Battery replacement method and system

Abstract

The present invention relates to the field of battery swapping technology, and more specifically, to a battery swapping method and system. Based on moving a low-power battery box on a battery swapping vehicle to a battery swapping area, obtaining setting data and moving the low-power battery box on the battery swapping vehicle to an idle charging seat; based on moving the low-power battery box on the battery swapping vehicle to an idle charging seat, moving the target battery box to the battery swapping area; 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 a first posture, the first offset pulley moves along the first direction until the target battery box is in a second posture and simultaneously moves the target battery box to a detachable connection with the battery swapping vehicle; this solves the problem of difficulty in grabbing the battery box when it is skewed.

Description

Technical Field

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

[0002] In the field of vehicle battery swapping technology, automated gripping devices are commonly used to position and transport battery boxes. In existing technologies, the gripping unit docks with the vehicle's battery box through a preset mechanical structure or visual recognition system, and its positioning accuracy depends on the accuracy of the vehicle's docking position. Specifically, the vehicle must dock in the designated area of ​​the battery swap station according to a predetermined path, and the longitudinal and lateral offsets of the vehicle body must be controlled within a relatively precise range to ensure that the gripping unit's mechanical arm or clamp can accurately match the docking mechanism of the battery box.

[0003] However, existing technologies face significant limitations when the vehicle is parked horizontally. Because the gripper's docking mechanism is rigidly designed, its tolerance is limited by its mechanical structure and cannot adaptively compensate for vehicle position deviations. Specifically, vehicle body deflection can cause misalignment between the gripping surface of the battery box and the contact point of the clamp, ultimately leading to grip failure or mechanism collision. Summary of the Invention

[0004] In order to solve the problem of difficulty in grabbing a battery box when it is skewed, the present invention provides a battery replacement method and system.

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

[0006] Based on the low-power battery box on the battery-swapping vehicle being moved to the battery-swapping area, setting data is obtained and the low-power battery box on the battery-swapping vehicle is moved to an empty charging seat; wherein the setting data includes the posture of the low-power battery box on the battery-swapping vehicle and the power level of the battery box in the charging seat;

[0007] Based on moving the battery box with low power on the battery-swapping vehicle to an empty charging seat, the target battery box is moved to the battery-swapping area; wherein the target battery box is the battery box with a power level higher than the set power level;

[0008] Based on moving the target battery box to the battery exchange area and the posture of the low-power battery box of the battery exchange vehicle is a first posture, the first offset pulley moves along the first direction to the target battery box in the second posture and at the same time moves the target battery box to be detachably connected to the battery exchange vehicle; wherein, the first posture includes the first data being greater than the second data and the minimum 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 vehicle unit and perpendicular to the ground; the first angle is within the set angle range; the second posture includes the minimum 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 exchange area to the charging seat.

[0009] In some embodiments, based on moving the target battery box to the battery swap area and the posture of the low-power battery box of the battery swap vehicle is a first posture, the first offset pulley moves along the first direction until the target battery box is in a second posture and simultaneously moves the target battery box to a detachable connection with the battery swap vehicle, including:

[0010] Based on moving the target battery box to the battery exchange area and the low-power battery box of the battery exchange vehicle is in the first posture, the first offset pulley moves along the first direction until the target battery box is in the third posture and moves the target battery box closer to the battery exchange vehicle; wherein, the third posture includes the first data being greater than the second data, and the minimum angle between the side of the battery box close to the charging seat and the set plane is less than the first angle and / or the second angle;

[0011] The battery box is in a third posture when the first offset pulley moves along the first direction to the target, and the battery box is in the second posture when the first offset pulley moves along the first direction to the target;

[0012] Based on the battery box being in the second posture, the target battery box is lowered until it is detachably connected to the battery-swap vehicle.

[0013] In some embodiments, based on moving the low-power battery box on the battery-swapping vehicle to an empty charging seat, moving the target battery box to the battery-swapping area includes:

[0014] Based on moving the battery box with low power on the battery-swapping vehicle to an empty charging seat, the second deflection module grabs the target battery box;

[0015] Based on the second deflection module grabbing the target battery box, the hoisting unit moves until the second guide rod is located in the space surrounded by the first guide rod;

[0016] Based on the hoisting unit moving to the second guide rod being located in the space surrounded by the first guide rod, the target battery box is moved to the battery exchange area.

[0017] 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, 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 exchange area and the battery box with less power of the battery exchange 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 closer to the battery exchange vehicle is based on moving the target battery box to the battery exchange area and the battery box with less power of the battery exchange 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 closer to the battery exchange vehicle at a third speed;

[0018] Based on the battery box being in the second posture, the target battery box is lowered to a point where it can be detachably connected to the battery-swap vehicle. Based on the battery box being in the second posture, the target battery box is lowered at a fourth speed to a point where it can be detachably connected to the battery-swap vehicle; wherein the third speed is less than the fourth speed.

[0019] In some embodiments, based on the low-power battery box on the battery swap vehicle being moved to the battery swap area, obtaining setting data and moving the low-power battery box on the battery swap vehicle to an idle charging seat includes:

[0020] The battery box with low power on the battery swap vehicle is moved to the battery swap area to obtain the setting data;

[0021] Based on the low-power 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 to be in the fourth posture; wherein, the fourth posture includes the hoisting body being located above the battery-swapping area, and the minimum angle between the side close to the charging seat and the set plane being the sixth angle; the sixth angle being greater than the first angle minus the seventh angle, and the sixth angle being less than the first angle plus the fifth angle;

[0022] 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-exchange vehicle to the vacant charging seat.

[0023] In some embodiments, based on moving the target battery box to the battery exchange area and the posture of the battery box with low power of the battery exchange vehicle is a first posture, the first offset pulley moves along the first direction until the target battery box is in a second posture and the target battery box is moved to a position where it can be detachably connected to the battery exchange vehicle. Based on moving the target battery box to the battery exchange area and the posture of the battery box with low power of the battery exchange vehicle is a first posture, the first offset pulley moves along the first direction and the second offset pulley moves along the second direction until the target battery box is in the second posture and the target battery box is moved to a position where it can be detachably connected to the battery exchange vehicle; wherein, the second direction is the direction from the charging seat to the battery exchange area.

[0024] In some embodiments, based on the low-power battery box on the battery swap vehicle being moved to the battery swap area, obtaining setting data and moving the low-power battery box on the battery swap vehicle to an idle charging seat includes:

[0025] The battery box with low power on the battery swap vehicle is moved to the battery swap area to obtain the setting data;

[0026] Based on the posture of the battery box with low power on the battery-swapping vehicle being the fifth posture, the battery-swapping vehicle in the battery-swapping area is prompted to correct its position; wherein, the fifth posture includes the minimum angle between the side of the battery box close to the charging seat and the set plane being greater than the set angle range;

[0027] Based on the completion of the position correction of the battery-swapping vehicle in the battery-swapping area, the battery box with low power on the battery-swapping vehicle is moved to an empty charging seat.

[0028] In a second aspect, the present invention discloses a battery swap system, which can be applied to any of the battery swap methods described in the first aspect. The battery swap system includes:

[0029] Framework components;

[0030] A charging assembly, the charging assembly comprising a charging base; the charging base is disposed in a space surrounded by the frame assembly;

[0031] The transport assembly includes a cart unit, a trolley unit, and a control unit; the cart unit is slidably connected to the end of the frame assembly away from the charging seat; the cart unit moves along the length direction of the frame assembly; the trolley unit includes a trolley track, a trolley body, a first deflection module, and a second deflection module; the trolley track is connected to the cart unit; the trolley body is slidably connected to the trolley track; the trolley unit moves along the width direction of the frame assembly; the battery replacement area is set within the projection area of ​​the trolley unit's moving range toward the charging seat; the battery replacement The area is arranged on one side of the width direction of the trolley 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 guide part, a grabbing part, a first movable pulley, and a second movable pulley; the first offset pulley is slidably connected to the trolley body; the first offset pulley moves along the length direction of the frame assembly; the second offset pulley is connected to the trolley body; the second offset pulley and the first offset pulley are sequentially spaced from the second side of the length direction of the trolley unit to the first side of the length direction of the trolley unit; part of the One end of the lifting rope is connected to the first offset pulley, and the other end is connected to the first movable pulley; one end of the other 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 the lifting body at one end away from the trolley body; the first movable pulley rotates around the central axis of the first movable pulley in the height direction; the second movable pulley rotates around the central axis of the second movable pulley in the height direction; one end of the guide part is connected to the side of the lifting body away from the trolley body, and the other end extends in the direction away from the trolley body; the cross-sectional area of ​​the guide part in the horizontal direction gradually decreases from top to bottom; the grabbing part is movably connected to the side of the lifting body away from the trolley 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 the side of the frame assembly close to the battery exchange area; the first sensor and the second sensor are arranged in sequence from the first side of the length direction of the trolley unit to the second side of the length direction of the trolley unit;

[0032] a battery box, the battery box being detachably connected and electrically connected to the charging base;

[0033] The battery-swapping vehicle is detachably and electrically connected to the battery-swapping vehicle; the transport assembly is used for disassembly and assembly of the battery box and the battery-swapping vehicle.

[0034] In some embodiments, the trolley unit further includes a guide module; the guide module includes a first guide rod and a second guide rod; one end of the first guide rod is connected to the bottom end of the trolley body, and the other end extends toward the direction close to the lifting body; when the projection of the first offset pulley toward the direction close to the second offset pulley coincides with the second offset pulley, the first guide rod is arranged at the center of the circumscribed circle of the first offset pulley and the second offset pulley; the first guide rod is provided with a hollow cavity along the axial direction of the first guide rod; one end of the second guide rod is connected to the top end of the lifting body, and the other end extends toward the direction close to the trolley body; the second guide rod is arranged at the center of the circumscribed circle of the first movable pulley and the second movable pulley; the outer diameter of the second guide rod is less than or equal to the inner diameter of the first guide rod; the outer diameter of the second guide rod gradually decreases from bottom to top;

[0035] The battery exchange system includes a spacing state and a guiding state; the spacing state includes the first guide rod and the second guide rod being spaced apart along the height direction of the first guide rod; the guiding state includes the inner circumferential wall of the first guide rod being sleeved on the outer circumferential wall of the second guide rod.

[0036] 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 trolley unit.

[0037] To solve the problem of difficulty in grabbing a tilted battery box, the present invention has the following advantages:

[0038] By executing a movement operation based on the set data for the low-charge battery box on the battery-swapping vehicle, the first offset pulley is used to move the target battery box from the first posture to the second posture along the direction from the battery-swapping area to the charging station. The deflection module drives the rotation of the lifting module. When the battery box deflects horizontally within a set range, the deflection structure performs multi-degree-of-freedom compensation based on the posture data, allowing the battery box to automatically correct itself during the grasping and placement process. This structure maintains mechanical precision while adapting to the tolerance of the vehicle's horizontal deviation when docked, ultimately resolving the problems of grasping mechanism misalignment and docking failure caused by horizontal battery box skew. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic flow chart of a battery replacement method according to an embodiment is shown;

[0040] Figure 2 A schematic diagram of a battery swapping system according to a first embodiment is shown;

[0041] Figure 3 A partial schematic diagram of a battery swapping system according to a first embodiment is shown;

[0042] Figure 4A partial schematic diagram of a battery swapping system according to a second embodiment is shown;

[0043] Figure 5 A partial schematic diagram of a battery swap system according to a third embodiment is shown;

[0044] Figure 6 A partial schematic diagram of a battery swapping system according to a fourth embodiment is shown;

[0045] Figure 7 A schematic diagram of a battery swapping system according to a second embodiment is shown;

[0046] Figure 8 A partial schematic diagram of a battery swapping system according to a fifth embodiment is shown;

[0047] Figure 9 A partial schematic diagram of the battery replacement system of the sixth embodiment is shown.

[0048] Reference numerals: 10 frame assembly; 11 charging frame unit; 12 transport frame unit; 20 charging assembly; 21 charging base; 30 transport assembly; 31 trolley unit; 311 trolley guide rail; 312 first driving unit; 32 trolley unit; 321 trolley rail; 322 second driving unit; 323 trolley body; 324 first deflection module; 3241 third driving unit; 3242 first offset pulley; 3243 second offset pulley; 3244 fourth driving unit; 3245 The fifth driving unit; 3246 The lifting rope; 325 The second deflection module; 3251 The lifting body; 3252 The guiding unit; 3253 The grabbing unit; 3254 The first movable pulley; 3255 The second movable pulley; 326 The guiding module; 3261 The first guiding rod; 3262 The second guiding rod; 35 The control unit; 351 The controller; 352 The first sensor; 353 The second sensor; 40 The battery-swapping vehicle; 41 The battery-swapping vehicle body; 42 The discharge seat; 50 The battery box. DETAILED DESCRIPTION

[0049] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the present disclosure, rather than to imply any limitation on the scope of the present disclosure.

[0050] As used herein, the term "including" and its variations are to be interpreted as open-ended terms meaning "including, but not limited to." The term "based on" is to be interpreted as "based, at least in part, on." The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment." The term "another embodiment" is to be interpreted as "at least one other embodiment." Terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "vertical," "horizontal," "transverse," and "longitudinal" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily intended to better describe the present application and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientation or positional relationships. For example, the term "on" may, in certain circumstances, be used to indicate a dependency or connection relationship. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances. Furthermore, the terms "installed," "disposed," "provided with," "connected," and "connected" are to be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements, or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise specified, "plurality" means two or more.

[0051] In this embodiment, during the replacement process of the battery box 50 of the battery swap vehicle 40, the vehicle may be parked at a tilted position in the horizontal direction, causing the battery box 50 to be positioned at a set angle in the horizontal direction relative to the battery swap station, making the subsequent grabbing operation of the battery box 50 difficult, affecting the smooth replacement and efficiency of the battery box 50. This embodiment discloses a battery swap method, such as Figure 1 As shown, the battery replacement method may include steps S10 to S30, and each step is described in detail as follows: the battery replacement system can be applied to the battery replacement method, and the battery replacement system may include a frame assembly 10, a charging assembly 20 and a transport assembly 30. The frame assembly 10 can form a supporting structure and limit the installation space. The relative positions of the components are kept stable through the rigid frame design, providing a basic bearing platform for the system operation.

[0052] The charging assembly 20 may include a charging base 21, which may be disposed within the space enclosed by the frame assembly 10. By integrating the charging base 21 within the frame, a centralized layout of charging facilities is achieved, facilitating batch charging management of the battery packs 50, while also utilizing the frame structure to protect the charging assembly 20 from external environmental influences.

[0053] The transport assembly 30 may include a cart unit 31, a trolley unit 32, and a control unit 35; the cart unit 31 may include a cart guide rail 311 and a first drive unit 312; the cart unit 31 may be slidably connected to the end of the frame assembly 10 away from the charging seat 21; the cart unit 31 may move along the length direction of the frame assembly 10. The longitudinal movement of the cart unit 31 covers the area between the battery exchange area and the charging area, thereby enabling the movement of the cart unit 31 within the battery exchange area. The trolley unit 32 may include a trolley track 321, a trolley body 323, a first deflection module 324, a second deflection module 325, and a second drive unit 322; the trolley track 321 may be connected to the cart unit 31; the trolley body 323 may be slidably connected to the trolley track 321; the trolley unit 32 may move along the width direction of the frame assembly 10. The lateral movement of the trolley unit 32 and the longitudinal movement of the cart unit 31 form a planar positioning system, enabling precise position adjustment of the transport assembly 30 in two-dimensional space.

[0054] The battery exchange area can be set within the projection area of ​​the moving range of the trolley unit 32 in the direction of the charging seat 21; the battery exchange area can be set on one side of the width direction of the large vehicle unit 31. By limiting the projection range and position layout of the battery exchange area, it is ensured that the transportation path of the battery box 50 matches the space of the vehicle docking area to avoid movement interference. The first deflection module 324 may include a first offset pulley 3242, a second offset pulley 3243, and a lifting rope 3246; the second deflection module 325 may include a lifting body 3251, a guide part 3252, a grabbing 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 group and the sliding structure, the horizontal deflection angle of the lifting body 3251 is controlled by the change in the length of the lifting rope 3246 to achieve the adjustment of the posture 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 sequentially spaced from the second side of the length of the trolley unit 31 to the first side of the length of the trolley unit 31. One end of a partial lifting 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 lifting the lifting body 3251, the first offset pulley 3242 rotates about its radial center axis in a third direction (the third direction can be clockwise), shortening the lifting rope 3246, shortening the distance between the first offset pulley 3242 and the first movable pulley 3254, and lifting the lifting body 3251. When lowering the hoisting body 3251, the first offset pulley 3242 rotates in a fourth direction (which can be counterclockwise) about the radial center axis of the first offset pulley 3242, extending 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. Another portion of the hoisting rope 3246 can be connected to the second offset pulley 3243 at one end and to the second movable pulley 3255 at the other end. The split-rope traction design balances the force distribution on the hoisting body 3251, and the movable pulley mechanism reduces the drive load, improving the stability of the hoisting process. The ends of the first and second movable pulleys 3254 and 3255, located away from the trolley body 323, can be movably connected to the hoisting body 3251; the first movable pulley 3254 can rotate about its center axis in the height direction. When the first offset pulley 3242 moves in the first direction or the second direction, the lifting rope 3246 has a friction force along the axial direction of the first movable pulley 3254 relative to the first movable pulley 3254. The rotation of the first movable pulley 3254 can avoid excessive friction between the lifting 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.The rotational freedom of the movable pulley is used to compensate for the torsional stress of the rope during the movement of the hoisting body 3251, thereby preventing the hoisting rope 3246 from being entangled, and at the same time maintaining the horizontal state of the hoisting body 3251. One end of the guide portion 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 a direction away from the trolley body 323; the cross-sectional area of ​​the guide portion 3252 along the horizontal direction can gradually decrease from top to bottom. Through the tapered structure of the conical guide portion 3252, the position deviation is automatically corrected during the docking process of the battery box 50, and the battery box 50 is guided to be precisely aligned with the vehicle interface by means of inclined contact. The grabbing portion 3253 can be movably connected to the side of the hoisting body 3251 away from the trolley body 323. The movable connection design allows the grabbing portion 3253 to adapt to the changes in the installation angle of the battery box 50, ensuring reliable engagement of the grabbing mechanism with the battery box 50 lock. The control unit 35 may 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 may be connected to the frame assembly 10, respectively. The first sensor 352 and the second sensor 353 may be disposed on the side of the frame assembly 10 close to the battery exchange area. The first sensor 352 and the second sensor 353 may be disposed in sequence and spaced from the first side of the length of the cart unit 31 to the second side of the length of the cart unit 31. The position and posture data of the battery box 50 at different positions are collected by the first sensor 352 and the second sensor 353, respectively, so that the controller 351 can receive the position and posture information of the battery box 50 more accurately, thereby achieving precise control of the battery box 50.

[0055] The battery box 50 can be detachably connected and electrically connected to the charging seat 21. The standardized interface design enables quick plugging and unplugging of the battery box 50 and the charging seat 21, ensuring the stability and safety of the charging connection. The battery box 50 can be detachably connected and electrically connected to the battery swap vehicle 40; the transport component 30 can be used for disassembly and assembly of the battery box 50 and the battery swap vehicle 40. The transport component 30 cooperates with the grabbing part 3253 to complete the transportation of the battery box 50 between the vehicle and the charging seat 21, thereby improving the battery swap efficiency of the battery swap station.

[0056] In step S10, based on the low-power battery box 50 on the battery-swapping vehicle 40 moving to the battery-swapping area, the setting data can be obtained and the low-power battery box 50 on the battery-swapping vehicle 40 can be moved to an empty charging seat 21. The battery-swapping area can be used to park the battery-swapping vehicle 40, and the battery-swapping area can be set within the projection area of ​​the moving range of the trolley body 323 toward the charging seat 21. The battery-swapping area can be spaced apart from the charging assembly 20 and the frame assembly 10, respectively. By obtaining the posture and power data of the battery box 50, accurate positioning and data matching can be achieved, and combined with the idle state judgment of the charging seat 21, position conflicts during movement can be effectively avoided. The setting data may include first data and second data, such as Figure 2As shown, the first data may include the distance between the first sensor 352 and the low-power battery box 50 in the battery exchange area, which is located on the first side of the length direction of the cart unit 31 on the side close to the first sensor 352; the second data is the distance between the second sensor 353 and the low-power battery box 50 in the battery exchange area, which is located on the second side of the length direction of the cart unit 31 on the side close to the first sensor 352.

[0057] In step S20, the target battery box 50 can be moved to the battery swap area based on moving the low-power battery box 50 on the battery swap vehicle 40 to an empty charging station 21. By obtaining the power status of the battery box 50 on the charging station 21, a target battery box 50 with a power level higher than a set power level is selected, where the set power level can be 80%, 90% of the fully charged battery box 50, or 200kW·h or 300kW·h of the stored power of the battery box 50.

[0058] In step S30, based on moving the target battery box 50 to the battery exchange area and the posture of the low-power battery box 50 of the battery exchange vehicle 40 is in the first posture, the first offset pulley 3242 can move along the first direction until the target battery box 50 is in the second posture and at the same time can move the target battery box 50 to be detachably connected to the battery exchange vehicle 40. Among them, the first posture can include that the first data is greater than the second data and the minimum angle between the side of the battery box 50 close to the charging seat 21 and the set plane is the first angle, and the first angle can be 0°~3°, 0°~5°; the set plane can be parallel to the length direction of the cart unit 31 and perpendicular to the ground; the first angle can enable the battery swap vehicle 40 to achieve battery swap within the set angle range (the set angle range can be 0°~5°); the second posture can include that the minimum 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°, 3°), and the second angle is less than the first angle plus the fourth angle (the fourth angle can be 1°, 2°, 3°), that is, the second angle can be slightly greater than or slightly less than the first angle. Figure 2 As shown, the first direction can be the direction from the battery exchange area to the charging seat 21. In 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 exchange vehicle 40, the first angle and the second angle can be obtained by trigonometric functions. The deflection amplitude is controlled by setting the angle range, and the angle of the battery box 50 is adjusted by the directional movement of the first offset pulley 3242, so that the mounting surface of the battery box 50 remains 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.

[0059] In this embodiment, step S30 may include steps S31 to S33, each of which is described in detail as follows:

[0060] In step S31, based on moving the target battery box 50 to the battery swap area and the low-power battery box 50 of the battery swap vehicle 40 is in the first posture, the first offset pulley 3242 can be moved along the first direction to the target battery box 50 in the third posture and can move the target battery box 50 closer to the battery swap vehicle 40. Among them, the third posture can include the first data being greater than the second data, and the minimum angle between the side of the battery box 50 close to the charging seat 21 and the set plane being less than the first angle and the second angle; by controlling the movement path of the offset pulley in stages, first establishing a preliminary positioning reference, and then implementing precise adjustments, the positioning error of a single movement is effectively reduced. The third posture is used as an intermediate transition posture, combined with sensor data feedback, to improve the accuracy of the placement of the battery box 50.

[0061] In step S32, after the first offset pulley 3242 moves along the first direction until the target battery box 50 is in the third position, the first offset pulley 3242 can also move along the first direction until the target battery box 50 is in the second position. By setting up two displacement processes and combining position control at different stages, positioning accuracy is guaranteed while improving work efficiency.

[0062] 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 up two displacement processes, the horizontal positioning error and the vertical installation error are effectively reduced, and the reliability of the battery swapping process is improved.

[0063] In this embodiment, step S20 may include steps S21 to S23, each of which is described in detail as follows:

[0064] like Figure 5As shown, the trolley unit 32 may further include a guide module 326; the guide module 326 may include a first guide rod 3261 and a second guide rod 3262; one end of the first guide rod 3261 may be connected to the bottom end of the trolley body 323, and the other end may extend toward the direction close to the hoisting body 3251; when the projection of the first offset pulley 3242 toward the direction close to the second offset pulley 3243 coincides with the second offset pulley 3243, the first guide rod 3261 may be arranged outside the first offset pulley 3242 and the second offset pulley 3243. The first guide rod 3261 may be provided with a hollow cavity along its axial direction. One end of the second guide rod 3262 may be connected to the top of the hoisting body 3251, and the other end may extend toward the trolley body 323. The second guide rod 3262 may be provided at the center of the circumscribed circle between the first movable pulley 3254 and the second movable pulley 3255. The outer diameter of the second guide rod 3262 may be less than or equal to the inner diameter of the first guide rod 3261. The outer diameter of the second guide rod 3262 may gradually decrease from bottom to top. The cooperation between the first guide rod 3261 and the second guide rod 3262 forms a guiding structure to reduce the swing deviation of the hoisting body 3251. The gradient design of the outer diameter of the second guide rod 3262 forms a guiding cone, which automatically corrects the position offset during the socketing process, thereby achieving precise alignment of the gripping portion 3253 and the battery box 50.

[0065] In step S21, based on moving the low-power battery box 50 on the battery-swapping vehicle 40 to the vacant charging seat 21, the second deflection module 325 can grab the target battery box 50. By setting the second deflection module 325 and coordinating with the positioning reference of the charging seat 21, the stability of the grabbing process of the high-power battery box 50 is ensured.

[0066] In step S22, based on the second deflection module 325 grasping the target battery box 50, the lifting unit can be moved until the second guide rod 3262 is located within the space enclosed by the first guide rod 3261. During the rotation process, the space enclosed by the first and second guide rods 3261, 3262 serves as the rotation center, effectively reducing the swing amplitude of the battery box 50 on the lifting body 3251 and improving the stability of the movement process.

[0067] In step S23, the target battery box 50 can be moved to the battery swap area based on the hoisting unit moving to the second guide rod 3262 within the space enclosed by the first guide rod 3261. By having the second guide rod 3262 within the space enclosed by the first guide rod 3261, the position of the battery box 50 is prevented from shifting during transfer, ensuring the stability and accuracy of the transfer path of the battery box 50.

[0068] In this embodiment, step S32 is: based on the first offset pulley 3242 moving at a first speed along the first direction to the target battery box 50 being in the third posture, the first offset pulley 3242 can move at a second speed along the first direction to the target battery box 50 being in the second posture. Wherein, the first speed is greater than the second speed. When the first offset pulley 3242 moves at the first speed along the first direction, due to the action of the first guide rod 3261 and the second guide rod 3262, the battery box 50 can be made more stable when rotating, so it can move at the first speed to improve the battery exchange efficiency of the battery exchange vehicle 40. When the first offset pulley 3242 moves at the second speed along the first direction, the accuracy of the placement of the battery box 50 can be improved by reducing the moving speed of the battery box 50.

[0069] In this embodiment, step S31 is: based on moving the target battery box 50 to the battery swap area and the low-power battery box 50 of the battery swap vehicle 40 is in the first posture, the first offset pulley 3242 can be moved along the first direction until the target battery box 50 is in the second posture and the target battery box 50 can be moved toward the battery swap vehicle 40 at a third speed. By adopting a lower third speed in the posture adjustment stage to ensure the accuracy of angle control, the accuracy of the battery swap process is improved. By utilizing the influence of the length change of the lifting rope 3246 on the control delay, fine angle adjustment is implemented in the short rope state, which effectively improves the accuracy of the placement of the battery box 50.

[0070] 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 until it can be detachably connected to the battery swap vehicle 40. The third speed is lower than the fourth speed. Through speed matching control, the fourth speed is used during the vertical movement phase to shorten operation time, while the self-positioning characteristics of the guide structure are utilized to ensure connection accuracy. By combining control parameter optimization for different movement directions, a balance between overall operation efficiency and accuracy is achieved.

[0071] In this embodiment, step S10 may include steps S11 to S13, each of which is described in detail as follows:

[0072] In step S11, based on the low-power battery box 50 on the battery-swapping vehicle 40 moving to the battery-swapping area, setting data can be obtained. The setting data may include third data and fourth data. The third data is the distance between the first sensor 352 and the first side of the lifting module near the first sensor 352, which is close to the length of the vehicle unit 31; the fourth data is the distance between the second sensor 353 and the second side of the lifting module near the first sensor 352, which is close to the length of the vehicle unit 31. By obtaining the posture and power data of the battery box 50, accurate positioning and data matching can be achieved. Combined with the idle state judgment of the charging station 21, position conflicts during movement can be effectively avoided.

[0073] In step S12, based on the low-power battery box 50 on the battery-swapping vehicle 40 being in the first posture, the first offset pulley 3242 can be moved along the first direction until the hoisting body 3251 is in the fourth posture. The fourth posture includes a sixth angle between the hoisting body 3251 and the set plane on the side near the charging station 21 when the hoisting body 3251 is located above the battery-swapping area. The sixth angle can be 0° to 3° or 0° to 5°. The sixth angle is greater than the first angle minus the seventh angle (the seventh angle can be 1°, 2°, or 3°), and less than the first angle plus the fifth angle (the fifth angle can be 1°, 2°, or 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 motion between the battery box 50 and the hoisting body 3251 during the grasping process is reduced.

[0074] In step S13, after the first offset pulley 3242 has moved along the first direction to the fourth posture of the hoisting body 3251, the hoisting body 3251 can move the low-charge battery box 50 on the battery-swapping vehicle 40 to an empty charging station 21. By pre-adjusting the posture before performing the grasping operation, the lateral friction between the battery box 50 and the guide 3252 can be reduced. This strategy of alignment before movement effectively reduces the wear rate of mechanical components.

[0075] In this embodiment, step S30 may include: based on moving the target battery box 50 to the battery swap area and the posture of the low-power battery box 50 of the battery swap vehicle 40 is the first posture, the first offset pulley 3242 can be moved in the first direction and the second offset pulley 3243 can be moved in the second direction until the target battery box 50 is in the second posture and the target battery box 50 can be moved to be detachably connected to the battery swap vehicle 40. Figure 2 As shown, the second direction can be the direction from the charging seat 21 to the battery exchange area. Through the coordinated motion control of the first offset pulley 3242 and the second offset pulley 3243, the swing 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 trolley body 323, and the second offset pulley 3243 can move along the length direction of the trolley unit 31. By setting the second offset pulley 3243, the coordinated motion control of the first offset pulley 3242 and the second offset pulley 3243 is realized, and the stability and flexibility of the posture control of the battery box 50 are improved.

[0076] In this embodiment, step S10 may include steps S14 to S16, each of which is described in detail as follows:

[0077] In step S14, the setting data can be obtained based on the low-power battery box 50 on the battery-swapping vehicle 40 moving to the battery-swapping area.

[0078] In step S15, based on the fact that the posture of the low-power battery box 50 on the battery-swapping vehicle 40 is the fifth posture, the battery-swapping vehicle 40 in the battery-swapping area may be prompted to correct its position. The fifth posture may include a minimum angle between the side of the battery box 50 close to the charging seat 21 and the set plane that is greater than a set angle range; when it is detected that the posture of the battery box 50 on the battery-swapping vehicle 40 exceeds the adjustable range of the transport component 30, the vehicle position correction instruction is triggered in time, so that the battery-swapping vehicle 40 can readjust its position to ensure the normal progress of the battery-swapping process.

[0079] In step S16, based on the completion of the position correction of the battery swap vehicle 40 in the battery swap area, the low-power battery box 50 on the battery swap vehicle 40 can be moved to the vacant charging seat 21. After the vehicle position adjustment is completed, the grabbing operation is re-executed to effectively avoid the battery box 50 from tilting during the grabbing process and improve the stability of the system.

[0080] This embodiment discloses a battery swap system, which can be applied to a battery swap method in any of the above embodiments, such as Figure 7 As shown, the battery swap system may include a frame assembly 10, a charging assembly 20, and a transport assembly 30. Figure 8 As shown, the frame assembly 10 may include a charging frame unit 11 and a transport frame unit 12. This forms a support structure and defines the installation space. The rigid frame design maintains the relative position of each component stable, providing a basic bearing platform for system operation.

[0081] The charging assembly 20 may include a charging base 21, which may be disposed within the space enclosed by the frame assembly 10. By integrating the charging base 21 within the frame, a centralized layout of charging facilities is achieved, facilitating batch charging management of the battery packs 50, while also utilizing the frame structure to protect the charging assembly 20 from external environmental influences.

[0082] The transport assembly 30 may include a cart unit 31, a trolley unit 32, and a control unit 35; the cart unit 31 may be slidably connected to the end of the frame assembly 10 away from the charging seat 21; the cart unit 31 may move along the length direction of the frame assembly 10. The longitudinal movement of the cart unit 31 covers the area between the battery exchange area and the charging area, thereby realizing the movement of the cart unit 31 within the battery exchange area. The trolley unit 32 may include a trolley track 321, a trolley body 323, a first deflection module 324, and a second deflection module 325; the trolley track 321 may be connected to the cart unit 31; the trolley body 323 may be slidably connected to the trolley track 321; the trolley unit 32 may move along the width direction of the frame assembly 10. A planar positioning system is formed by the lateral movement of the trolley unit 32 and the longitudinal movement of the cart unit 31, thereby realizing precise position adjustment of the transport assembly 30 in two-dimensional space. The first deflection module 324 may include a third driving unit 3241, a first offset pulley 3242, a second offset pulley 3243, a fourth driving unit 3244, a fifth driving unit 3245 and a lifting rope 3246. The third driving unit 3241 can drive the trolley body 323 to move in the vertical direction. The first offset pulley 3242 can be driven and connected to the fourth driving unit 3244 to control the movement of the first offset pulley 3242; the second offset pulley 3243 can be driven and connected to the fifth driving unit 3245 to control the movement of the second offset pulley 3243.

[0083] The battery swap area can be set within the projection area of ​​the trolley unit 32 moving range toward the charging seat 21; the battery swap area can be set on one side of the width direction of the large vehicle unit 31. Figure 9As shown, the battery swap vehicle 40 may include a battery swap body 41 and a discharge seat 42, and the battery box 50 may be placed on the discharge seat 42. By limiting the projection range and position layout of the battery swap area, it is ensured that the transport path of the battery box 50 matches the space of the vehicle docking area to avoid motion interference. The first deflection module 324 may include a first offset pulley 3242, a second offset pulley 3243, and a lifting rope 3246; the second deflection module 325 may include a lifting body 3251, a guide portion 3252, a grabbing portion 3253, a first movable pulley 3254, and a second movable pulley 3255; the first offset pulley 3242 may be slidably connected to the trolley body 323; the first offset pulley 3242 may move along the length direction of the frame assembly 10. Through the cooperation of the pulley group and the sliding structure, the horizontal deflection angle of the lifting body 3251 is controlled by the change in the length of the lifting rope 3246 to achieve the adjustment of the posture 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 sequentially spaced from the second side of the length of the trolley unit 31 to the first side of the length of the trolley unit 31. One end of a partial lifting 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 lifting the lifting body 3251, the first offset pulley 3242 rotates about its radial center axis in a third direction (the third direction can be clockwise), shortening the lifting rope 3246, shortening the distance between the first offset pulley 3242 and the first movable pulley 3254, and lifting the lifting body 3251. When lowering the hoisting body 3251, the first offset pulley 3242 rotates in a fourth direction (the fourth direction may be counterclockwise) around the radial center axis of the first offset pulley 3242, extending 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. Figure 4 As shown, 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. The split rope traction design balances the force distribution of the hoisting body 3251, and the movable pulley mechanism is used to reduce the driving load and improve the stability of the hoisting process. Figure 6As shown, the first movable pulley 3254 and the second movable pulley 3255 can be movably connected to the hoisting body 3251 at one end away from the trolley body 323. The first movable pulley 3254 can rotate about the central axis in the height direction of the first movable pulley 3254. Because the hoisting rope 3246 exerts a frictional force along the axial direction of the first movable pulley 3254 relative to 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 excessive friction between the hoisting rope 3246 and the first movable pulley 3254. The second movable pulley 3255 can rotate about the central axis in the height direction of the second movable pulley 3255. The rotational freedom of the movable pulleys compensates for the torsional stress of the rope during movement of the hoisting body 3251, preventing the hoisting rope 3246 from becoming entangled while maintaining the hoisting body 3251 in a horizontal state. One end of the guide portion 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 a direction away from the trolley body 323; the cross-sectional area of ​​the guide portion 3252 in the horizontal direction can gradually decrease from top to bottom. The tapered structure of the conical guide portion 3252 automatically corrects position deviations during the docking process of the battery box 50, and uses the inclined contact to guide the battery box 50 to accurately align with the vehicle interface. Figure 3 As shown, the gripping portion 3253 can be movably connected to the side of the hoisting body 3251 away from the trolley body 323. The movable connection design allows the gripping portion 3253 to adapt to the changes in the installation angle of the battery box 50, ensuring reliable engagement of the gripping mechanism with the battery box 50 latch. The control unit 35 may 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 may be connected to the frame assembly 10 respectively; the first sensor 352 and the second sensor 353 may be arranged on the side of the frame assembly 10 close to the battery exchange area; the first sensor 352 and the second sensor 353 may be arranged in sequence from the first side of the length direction of the trolley unit 31 to the second side of the length direction of the trolley unit 31. The position and posture data of the battery box 50 at different positions are collected respectively by the first sensor 352 and the second sensor 353, so that the controller 351 can receive the position and posture information of the battery box 50 more accurately, thereby achieving precise control of the battery box 50.

[0084] The battery box 50 can be detachably connected and electrically connected to the charging seat 21. The standardized interface design enables quick plugging and unplugging of the battery box 50 and the charging seat 21, ensuring the stability and safety of the charging connection. The battery box 50 can be detachably connected and electrically connected to the battery swap vehicle 40; the transport component 30 can be used for disassembly and assembly of the battery box 50 and the battery swap vehicle 40. The transport component 30 cooperates with the grabbing part 3253 to complete the transportation of the battery box 50 between the vehicle and the charging seat 21, thereby improving the battery swap efficiency of the battery swap station.

[0085] In this embodiment, the trolley unit 32 may further include a guide module 326; the guide module 326 may include a first guide rod 3261 and a second guide rod 3262; one end of the first guide rod 3261 may be connected to the bottom end of the trolley body 323, and the other end may extend toward the direction close to the hoisting body 3251; when the projection of the first offset pulley 3242 toward the direction close to the second offset pulley 3243 coincides with the second offset pulley 3243, the first guide rod 3261 may be set at the first offset pulley 3242 and the second offset pulley 324 3 circumscribed circle; the first guide rod 3261 may be provided with a hollow cavity along its axial direction; one end of the second guide rod 3262 may be connected to the top of the sling body 3251, and the other end may extend toward the trolley body 323; the second guide rod 3262 may be provided at the center of the circumscribed circle between the first movable pulley 3254 and the second movable pulley 3255; the outer diameter of the second guide rod 3262 may be less than or equal to the inner diameter of the first guide rod 3261; the outer diameter of the second guide rod 3262 may gradually decrease from bottom to top. The cooperation between the first guide rod 3261 and the second guide rod 3262 forms a guiding structure that reduces the swing deviation of the sling body 3251; the gradual change in the outer diameter of the second guide rod 3262 forms a guiding tapered surface that automatically corrects positional deviation during the coupling process, thereby achieving precise alignment between the gripping portion 3253 and the battery box 50.

[0086] The battery swapping system can include a spacing state and a guiding state. The spacing state can include the first guide rod 3261 and the second guide rod 3262 being spaced apart along the height direction of the first guide rod 3261. The guiding state can include the inner circumference of the first guide rod 3261 being able to fit over the outer circumference of the second guide rod 3262. Through the state switching mechanism, the first guide rod 3261 and the second guide rod 3262 are kept separated during the non-operational phase to prevent interference. When grasping the battery box 50, the first guide rod 3261 and the second guide rod 3262 cooperate to constrain the lateral displacement of the hoisting body 3251, causing the grasping portion 3253 to move along a preset trajectory, ultimately achieving the technical effect of improving the grasping and positioning accuracy of the battery box 50.

[0087] The second offset pulley 3243 can be slidably connected to the trolley body 323 and can move along the length of the trolley unit 31. By providing the second offset pulley 3243, the coordinated motion control of the first offset pulley 3242 and the second offset pulley 3243 is achieved, thereby improving the stability and flexibility of the posture control of the battery box 50.

[0088] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present disclosure, and that in actual applications, various changes may be made thereto in form and detail without departing from the scope of the present disclosure.

Claims

1. A battery replacement method, characterized in that: Battery replacement methods include: Framework components; A charging base, which is arranged in the space surrounded by the frame assembly; The transport assembly includes a trolley unit, a trolley unit, and a control unit; the trolley unit is slidably connected to the end of the frame assembly away from the charging seat; the trolley unit moves along the length direction of the frame assembly; the trolley unit includes a trolley track, a trolley body, a first deflection module, and a second deflection module; the trolley track is connected to the trolley unit; the trolley body is slidably connected to the trolley track; the trolley unit moves along the width direction of the frame assembly; the battery exchange area is arranged in the projection area of ​​the trolley unit's moving range toward the charging seat; the battery exchange area is arranged on one side in the width direction of the trolley 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 guide part, a grabbing part, a first movable pulley, and a second movable pulley; the first offset pulley is slidably connected to the trolley body; the first offset pulley moves along the length direction of the frame assembly; the second offset pulley is connected to the trolley body; the second offset pulley and the first offset pulley are arranged in sequence from the second side of the length direction of the trolley unit to the first side of the length direction of the trolley unit and a control wheel is connected along the direction of the lifting of the vehicle body to the rotation of the steering wheel, and the rotation of the steering wheel is connected with the steering wheel to the steering wheel. Based on the low-power battery box on the battery swap vehicle being moved to the battery swap area, the setting data is obtained and the low-power battery box on the battery swap vehicle is moved to an empty charging seat; wherein the setting data includes the posture of the low-power battery box on the battery swap vehicle and the power level of the battery box in the charging seat; Based on moving the low-power battery box on the battery swap vehicle to an empty charging seat, the target battery box is moved to the battery swap area; wherein the target battery box is a battery box with a power level higher than the set power level; Based on the posture of the low-power battery box of the battery swap vehicle being the first posture and the target battery box being moved to the battery swap area, the first offset pulley is moved along the first direction to the target battery box being the second posture and the target battery box being moved to a detachable connection with the battery swap vehicle; wherein, the first posture includes the first data being greater than the second data and the minimum angle between the side of the low-power battery box close to the charging seat and the set plane being the first angle; the set plane is parallel to the length direction of the cart unit and perpendicular to the ground; the first angle is within the set angle range; the second posture includes the minimum angle between the side of the target battery box close to the charging seat and the set plane being 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 swap area to the charging seat; the first data is the distance between the first sensor and the position on the first side of the length direction of the cart unit on the side of the low-power battery box close to the first sensor in the battery swap area; the second data is the distance between the second sensor and the position on the second side of the length direction of the cart unit on the side of the low-power battery box close to the first sensor in the battery swap area.

2. A battery replacement method according to claim 1, characterized in that: Based on moving the target battery box to the battery swap area and the posture of the low-power battery box of the battery swap vehicle is a first posture, the first offset pulley moves along the first direction until the target battery box is in a second posture and simultaneously moves the target battery box to a detachable connection with the battery swap vehicle, including: Based on moving the target battery box to the battery swap area and the low-power battery box of the battery swap vehicle is in the first posture, the first offset pulley moves along the first direction until the target battery box is in the third posture and moves the target battery box toward the battery swap vehicle; wherein, the third posture includes the first data being greater than the second data, and the minimum angle between the target battery box close to the charging seat and the set plane is less than the first angle and the second angle; The battery box is in a third posture when the first offset pulley moves along the first direction to the target, and the battery box is in the second posture when the first offset pulley moves along the first direction to the target; Based on the target battery box being in the second posture, the target battery box is lowered until it is detachably connected to the battery-swap vehicle.

3. A battery replacement method according to claim 2, characterized in that: The trolley unit also includes a guide module; the guide module includes a first guide rod and a second guide rod; one end of the first guide rod is connected to the bottom end of the trolley body, and the other end extends toward the direction close to the lifting body; when the projection of the first offset pulley toward the direction close to the second offset pulley coincides with the second offset pulley, the first guide rod is arranged at the center of the circumscribed circle of the first offset pulley and the second offset pulley; the first guide rod is provided with a hollow cavity along the axial direction of the first guide rod; one end of the second guide rod is connected to the top end of the lifting body, and the other end extends toward the direction close to the trolley body; the second guide rod is arranged at the center of the circumscribed circle of the first movable pulley and the second movable pulley; the outer diameter of the second guide rod is less than or equal to the inner diameter of the first guide rod; the outer diameter of the second guide rod gradually decreases from bottom to top; The battery replacement method includes a spacing state and a guiding state; the spacing state includes the first guide rod and the second guide rod being spaced apart along the height direction of the first guide rod; the guiding state includes the inner circumferential wall of the first guide rod being sleeved on the outer circumferential wall of the second guide rod.

4. A battery replacement method according to claim 3, characterized in that: Based on moving the battery box with low power on the battery swap vehicle to an empty charging seat, moving the target battery box to the battery swap area includes: Based on moving the battery box with low power on the battery-swapping vehicle to an empty 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 until the second guide rod is located in the space surrounded by the first guide rod; Based on the hoisting unit moving to the second guide rod being located in the space surrounded by the first guide rod, the target battery box is moved to the battery exchange area.

5. A battery replacement method according to claim 4, characterized in that: The battery box is in a third posture based on the first offset pulley moving along the first direction to the target, and the battery box is in the second posture based on the first offset pulley moving along the first direction to the target at a first speed. The battery box is in a third posture based on the first offset pulley moving along the first direction to the target at a first speed, and the battery box is in the second posture based on the first offset pulley moving along the first direction to the target at a second speed; wherein the first speed is greater than the second speed.

6. A battery replacement method according to claim 2, characterized in that: Based on moving the target battery box to the battery exchange area and the battery box with less power of the battery exchange vehicle is in the first posture, the first offset pulley moves along the first direction to the target battery box is in the third posture and the target battery box is moved toward the battery exchange vehicle. Based on moving the target battery box to the battery exchange area and the battery box with less power of the battery exchange vehicle is in the first posture, based on the first offset pulley moves along the first direction to the target battery box is in the second posture, the target battery box is moved toward the battery exchange vehicle at a third speed; Based on the target battery box being in the second posture, the target battery box is lowered to a position where it can be detachably connected to the battery-exchange vehicle. Based on the target battery box being in the second posture, the target battery box is lowered at a fourth speed where it can be detachably connected to the battery-exchange vehicle; wherein the third speed is less than the fourth speed.

7. A battery replacement method according to claim 1, characterized in that: Based on the battery box with low power on the battery swap vehicle being moved to the battery swap area, obtaining setting data and moving the battery box with low power on the battery swap vehicle to an idle charging seat includes: The battery box with low power on the battery swap vehicle is moved to the battery swap area to obtain the setting data; Based on the low-power 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 to be in the fourth posture; wherein, the fourth posture includes the hoisting body being located above the battery-swapping area, and the minimum angle between the side close to the charging seat and the set plane being the sixth angle; the sixth angle being greater than the first angle minus the seventh angle, and the sixth angle being 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-exchange vehicle to the vacant charging seat.

8. A battery replacement method according to claim 1, characterized in that: Based on moving the target battery box to the battery exchange area and the posture of the battery box with low power of the battery exchange vehicle is a first posture, the first offset pulley moves along the first direction until the target battery box is in the second posture and the target battery box is moved to a position where it can be detachably connected to the battery exchange vehicle. Based on moving the target battery box to the battery exchange area and the posture of the battery box with low power of the battery exchange vehicle is a first posture, the first offset pulley moves along the first direction and the second offset pulley moves along the second direction until the target battery box is in the second posture and the target battery box is moved to a position where it can be detachably connected to the battery exchange vehicle; wherein, the second direction is the direction from the charging seat to the battery exchange area.

9. A battery replacement method according to claim 1, characterized in that: Based on the battery box with low power on the battery swap vehicle being moved to the battery swap area, obtaining setting data and moving the battery box with low power on the battery swap vehicle to an idle charging seat includes: The battery box with low power on the battery swap vehicle is moved to the battery swap area to obtain the setting data; Based on the posture of the low-power battery box on the battery-swapping vehicle being in the fifth posture, the battery-swapping vehicle in the battery-swapping area is prompted to correct its position; wherein, the fifth posture includes the minimum angle between the side of the low-power battery box close to the charging seat and the set plane being greater than the set angle range; Based on the completion of the position correction of the battery-swapping vehicle in the battery-swapping area, the battery box with low power on the battery-swapping vehicle is moved to an empty charging seat.

10. A battery replacement system, characterized in that: The battery swapping system is applied to a battery swapping method according to any one of claims 1 to 9, and the battery swapping system further comprises: A battery box, the battery box being detachably connected to the charging base; The battery-swapping vehicle is detachably connected to the battery-swapping vehicle; the transport assembly is used for disassembly and assembly of the battery box and the battery-swapping vehicle.

11. A battery replacement system according to claim 10, characterized in that: The second offset pulley is slidably connected to the trolley body; the second offset pulley moves along the length direction of the trolley unit.

Images