Vehicle correction system, battery swap station and battery swap method

Abstract

The application discloses a vehicle correction system, a battery replacing station and a battery replacing method. The vehicle correction system comprises a vehicle carrying platform and a battery replacing device. The vehicle carrying platform is used to drive the electric vehicle carried thereon to make lifting movement. The battery replacing device is used to replace the battery of the vehicle on the vehicle carrying platform. The battery replacing device is provided with a dismounting mechanism and a leveling piece. The dismounting mechanism is used to unlock or lock the locking piece on the vehicle for locking the battery. The leveling piece has a plurality of calibration surfaces for contacting the vehicle. Each calibration surface is located in the same plane. The leveling piece supports the vehicle during the unlocking or locking of the locking piece by the dismounting mechanism. The application calibrates the relative position relationship between the vehicle and the dismounting mechanism through the leveling piece, ensures that the dismounting mechanism can accurately cooperate with the locking piece, reduces the risk of mechanical wear caused by low positioning accuracy among the battery replacing device, the vehicle and the battery, avoids the battery replacing device and the battery from being stuck during the battery replacing process, and helps to improve the battery replacing efficiency.

Description

[0001] This application is a divisional application of the Chinese Invention Patent with the application date of December 2, 2021, the application number of 202111460188.4, and the name of "Vehicle Correction System, Battery Swapping Station and Battery Swapping Method". TECHNICAL FIELD

[0002] The present application relates to the technical field of vehicle battery swapping, in particular to a vehicle correction system, a battery swapping station and a battery swapping method. BACKGROUND

[0003] The battery swapping station is used for battery swapping of electric vehicles. After the vehicle enters the battery swapping station and is accurately positioned, the related equipment in the battery swapping station dismounts the depleted battery on the vehicle, and then installs the full battery stored in the battery swapping station on the vehicle. After the battery swapping is completed, the vehicle drives out of the vehicle loading platform. During the battery swapping process, the positioning accuracy of the vehicle directly affects the working condition of the related equipment for dismounting and mounting the battery. In the prior art, the related equipment, the battery and the vehicle may be mechanically worn or even stuck during the battery swapping due to the low positioning accuracy of the vehicle. SUMMARY

[0004] The technical problem to be solved by the present application is to overcome the defects of mechanical wear of the battery swapping equipment, the battery and the vehicle caused by poor positioning during the battery swapping, and to provide a vehicle correction system, a battery swapping station and a battery swapping method.

[0005] The present application solves the above technical problems by the following technical solutions:

[0006] A vehicle correction system comprises:

[0007] A vehicle loading platform is used to drive the electric vehicle loaded thereon to move up and down.

[0008] A battery swapping equipment is used to swap the battery of the vehicle on the vehicle loading platform. The battery swapping equipment is provided with a dismounting and mounting mechanism and a leveling piece. The dismounting and mounting mechanism is used to unlock or lock the locking piece on the vehicle for locking the battery. The leveling piece has a plurality of calibration surfaces for contacting the vehicle. Each calibration surface is located in the same plane.

[0009] During the unlocking or locking of the locking piece by the dismounting and mounting mechanism, the leveling piece supports the vehicle.

[0010] In this scheme, the relative position relationship between the vehicle and the dismounting and mounting mechanism is calibrated by the leveling piece, which ensures that the dismounting and mounting mechanism can accurately cooperate with the locking piece, thereby reducing the risk of mechanical wear between the battery swapping equipment, the vehicle and the battery caused by low positioning accuracy, and effectively avoiding the sticking between the battery swapping equipment and the battery during the battery swapping process, which helps to improve the battery swapping efficiency.

[0011] Preferably, the planes in which the calibration surfaces are located are parallel to the plane in which the dismounting mechanism is located.

[0012] In this scheme, the planes in which the calibration surfaces are located are parallel to the plane in which the dismounting mechanism is located, which can ensure that the plane in which the vehicle chassis and the battery locking member are located is parallel to the dismounting mechanism, thereby ensuring that the dismounting mechanism accurately cooperates with the locking member and improving the battery replacement accuracy and efficiency.

[0013] Preferably, the leveling member comprises a plurality of leveling columns, the plurality of leveling columns have the same height, and the top surfaces of the leveling columns form the calibration surfaces.

[0014] In this scheme, the top surfaces of the plurality of leveling columns form the calibration surfaces, and the heights of the calibration columns are the same, which ensures that the plurality of calibration surfaces are located in the same plane, and the leveling member has a simple structure and high calibration accuracy.

[0015] Preferably, the battery replacement device comprises a device body and a mounting base, the dismounting mechanism is arranged on the device body, the mounting base is arranged on the device body around the outer edge of the device body, the mounting base is arranged outside the dismounting mechanism, and the leveling columns are arranged on the mounting base.

[0016] In this scheme, the leveling columns are arranged around the outer edge of the device body through the mounting base, and the leveling columns are arranged outside the dismounting mechanism. The position of the dismounting mechanism is aligned with that of the battery, and the leveling columns can avoid the battery, thereby effectively avoiding collision and interference between the leveling columns and the battery. In addition, in this scheme, the leveling columns are arranged on the existing battery replacement device through the mounting base, which realizes direct installation of the leveling columns on the existing battery replacement device without the need for other improvements to the existing battery replacement device. Therefore, the improvement cost is low, and modular assembly can be realized, which is convenient for disassembly and maintenance.

[0017] Preferably, the battery replacement device further comprises an adjusting part, the adjusting part is connected to the device body and the mounting base respectively, and the adjusting part is configured to drive the mounting base to move relative to the device body in the horizontal direction and / or the vertical direction.

[0018] The preferred support points of different models of vehicles are different, and the position of the leveling columns is adjusted through the adjusting part, which can select the preferred support point according to the vehicle model, level the vehicle of different models, maximize the protection of the vehicle, and improve the universality of the battery replacement device for various electric vehicles. In addition, the position of the leveling columns in the vertical direction can also be controlled by the adjusting part to control the lifting of the vehicle, and this function can be used in cooperation with the lifting function of the vehicle loading platform.

[0019] Preferably, the adjusting part comprises a guide rail and a sliding block, the guide rail is mounted on the device body, the sliding block is movably arranged on the guide rail, and the mounting base is connected with the sliding block; or,

[0020] The adjusting part comprises a rotating assembly with a rotating shaft, the rotating assembly is arranged on the device body, the rotating shaft is connected with the mounting base, and the rotating assembly is used for converting the rotating motion of the rotating shaft into the linear motion of the mounting base.

[0021] In this scheme, the adjusting part comprises a guide rail and a sliding block, or the adjusting part adopts a rotating assembly, the adjusting part is simple in structure and convenient to use. By adopting the guide rail and sliding block structure, the mounting base can be driven to slide on the guide rail by moving the sliding block, so as to realize the position adjustment of the leveling column. By adopting the rotating assembly structure, the mounting base can be driven to move by rotating the rotating shaft, so as to realize the position adjustment of the leveling column.

[0022] Preferably, the adjusting part further comprises a power element, the power element is arranged on the device body, and the power element is connected with the sliding block or the rotating shaft.

[0023] In this scheme, the sliding block is driven to move or the rotating shaft is driven to rotate by the power element, which is beneficial to improving the adjusting efficiency and adjusting accuracy.

[0024] Preferably, a positioning pin is further arranged on the battery replacing device, and a positioning hole for accommodating the positioning pin is formed in the chassis of the vehicle.

[0025] In this scheme, the positioning pin and the positioning hole cooperate with each other, the relative position relationship between the vehicle and the battery replacing device can be determined after the positioning pin is inserted into the positioning hole, and the alignment accuracy between the chassis of the vehicle and the leveling column and between the battery and the dismounting mechanism can be effectively ensured.

[0026] Preferably, a lifting mechanism is further arranged on the battery replacing device, and the lifting mechanism is connected with the dismounting mechanism and the positioning pin respectively.

[0027] The lifting mechanism can drive the dismounting mechanism and the positioning pin to lift, so as to make the dismounting mechanism contact or separate from the locking piece, and insert or remove the positioning pin into or out of the positioning hole. When the positioning pin is inserted into the positioning hole, the positioning pin can be controlled to move upward until it is inserted into the positioning control by the lifting mechanism, or the vehicle can be controlled to move downward until the positioning pin is inserted into the positioning hole, or the vehicle is controlled to move downward and the positioning pin is controlled to move upward at the same time until the positioning pin is inserted into the positioning hole.

[0028] Preferably, when the lifting mechanism is in the lifting state, the top of the positioning pin is higher than the alignment surface of the leveling piece.

[0029] The scheme can realize rough positioning of the vehicle by first inserting the positioning pin into the positioning hole, and then correcting the position of the vehicle by the leveling column to realize precise positioning, thereby ensuring the accuracy of the positional relationship between the battery pack and the dismounting mechanism, and avoiding the risk of interference between the leveling column and the vehicle due to the positioning pin being lower than the leveling column, and causing the positioning pin to be unable to be inserted into the positioning hole.

[0030] Preferably, the battery replacement equipment is further provided with a detection element for detecting whether the calibration surface is in contact with the vehicle.

[0031] The detection result of the detection element is used to determine whether the vehicle has reached a preset state, and the calibration accuracy is high.

[0032] Preferably, the vehicle carrying platform comprises a front lifting mechanism corresponding to the front wheels of the vehicle and a rear lifting mechanism corresponding to the rear wheels of the vehicle, and the battery replacement equipment replaces the battery of the vehicle between the front lifting mechanism and the rear lifting mechanism.

[0033] Preferably, the vehicle carrying platform and the leveling member jointly lift the vehicle during the unlocking or locking of the locking member by the dismounting mechanism.

[0034] In the scheme, the vehicle is controlled to be in contact with the calibration surface while ensuring that the wheels do not deviate from the vehicle carrying platform, and the leveling member and the vehicle carrying platform jointly support the vehicle during the unlocking and locking of the locking member by the dismounting mechanism. Therefore, the vehicle carrying platform can share the load of the leveling member, the force borne by each leveling member is reduced, and the service life of the leveling member is improved.

[0035] Preferably, the vehicle carrying platform has a first lifting height and a second lifting height, when the vehicle carrying platform is at the first lifting height, the vehicle carried on the vehicle carrying platform is higher than the leveling member, and when the vehicle carrying platform is at the second lifting height, the vehicle carrying platform is not higher than the leveling member.

[0036] In the scheme, when the vehicle carrying platform is at the first lifting height, the lower surface of the vehicle is higher than the calibration surface of the leveling member, and the battery replacement equipment can drive into the vehicle carried on the vehicle carrying platform; when the vehicle carrying platform is at the second lifting height, the upper surface of the vehicle carrying platform is not higher than the upper surface of the leveling member, and the leveling member supports the vehicle or the vehicle carrying platform and the leveling member jointly lift the vehicle.

[0037] A battery replacement station comprising the vehicle correction system according to any one of the above.

[0038] A battery replacement method based on the vehicle correction system according to any one of the above, comprising the following steps:

[0039] The battery replacement equipment is controlled to drive into and be positioned below the vehicle on the vehicle carrying platform, and the battery replacement equipment is aligned with the battery position on the vehicle;

[0040] Adjusting the relative position between the vehicle carrying platform and the battery replacing device in the vertical direction to support the vehicle by the leveling members;

[0041] Controlling the dismounting and mounting mechanism to dismount the battery on the vehicle or mount the battery to be mounted on the vehicle.

[0042] In the scheme, the vehicle is supported by the leveling members to reach a preset state, accurate positioning of the locking members and the dismounting and mounting mechanism is realized, and then the dismounting and mounting mechanism is used to dismount and mount the battery, the battery replacing progress is improved, the risk of mechanical wear caused by low positioning accuracy between the battery replacing device, the vehicle and the battery is reduced, and the battery replacing device and the battery are effectively prevented from being stuck during the battery replacing process, which helps to improve the battery replacing efficiency.

[0043] Preferably, the step of adjusting the relative position between the vehicle carrying platform and the battery replacing device in the vertical direction to support the vehicle by the leveling members comprises:

[0044] Controlling the relative movement of the vehicle carrying platform and the leveling members, and detecting whether each calibration surface is in contact with the vehicle in real time, if each calibration surface is in contact with the vehicle, the relative movement of the vehicle carrying platform and the leveling members is stopped, and the leveling members support the vehicle.

[0045] In the scheme, during the relative movement of the vehicle carrying platform and the leveling members, the movement of the vehicle carrying platform and the leveling members is controlled by detection to ensure that each calibration surface is in contact with the vehicle, and the calibration accuracy is high.

[0046] Preferably, after the step of supporting the vehicle by the leveling members, and before the step of controlling the dismounting and mounting mechanism to dismount the battery on the vehicle or mount the battery to be mounted on the vehicle, the following steps are further included:

[0047] Detecting whether the front lifting mechanism of the vehicle carrying platform and the rear lifting mechanism of the vehicle carrying platform are in contact with the vehicle, if not, controlling the corresponding front lifting mechanism or rear lifting mechanism to rise to be in contact with the vehicle, so that the front lifting mechanism and the rear lifting mechanism jointly lift the vehicle with the leveling members.

[0048] In the scheme, the vehicle is jointly lifted by the front lifting mechanism, the rear lifting mechanism and the leveling columns, so that the vehicle carrying platform can share the load of the leveling members, the force borne by each leveling member is reduced, thereby improving the service life of the leveling members, and the vehicle has better stability because of more supporting points.

[0049] Preferably, the step of controlling the battery replacing device to drive into and position under the vehicle on the vehicle carrying platform to relatively align the battery replacing device with the position of the battery on the vehicle comprises:

[0050] After the battery replacing device drives under the vehicle on the vehicle carrying platform, the vehicle carrying platform and the battery replacing device are controlled to move relatively, and when the positioning pin on the battery replacing device is inserted into the positioning hole on the vehicle chassis, the battery replacing device is aligned with the battery position on the vehicle.

[0051] In this scheme, the positioning pin is inserted into the positioning hole to determine the relative position relationship between the vehicle and the battery replacing device, which can effectively ensure the alignment accuracy between the vehicle chassis and the leveling column and between the battery and the disassembling mechanism.

[0052] Preferably, before the step of controlling the battery replacing device to drive under the vehicle on the vehicle carrying platform and to be positioned so as to align the battery replacing device with the battery position on the vehicle, the method further comprises the following steps of:

[0053] The vehicle model is obtained, and the relative position of the leveling column with respect to the device body is adjusted in the horizontal direction and / or the vertical direction according to the vehicle model information.

[0054] In this scheme, the position of the leveling column is adjusted according to the vehicle model information, which can select a better support point according to the vehicle model, level different models of vehicles, and maximize the protection of the vehicle, thereby improving the universality of the battery replacing device for various electric vehicles.

[0055] On the basis of common sense in the art, the above-mentioned preferred conditions can be combined arbitrarily, i.e., to obtain each preferred example of the present application.

[0056] The positive progress effect of the present application is that:

[0057] The present application adjusts the relative position relationship between the vehicle and the disassembling mechanism through the leveling member, ensures that the disassembling mechanism can accurately cooperate with the locking member, thereby reducing the risk of mechanical wear caused by low positioning accuracy between the battery replacing device, the vehicle and the battery, and effectively avoiding the jamming between the battery replacing device and the battery during the battery replacing process, which helps to improve the battery replacing efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0058] Figure 1 It is a structural schematic diagram of the vehicle correction system of an embodiment of the present application.

[0059] Figure 2 It is a structural schematic diagram of the battery replacing device of an embodiment of the present application.

[0060] Figure 3 It is a flowchart of the battery replacing method of an embodiment of the present application.

[0061] BRIEF DESCRIPTION OF DRAWINGS

[0062] Vehicle correction system 100

[0063] Vehicle carrying platform 1

[0064] Front lifting mechanism 11

[0065] Rear lifting mechanism 12

[0066] Battery swapping device 2

[0067] Disassembling mechanism 21

[0068] Positioning pin 211

[0069] Leveling piece 22

[0070] Alignment surface 221

[0071] Hollow column 222

[0072] Leveling pad 223

[0073] Mounting plate 224

[0074] Device body 23

[0075] Mounting base 24 DETAILED DESCRIPTION

[0076] The present application will be further described below by way of examples, but the present application is not limited in the scope of the examples described below.

[0077] The present application provides a battery swapping station for swapping batteries of electric vehicles. After the vehicle is precisely positioned in the battery swapping station, the related equipment in the battery swapping station dismounts the depleted battery on the vehicle and then mounts the full battery stored in the battery swapping station to the vehicle. After the battery swapping is completed, the vehicle drives out of the vehicle loading platform 1. The battery swapping station comprises a vehicle correction system. The vehicle drives into the battery swapping station, and the vehicle correction system corrects the position of the vehicle so that the vehicle is in a preset state for the related equipment to swap the battery of the vehicle.

[0078] Please refer to Figure 1 , Figure 2 for a better understanding. The present application provides a vehicle correction system 100 for the above-mentioned battery swapping station. The vehicle correction system comprises a vehicle loading platform 1 and a battery swapping device 2. The vehicle loading platform 1 is used to drive the electric vehicle loaded thereon to move up and down, and the battery swapping device 2 is used to swap the battery of the vehicle on the vehicle loading platform 1. In a specific application, the vehicle loading platform 1 preliminarily positions the vehicle in the horizontal direction, the battery swapping device 2 precisely positions the vehicle so that the vehicle is in a preset state, then dismounts the depleted battery on the vehicle, and finally mounts the full battery to complete the battery swapping.

[0079] The battery replacement device 2 is provided with a dismounting mechanism 21 and a leveling piece 22. The leveling piece 22 is used to accurately position the vehicle, so that the vehicle is in a preset state. The dismounting mechanism 21 is used to unlock or lock the locking piece on the vehicle for locking the battery. In use, after the vehicle is preliminarily positioned in the horizontal direction by the vehicle loading platform 1, the leveling piece 22 is brought into contact with the vehicle, and the vehicle is supported by the leveling piece 22, so that the leveling of the vehicle is realized. At this time, the positions of the dismounting mechanism 21 and the locking piece are accurately positioned, and the dismounting mechanism 21 can operate to dismount or mount the battery on the vehicle.

[0080] The leveling piece 22 has a plurality of calibration surfaces 221 for contacting the vehicle. Each calibration surface 221 is located in the same plane. By bringing each calibration surface 221 into contact with the vehicle, the vehicle is accurately positioned, so that the vehicle is in a preset state. The leveling piece 22 supports the vehicle during the unlocking or locking of the locking piece by the dismounting mechanism 21.

[0081] The overall process of the vehicle battery replacement is as follows. The vehicle drives into the vehicle loading platform 1. The vehicle loading platform 1 positions the front and rear wheels in the front-rear direction and the left-right direction, so that the vehicle is preliminarily positioned in the horizontal direction. The vehicle is lifted by the vehicle loading platform 1, so that the battery replacement device 2 can smoothly drive into and out of the lower part of the vehicle. The empty battery replacement device 2 is controlled to drive into the lower part of the electric vehicle. The vehicle is supported by the leveling piece 22. Each calibration surface 221 located in the same plane is attached to the vehicle chassis, so that the vehicle is stably parked under the preset state. The dismounting mechanism 21 is controlled to dismount the depleted battery on the vehicle, and the battery is transported to the battery storage rack without interfering with the vehicle loading platform 1. The full battery on the battery storage rack is transported to the lower part of the vehicle by the battery replacement device 2. The vehicle is stably parked under the preset state by the leveling piece 22. The full battery is mounted on the vehicle by the dismounting mechanism 21. Then, the battery replacement device 2 and the vehicle loading platform 1 are reset, and the vehicle can drive out of the battery replacement station.

[0082] As can be known from the above, the relative position relationship between the vehicle and the dismounting mechanism 21 is calibrated by the leveling piece 22 in the embodiment, so that the dismounting mechanism 21 can accurately cooperate with the locking piece, thereby reducing the risk of mechanical wear caused by low positioning accuracy between the battery replacement device, the vehicle and the battery, and effectively avoiding the jamming between the battery replacement device and the battery during the battery replacement process, which helps to improve the battery replacement efficiency.

[0083] In one embodiment, the plane in which each calibration surface 221 is located is parallel to the plane in which the dismounting mechanism 21 is located, so that the plane in which the vehicle chassis and the battery locking piece are located can be ensured to be parallel to the dismounting mechanism 21, thereby ensuring that the dismounting mechanism 21 accurately cooperates with the locking piece, and improving the battery replacement accuracy and efficiency.

[0084] The vehicle loading platform 1 has a first lifting height and a second lifting height. When the vehicle loading platform 1 is at the first lifting height, the vehicle carried on the vehicle loading platform 1 is higher than the leveling member 22. When the vehicle loading platform 1 is at the second lifting height, the vehicle loading platform 1 is not higher than the leveling member 22.

[0085] In other words, when the vehicle loading platform 1 is at the first lifting height, the lower surface of the vehicle is higher than the calibration surface 221 of the leveling member 22, and at this time, the battery replacement device 2 can smoothly drive under the vehicle carried on the vehicle loading platform 1. When the vehicle loading platform 1 is at the second lifting height, the upper surface of the vehicle loading platform 1 is not higher than the upper surface of the leveling member 22, and the vehicle is supported by the leveling member 22 or jointly lifted by the leveling member 22 and the vehicle loading platform 1.

[0086] In a specific application, the vehicle loading platform 1 includes a front lifting mechanism 11 corresponding to the front wheels of the vehicle and a rear lifting mechanism 12 corresponding to the rear wheels of the vehicle. The front lifting mechanism 11 and the rear lifting mechanism 12 can be synchronously lifted to control the height of the vehicle. Of course, the two can also be lifted separately to meet the needs of the battery replacement station. The front lifting mechanism 11 and the rear lifting mechanism 12 are realized by using existing lifting devices with lifting function.

[0087] A channel is formed between the front lifting mechanism 11 and the rear lifting mechanism 12, which is used for the battery replacement device 2 to drive in and out. In other words, the battery replacement device 2 performs battery replacement on the vehicle between the front lifting mechanism 11 and the rear lifting mechanism 12. The vehicle loading platform 1 has a moving plate that can be moved into the channel between the front lifting mechanism 11 and the rear lifting mechanism 12 and shielded above the channel, so that the wheels can be driven from the rear lifting mechanism 12 to the front lifting mechanism 11. The moving plate can also be moved out of the channel to provide space for the battery replacement device 2 to perform battery replacement operation on the vehicle.

[0088] The calibration surface 221 is used to fit the chassis of the vehicle. The position of the calibration surface 221 is determined according to the positional relationship between the vehicle and the dismounting mechanism 21. The calibration surface 221 avoids the position of the battery and faces the lower surface of the vehicle chassis. Each calibration surface 221 is pre-leveled to ensure the positional accuracy of the vehicle. Multiple calibration surfaces 221 can be provided to ensure the stability of the vehicle. In the present embodiment, one leveling member 22 has one calibration surface 221. In other embodiments, as an alternative, one leveling member 22 can have multiple calibration surfaces 221.

[0089] Further, the vehicle carrying platform 1 and the leveling member 22 jointly lift the vehicle during the unlocking and locking of the locking member by the dismounting mechanism 21. In practical application, the vehicle is controlled to contact the calibration surface 221 while ensuring that the wheels do not separate from the vehicle carrying platform 1 before the dismounting mechanism 21 replaces the batteries. If it is detected that the wheels separate from the front lifting mechanism 11 or the rear lifting mechanism 12, the front lifting mechanism 11 and the rear lifting mechanism 12 are controlled to ascend to contact the wheels. In this embodiment, the leveling member 22 and the vehicle carrying platform 1 jointly support the vehicle during the unlocking and locking of the locking member by the dismounting mechanism 21, so that the vehicle carrying platform 1 can share the load of the leveling member 22, the force borne by each leveling member 22 is reduced, thereby prolonging the service life of the leveling member 22 and improving the stability of the vehicle.

[0090] The leveling member 22 includes a plurality of leveling columns, the top surfaces of the leveling columns form the calibration surface 221, and the heights of the leveling columns are the same to ensure that the calibration surfaces 221 are located in the same plane. The leveling member 22 has simple structure and high calibration accuracy. The leveling columns of the same model of the battery replacement device 2 only need one type, which facilitates mass production, reduces production cost, and improves assembly efficiency when installation does not need to distinguish the types of the leveling columns.

[0091] The leveling column includes a hollow column 222 and a leveling pad 223, the leveling pad 223 is detachably installed on the upper end of the hollow column 222, and the calibration surface 221 is located on the leveling pad 223. The leveling pad 223 is made of nylon material, which can level the vehicle and is not easy to cause mechanical damage to the vehicle. The leveling column further includes a mounting plate 224, the upper end surface of the hollow column 222 is provided with a mounting plate 224, and the leveling pad 223 is installed on the mounting plate 224 by fasteners, so that the force borne by the leveling pad 223 can be uniformly transmitted to the hollow column 222 through the mounting plate 224, reducing the deformation caused by stress concentration on the leveling pad 223, thereby prolonging the service life of the leveling pad 223. The lower part of the hollow column 222 is also provided with a mounting plate 224, and the hollow column 222 transmits the force to other components of the battery replacement device 2 through the mounting plate 224. The hollow column 222 and the mounting plate 224 are made of steel plate, which has higher anti-deformation ability. In actual application, the leveling columns are distributed around the dismounting mechanism 21, so as not to collide with the batteries, and can support the vehicle from different positions, reducing the risk of vehicle overturning and yawing and improving the stability of the vehicle.

[0092] The battery replacing device 2 comprises a device body 23 and a mounting base 24. The device body 23 is a carrier of other components in the battery replacing device 2. The dismounting mechanism 21 is arranged on the device body 23. The mounting base 24 is arranged on the device body 23 at the outer edge of the four corners of the device body 23. The mounting base 24 is arranged outside the dismounting mechanism 21. The leveling column is arranged on the mounting base 24. Specifically, the leveling column is arranged at the outer edge of the four corners of the device body 23 through the mounting base 24. The dismounting mechanism 21 is aligned with the position of the battery. The leveling column can avoid the battery, and the collision and interference between the leveling column and the battery can be effectively avoided. In addition, in the present scheme, the leveling column is arranged on the device body 23 through the mounting base 24. The leveling column is directly arranged on the existing battery replacing device. No other improvement is required for the existing battery replacing device. The modification cost is low. The dismounting mechanism 21 is arranged on the device body 23. The leveling column is arranged on the device body 23 through the mounting base 24. The various parts of the battery replacing device 2 are modularized, which is convenient for dismounting and maintenance. In addition, the battery replacing device 2 of the present embodiment can be obtained by installing the leveling piece 22 on the existing device with the dismounting mechanism 21. The entire battery replacing device 2 does not have to be replaced, so that the above-mentioned functions can be obtained at a lower modification cost.

[0093] In a specific application, a track cooperating with the device body 23 is arranged in the battery replacing station. The device body 23 moves along the track to control the position of the dismounting mechanism 21. The device body 23 can be realized by using the device used to carry the dismounting mechanism 21 in the existing battery replacing station. The dismounting mechanism 21 is arranged in the middle of the device body 23. The leveling piece 22 indirectly connects the dismounting mechanism 21 through the mounting base 24. The mounting base 24 is connected to the outer edge of the device body 23, avoiding the position of the dismounting mechanism 21, and also being conducive to avoiding the position of the battery. In the present embodiment, the leveling piece 22 and the mounting base 24 are arranged one by one. The mounting base 24 is arranged at the four corners of the device body 23. In other embodiments, as an alternative means, the mounting base 24 can be annular and arranged around the outer edge of the device body 23. The leveling piece 22 is arranged at each corner of the mounting base 24.

[0094] The battery replacing device 2 further comprises an adjusting part configured to drive the mounting base 24 to move relative to the device body 23 in the horizontal direction and / or the vertical direction. The preferred support points of different models of vehicles are different. By adjusting the position of the leveling column through the adjusting part, the preferred support point can be selected according to the vehicle model, which can level different models of vehicles and maximize the protection of vehicles, thereby improving the universality of the battery replacing device 2 for various electric vehicles. In addition, the position of the leveling column in the vertical direction can also be controlled by the adjusting part, which can also be used to control the lifting of the vehicle. This function can be used in cooperation with the lifting function of the vehicle loading platform 1.

[0095] In a specific application, the movement of the mounting base 24 in the vehicle length direction, the vehicle width direction and the vehicle height direction is controlled independently, that is, the adjusting part includes a structure corresponding to each of the three directions to control the movement of the mounting base 24 respectively. When the mounting base 24 needs to be adjusted to a certain position, the displacement of the mounting base 24 in the above three directions is calculated, and the corresponding structure of the adjusting part is controlled to move according to the calculation result. In other embodiments, as an alternative, the adjusting part can drive the mounting base 24 to switch randomly within any position in the adjusting range. The adjusting part can be realized by using an existing mechanical arm. When the mounting base 24 needs to be adjusted to a certain position, the straight line trajectory from the position of the mounting base 24 to the certain position is obtained, and the adjusting part drives the mounting base 24 to move to the certain position according to the straight line trajectory.

[0096] In this embodiment, the adjusting part includes a guide rail and a sliding block. The movement of the mounting base 24 in any of the vehicle length direction, the vehicle width direction and the vehicle height direction can be realized by the guide rail and the sliding block. When the adjusting part adopts this way, moving the sliding block can drive the mounting base 24 to slide on the guide rail to realize the leveling column position adjustment. The adjusting part of this embodiment is simple in structure and convenient to use. The guide rail is mounted on the device body 23, and the sliding block is movably arranged on the guide rail. The sliding block and the guide rail are slidingly connected, the mounting base 24 is connected with the sliding block, so that the guide rail guides the movement of the mounting base 24 to ensure the movement accuracy of the mounting base 24. The adjusting part further includes a power element, which is arranged on the device body 23 and connected with the sliding block. The power element can be a pneumatic system based on a pneumatic cylinder or a hydraulic system based on a hydraulic cylinder, or a motor. The power element drives the movement of the sliding block to drive the movement of the leveling part 22. Driving the movement of the sliding block by the power element is beneficial to improve the adjusting efficiency and the adjusting accuracy.

[0097] In another embodiment, as an alternative, the adjusting part comprises a rotating assembly having a rotating shaft, the movement of the mounting base 24 in any direction of the length direction, the width direction and the height direction of the vehicle can be realized by the rotating assembly, the rotating shaft and the rotating assembly are matched to convert the rotary motion into linear motion, the rotating assembly is arranged on the device body 23, the rotating shaft is connected with the mounting base 24, for example, the rotating shaft is a lead screw, the rotating assembly further comprises a nut, the rotating shaft is arranged on the device body 23, and the rotating shaft is connected with the mounting base 24 through the nut. Further, the adjusting part of the embodiment further comprises a power element, the power element is arranged on the device body 23, and the power element is connected with the rotating shaft, the power element adopts a motor, a rotary cylinder or a rotary hydraulic cylinder, and the power element drives the rotating shaft to rotate to move the leveling member 22. By adopting the rotating assembly structure, the rotating shaft is rotated to drive the mounting base to move to realize the leveling column position adjustment, and the rotating shaft is driven to rotate by the power element, so that the adjustment efficiency and the adjustment accuracy are improved. Therefore, the adjusting part of the embodiment has simple structure and is convenient to use.

[0098] The battery replacement equipment 2 is further provided with a positioning pin 211, and the chassis of the vehicle is provided with a positioning hole for accommodating the positioning pin 211. The positioning pin 211 and the positioning hole are matched with each other, the relative position relationship between the vehicle and the battery replacement equipment 2 can be determined after the positioning pin 211 is inserted into the positioning hole, and the alignment accuracy between the vehicle chassis and the leveling column and between the battery and the dismounting mechanism 21 can be effectively ensured. In specific application, after the vehicle is positioned on the vehicle loading platform 1, the vehicle and the battery replacement equipment 2 are controlled to move relatively in the vertical direction until the positioning pin 211 is inserted into the positioning hole, and then the calibration surface 221 is attached to the vehicle.

[0099] The battery replacement equipment 2 is further provided with a lifting mechanism, and the lifting mechanism is connected with the dismounting mechanism 21 and the positioning pin 211 respectively. The lifting mechanism can drive the dismounting mechanism 21 and the positioning pin 211 to lift, so that the dismounting mechanism 21 is in contact with or separated from the locking member, and the positioning pin 211 is inserted into or moved out of the positioning hole. When the positioning pin 211 is inserted into the positioning hole, the positioning pin 211 can be controlled to move upward until it is inserted into the positioning hole by the lifting mechanism, or the vehicle can be controlled to move downward until the positioning pin 211 is inserted into the positioning hole, or the vehicle is controlled to move downward and the positioning pin 211 is controlled to move upward at the same time until the positioning pin 211 is inserted into the positioning hole.

[0100] When the lifting mechanism is in the lifting state, the top of the positioning pin 211 is higher than the calibration surface 221 of the leveling member 22, so that the vehicle can be roughly positioned by first controlling the positioning pin 211 to be inserted into the positioning hole 211, and the alignment accuracy between the vehicle chassis and the leveling column and the battery and the dismounting mechanism 21 is effectively ensured, and then the position of the vehicle is corrected by the leveling column to achieve precise positioning, and the accuracy of the positional relationship between the battery pack and the dismounting mechanism 21 is ensured, and the risk that the leveling column interferes with the vehicle and the positioning pin 211 cannot be inserted into the positioning hole is avoided.

[0101] The detection element is arranged on the battery replacement equipment 2 and is used to detect whether the calibration surface 221 contacts the vehicle. Whether the vehicle reaches a preset state is determined according to the detection result of the detection element, and the calibration accuracy is high. In the embodiment, when the detection result shows that the vehicle has not contacted the calibration surface 221, the vehicle correction system continues to correct the position of the vehicle until the detection shows that the vehicle contacts the calibration surface 221, so that the accuracy of the positional relationship between the vehicle and the dismounting mechanism 21 is ensured.

[0102] In the embodiment, the detection element is a pressure sensor, and one detection element is arranged on each calibration surface 221, and each detection element is in communication connection with the control system of the battery replacement station.

[0103] Please understand in combination with Figure 3 The embodiment of the present application also provides a battery replacement method based on the vehicle correction system, which comprises the following steps:

[0104] S10, the vehicle model is obtained, and the relative position of the leveling column relative to the equipment body 23 is adjusted in the horizontal direction and / or the vertical direction according to the vehicle model information.

[0105] S20, the battery replacement equipment 2 is controlled to drive into and be positioned below the vehicle on the vehicle carrying platform 1, so that the battery replacement equipment 2 is aligned with the position of the battery on the vehicle, and rough positioning between the vehicle and the battery replacement equipment 2 is achieved;

[0106] S30, the relative position between the vehicle carrying platform 1 and the battery replacement equipment 2 is adjusted in the vertical direction, the vehicle is supported by the leveling member 22, so that the vehicle is in a preset state, and precise positioning between the vehicle and the battery replacement equipment 2 is achieved;

[0107] S40, whether the front lifting mechanism 11 and the rear lifting mechanism 12 both contact the vehicle is detected, if not, the corresponding front lifting mechanism 11 or rear lifting mechanism 12 is controlled to rise to contact the vehicle, so that the front lifting mechanism 11 and the rear lifting mechanism 12 jointly lift the vehicle with the leveling member 22.

[0108] S50, the dismounting mechanism 21 is controlled to dismount the battery on the vehicle or install the battery to be installed on the vehicle.

[0109] In this embodiment, the vehicle is supported by the leveling piece 22 so that the vehicle reaches a preset state, and the accurate positioning of the locking piece and the dismounting mechanism 21 is realized, and then the dismounting and mounting of the battery by the dismounting mechanism 21 are realized, which improves the battery replacement progress, reduces the risk of mechanical wear caused by low positioning accuracy between the battery replacement equipment 2, the vehicle and the battery, and effectively avoids the jamming between the battery replacement equipment 2 and the battery during the battery replacement process, which helps to improve the battery replacement efficiency.

[0110] In step S10,

[0111] The timing of obtaining the vehicle model can be before the vehicle drives onto the vehicle loading platform 1, or before the vehicle drives onto the vehicle loading platform 1 and the battery replacement equipment 2 drives directly below the vehicle. The way to obtain the vehicle model can be based on the existing visual recognition system, and the shape of the vehicle is photographed and compared with the information in the database of the battery replacement station to obtain the vehicle model. Adjusting the position of the leveling column according to the vehicle model information can select the best support point according to the vehicle model, which can level different types of vehicles and maximize the protection of the vehicle, thereby improving the universality of the battery replacement equipment for various electric vehicles.

[0112] The relative position relationship between the leveling column corresponding to different vehicle models and the equipment body 23 (or the dismounting mechanism 21) is pre-stored in the database. The relative position relationship between the leveling column and the equipment body 23 is obtained according to the vehicle model information, and the leveling column and the equipment body 23 are in the relative position relationship: if it is detected that the leveling column and the equipment body 23 are already in the relative position relationship, the adjusting part does not act, if it is detected that the leveling column and the equipment body 23 are not in the relative position relationship, the adjusting part is controlled to act, so that the leveling column and the equipment body 23 are in the relative position relationship. At this time, when the adjusting part acts, the adjusting part can adjust the position relationship between the leveling column and the equipment body 23 in any direction.

[0113] In step S20,

[0114] The vehicle loading platform 1 preliminarily positions the vehicle, and after detecting that the vehicle has been positioned on the vehicle loading platform 1, the height of the vehicle loading platform 1 carrying the vehicle is controlled to be not lower than the first lifting height, and after the battery replacement equipment 2 drives below the vehicle, the relative movement between the vehicle loading platform 1 and the battery replacement equipment 2 is controlled to align, and when the positioning pin 211 on the battery replacement equipment 2 is inserted into the positioning hole on the vehicle chassis, the battery replacement equipment 2 is aligned with the position of the battery on the vehicle. In this embodiment, when the relative displacement amount between the vehicle loading platform 1 and the battery replacement equipment 2 in the vertical direction reaches the first preset value, it is considered that the positioning pin 211 on the battery replacement equipment 2 is inserted into the positioning hole on the vehicle chassis. The first preset value is a data pre-stored in the database of the battery replacement station, which is set in the design stage in combination with the related parameters of the vehicle and the battery replacement station.

[0115] The relative displacement between the vehicle carrying platform 1 and the battery replacing device 2 in the vertical direction reaches the first preset value in any of the following ways: (1) the vehicle carrying platform 1 is controlled to move downward, and the battery replacing device 2 is stationary; (2) the battery replacing device 2 is controlled to move upward, and the vehicle carrying platform 1 is stationary; or (3) the vehicle carrying platform 1 is controlled to move downward, and the battery replacing device 2 is controlled to move upward.

[0116] For step S30, the following methods can be used:

[0117] In step S30, the vehicle carrying platform 1 and the leveling member 22 are controlled to move relative to each other, and at the same time, it is detected in real time whether each calibration surface 221 is in contact with the vehicle. When it is detected that each calibration surface 221 is in contact with the vehicle, the vehicle carrying platform 1 and the leveling member 22 are controlled to stop moving relative to each other. At this time, the leveling member 22 supports the vehicle. Otherwise, the vehicle carrying platform 1 and the leveling member 22 continue to move relative to each other. During the relative movement of the vehicle carrying platform 1 and the leveling member 22, the movement of the vehicle carrying platform 1 and the leveling member 22 is controlled by detection to ensure that each calibration surface 221 is in contact with the vehicle, and the calibration accuracy is high.

[0118] In another embodiment, as an alternative, the method used in step S30 is as follows: after the relative displacement between the vehicle carrying platform 1 and the calibration surface 221 reaches the second preset value, it is detected whether each calibration surface 221 is in contact with the vehicle. If yes, step S40 or step S50 is entered. Otherwise, the vehicle carrying platform 1 and the calibration surface 221 are further controlled to move relative to each other until it is detected that each calibration surface 221 is in contact with the vehicle.

[0119] The relative movement of the vehicle carrying platform 1 and the leveling member 22 in the above two methods of step S30 can be achieved in any of the following ways: (1) the vehicle carrying platform 1 is controlled to move downward, and the calibration surface 221 is stationary; (2) the adjustment part is controlled to move, so that the calibration surface 221 moves upward, and the vehicle carrying platform 1 is stationary; or (3) the vehicle carrying platform 1 is controlled to move downward, and the adjustment part is controlled to move, so that the calibration surface 221 moves upward.

[0120] In step S40,

[0121] After it is detected that each calibration surface is in contact with the vehicle, it is detected whether the front lifting mechanism 11 and the rear lifting mechanism 12 are in contact with the vehicle. If not, the corresponding front lifting mechanism 11 or rear lifting mechanism 12 is controlled to move upward to be in contact with the vehicle, so that the front lifting mechanism 11 and the rear lifting mechanism 12 jointly lift the vehicle together with the leveling member 22.

[0122] The basic principle of the battery replacing method is described above. Next, the entire process of the battery replacing method is briefly described from the entry of the vehicle into the station:

[0123] (a) The vehicle enters the battery replacing station.

[0124] (b) acquiring vehicle model information by using a visual recognition system; acquiring position relationship information between the leveling column and the equipment body 23 (or the dismounting mechanism 21) corresponding to the vehicle model information; detecting whether the actual positions of the leveling column and the equipment body 23 (or the dismounting mechanism 21) conform to the position relationship information, and if not, calculating the displacement of the leveling column in the length direction, the width direction and the height direction of the vehicle, and controlling the corresponding structure on the adjusting part to move according to the calculation results.

[0125] (c) positioning the vehicle on the vehicle loading platform 1, and the displacement freedom of the vehicle in the horizontal direction is constrained; controlling the height of the lifting platform to be not lower than the first lifting height.

[0126] Wherein, (b) and (c) are not distinguished in sequence.

[0127] (d) controlling the battery swap equipment 2 to drive into the position directly below the vehicle.

[0128] (e) controlling the front lifting mechanism 11, the rear lifting mechanism 12 and the lifting mechanism on the battery swap equipment to move relatively in the vertical direction until the positioning pin 211 is inserted into the positioning hole, at this time, the top surface of the positioning pin 211 is higher than the calibration surface 221 of the leveling piece 22.

[0129] (f) controlling the front lifting mechanism 11, the rear lifting mechanism 12 and the leveling piece 22 to move relatively in the vertical direction, while the detection element detects in real time whether all the calibration surfaces 221 are in contact with the vehicle, and when it is detected that all the calibration surfaces 221 are in contact with the vehicle, controlling the vehicle loading platform 1 and the leveling piece 22 to stop relative movement.

[0130] (g) detecting whether the front lifting mechanism 11 and the rear lifting mechanism 12 are in contact with the vehicle, and if not, corresponding the front lifting mechanism 11 or the rear lifting mechanism 12 to rise until the front lifting mechanism 11 and the rear lifting mechanism 12 are in contact with the vehicle.

[0131] (h) controlling the dismounting mechanism 21 to dismount the battery on the vehicle, after the battery is dismounted, controlling the vehicle loading platform 1 to be not lower than the first lifting height, and using the battery swap equipment 2 to transport the dismounted battery back to the palletizer in the battery swap station, and the palletizer takes the battery on the battery swap equipment 2 and places it on the battery storage rack.

[0132] (i) after the palletizer places the full battery stored in the battery swap station on the battery swap equipment 2, repeating steps (d) to (g).

[0133] (j) controlling the dismounting mechanism 21 to install the full battery on the vehicle.

[0134] (k) Control the vehicle carrying platform 1 to be not lower than the first lifting height, make the battery swapping device 2 drive out directly below the vehicle, then reset the vehicle carrying platform 1 to the initial state, and make the moving plate be laid between the front lifting mechanism 11 and the rear lifting mechanism 12.

[0135] (m) The vehicle drives out of the vehicle carrying platform 1.

[0136] Although the specific embodiments of the present application are described above, those skilled in the art should understand that this is only an example, the protection scope of the present application is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present application, and these changes and modifications all fall within the protection scope of the present application.

Claims

1. A vehicle correction system, characterized in that, include: A vehicle platform is used to lift and lower electric vehicles mounted on it. A battery swapping device is used to swap batteries for vehicles on the vehicle platform. The battery swapping device is equipped with a disassembly and assembly mechanism and a leveling component. The disassembly and assembly mechanism is used to unlock or lock the locking component on the vehicle for locking the battery. During the process of the disassembly and assembly mechanism unlocking or locking the locking component, the leveling component supports the vehicle. The battery swapping device includes a device body and a mounting base. The battery swapping device also includes an adjustment unit, which is connected to the device body and the mounting base respectively. The adjustment unit is configured to drive the mounting base to move relative to the device body in the horizontal and / or vertical directions. The adjustment unit includes a guide rail and a slider. The guide rail is mounted on the device body, the slider is movably mounted on the guide rail, and the mounting base is connected to the slider. The adjustment unit includes a rotating assembly with a rotating shaft, which is disposed on the device body. The rotating shaft is connected to the mounting base, and the rotating assembly is used to convert the rotational motion of the rotating shaft into the linear motion of the mounting base.

2. The vehicle correction system as described in claim 1, characterized in that, The leveling component has multiple calibration surfaces for contacting the vehicle, and all calibration surfaces are located in the same plane; The plane containing each of the calibration surfaces is parallel to the plane containing the disassembly and assembly mechanism; And / or, the leveling component includes a plurality of leveling posts, the plurality of leveling posts having the same height, and the top surface of the leveling posts forming the calibration surface.

3. The vehicle correction system as described in claim 1, characterized in that, The disassembly and assembly mechanism is disposed on the equipment body, the mounting base is mounted on the equipment body around the outer edge of the equipment body, the mounting base is disposed outside the disassembly and assembly mechanism, and the leveling component is disposed on the mounting base.

4. The vehicle correction system as described in claim 1, characterized in that, The adjustment unit also includes a power element, which is disposed on the device body and connected to the slider or the rotating shaft.

5. The vehicle correction system as described in claim 1, characterized in that, The battery swapping equipment is also provided with a positioning pin, and the chassis of the vehicle is provided with a positioning hole for accommodating the positioning pin. The battery swapping equipment is also equipped with a lifting mechanism, which is connected to the disassembly and assembly mechanism and the positioning pin respectively. When the lifting mechanism is in the lifting state, the top of the positioning pin is higher than the calibration surface of the leveling component.

6. The vehicle correction system according to any one of claims 1-5, characterized in that, The battery swapping equipment is also equipped with a detection element, which is used to detect whether the calibration surface is in contact with the vehicle. And / or, the vehicle platform includes a front lifting mechanism corresponding to the front wheels of the vehicle and a rear lifting mechanism corresponding to the rear wheels of the vehicle, and the battery swapping equipment swaps the vehicle's battery between the front lifting mechanism and the rear lifting mechanism; And / or, the vehicle platform, together with the leveling component, lifts the vehicle during the process of the disassembly and assembly mechanism unlocking or locking the locking component; And / or, the vehicle platform has a first lifting height and a second lifting height, wherein when the vehicle platform is at the first lifting height, the vehicle carried on the vehicle platform is higher than the leveling member; and when the vehicle platform is at the second lifting height, the vehicle platform is not higher than the leveling member.

7. A battery swapping station, characterized in that, Includes the vehicle correction system as described in any one of claims 1 to 6.

8. A battery swapping method based on the vehicle correction system according to any one of claims 1 to 6, characterized in that, Includes the following steps: Control the battery swapping equipment to drive into and position it under the vehicle on the vehicle platform, so that the battery swapping equipment is aligned with the position of the battery on the vehicle; Adjust the relative position between the vehicle platform and the battery swapping equipment in the vertical direction so that the leveling component supports the vehicle; The control mechanism is used to remove the battery from the vehicle or install the battery to be installed on the vehicle.

9. The battery swapping method as described in claim 8, characterized in that, The step of adjusting the relative position between the vehicle platform and the battery swapping equipment in the vertical direction so that the leveling component supports the vehicle includes: The relative movement of the vehicle platform and the leveling component is controlled, and the real-time detection is made to ensure that each calibration surface is in contact with the vehicle. If each calibration surface is in contact with the vehicle, the relative movement of the vehicle platform and the leveling component stops, and the leveling component supports the vehicle. After the step of supporting the vehicle with the leveling component, and before the step-controlling disassembly and assembly mechanism removes the battery from the vehicle or installs the battery to be installed on the vehicle, the following steps are also included: The system detects whether the front lifting mechanism and the rear lifting mechanism of the vehicle platform are in contact with the vehicle. If not, it controls the corresponding front lifting mechanism or the rear lifting mechanism to rise to contact the vehicle, so that the front lifting mechanism and the rear lifting mechanism, together with the leveling component, lift the vehicle.

10. The battery swapping method as described in claim 8, characterized in that, The step of controlling the battery swapping equipment to drive into and position itself under the vehicle on the vehicle platform, so as to align the battery swapping equipment with the battery position on the vehicle, includes: After the battery swapping device drives into the vehicle under the vehicle platform, the vehicle platform and the battery swapping device are controlled to move relative to each other. When the positioning pin on the battery swapping device is inserted into the positioning hole on the vehicle chassis, the battery swapping device is aligned with the battery on the vehicle. And / or, prior to the step of controlling the battery swapping device to drive into and position itself under the vehicle on the vehicle platform so as to align the battery swapping device with the battery position on the vehicle, the following steps are included: Obtain the vehicle model information, and adjust the relative position of the leveling column with respect to the equipment body along the horizontal and / or vertical directions based on the vehicle model information.

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