Battery replacement method and system

Abstract

The invention relates to the technical field of battery replacement, in particular to a battery replacement method and system. Based on the fact that the low-power battery box on the battery replacing vehicle is moved to the battery replacing area, set data are obtained, and the low-power battery box on the battery replacing vehicle is moved into the idle charging base; moving a target battery box to a battery changing area on the basis of moving a low-power battery box on the battery changing vehicle into an idle charging seat; on the basis that the target battery box is moved to the battery replacing area and the posture of the battery box with less electricity of the battery replacing vehicle is a first posture, a first offset pulley moves to the target battery box in the first direction to be a second posture, and meanwhile the target battery box is moved to be detachably connected with the battery replacing vehicle; therefore, the problem that the battery box is difficult to grab when inclining is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of battery swapping, and in particular, to a battery swapping method and system. Background Art

[0002] In the technical field of vehicle battery swapping, an automated grasping device is usually used to position and transport a battery box. In the prior art, the grasping part docks with the vehicle battery box through a preset mechanical structure or a vision recognition system, and its positioning accuracy depends on the accuracy of the vehicle docking position. Specifically, the vehicle needs to dock in the designated area of the battery swapping station according to a predetermined path, and the longitudinal and lateral offsets of the vehicle body need to be controlled within a relatively precise range to ensure that the robotic arm or fixture of the grasping part can accurately match the docking mechanism of the battery box.

[0003] However, when the vehicle docking position is skewed in the horizontal direction, the prior art faces significant limitations. Since the docking mechanism of the grasping part is rigidly designed, its fault tolerance range is limited by the mechanical structure and cannot adaptively compensate for the vehicle position deviation. Specifically, the vehicle body deflection will cause the misalignment of the contact points between the grasping surface of the battery box and the fixture, ultimately resulting in grasping failure or mechanism collision. Summary of the Invention

[0004] To solve the problem of difficult grasping when the battery box is skewed, the present invention provides a battery swapping method and system.

[0005] In a first aspect, the present invention discloses a battery swapping method, which includes: Based on the undercharged battery box on the battery swapping vehicle moving to the battery swapping area, obtaining set data and moving the undercharged battery box on the battery swapping vehicle into an idle charging seat; wherein, the set data includes the attitude of the undercharged battery box on the battery swapping vehicle and the power of the battery box in the charging seat. Based on moving the undercharged battery box on the battery swapping vehicle into an idle charging seat, moving the target battery box to the battery swapping area; wherein, the target battery box is the battery box with a power higher than the set power. Based on moving the battery box of the target to the battery swapping area and the attitude of the less - powered battery box of the battery swapping vehicle being the first attitude, the first offset pulley moves along the first direction to the battery box of the target being the second attitude while moving the battery box of the target to be detachably connected to the battery swapping vehicle; wherein, the first attitude includes that the first data is greater than the second data and the minimum included angle between the side of the battery box close to the charging seat and the set plane is the first angle; the set plane is parallel to the length direction of the large vehicle unit and perpendicular to the ground; the first angle is within the set angle range; the second attitude includes that the minimum included angle between the side of the battery box close to the charging seat and the set plane is the second angle; the second angle is greater than the first angle minus the third angle, and the second angle is less than the first angle plus the fourth angle, and the first direction is from the battery swapping area to the charging seat direction.

[0006] In some embodiments, based on moving the battery box of the target to the battery swapping area and the attitude of the less - powered battery box of the battery swapping vehicle being the first attitude, the first offset pulley moving along the first direction to the battery box of the target being the second attitude while moving the battery box of the target to be detachably connected to the battery swapping vehicle includes: Based on moving the battery box of the target to the battery swapping area and the less - powered battery box of the battery swapping vehicle being in the first attitude, the first offset pulley moves along the first direction to the battery box of the target being the third attitude and moves the battery box of the target towards the battery swapping vehicle; wherein, the third attitude includes that the first data is greater than the second data, and the minimum included angle between the side of the battery box close to the charging seat and the set plane is the third angle; the third angle is less than the first angle and / or the second angle; Based on the first offset pulley moving along the first direction to the battery box of the target being the third attitude, the first offset pulley moves along the first direction to the battery box of the target being the second attitude; Based on the battery box being in the second attitude, lower the battery box of the target to be detachably connected to the battery swapping vehicle.

[0007] In some embodiments, based on moving the less - powered battery box on the battery swapping vehicle into the idle charging seat, moving the battery box of the target to the battery swapping area includes: Based on moving the less - powered battery box on the battery swapping vehicle into the idle charging seat, the second deflection module grabs the battery box of the target; Based on the second deflection module grabbing the battery box of the target, the hoisting unit moves to the second guide rod being within the enclosed space of the first guide rod; Based on the hoisting unit moving to a position where the second guiding rod is within the enclosed space of the first guiding rod, the target battery box is moved to the battery swapping area.

[0008] In some embodiments, based on the first offset pulley moving along the first direction to the target battery box being in the third posture, the first offset pulley moving along the first direction to the target battery box being in the second posture is based on the first offset pulley moving along the first direction to the target battery box at a first speed being in the third posture, and the first offset pulley moving along the first direction to the target battery box at a second speed being in the second posture; wherein, the first speed is greater than the second speed. In some embodiments, based on moving the target battery box to the battery swapping area and the low-power battery box of the battery swapping vehicle being in the first posture, the first offset pulley moving along the first direction to the target battery box being in the third posture and moving the target battery box towards the battery swapping vehicle is based on moving the target battery box to the battery swapping area and the low-power battery box of the battery swapping vehicle being in the first posture, the first offset pulley moving along the first direction to the target battery box being in the second posture and moving the target battery box towards the battery swapping vehicle at a third speed; Based on the battery box being in the second posture, lowering the target battery box to be detachably connected to the battery swapping vehicle is based on the battery box being in the second posture, lowering the target battery box at a fourth speed to be detachably connected to the battery swapping vehicle; wherein, the third speed is less than the fourth speed.

[0009] In some embodiments, based on the low-power battery box on the battery swapping vehicle moving to the battery swapping area, obtaining set data and moving the low-power battery box on the battery swapping vehicle into the idle charging seat includes: Based on the low-power battery box on the battery swapping vehicle moving to the battery swapping area, obtaining set data; Based on the low-power battery box on the battery swapping vehicle being in the first posture, the first offset pulley moving along the first direction to the hoisting body being in the fourth posture; wherein, the fourth posture includes the minimum included angle between the side of the hoisting body close to the charging seat and the set plane when the hoisting body is above the battery swapping area being the sixth angle; the sixth angle is greater than the first angle minus the seventh angle, and the sixth angle is less than the first angle plus the fifth angle; Based on the first offset pulley moving along the first direction to the hoisting body being in the fourth posture, the hoisting body moves the low-power battery box on the battery swapping vehicle into the idle charging seat.

[0010] In some embodiments, based on moving the target battery box to the battery swapping area and the attitude of the low-power battery box of the battery swapping vehicle being the first attitude, the first offset pulley moves in the first direction to the second attitude of the target battery box while moving the target battery box to be detachably connected to the battery swapping vehicle, which is based on moving the target battery box to the battery swapping area and the attitude of the low-power battery box of the battery swapping vehicle being the first attitude, the first offset pulley moves in the first direction and the second offset pulley moves in the second direction to the second attitude of the target battery box while moving the target battery box to be detachably connected to the battery swapping vehicle; wherein, the second direction is the direction from the charging seat to the battery swapping area.

[0011] In some embodiments, based on the low-power battery box on the battery swapping vehicle being moved to the battery swapping area, obtaining set data and moving the low-power battery box on the battery swapping vehicle into the idle charging seat includes: Based on the low-power battery box on the battery swapping vehicle being moved to the battery swapping area, obtaining set data; Based on the attitude of the low-power battery box on the battery swapping vehicle being the fifth attitude, prompting the battery swapping vehicle in the battery swapping area to correct the position of the battery swapping vehicle; wherein, the fifth attitude includes that the minimum included angle between the side of the battery box close to the charging seat and the set plane is greater than the set angle range; Based on the completion of the position correction of the battery swapping vehicle in the battery swapping area, moving the low-power battery box on the battery swapping vehicle into the idle charging seat.

[0012] In a second aspect, the present invention discloses a battery swapping system, and the battery swapping system can be applied to any one of the battery swapping methods in the first aspect. The battery swapping system includes: A frame assembly; A charging assembly, the charging assembly includes a charging seat; the charging seat is arranged in the space surrounded by the frame assembly; Handling assembly, the handling assembly includes a large vehicle unit, a small vehicle unit, and a control unit; the large vehicle unit is slidably connected to one end of the frame assembly away from the charging seat; the large vehicle unit moves along the length direction of the frame assembly; the small vehicle unit includes a small vehicle track, a small vehicle body, a first deflection module, and a second deflection module; the small vehicle track is connected to the large vehicle unit; the small vehicle body is slidably connected to the small vehicle track; the small vehicle unit moves along the width direction of the frame assembly; the battery swapping area is set in the projection area of the moving range of the small vehicle unit towards the charging seat direction; the battery swapping area is set on one side of the width direction of the large vehicle unit; the first deflection module includes a first offset pulley, a second offset pulley, and a hoisting rope; the second deflection module includes a hoisting body, a guiding part, a grasping part, a first movable pulley, and a second movable pulley; the first offset pulley is slidably connected to the small vehicle body; the first offset pulley moves along the length direction of the frame assembly; the second offset pulley is connected to the small vehicle body; the second offset pulley and the first offset pulley are arranged at intervals in sequence from the second side of the length direction of the large vehicle unit to the first side of the length direction of the large vehicle unit; one end of part of the hoisting rope is connected to the first offset pulley, and the other end is connected to the first movable pulley; the other end of part of the hoisting rope is connected to the second offset pulley, and the other end is connected to the second movable pulley; the first movable pulley and the second movable pulley are movably connected to one end of the hoisting body away from the small vehicle body; the first movable pulley rotates around the central axis in the height direction of the first movable pulley; the second movable pulley rotates around the central axis in the height direction of the second movable pulley; one end of the guiding part is connected to the side of the hoisting body away from the small vehicle body, and the other end extends in the direction away from the small vehicle body; the cross-sectional area of the guiding part in the horizontal direction gradually decreases from top to bottom; the grasping part is movably connected to the side of the hoisting body away from the small vehicle body; the control unit includes a controller, a first sensor, and a second sensor; the controller, the first sensor, and the second sensor are respectively connected to the frame assembly; the first sensor and the second sensor are arranged on one side of the frame assembly close to the battery swapping area; the first sensor and the second sensor are arranged at intervals in sequence in the direction from the first side of the length direction of the large vehicle unit to the second side of the length direction of the large vehicle unit; Battery box, the battery box is detachably connected and electrically connected to the charging seat; Battery swapping vehicle, the battery box is detachably connected and electrically connected to the battery swapping vehicle; the handling assembly is used for the disassembly and assembly of the battery box and the battery swapping vehicle.

[0013] In some embodiments, the trolley unit further includes a guiding module; the guiding module includes a first guiding rod and a second guiding rod; one end of the first guiding rod is connected to the bottom end of the trolley body, and the other end extends towards the hoisting body; when the projection of the first offset pulley towards the second offset pulley coincides with the second offset pulley, the first guiding rod is arranged at the center of the circumcircle of the first offset pulley and the second offset pulley; a hollow cavity is arranged along the axial direction of the first guiding rod; one end of the second guiding rod is connected to the top end of the hoisting body, and the other end extends towards the trolley body; the second guiding rod is arranged at the center of the circumcircle of the first movable pulley and the second movable pulley; the outer diameter of the second guiding rod is less than or equal to the inner diameter of the first guiding rod; the outer diameter of the second guiding rod gradually decreases from bottom to top; The battery swapping system includes a spaced state and a guiding state; the spaced state includes that the first guiding rod and the second guiding rod are arranged at intervals along the height direction of the first guiding rod; the guiding state includes that the inner peripheral wall of the first guiding rod sleeves the outer peripheral wall of the second guiding rod.

[0014] In some embodiments, the second offset pulley is slidably connected to the trolley body; the second offset pulley moves along the length direction of the large vehicle unit.

[0015] To solve the problem of difficult grasping when the battery box is skewed, the present invention has the following advantages: By performing a moving operation based on the set data of the underpowered battery box on the battery swapping vehicle, and using the first offset pulley to move along the direction from the battery swapping area to the charging seat, the target battery box is converted from the first posture to the second posture. By driving the hoisting module to rotate through the deflection module, when the battery box has a skew within a set range in the horizontal direction, the deflection structure performs multi-degree-of-freedom compensation according to the posture data, so that the battery box is automatically corrected during the grasping and placing process. This structure realizes the tolerance adaptation to the horizontal offset of the vehicle docking while maintaining mechanical precision, and finally solves the problems of misalignment of the grasping mechanism and docking failure caused by the horizontal skew of the battery box. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Shows a schematic flow chart of a battery swapping method according to an embodiment; Figure 2 Shows a schematic diagram of a battery swapping system according to a first embodiment; Figure 3 Shows a partial schematic diagram of a battery swapping system according to a first embodiment; Figure 4 Shows a partial schematic diagram of a battery swapping system according to a second embodiment; Figure 5 Shows a partial schematic diagram of a battery swapping system according to a third embodiment; Figure 6 Shows a partial schematic diagram of the battery swapping system of the fourth embodiment; Figure 7 Shows a schematic diagram of the battery swapping system of the second embodiment; Figure 8 Shows a partial schematic diagram of the battery swapping system of the fifth embodiment; Figure 9 Shows a partial schematic diagram of the battery swapping system of the sixth embodiment.

[0017] Reference numerals: 10 frame assembly; 11 charging frame unit; 12 handling frame unit; 20 charging assembly; 21 charging seat; 30 handling assembly; 31 cart unit; 311 cart guide rail; 312 first driving part; 32 trolley unit; 321 trolley track; 322 second driving part; 323 trolley body; 324 first deflection module; 3241 third driving part; 3242 first offset pulley; 3243 second offset pulley; 3244 fourth driving part; 3245 fifth driving part; 3246 hoisting rope; 325 second deflection module; 3251 hoisting body; 3252 guiding part; 3253 grasping part; 3254 first movable pulley; 3255 second movable pulley; 326 guiding module; 3261 first guiding rod; 3262 second guiding rod; 35 control unit; 351 controller; 352 first sensor; 353 second sensor; 40 battery swapping vehicle; 41 battery swapping vehicle body; 42 discharging seat; 50 battery box. Detailed implementation manners

[0018] Now, the present disclosure will be described with reference to several exemplary embodiments. It should be understood that these embodiments are described only to enable those of ordinary skill in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0019] As used herein, the term "including" and its variants are to be construed as open-ended terms meaning "including but not limited to". The term "based on" is to be construed as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be construed as "at least one embodiment". The term "another embodiment" is to be construed as "at least one other embodiment". The orientation or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc. are based on the orientation or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit that the indicated devices, elements or components must have a specific orientation, or be constructed and operated in a specific orientation. Also, in addition to being able to represent orientation or positional relationships, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present application can be understood according to specific circumstances. In addition, the terms "mounted", "arranged", "provided with", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral structure; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, or there may be internal communication between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "a plurality of" means two or more.

[0020] In this embodiment, during the replacement process of the battery box 50 of the battery swapping vehicle 40, since the parking position of the vehicle may be skewed in the horizontal direction, the position of the battery box 50 forms a set angle with respect to the battery swapping station in the horizontal direction, making the subsequent grasping operation of the battery box 50 difficult and affecting the smooth progress and efficiency of the replacement of the battery box 50. This embodiment discloses a battery swapping method, as Figure 1 shown, the battery swapping method may include steps S10 to S30, and the details of each step are as follows: The battery swapping system can be applied to the battery swapping method. The battery swapping system may include a frame assembly 10, a charging assembly 20, and a handling assembly 30. The frame assembly 10 can form a support structure and define an installation space, and maintain the relative positions of the components stable through a rigid frame design, providing a basic bearing platform for the operation of the system.

[0021] The charging assembly 20 may include a charging base 21; the charging base 21 may be arranged in the space surrounded by the frame assembly 10. By integrating the charging base 21 inside the frame, a centralized layout of the charging facilities is achieved, facilitating the batch charging management of the battery box 50. At the same time, the charging assembly 20 is protected from the external environment by the frame structure.

[0022] The handling assembly 30 may include a large vehicle unit 31, a small vehicle unit 32, and a control unit 35; the large vehicle unit 31 may include a large vehicle guide rail 311 and a first driving part 312; the large vehicle unit 31 may be slidably connected to one end of the frame assembly 10 away from the charging base 21; the large vehicle unit 31 may move along the length direction of the frame assembly 10. By the longitudinal movement of the large vehicle unit 31 covering between the battery swapping area and the charging area, the movement of the large vehicle unit 31 within the battery swapping area is achieved. The small vehicle unit 32 may include a small vehicle track 321, a small vehicle body 323, a first deflection module 324, a second deflection module 325, and a second driving part 322; the small vehicle track 321 may be connected to the large vehicle unit 31; the small vehicle body 323 may be slidably connected to the small vehicle track 321; the small vehicle unit 32 may move along the width direction of the frame assembly 10. By the lateral movement of the small vehicle unit 32 and the longitudinal movement of the large vehicle unit 31 forming a planar positioning system, the precise position adjustment of the handling assembly 30 in the two-dimensional space is achieved.

[0023] The battery swapping area can be set within the projection area of the moving range of the trolley unit 32 towards the charging seat 21; the battery swapping area can be set on one side in the width direction of the large vehicle unit 31. By defining the projection range and position layout of the battery swapping area, the spatial matching between the handling path of the battery box 50 and the vehicle docking area is ensured, and movement interference is avoided. The first deflection module 324 can include a first offset pulley 3242, a second offset pulley 3243, and a hoisting rope 3246; the second deflection module 325 can include a hoisting body 3251, a guiding part 3252, a grasping part 3253, a first movable pulley 3254, and a second movable pulley 3255; the first offset pulley 3242 can be slidably connected to the trolley body 323; the first offset pulley 3242 can move along the length direction of the frame assembly 10. Through the cooperation of the pulley block and the sliding structure, the horizontal deflection angle of the hoisting body 3251 is controlled by the length change of the hoisting rope 3246, so as to adjust the attitude of the battery box 50. The second offset pulley 3243 can be connected to the trolley body 323; the second offset pulley 3243 and the first offset pulley 3242 can be arranged at intervals in sequence from the second side in the length direction of the large vehicle unit 31 to the first side in the length direction of the large vehicle unit 31. One end of a part of the hoisting rope 3246 can be connected to the first offset pulley 3242, and the other end can be connected to the first movable pulley 3254; when the hoisting body 3251 is lifted, the first offset pulley 3242 rotates around the radial central axis of the first offset pulley 3242 in the third direction (the third direction can be clockwise), shortening the hoisting rope 3246 and shortening the distance between the first offset pulley 3242 and the first movable pulley 3254 to lift the hoisting body 3251. When the hoisting body 3251 is lowered, the first offset pulley 3242 rotates around the radial central axis of the first offset pulley 3242 in the fourth direction (the fourth direction can be counterclockwise), elongating the hoisting rope 3246 and increasing the distance between the first offset pulley 3242 and the first movable pulley 3254 to lower the hoisting body 3251. One end of the other part of the hoisting rope 3246 can be connected to the second offset pulley 3243, and the other end can be connected to the second movable pulley 3255. Through the split rope traction design, the force distribution of the hoisting body 3251 is balanced, and the driving load is reduced by using the movable pulley mechanism, so as to improve the stability of the hoisting process. One end of the first movable pulley 3254 and the second movable pulley 3255 away from the trolley body 323 can be movably connected to the hoisting body 3251; the first movable pulley 3254 can rotate around the central axis in the height direction of the first movable pulley 3254. Since there is a friction force along the axial direction of the first movable pulley 3254 between the hoisting rope 3246 and the first movable pulley 3254 when the first offset pulley 3242 moves in the first direction or the second direction, the rotation of the first movable pulley 3254 can prevent the friction between the hoisting rope 3246 and the first movable pulley 3254 from being too large; the second movable pulley 3255 can rotate around the central axis in the height direction of the second movable pulley 3255.Compensate for the torsional stress of the rope during the movement of the hoisting body 3251 through the rotational degree of freedom of the movable pulley, avoid the winding of the hoisting rope 3246, and at the same time maintain the horizontal state of the hoisting body 3251. One end of the guiding part 3252 can be connected to the side of the hoisting body 3251 away from the trolley body 323, and the other end can extend in the direction away from the trolley body 323; the cross-sectional area of the guiding part 3252 in the horizontal direction can gradually decrease from top to bottom. Through the tapered structure of the tapered guiding part 3252, the position deviation is automatically corrected during the docking process of the battery box 50, and the inclined surface contact is used to guide the battery box 50 to be accurately aligned with the vehicle interface. The grasping part 3253 can be movably connected to the side of the hoisting body 3251 away from the trolley body 323. Through the movable connection design, the grasping part 3253 adapts to the change of the installation angle of the battery box 50 to ensure the reliable engagement of the grasping mechanism with the buckle of the battery box 50. The control unit 35 can include a controller 351, a first sensor 352, and a second sensor 353; the controller 351, the first sensor 352, and the second sensor 353 can be respectively connected to the frame assembly 10; the first sensor 352 and the second sensor 353 can be arranged on the side of the frame assembly 10 close to the battery swapping area; the first sensor 352 and the second sensor 353 can be arranged at intervals in sequence along the direction from the first side to the second side in the length direction of the large vehicle unit 31. By respectively collecting the position and attitude data of the battery box 50 at different positions through the first sensor 352 and the second sensor 353, the controller 351 can receive the position and attitude information of the battery box 50 more accurately, so as to realize the precise control of the battery box 50.

[0024] The battery box 50 can be detachably connected and electrically connected to the charging seat 21. Through the standardized interface design, the battery box 50 can be quickly plugged and unplugged from the charging seat 21 to ensure the stability and safety of the charging connection. The battery box 50 can be detachably connected and electrically connected to the battery swapping vehicle 40; the handling assembly 30 can be used for the disassembly and assembly of the battery box 50 and the battery swapping vehicle 40. Through the cooperation of the handling assembly 30 and the grasping part 3253, the handling of the battery box 50 between the vehicle and the charging seat 21 is completed, and the battery swapping efficiency of the battery swapping station is improved.

[0025] In step S10, based on the low-power battery box 50 on the battery swapping vehicle 40 moving to the battery swapping area, set data can be obtained and the low-power battery box 50 on the battery swapping vehicle 40 can be moved into the idle charging seat 21. The battery swapping area can be used for parking the battery swapping vehicle 40, and the battery swapping area can be set in the projection area of the moving range of the trolley body 323 towards the charging seat 21. The battery swapping area can be separately arranged at intervals from the charging assembly 20 and the frame assembly 10. By obtaining the attitude and power data of the battery box 50, accurate positioning and data matching can be realized, and combined with the judgment of the idle state of the charging seat 21, the position conflict during the moving process can be effectively avoided. The set data can include the first data and the second data, such as Figure 2As shown, the first data may include the distance between the first sensor 352 and the undercharged battery box 50 in the battery swapping area at a position on the side of the undercharged battery box 50 close to the first sensor 352 and close to the first side in the length direction of the large vehicle unit 31; the second data is the distance between the second sensor 353 and the undercharged battery box 50 in the battery swapping area at a position on the second side in the length direction of the large vehicle unit 31 on the side of the undercharged battery box 50 close to the first sensor 352.

[0026] In step S20, based on moving the undercharged battery box 50 on the battery swapping vehicle 40 into the idle charging seat 21, the target battery box 50 can be moved to the battery swapping area. By obtaining the power status of the battery box 50 on the charging seat 21, a target battery box 50 with a power higher than the set power is selected. Here, the set power can be 80% or 90% after the battery box 50 is fully charged, or the stored power of the battery box 50 is 200 kW·h or 300 kW·h.

[0027] In step S30, based on moving the target battery box 50 to the battery swapping area and the undercharged battery box 50 of the battery swapping vehicle 40 being in the first posture, the first offset pulley 3242 can move along the first direction to the target battery box 50 being in the second posture and at the same time move the target battery box 50 to be detachably connected to the battery swapping vehicle 40. Among them, the first posture may include that the first data is greater than the second data and the minimum included angle between the side of the battery box 50 close to the charging seat 21 and the set plane is the first angle. The first angle can be 0° to 3° or 0° to 5°; the set plane can be parallel to the length direction of the large vehicle unit 31 and perpendicular to the ground; within the set angle range (the set angle range can be 0° to 5°), the first angle can enable the battery swapping vehicle 40 to perform battery swapping; the second posture may include that the minimum included angle between the side of the battery box 50 close to the charging seat 21 and the set plane is the second angle; the second angle is greater than the first angle minus the third angle (the third angle can be 1°, 2°, or 3°), and the second angle is less than the first angle plus the fourth angle (the fourth angle can be 1°, 2°, or 3°), that is, the second angle can be slightly greater than or slightly less than the first angle. As Figure 2 As shown, the first direction can be from the battery swapping area to the charging seat 21 direction. In some other embodiments, the control unit 35 may include a controller 351, a first sensor 352, and a second sensor 353. By obtaining the position information of the first sensor 352 and the second sensor 353 and the battery swapping vehicle 40, the first angle and the second angle can be obtained through trigonometric functions. By setting the angle range to control the deflection amplitude, the orientation movement of the first offset pulley 3242 is used to adjust the angle of the battery box 50, so that the mounting surface of the battery box 50 is parallel to the vehicle interface. When it is detected that the first angle exceeds the set range, the first offset pulley 3242 is triggered to rotate the position of the battery box 50, and finally the technical effect of accurately placing the battery box 50 on the discharge seat 42 is achieved.

[0028] In this embodiment, step S30 may include steps S31 to S33, and the details of each step are as follows: In step S31, based on the target battery box 50 being moved to the battery swapping area and the less - power battery box 50 of the battery swapping vehicle 40 being in the first posture, the first offset pulley 3242 can move along the first direction until the target battery box 50 is in the third posture and can move the target battery box 50 closer to the battery swapping vehicle 40. Among them, the third posture may include that the first data is greater than the second data, and the minimum included angle between the side of the battery box 50 close to the charging seat 21 and the set plane is the third angle; the third angle is less than the first angle and / or the second angle; by controlling the moving path of the offset pulley in stages, a preliminary positioning reference is established first, and then precise adjustment is implemented, effectively reducing the positioning error of a single - time movement. Using the third angle as an intermediate transition posture and combining sensor data feedback can improve the accuracy of the placement position of the battery box 50.

[0029] In step S32, based on the first offset pulley 3242 moving along the first direction until the target battery box 50 is in the third posture, the first offset pulley 3242 can move along the first direction until the target battery box 50 is in the second posture. By setting two displacement processes and combining position control in different stages, the operation efficiency can be improved while ensuring the positioning accuracy.

[0030] In step S33, based on the battery box 50 being in the second posture, the target battery box 50 can be lowered to be detachably connected to the battery swapping vehicle 40. By setting two displacement processes, the horizontal positioning error and the vertical installation error can be effectively reduced, and the reliability of the battery swapping process can be improved.

[0031] In this embodiment, step S20 may include steps S21 to S23, and the details of each step are as follows: Such as Figure 5As shown, the trolley unit 32 may further include a guiding module 326; the guiding module 326 may include a first guiding rod 3261 and a second guiding rod 3262; one end of the first guiding rod 3261 may be connected to the bottom end of the trolley body 323, and the other end may extend towards the direction close to the lifting body 3251; when the projection of the first offset pulley 3242 towards the direction close to the second offset pulley 3243 coincides with the second offset pulley 3243, the first guiding rod 3261 may be arranged at the center of the circumferences of the outer circles of the first offset pulley 3242 and the second offset pulley 3243; a hollow cavity may be arranged along the axial direction of the first guiding rod 3261; one end of the second guiding rod 3262 may be connected to the top end of the lifting body 3251, and the other end may extend towards the direction close to the trolley body 323; the second guiding rod 3262 may be arranged at the center of the circumferences of the outer circles of the first movable pulley 3254 and the second movable pulley 3255; the outer diameter of the second guiding rod 3262 may be less than or equal to the inner diameter of the first guiding rod 3261; the outer diameter of the second guiding rod 3262 may gradually decrease from bottom to top. Through the cooperation of the first guiding rod 3261 and the second guiding rod 3262, a guiding structure is formed to reduce the swing deviation of the lifting body 3251; the gradually changing outer diameter design of the second guiding rod 3262 forms a guiding conical surface, which automatically corrects the position offset during the sleeving process, so as to realize the precise alignment of the grasping part 3253 and the battery box 50.

[0032] In step S21, based on moving the low-power battery box 50 on the battery swapping vehicle 40 into the idle charging seat 21, the second deflection module 325 can grasp the target battery box 50. By setting the second deflection module 325 and cooperating with the positioning reference of the charging seat 21, the stability of the grasping process of the high-power battery box 50 is ensured.

[0033] In step S22, based on the second deflection module 325 grasping the target battery box 50, the lifting unit can move to a position where the second guiding rod 3262 is located within the surrounding space of the first guiding rod 3261. During the rotation process, taking the surrounding space of the first guiding rod 3261 and the second guiding rod 3262 as the rotation center, the swinging amplitude of the battery box 50 on the lifting body 3251 is effectively reduced, and the stability during the moving process is improved.

[0034] In step S23, based on the lifting unit moving to a position where the second guiding rod 3262 is located within the surrounding space of the first guiding rod 3261, the target battery box 50 can be moved to the battery swapping area. Through the surrounding space of the second guiding rod 3262 within the first guiding rod 3261, the position deviation of the battery box 50 during the transfer process is prevented, and the stability and accuracy of the transfer path of the battery box 50 are ensured.

[0035] In this embodiment, step S32 is as follows: Based on the first offset pulley 3242 moving along the first direction at the first speed to the target battery box 50 being in the third posture, the first offset pulley 3242 can move along the first direction at the second speed to the target battery box 50 being in the second posture. Among them, the first speed is greater than the second speed. When the first offset pulley 3242 moves along the first direction at the first speed, due to the action of the first guide rod 3261 and the second guide rod 3262, the battery box 50 can rotate more stably, so it can move at the first speed to improve the battery swapping efficiency of the battery swapping vehicle 40. When the first offset pulley 3242 moves along the first direction at the second speed, the accuracy of the placement position of the battery box 50 can be improved by reducing the moving speed of the battery box 50.

[0036] In this embodiment, step S31 is as follows: Based on moving the target battery box 50 to the battery swapping area and the low-power battery box 50 of the battery swapping vehicle 40 being in the first posture, the first offset pulley 3242 can move along the first direction to the target battery box 50 being in the second posture and can move the target battery box 50 towards the battery swapping vehicle 40 at the third speed. By adopting a lower third speed during the attitude adjustment stage to ensure the angle control accuracy and improve the accuracy of the battery swapping process. Utilizing the influence law of the length change of the hoisting rope 3246 on the control delay, fine angle adjustment is implemented in the short rope state to effectively improve the accuracy of the placement position of the battery box 50.

[0037] Step S33 is as follows: Based on the battery box 50 being in the second posture, the target battery box 50 can be lowered at the fourth speed to be detachably connected to the battery swapping vehicle 40. Among them, the third speed is less than the fourth speed. Through speed matching control, the fourth speed is adopted during the vertical movement stage to shorten the operation time, and at the same time, the self-positioning characteristic of the guiding structure is utilized to ensure the connection accuracy. Combining the optimization of control parameters in different movement directions, the balance between the overall operation efficiency and accuracy is achieved.

[0038] In this embodiment, step S10 may include steps S11 to S13, and the details of each step are as follows: In step S11, based on the low-power battery box 50 on the battery swapping vehicle 40 moving to the battery swapping area, set data can be obtained. The set data may include the third data and the fourth data. The third data is the distance between the first sensor 352 and the position on the side of the hoisting module close to the first sensor 352 and on the first side in the length direction of the large vehicle unit 31; the fourth data is the distance between the second sensor 353 and the position on the side of the hoisting module close to the first sensor 352 and on the second side in the length direction of the large vehicle unit 31; By obtaining the attitude and power data of the battery box 50, accurate positioning and data matching can be achieved, and combined with the judgment of the idle state of the charging seat 21, the position conflict during the movement process can be effectively avoided.

[0039] In step S12, based on the fact that the underpowered battery box 50 on the battery swapping vehicle 40 is in the first posture, the first offset pulley 3242 can move along the first direction until the hoisting body 3251 is in the fourth posture. The fourth posture includes that when the hoisting body 3251 is above the battery swapping area, the minimum included angle between the side close to the charging seat 21 and the set plane is the sixth angle, and the sixth angle can be 0° - 3°, 0° - 5°; the sixth angle is greater than the first angle minus the seventh angle (the seventh angle can be 1°, 2°, 3°), and the sixth angle is less than the first angle plus the fifth angle (the fifth angle can be 1°, 2°, 3°), that is, the sixth angle can be slightly greater than or slightly less than the first angle. By actively adjusting the hoisting body 3251 to the fourth posture to match the current first posture of the battery box 50, the relative movement amplitude between the battery box 50 and the hoisting body 3251 during the grasping process is reduced.

[0040] In step S13, based on the fact that the first offset pulley 3242 moves along the first direction until the hoisting body 3251 is in the fourth posture, the hoisting body 3251 can move the underpowered battery box 50 on the battery swapping vehicle 40 into the idle charging seat 21. By performing the grasping operation after the posture pre-adjustment, the lateral friction force between the battery box 50 and the guiding part 3252 can be reduced. By adopting the strategy of aligning first and then moving, the wear rate of mechanical components is effectively reduced.

[0041] In this embodiment, step S30 may include: based on moving the target battery box 50 to the battery swapping area and the posture of the underpowered battery box 50 of the battery swapping vehicle 40 being the first posture, the first offset pulley 3242 can move along the first direction and the second offset pulley 3243 can move along the second direction until the target battery box 50 is in the second posture and can move the target battery box 50 to be detachably connected to the battery swapping vehicle 40. Among them, as Figure 2 shown, the second direction can be the direction from the charging seat 21 to the battery swapping area. Through the coordinated movement control of the first offset pulley 3242 and the second offset pulley 3243, the swinging phenomenon caused by unilateral force is suppressed, and the smoothness of the battery box 50 grasping process is improved. The second offset pulley 3243 can be slidably connected to the small vehicle body 323, and the second offset pulley 3243 can move along the length direction of the large vehicle unit 31. By setting the second offset pulley 3243, the coordinated movement control of the first offset pulley 3242 and the second offset pulley 3243 is realized, and the stability and flexibility of the battery box 50 posture control are improved.

[0042] In this embodiment, step S10 may include steps S14 to S16, and the details of each step are as follows: In step S14, based on the fact that the underpowered battery box 50 on the battery swapping vehicle 40 is moved to the battery swapping area, set data can be obtained.

[0043] In step S15, based on the fact that the attitude of the underpowered battery box 50 on the battery swapping vehicle 40 is the fifth attitude, it is possible to prompt the battery swapping vehicle 40 in the battery swapping area to correct the position of the battery swapping vehicle 40. Among them, the fifth attitude may include that the minimum included angle between the side of the battery box 50 close to the charging seat 21 and the set plane is greater than the set angle range; when it is detected that the attitude of the battery box 50 on the battery swapping vehicle 40 exceeds the adjustable range of the handling component 30, a vehicle position correction instruction is triggered in a timely manner, so that the battery swapping vehicle 40 can readjust its position state to ensure the normal progress of the battery swapping process.

[0044] In step S16, based on the fact that the position correction of the battery swapping vehicle 40 in the battery swapping area is completed, the underpowered battery box 50 on the battery swapping vehicle 40 can be moved into the idle charging seat 21. After the vehicle position adjustment is completed, the grasping operation is performed again, effectively avoiding the skew during the grasping process of the battery box 50 and improving the system stability.

[0045] This embodiment discloses a battery swapping system, and the battery swapping system can be applied to a battery swapping method in any of the above embodiments, such as Figure 7 shown, the battery swapping system may include a frame component 10, a charging component 20, and a handling component 30. As Figure 8 shown, the frame component 10 may include a charging frame unit 11 and a handling frame unit 12. Thereby forming a support structure and defining an installation space, and maintaining the relative positions of the components stable through a rigid frame design, providing a basic bearing platform for the system operation.

[0046] The charging component 20 may include a charging seat 21; the charging seat 21 may be arranged in the space surrounded by the frame component 10. By integrating the charging seat 21 inside the frame, the centralized layout of the charging facilities is realized, which is convenient for the batch charging management of the battery box 50, and at the same time, the frame structure is used to protect the charging component 20 from the external environment.

[0047] The handling component 30 may include a trolley unit 31, a car body unit 32, and a control unit 35; the trolley unit 31 may be slidably connected to one end of the frame component 10 away from the charging base 21; the trolley unit 31 may move along the length direction of the frame component 10. By the longitudinal movement of the trolley unit 31 covering the area between the battery swapping area and the charging area, the movement of the trolley unit 31 within the battery swapping area is realized. The car body unit 32 may include a car body track 321, a car body 323, a first deflection module 324, and a second deflection module 325; the car body track 321 may be connected to the trolley unit 31; the car body 323 may be slidably connected to the car body track 321; the car body unit 32 may move along the width direction of the frame component 10. By the lateral movement of the car body unit 32 and the longitudinal movement of the trolley unit 31, a planar positioning system is formed to realize the precise position adjustment of the handling component 30 in the two-dimensional space. The first deflection module 324 may include a third driving part 3241, a first offset pulley 3242, a second offset pulley 3243, a fourth driving part 3244, a fifth driving part 3245, and a lifting rope 3246. The third driving part 3241 may drive the car body 323 to move in the vertical direction. The first offset pulley 3242 may be drivingly connected to the fourth driving part 3244 to control the movement of the first offset pulley 3242; the second offset pulley 3243 may be drivingly connected to the fifth driving part 3245 to control the movement of the second offset pulley 3243.

[0048] The battery swapping area may be set in the projection area of the moving range of the car body unit 32 towards the charging base 21; the battery swapping area may be set on one side in the width direction of the trolley unit 31. As Figure 9As shown, the battery swapping vehicle 40 may include a battery swapping vehicle body 41 and a discharging seat 42, and the battery box 50 may be placed on the discharging seat 42. By defining the projection range and position layout of the battery swapping area, the spatial matching between the handling path of the battery box 50 and the vehicle docking area is ensured to avoid movement interference. The first deflection module 324 may include a first offset pulley 3242, a second offset pulley 3243, and a hoisting rope 3246; the second deflection module 325 may include a hoisting body 3251, a guiding portion 3252, a grasping portion 3253, a first movable pulley 3254, and a second movable pulley 3255; the first offset pulley 3242 may be slidably connected to the small vehicle body 323; the first offset pulley 3242 may move along the length direction of the frame assembly 10. Through the cooperation of the pulley block and the sliding structure, the horizontal deflection angle of the hoisting body 3251 is controlled by the length change of the hoisting rope 3246 to achieve the adjustment of the attitude of the battery box 50. The second offset pulley 3243 may be connected to the small vehicle body 323; the second offset pulley 3243 and the first offset pulley 3242 may be sequentially arranged at intervals from the second side in the length direction of the large vehicle unit 31 to the first side in the length direction of the large vehicle unit 31. One end of a part of the hoisting rope 3246 may be connected to the first offset pulley 3242, and the other end may be connected to the first movable pulley 3254; when the hoisting body 3251 is lifted, the first offset pulley 3242 rotates around the radial central axis of the first offset pulley 3242 in the third direction (the third direction may be clockwise), shortening the hoisting rope 3246, shortening the distance between the first offset pulley 3242 and the first movable pulley 3254, and lifting the hoisting body 3251. When the hoisting body 3251 is lowered, the first offset pulley 3242 rotates around the radial central axis of the first offset pulley 3242 in the fourth direction (the fourth direction may be counterclockwise), elongating the hoisting rope 3246, increasing the distance between the first offset pulley 3242 and the first movable pulley 3254, and lowering the hoisting body 3251. As Figure 4 shown, one end of another part of the hoisting rope 3246 may be connected to the second offset pulley 3243, and the other end may be connected to the second movable pulley 3255. Through the split rope traction design, the force distribution of the hoisting body 3251 is balanced, and the driving load is reduced by using the movable pulley mechanism to improve the stability of the hoisting process. As Figure 6As shown, one end of the first movable pulley 3254 and the second movable pulley 3255 away from one end of the vehicle body 323 can be movably connected to the hoisting body 3251. The first movable pulley 3254 can rotate around the central axis in the height direction of the first movable pulley 3254. When the first offset pulley 3242 moves in the first direction or the second direction, there is a frictional force along the axial direction of the first movable pulley 3254 between the hoisting rope 3246 and the first movable pulley 3254. The rotation of the first movable pulley 3254 can prevent excessive friction between the hoisting rope 3246 and the first movable pulley 3254; the second movable pulley 3255 can rotate around the central axis in the height direction of the second movable pulley 3255. By the rotational degree of freedom of the movable pulley, the torsional stress of the rope body during the movement of the hoisting body 3251 is compensated, the winding of the hoisting rope 3246 is avoided, and at the same time, the horizontal state of the hoisting body 3251 is maintained. One end of the guiding part 3252 can be connected to the side of the hoisting body 3251 away from the vehicle body 323, and the other end can extend in the direction away from the vehicle body 323; the cross-sectional area of the guiding part 3252 in the horizontal direction can gradually decrease from top to bottom. Through the tapered structure of the tapered guiding part 3252, the position deviation is automatically corrected during the docking process of the battery box 50, and the inclined surface contact is used to guide the battery box 50 to be accurately aligned with the vehicle interface. As Figure 3 As shown, the grasping part 3253 can be movably connected to the side of the hoisting body 3251 away from the vehicle body 323. Through the movable connection design, the grasping part 3253 adapts to the change of the installation angle of the battery box 50, ensuring the reliable engagement of the grasping mechanism with the buckle of the battery box 50. The control unit 35 can include a controller 351, a first sensor 352, and a second sensor 353; the controller 351, the first sensor 352, and the second sensor 353 can be respectively connected to the frame assembly 10; the first sensor 352 and the second sensor 353 can be arranged on the side of the frame assembly 10 close to the battery swapping area; the first sensor 352 and the second sensor 353 can be arranged at intervals in sequence along the direction from the first side to the second side in the length direction of the vehicle unit 31. By respectively collecting the position and attitude data of the battery box 50 at different positions through the first sensor 352 and the second sensor 353, the controller 351 can receive the position and attitude information of the battery box 50 more accurately, so as to realize the precise control of the battery box 50.

[0049] The battery box 50 can be detachably connected and electrically connected to the charging seat 21. Through the standardized interface design, the rapid plugging and unplugging of the battery box 50 and the charging seat 21 are realized, ensuring the stability and safety of the charging connection. The battery box 50 can be detachably connected and electrically connected to the battery swapping vehicle 40; the handling assembly 30 can be used for the disassembly and assembly of the battery box 50 and the battery swapping vehicle 40. Through the cooperation of the handling assembly 30 and the grasping part 3253, the handling of the battery box 50 between the vehicle and the charging seat 21 is completed, improving the battery swapping efficiency of the battery swapping station.

[0050] In this embodiment, the trolley unit 32 may further include a guiding module 326; the guiding module 326 may include a first guiding rod 3261 and a second guiding rod 3262; one end of the first guiding rod 3261 may be connected to the bottom end of the trolley body 323, and the other end may extend towards the lifting body 3251; when the projection of the first offset pulley 3242 towards the second offset pulley 3243 coincides with the second offset pulley 3243, the first guiding rod 3261 may be arranged at the center of the circumferences of the first offset pulley 3242 and the second offset pulley 3243; a hollow cavity may be arranged along the axial direction of the first guiding rod 3261; one end of the second guiding rod 3262 may be connected to the top end of the lifting body 3251, and the other end may extend towards the trolley body 323; the second guiding rod 3262 may be arranged at the center of the circumferences of the first movable pulley 3254 and the second movable pulley 3255; the outer diameter of the second guiding rod 3262 may be less than or equal to the inner diameter of the first guiding rod 3261; the outer diameter of the second guiding rod 3262 may gradually decrease from bottom to top. Through the cooperation of the first guiding rod 3261 and the second guiding rod 3262, a guiding structure is formed to reduce the swinging deviation of the lifting body 3251; the gradually changing outer diameter design of the second guiding rod 3262 forms a guiding conical surface, which automatically corrects the position offset during the sleeving process, so as to achieve the precise alignment of the grasping part 3253 and the battery box 50.

[0051] The battery swapping system may include an interval state and a guiding state; the interval state may include that the first guiding rod 3261 and the second guiding rod 3262 are arranged at intervals along the height direction of the first guiding rod 3261; the guiding state may include that the inner peripheral wall of the first guiding rod 3261 may be sleeved on the outer peripheral wall of the second guiding rod 3262. Through the state switching mechanism, the first guiding rod 3261 and the second guiding rod 3262 are kept separated to avoid interference during the non-operation stage, and during the grasping of the battery box 50, through the cooperation of the first guiding rod 3261 and the second guiding rod 3262, the lateral displacement of the lifting body 3251 is restricted, so that the grasping part 3253 moves along a preset trajectory, and finally the technical effect of improving the grasping and positioning accuracy of the battery box 50 is achieved.

[0052] The second offset pulley 3243 may be slidably connected to the trolley body 323, and the second offset pulley 3243 may move along the length direction of the trolley unit 31. By arranging the second offset pulley 3243, the coordinated movement control of the first offset pulley 3242 and the second offset pulley 3243 is realized, and the stability and flexibility of the attitude control of the battery box 50 are improved.

[0053] Those of ordinary skill in the art can understand that the above embodiments are specific cases for implementing the present disclosure, and in practical applications, various changes can be made in form and details without departing from the scope of the present disclosure.

Claims

1. A battery swapping method, characterized in that, The battery swapping method includes: Based on the low-power battery box on the battery swapping vehicle moving to the battery swapping area, obtaining set data and moving the low-power battery box on the battery swapping vehicle into an idle charging seat; wherein, the set data includes the attitude of the low-power battery box on the battery swapping vehicle and the power of the battery box in the charging seat; Based on moving the low-power battery box on the battery swapping vehicle into an idle charging seat, moving the target battery box to the battery swapping area; wherein, the target battery box is the battery box with a power higher than the set power; Based on moving the target battery box to the battery swapping area and the attitude of the low-power battery box of the battery swapping vehicle being the first attitude, the first offset pulley moves in the first direction to the second attitude of the target battery box while moving the target battery box to be detachably connected to the battery swapping vehicle; wherein, the first attitude includes that the first data is greater than the second data and the minimum included angle between the side of the battery box close to the charging seat and the set plane is the first angle; the set plane is parallel to the length direction of the large vehicle unit and perpendicular to the ground; the first angle is within the set angle range; the second attitude includes that the minimum included angle between the side of the battery box close to the charging seat and the set plane is the second angle; the second angle is greater than the first angle minus the third angle, the second angle is less than the first angle plus the fourth angle, and the first direction is the direction from the battery swapping area to the charging seat.

2. The battery swapping method according to claim 1, wherein: Based on moving the target battery box to the battery swapping area and the attitude of the low-power battery box of the battery swapping vehicle being the first attitude, the first offset pulley moves in the first direction to the second attitude of the target battery box while moving the target battery box to be detachably connected to the battery swapping vehicle includes: Based on moving the target battery box to the battery swapping area and the low-power battery box of the battery swapping vehicle being the first attitude, the first offset pulley moves in the first direction to the third attitude of the target battery box and moves the target battery box towards the battery swapping vehicle; wherein, the third attitude includes that the first data is greater than the second data and the minimum included angle between the side of the battery box close to the charging seat and the set plane is the third angle; the third angle is less than the first angle and / or the second angle; Based on the first offset pulley moving in the first direction to the third attitude of the target battery box, the first offset pulley moves in the first direction to the second attitude of the target battery box; Based on the battery box being the second attitude, lowering the target battery box to be detachably connected to the battery swapping vehicle.

3. The battery swapping method according to claim 2, wherein: Based on moving the low-power battery box on the battery swapping vehicle into an idle charging seat, moving the target battery box to the battery swapping area includes: Based on moving the undercharged battery box on the battery swapping vehicle into the idle charging seat, the second deflection module grabs the target battery box; Based on the second deflection module grabbing the target battery box, the hoisting unit moves to where the second guiding rod is within the enclosed space of the first guiding rod; Based on the hoisting unit moving to where the second guiding rod is within the enclosed space of the first guiding rod, the target battery box is moved to the battery swapping area.

4. The battery swapping method according to claim 3, wherein Based on the first offset pulley moving along the first direction to the target battery box being in the third posture, the first offset pulley moving along the first direction to the target battery box being in the second posture is based on the first offset pulley moving along the first direction to the target battery box being in the third posture at a first speed, and the first offset pulley moving along the first direction to the target battery box being in the second posture at a second speed; wherein, the first speed is greater than the second speed.

5. The battery swapping method according to claim 2, wherein Based on moving the target battery box to the battery swapping area and the undercharged battery box of the battery swapping vehicle being in the first posture, the first offset pulley moving along the first direction to the target battery box being in the third posture and moving the target battery box towards the battery swapping vehicle is based on moving the target battery box to the battery swapping area and the undercharged battery box of the battery swapping vehicle being in the first posture, the first offset pulley moving along the first direction to the target battery box being in the second posture and moving the target battery box towards the battery swapping vehicle at a third speed; Based on the battery box being in the second posture, lowering the target battery box to be detachably connected to the battery swapping vehicle is based on the battery box being in the second posture, lowering the target battery box to be detachably connected to the battery swapping vehicle at a fourth speed; wherein, the third speed is less than the fourth speed.

6. The battery swapping method according to claim 1, wherein Based on the undercharged battery box on the battery swapping vehicle moving to the battery swapping area, obtaining the set data and moving the undercharged battery box on the battery swapping vehicle into the idle charging seat includes: Based on the undercharged battery box on the battery swapping vehicle moving to the battery swapping area, obtaining the set data; Based on the undercharged battery box on the battery swapping vehicle being in the first posture, the first offset pulley moves along the first direction to the hoisting body being in the fourth posture; wherein, the fourth posture includes the minimum angle between the side of the hoisting body close to the charging seat and the set plane when the hoisting body is above the battery swapping area being the sixth angle; the sixth angle is greater than the first angle minus the seventh angle, and the sixth angle is less than the first angle plus the fifth angle; Based on the first offset pulley moving along the first direction to the hoisting body being in the fourth posture, the hoisting body moves the undercharged battery box on the battery swapping vehicle into the idle charging seat.

7. The battery swapping method according to claim 1, wherein Based on moving the battery box of the target to the battery swapping area and the attitude of the low-power battery box of the battery swapping vehicle being the first attitude, the first offset pulley moves in the first direction to the second attitude of the battery box of the target while moving the battery box of the target to be detachably connected to the battery swapping vehicle. Based on moving the battery box of the target to the battery swapping area and the attitude of the low-power battery box of the battery swapping vehicle being the first attitude, the first offset pulley moves in the first direction and the second offset pulley moves in the second direction to the second attitude of the battery box of the target while moving the battery box of the target to be detachably connected to the battery swapping vehicle; wherein, the second direction is the direction from the charging seat to the battery swapping area.

8. The battery swapping method according to claim 1, wherein Based on the low-power battery box on the battery swapping vehicle being moved to the battery swapping area, obtaining set data and moving the low-power battery box on the battery swapping vehicle into the idle charging seat includes: Based on the low-power battery box on the battery swapping vehicle being moved to the battery swapping area, obtaining set data; Based on the attitude of the low-power battery box on the battery swapping vehicle being the fifth attitude, prompting the battery swapping vehicle in the battery swapping area to correct the position of the battery swapping vehicle; wherein, the fifth attitude includes that the minimum included angle between the side of the battery box close to the charging seat and the set plane is greater than the set angle range. Based on the completion of the position correction of the battery swapping vehicle in the battery swapping area, moving the low-power battery box on the battery swapping vehicle into the idle charging seat.

9. An electricity replacement system, characterized in that, The battery swapping system is applied to the battery swapping method according to any one of claims 1 to 7, and the battery swapping system includes: A frame assembly; A charging assembly, the charging assembly includes a charging seat; the charging seat is arranged in the space surrounded by the frame assembly; Handling component, the handling component includes a large vehicle unit, a small vehicle unit, and a control unit; the large vehicle unit is slidably connected to one end of the frame component away from the charging seat; the large vehicle unit moves along the length direction of the frame component; the small vehicle unit includes a small vehicle track, a small vehicle body, a first deflection module, and a second deflection module; the small vehicle track is connected to the large vehicle unit; the small vehicle body is slidably connected to the small vehicle track; the small vehicle unit moves along the width direction of the frame component; the battery swapping area is set in the projection area of the moving range of the small vehicle unit towards the charging seat direction; the battery swapping area is set on one side of the width direction of the large vehicle unit; the first deflection module includes a first offset pulley, a second offset pulley, and a lifting rope; the second deflection module includes a lifting body, a guiding part, a grasping part, a first movable pulley, and a second movable pulley; the first offset pulley is slidably connected to the small vehicle body; the first offset pulley moves along the length direction of the frame component; the second offset pulley is connected to the small vehicle body; the second offset pulley and the first offset pulley are sequentially arranged at intervals from the second side of the length direction of the large vehicle unit to the first side of the length direction of the large vehicle unit; one end of part of the lifting rope is connected to the first offset pulley, and the other end is connected to the first movable pulley; the other end of part of the lifting rope is connected to the second offset pulley, and the other end is connected to the second movable pulley; the first movable pulley and the second movable pulley are movably connected to one end of the lifting body away from the small vehicle body; the first movable pulley rotates around the central axis in the height direction of the first movable pulley; the second movable pulley rotates around the central axis in the height direction of the second movable pulley; one end of the guiding part is connected to the side of the lifting body away from the small vehicle body, and the other end extends in a direction away from the small vehicle body; the cross-sectional area of the guiding part in the horizontal direction gradually decreases from top to bottom; the grasping part is movably connected to the side of the lifting body away from the small vehicle body; the control unit includes a controller, a first sensor, and a second sensor; the controller, the first sensor, and the second sensor are respectively connected to the frame component; the first sensor and the second sensor are arranged on one side of the frame component close to the battery swapping area; the first sensor and the second sensor are sequentially arranged at intervals in the direction from the first side of the length direction of the large vehicle unit to the second side of the length direction of the large vehicle unit; Battery box, the battery box is detachably connected and electrically connected to the charging seat; Battery swapping vehicle, the battery box is detachably connected and electrically connected to the battery swapping vehicle; the handling component is used for the disassembly and assembly of the battery box and the battery swapping vehicle.

10. According to the power swapping system described in claim 9, characterized in that, The trolley unit further includes a guiding module; the guiding module includes a first guiding rod and a second guiding rod; one end of the first guiding rod is connected to the bottom end of the trolley body, and the other end extends towards the hoisting body; when the projection of the first offset pulley towards the second offset pulley coincides with the second offset pulley, the first guiding rod is arranged at the center of the circumcircle of the first offset pulley and the second offset pulley; a hollow cavity is arranged along the axial direction of the first guiding rod on the first guiding rod; one end of the second guiding rod is connected to the top end of the hoisting body, and the other end extends towards the trolley body; the second guiding rod is arranged at the center of the circumcircle of the first movable pulley and the second movable pulley; the outer diameter of the second guiding rod is less than or equal to the inner diameter of the first guiding rod; the outer diameter of the second guiding rod gradually decreases from bottom to top. The power exchange system includes a spaced state and a guiding state; the spaced state includes that the first guiding rod and the second guiding rod are arranged at intervals along the height direction of the first guiding rod; the guiding state includes that the inner peripheral wall of the first guiding rod is sleeved on the outer peripheral wall of the second guiding rod.

11. The power exchange system according to claim 9, wherein The second offset pulley is slidably connected to the trolley body; the second offset pulley moves along the length direction of the large vehicle unit.

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