; Step S5: The telescopic arm of the battery-swapping robot retracts to drive the low-power battery box into the upper chamber, and unloads the battery box to another transfer seat in the lower chamber; Step S6: The battery-exchanging robot grabs the fully charged battery box in the upper cavity and extends out of the upper cavity to load it into the second electric vehicle; Step S7: The telescopic arm of the battery-swapping robot retracts to the upper cavity, and transfers the battery boxes on the two transfer positions to the two battery holders in turn.

[0021] Optionally, a fire fighting cabin is provided in the lower chamber of the battery swap station, and the control method includes: Step S1, the battery swap station receives a fire command; Step S2: The battery swap station controls the robot to move to the faulty battery box and lifts the faulty battery box through a battery gripper; Step S3, controlling the robot to drive the faulty battery box to the top of the fire fighting compartment; Step S4: The battery swap robot controls the battery gripper to descend and unload the faulty battery box into the fire compartment.

[0022] By adopting the above technical solution, the present application has the following beneficial effects: In the embodiment of the present application, the internal space of the box shell is divided into two parts, the battery seat is arranged in the upper cavity, and the transfer seat is arranged in the lower cavity, thereby making full use of the internal space of the box shell and reducing or avoiding interference with the battery replacement robot in taking and placing the battery box.

[0023] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are part of this application and are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the drawings described below are only some embodiments. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings: Figure 1A schematic diagram of the appearance structure of a battery swap station provided by an embodiment of the present disclosure is shown; Figure 2 A schematic diagram of the internal structure of a battery swap station provided by an embodiment of the present disclosure is shown; Figure 3 A structural diagram showing a power swap station provided by an embodiment of the present disclosure having two intermediate transfer seats; Figure 4 A structural diagram showing a battery swap station provided by an embodiment of the present disclosure having a transfer seat and a fire fighting compartment; Figure 5 A schematic diagram of the coordination structure of a battery swapping robot and a synchronous transmission mechanism of a battery swapping station provided by an embodiment of the present disclosure is shown; Figure 6 A schematic diagram of the matching structure of the side frame and the second transmission device of the battery swap robot of the battery swap station provided by an embodiment of the present disclosure is shown.

[0025] In the figure: 1. box shell; 11. upper cavity; 12. lower cavity; 13. door opening; 2. battery holder; 3. transfer seat; 4. battery exchange robot; 41. side frame; 411. connecting seat; 413. walking mechanism; 42. telescopic arm; 43. battery gripper; 5. guide rail; 6. synchronous transmission mechanism; 61. first transmission device; 611. short shaft; 612. universal joint; 62. second transmission device; 621. synchronous pulley; 622. synchronous belt; 6221. articulated joint; 7. fire cabin; 8. door body; 9. door drive mechanism; 10. canopy.

[0026] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but are intended to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0028] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] See also Figures 1 to 6 As shown, an embodiment of the present application provides a battery swap station, including: a box shell 1, a transfer seat 3, a battery swap robot 4 and multiple battery seats 2. The box shell 1 has an upper cavity 11 and a lower cavity 12, the upper cavity 11 and the lower cavity 12 are connected, each battery holder 2 is arranged in the upper cavity 11, the transfer seat 3 is arranged in the lower cavity 12, the projections of each battery holder 2 to the plane where the transfer seat 3 is located are located on both sides of the transfer seat 3, the battery swap robot 4 is arranged in the upper cavity 11, the battery swap robot 4 has a telescopic arm 42, and a battery gripper 43 is arranged on the telescopic arm 42. The telescopic arm 42 can drive the battery gripper 43 to move between the upper cavity 11 and the outside of the box shell 1 to transfer the battery box between the upper cavity 11 and the outside of the box shell 1; the battery swap robot 4 can drive the battery gripper 43 to move between the upper cavity 11 and the lower cavity 12 to transfer the battery box between the upper cavity 11 and the lower cavity 12.

[0031] In the embodiment of the present application, the internal space of the box shell 1 is divided into two parts, the battery holder 2 is arranged in the upper cavity 11, and the transfer seat 3 is arranged in the lower cavity 12, thereby fully utilizing the internal space of the box shell 1 and reducing or avoiding interference with the battery exchange robot 4 in taking and placing the battery box, which is beneficial to improving the battery exchange efficiency, and is beneficial to reducing the footprint of the battery exchange station and reducing the cost of the battery exchange station.

[0032] In some possible embodiments, each of the battery seats 2 is divided into at least two battery seat groups, each battery seat group includes two battery seats arranged in sequence along the telescopic direction of the telescopic arm 42, each of the battery seat groups is arranged in sequence along a direction perpendicular to the telescopic arm 42, and there is a gap between two adjacent battery seat groups, and the projection of the transfer seat 3 to the plane where the battery seats 2 are located falls into the gap between the two adjacent battery seat groups.

[0033] Each battery holder 2 is arranged in at least two rows and two columns, which reduces the length of the battery swap station and allows for flexible arrangement in a small space. The cost of a single battery swap station is greatly reduced, which is conducive to the promotion of battery swap stations.

[0034] In some possible implementation schemes, the battery swap station is provided with a total of four battery holders 2, and the four battery holders 2 can be arranged in two rows and two columns. The battery swap station of the present application has a small number of battery holders 2, and the entire battery swap station is small in size and fully functional. It can be flexibly arranged in a small space area, and the cost of a single battery swap station is greatly reduced, which is conducive to the promotion of battery swap stations.

[0035] The battery swap station provided in the embodiment of the present application may include one transfer seat 3, or may include two transfer seats 3, see Figure 3 As shown, the two transfer seats 3 are sequentially arranged along the telescopic direction of the telescopic arm 42. The two transfer seats 3 are located between the two battery seat groups. And the two transfer seats 3 are sequentially arranged along the arrangement direction of each battery seat 2 in each battery seat group.

[0036] The battery swap station provided in the embodiment of the present application can be provided with two transfer seats 3, or one transfer seat 3 and a fire compartment 7, the fire compartment 7 is provided in the lower cavity 12, and the fire compartment 7 and the transfer seat 3 are arranged in sequence along the telescopic direction of the telescopic arm 42. The fire compartment 7 and the transfer seat 3 are located between the two battery seat groups. Figure 4 As shown, the fire compartment 7 and the transfer seat 3 are arranged in sequence along the arrangement direction of each battery seat 2 in the battery seat group.

[0037] By setting up the fire fighting chamber 7 in the lower cavity 12, when thermal runaway occurs in the battery swap station, the battery swap robot 4 can quickly grab the battery box in thermal runaway and put it into the fire fighting chamber 7, and the fire fighting task is performed by the fire fighting chamber 7. An upper opening can be set on the side of the top of the fire fighting chamber 7 facing the upper cavity 11, which can facilitate the battery swap robot 4 to put the battery box into the fire fighting chamber 7 from top to bottom. The fire fighting chamber 7 is also provided with an upper cover for opening or closing the upper opening.

[0038] In some possible implementations, the battery swap station includes a charger, which is disposed outside the box shell 1 and electrically connected to the battery holder 2. The charger is not disposed inside the box shell 1, but can be flexibly disposed around the box shell 1.

[0039] In some possible implementations, see Figure 1 As shown, the battery swap station includes a door body 8 and a door driving mechanism 9. The box shell 1 has a door opening 13 connected to the upper cavity 11. The door body 8 is movably arranged on the outer wall of the box shell 1. The door driving mechanism 9 is arranged on the box shell 1. The door driving mechanism 9 is transmission-connected to the door body 8. The door driving mechanism 9 can drive the door body 8 to slide along the box shell 1 to close or open the door opening 13.

[0040] The door driving mechanism 9 may be an electric push rod, a motor or a telescopic cylinder, etc.

[0041] The door opening 13 can avoid the telescopic arm 42 of the battery swap robot 4, so that the telescopic arm 42 of the battery swap robot 4 can extend out of the door opening 13 or retract from the door opening 13 into the upper cavity 11. The battery swap station can be roughly a rectangular parallelepiped structure, and a door opening 13 can be set on one side of the shell wall of the box shell 1 of the battery swap station. The battery swap station of the present application has a small volume and a small shell wall area. When the door body 8 is set inside the upper cavity 11, the sliding stroke of the door body 8 is too small, and it is difficult to meet the requirement of fully opening the door opening 13.

[0042] The embodiment of the present application arranges the door body 8 outside the box shell 1, does not occupy the space of the upper cavity 11, and the box shell 1 does not interfere with the movement of the door body 8, which is conducive to increasing the stroke of the door body 8.

[0043] In some possible implementations, the battery swap station includes a canopy 10 , which is connected to the box shell 1 , forming a battery swap channel between the canopy 10 and the box shell 1 , and a door opening 13 connects the battery swap channel and the upper cavity 11 .

[0044] The electric vehicle can drive into the battery-swapping channel and be within the activity range of the battery-swapping robot 4, making it convenient to cooperate with the battery-swapping robot 4 to perform the battery-swapping task.

[0045] In some possible implementations, see Figure 2 As shown, two guide rails 5 are arranged in the upper cavity 11, and the two guide rails 5 are arranged in sequence along the telescopic direction of the telescopic arm 42. The battery-changing robot 4 has two side frames 41, and the two side frames 41 are respectively slidably connected to the corresponding guide rails 5, and the telescopic arm 42 is connected to the side frames 41.

[0046] See also Figure 5 and Figure 6 As shown, a walking mechanism 413 can be provided on the battery-swapping robot 4, and the walking mechanism 413 can drive the side frame 41 to translate along the guide rail 5, so that the battery-swapping robot 4 can walk to different battery seat groups. The walking mechanism 413 can include a driving member and a track-matching wheel that is matched with the driving member in transmission, and the track-matching wheel can roll along the guide rail 5.

[0047] In some possible implementation schemes, the battery swap station includes a synchronous transmission mechanism 6, and the two side frames 41 are each provided with a track matching wheel, and the track matching wheel can be slidably connected to the corresponding guide rail 5. The synchronous transmission mechanism 6 is arranged in the upper cavity, and the synchronous transmission mechanism 6 is respectively connected to the two side frames 41 in terms of transmission. The movement of one side frame 41 can drive the other side frame 41 to move synchronously through the synchronous transmission mechanism 6.

[0048] The two side frames 41 of the battery-swapping robot 4 are located on both sides of the two battery holders 2 of the same battery holder group along the arrangement direction. The distance between the two side frames 41 is relatively large, and the driving component (such as a motor or a hydraulic motor) is only provided on one of the side frames 41. Therefore, the problem of asynchronous movement is prone to occur between the two side frames 41. The embodiment of the present application can make the two side frames 41 move synchronously by providing a synchronous transmission mechanism 6, thereby improving the movement accuracy of the battery-swapping robot 4.

[0049] In some possible implementations, see Figure 5 and Figure 6 As shown, the synchronous transmission mechanism 6 includes a first transmission device 61 and two second transmission devices 62. The two second transmission devices 62 are respectively located on both sides of the upper cavity along the telescopic direction of the telescopic arm 42. The two second transmission devices 62 are respectively connected to the corresponding side frames 41. The first transmission device 61 is located between the two second transmission devices 62, and the two ends of the first transmission device 61 are respectively connected to the two second transmission devices 62.

[0050] The second transmission device 62 includes two synchronous pulleys 621 and a synchronous belt 622 mounted on the synchronous pulleys 621 , the side frame is connected to the synchronous belt 622 , and both ends of the first transmission device 61 are respectively connected to the corresponding synchronous pulleys 621 or synchronous belt 622 of the second transmission device 62 .

[0051] When one side frame 41 moves, it can drive the synchronous belt 622 of the corresponding second transmission device 62 to move. The synchronous belt 622 can drive the first transmission device 61 to rotate through the synchronous pulley 621. The first transmission device drives the synchronous belt 622 of the second transmission device 62 corresponding to the other side frame 41 to rotate, and the synchronous belt 622 drives the corresponding side frame 41 to move.

[0052] In some possible implementation schemes, two connecting seats 411 are provided on the side frame 41 , and the synchronous belt 622 is a strip-shaped body. The synchronous belt 622 is sleeved on the two pulleys, and the two ends of the synchronous belt 622 are respectively connected to the two connecting seats 411 .

[0053] The synchronous belt 622 is not a closed ring, but a strip-shaped body, and its two ends are respectively connected to the two connecting seats 411 on the side frame 41. The synchronous belt 622 can be a toothed belt, and the synchronous belt 622 can also be replaced by a chain or other structures.

[0054] In some possible implementation schemes, an articulated joint is provided on the connection seat 411 , and an articulated fitting body 6221 is provided at the end of the synchronous belt 622 , and the articulated fitting body 6221 and the articulated joint are rotatably connected.

[0055] In some possible implementations, the first transmission device 61 includes a rotating shaft, the extension direction of the rotating shaft is perpendicular to the synchronous belt 622, and both ends of the rotating shaft are respectively connected to corresponding synchronous pulleys 621 on the two second transmission devices 62.

[0056] The rotating shaft includes a plurality of short shafts 611 , each of which is arranged in sequence, and the two short shafts 611 at both ends are respectively connected to corresponding synchronous pulleys 621 on two second transmission devices 62 , and two adjacent short shafts 611 are connected via a universal joint 612 .

[0057] The distance between the two side frames 41 is relatively large. If the first transmission device 61 is only provided with one rotating shaft, the length of the rotating shaft is too large, and it is easy to deform, which is not conducive to the transmission of power. In the embodiment of the present application, the rotating shaft includes a plurality of short shafts 611, each of which is arranged in sequence, and the two short shafts 611 at both ends are respectively connected to the corresponding synchronous pulleys 621 on the two second transmission devices 62. The two adjacent short shafts 611 are connected by a universal joint 612. By setting the rotating shaft as a plurality of short shafts 611, the length of a single shaft is reduced, which facilitates production, transportation and assembly. In the embodiment of the present application, the adjacent short shafts 611 are connected by a universal joint 612, and the universal joint 612 can realize variable angle power transmission. The universal joint 612 has many advantages: high angle adaptability, smooth power transmission, durability and reliability, easy installation and maintenance, adaptability to various working environments, complete constant speed, high transmission efficiency, compact structure, ability to absorb vibration and impact, large swing angle amplitude, high dynamic balance accuracy and easy installation.

[0058] The present application also provides a control method for the above-mentioned battery swap station, including the following steps: Step S1, the telescopic arm 42 of the battery-swapping robot 4 extends out of the upper cavity 11 and grabs the low-power battery box on the electric vehicle; Before step S1, the driver is required to drive the electric vehicle to one side of the battery swap station and wait for the battery swap robot 4 to perform the battery swap operation.

[0059] Step S2, the telescopic arm 42 of the battery-swapping robot 4 retracts to drive the depleted battery box into the upper chamber 11, and unloads the battery box to the transfer seat 3 of the lower chamber 12; A sling can be set on the telescopic arm 42 on the battery-swapping robot 4, and the battery gripper 43 is connected to the sling. The sling has a sling rope, and the battery gripper 43 is connected to the sling rope. The sling can drive the battery gripper 43 to rise and fall by retracting and releasing the sling rope.

[0060] In step S2 , the lifting device may release the lifting rope, so that the battery gripper 43 descends toward the lower chamber 12 , so as to unload the battery box into the lower chamber 12 .

[0061] Step S3, the battery-swapping robot 4 controls the battery gripper 43 to grab the fully charged battery box in the upper cavity 11 and extend it out of the upper cavity 11 to be loaded into the electric vehicle; Step S4, the telescopic arm 42 of the battery-swapping robot 4 retracts into the upper cavity 11, and the battery-swapping robot 4 controls the battery gripper 43 to grab the deflated battery box in the lower cavity 12 and install it into a battery holder 2 in the upper cavity 11, and charges the deflated battery box through the battery holder 2.

[0062] When the battery swap station includes two transfer seats 3, the control method includes: Step S1, the telescopic arm 42 of the battery-swapping robot 4 extends out of the upper cavity 11 and grabs the low-power battery box on the first electric vehicle; Step S2, the telescopic arm 42 of the battery-swapping robot 4 retracts to drive the depleted battery box into the upper chamber 11, and unloads the battery box onto a transfer seat 3 in the lower chamber 12; Step S3, the battery-swapping robot 4 controls the battery gripper 43 to grab the fully charged battery box in the upper cavity and extend it out of the upper cavity to be loaded into the first electric vehicle; Step S4, the battery-swapping robot 4 grabs the low-power battery box on the second electric vehicle; Step S5, the telescopic arm 42 of the battery-swapping robot 4 retracts to drive the low-power battery box into the upper chamber 11, and unloads the battery box to another transfer seat 3 in the lower chamber 12; Step S6, the battery-swapping robot 4 grabs the fully charged battery box in the upper cavity 11 and extends out of the upper cavity 11 to be loaded onto the second electric vehicle; Step S7, the telescopic arm 42 of the battery-exchanging robot 4 retracts to the upper cavity 11, and transfers the battery boxes on the two transfer positions to the two battery holders 2 in turn.

[0063] In this step, when two consecutive electric vehicles come to exchange batteries, when replacing the battery box of the first electric vehicle, the low-power battery box on the first electric vehicle can be temporarily placed on the first transfer seat 3. After replacing the fully charged battery box of the first electric vehicle, it is not necessary to immediately adjust the low-power battery box replaced by the first electric vehicle to the battery seat, but continue to exchange batteries for the second electric vehicle, thereby saving time for adjusting the position of the low-power battery box. In the subsequent idle period, the battery boxes on the two transfer seats 3 are adjusted to the battery seat 2 for charging. This control method has obvious effects of saving time and improving battery exchange efficiency when only the front and rear vehicles are exchanging batteries.

[0064] In some possible implementations, when a fire fighting chamber 7 is provided in the lower chamber 12 of the battery swap station, the control method includes: Step S1, the battery swap station receives a fire command; Step S2: The battery swap station controls the robot to move to the faulty battery box and lifts the faulty battery box through the battery gripper 43; Step S3, controlling the robot to drive the faulty battery box to the top of the fire fighting compartment 7; Step S4: the battery replacement robot 4 controls the battery gripper 43 to descend and unload the faulty battery box into the fire compartment 7.

[0065] In step S3 or step S4, the upper opening of the fire compartment 7 is open, which can facilitate the battery gripper 43 to descend and unload the faulty battery box into the fire compartment 7. After step S4, the upper cover of the fire compartment 7 automatically closes the upper opening to prevent the thermal runaway battery box from affecting the normal operation of the battery swap station.

[0066] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this patent can make some changes or modify the technical contents suggested above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the solution of the present invention.

Claims

1. A battery swap station, characterized in that: include: A box shell, wherein the box shell has an upper cavity and a lower cavity, and the upper cavity and the lower cavity are connected; A plurality of battery holders, each of the battery holders being disposed in the upper cavity; A transfer seat, the transfer seat is arranged in the lower cavity, and the projections of each battery seat onto the plane where the transfer seat is located are located on both sides of the transfer seat; A battery-swapping robot, which is arranged in the upper cavity, has a telescopic arm, on which a battery gripper is arranged, and the telescopic arm can drive the battery gripper to move between the upper cavity and the outside of the box shell, so as to transfer the battery box between the upper cavity and the outside of the box shell; the battery-swapping robot can drive the battery gripper to move between the upper cavity and the lower cavity, so as to transfer the battery box between the upper cavity and the lower cavity.

2. The battery swap station according to claim 1, characterized in that: Each of the battery seats is divided into at least two battery seat groups, and each battery seat group includes two battery seats arranged in sequence along the telescopic direction of the telescopic arm; The battery seat groups are arranged in sequence along a direction perpendicular to the telescopic arm, and there is a gap between two adjacent battery seat groups; The projection of the intermediate transfer seat onto the plane where the battery seats are located falls into the gap between two adjacent battery seat groups.

3. The battery swap station according to claim 1, characterized in that: It comprises two transfer seats, which are arranged in sequence along the telescopic direction of the telescopic arm.

4. The battery swap station according to claim 1, characterized in that: It includes a fire fighting chamber, and the fire fighting chamber is arranged in the lower chamber; The fire fighting chamber and the transfer seat are arranged in sequence along the telescopic direction of the telescopic arm.

5. The battery swap station according to claim 1, characterized in that: A charger is included, which is arranged outside the box shell and is electrically connected to the battery holder.

6. The battery swap station according to claim 1, characterized in that: It includes a door body and a door driving mechanism; The box shell has a door opening communicating with the upper cavity; The door body is movably arranged on the outer wall of the box shell; The door driving mechanism is arranged on the box shell, and is drivingly connected to the door body. The door driving mechanism can drive the door body to slide along the box shell to close or open the door opening.

7. The battery swap station according to claim 6, characterized in that: It includes a canopy, the canopy is connected to the box shell, and a battery replacement channel is formed between the canopy and the box shell; The door opening connects the battery exchange channel and the upper cavity.

8. The battery swap station according to claim 1, characterized in that: Two guide rails are arranged in the upper cavity, and the two guide rails are arranged in sequence along the telescopic direction of the telescopic arm; The battery-swapping robot has two side frames, and the two side frames are slidably connected to corresponding guide rails respectively; The telescopic arm is connected to the side frame.

9. The battery swap station according to claim 8, characterized in that: including a synchronous transmission mechanism; The two side frames are each provided with a track matching wheel, and the track matching wheel can be slidably connected to the corresponding guide rail; The synchronous transmission mechanism is arranged in the upper cavity, and is respectively connected to the two side frames in a transmission manner. The movement of one side frame can drive the other side frame to move synchronously through the synchronous transmission mechanism.

10. The battery swap station according to claim 9, characterized in that: The synchronous transmission mechanism includes a first transmission device and two second transmission devices; The two second transmission devices are respectively located on both sides of the upper cavity along the telescopic direction of the telescopic arm, and the two second transmission devices are respectively connected to the corresponding side frames in a transmission manner; The first transmission device is located between the two second transmission devices, and two ends of the first transmission device are respectively connected to the two second transmission devices in a transmission manner.

11. The battery swap station according to claim 10, characterized in that: The second transmission device comprises two synchronous pulleys and a synchronous belt sleeved on the synchronous pulleys; The side frame is connected to the synchronous belt; The two ends of the first transmission device are respectively connected to the corresponding synchronous pulleys or synchronous belts of the second transmission device.

12. The battery swap station according to claim 11, characterized in that: Two connecting seats are arranged on the side frame; The synchronous belt is a strip-shaped body, and the synchronous belt is sleeved on the two pulleys, and the two ends of the synchronous belt are respectively connected to the two connecting seats.

13. The battery swap station according to claim 12, characterized in that: The connecting seat is provided with an articulated joint, and the end of the synchronous belt is provided with an articulated fitting; The hinged fitting body and the hinged head are rotatably connected.

14. The battery swap station according to claim 11, characterized in that: The first transmission device comprises a rotating shaft, and the extending direction of the rotating shaft is perpendicular to the synchronous belt; Both ends of the rotating shaft are respectively connected to corresponding synchronous pulleys on the two second transmission devices.

15. The battery swap station according to claim 14, characterized in that: The rotating shaft includes a plurality of short shafts; Each of the short shafts is arranged in sequence, and the two short shafts at both ends are respectively connected to the corresponding synchronous pulleys on the two second transmission devices; Two adjacent short shafts are connected via a universal joint.

16. The control method of a battery swap station according to any one of claims 1 to 15, characterized in that: The steps include: Step S1, the telescopic arm of the battery-swapping robot extends out of the upper cavity and grabs the low-power battery box on the electric vehicle; Step S2: The telescopic arm of the battery-swapping robot retracts to drive the depleted battery box into the upper cavity, and unloads the battery box to the transfer seat in the lower cavity; Step S3: the battery-exchanging robot controls the battery gripper to grab the fully charged battery box in the upper cavity and extends the battery box out of the upper cavity to be loaded into the first electric vehicle; Step S4: the telescopic arm of the battery-swapping robot retracts into the upper cavity, and the battery-swapping robot controls the battery gripper to grab the depleted battery box in the lower cavity and install it into a battery holder in the upper cavity.

17. The control method of a battery swap station according to any one of claims 1 to 15, characterized in that: The control method comprises: Step S1, the telescopic arm of the battery-swapping robot extends out of the upper cavity and grabs the battery box with low power on the first electric vehicle; Step S2, the telescopic arm of the battery-swapping robot retracts to drive the depleted battery box into the upper chamber, and unloads the battery box onto a transfer seat in the lower chamber; Step S3: the battery-exchanging robot controls the battery gripper to grab the fully charged battery box in the upper cavity and extends the battery box out of the upper cavity to be loaded into the first electric vehicle; Step S4: the battery-swapping robot grabs the low-power battery box on the second electric vehicle; Step S5: The telescopic arm of the battery-swapping robot retracts to drive the low-power battery box into the upper chamber, and unloads the battery box to another transfer seat in the lower chamber; Step S6: The battery-exchanging robot grabs the fully charged battery box in the upper cavity and extends out of the upper cavity to load it into the second electric vehicle; Step S7: The telescopic arm of the battery-swapping robot retracts to the upper cavity, and transfers the battery boxes on the two transfer positions to the two battery holders in turn.

18. The control method of a battery swap station according to any one of claims 1 to 15, characterized in that: A fire fighting chamber is provided in the lower chamber of the battery swap station, and the control method includes: Step S1, the battery swap station receives a fire command; Step S2: The battery swap station controls the robot to move to the faulty battery box and lifts the faulty battery box through a battery gripper; Step S3, controlling the robot to drive the faulty battery box to the top of the fire fighting compartment; Step S4: The battery swap robot controls the battery gripper to descend and unload the faulty battery box into the fire compartment.

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