Vehicle battery replacing device, method, equipment and system

Abstract

The invention discloses a vehicle battery replacing device, method, equipment and system, the vehicle battery replacing device is used for assisting a vehicle to replace a power battery pack, and the vehicle battery replacing device comprises a fixed platform; a moving platform; four motion branch chains; the moving branch chain comprises a first moving pair, a second moving pair, a third moving pair and a spherical hinge pair which are connected in series; wherein the four motion branch chains are connected to the fixed platform and the movable platform correspondingly to form a box type supporting structure; the first moving pair, the second moving pair and the third moving pair are moving joints of the motion branch chain in the ZXY axis direction respectively and act together with the spherical hinge pair, so that the motion branch chain translates and rotates in the three-dimensional space. The device can effectively reduce the control complexity and cost while remarkably improving the battery replacement precision, the movement stability and the working condition adaptability, has the three-dimensional space omni-directional movement capability, can realize accurate battery butt joint and is compatible with complex mounting postures of different vehicle types, so that the universality and the battery replacement safety are greatly enhanced.

Description

Technical Field

[0001] This invention relates to the field of new energy vehicle technology, and in particular to a vehicle battery swapping device, method, equipment and system. Background Technology

[0002] With the rapid development of the new energy vehicle industry and the continuous increase in market share globally, users' demand for efficient and convenient charging methods is becoming increasingly urgent. Traditional charging methods are limited by charging time (usually ranging from 30 minutes to several hours) and uneven infrastructure distribution. In contrast, battery swapping technology, by directly replacing the battery pack, can complete the charging process in 3-5 minutes, significantly shortening the vehicle charging time. It has become an important technological route for improving user experience and is suitable for commercial vehicles. At the same time, the potential of battery swapping stations as distributed energy storage units to interact with the power grid has also attracted widespread attention, providing new value opportunities for the commercial application of battery swapping.

[0003] Currently, the mainstream solutions for rapid battery swapping in new energy vehicles typically rely on one or more automated mechanical systems. These systems generally require two core steps: vehicle positioning and battery removal / installation. The vehicle positioning system aligns the entire vehicle, and the battery removal / installation device replaces the battery pack. In terms of system configuration, a series mechanical structure is commonly used, with each joint moving sequentially to achieve the desired function.

[0004] However, existing solutions face a series of common technical challenges and limitations in practical applications: First, regarding motion accuracy, due to the inherent characteristics of the serial structure, the positioning error of the end effector accumulates at each stage, potentially causing collisions during battery pack docking and affecting operational safety and equipment reliability. Second, in terms of system complexity and cost, the positioning system and battery swapping system are often independent, resulting in a complex overall structure, large footprint, high manufacturing costs, and cumbersome maintenance. Third, regarding adaptability to operating conditions, the battery pack installation positions and orientations may differ between vehicle models, requiring the battery swapping device to have flexible orientation adjustment capabilities. Traditional mechanisms often lack the workspace and degrees of freedom to accurately adapt to complex orientations, limiting their compatibility with multiple vehicle models. Finally, in terms of battery swapping efficiency, the step-by-step positioning and swapping process fundamentally restricts further reduction in the time required for a single battery swapping operation.

[0005] Therefore, there is an urgent need in this field for a new type of vehicle battery swapping device and method with higher integration, better motion accuracy, stronger adaptability, and the ability to effectively improve battery swapping efficiency. Summary of the Invention

[0006] In order to improve the accuracy, adaptability and efficiency of battery swapping while reducing the complexity and cost of system control, this invention provides a vehicle battery swapping device, method, equipment and system.

[0007] In a first aspect, embodiments of the present invention provide a vehicle battery swapping device, the vehicle battery swapping device being used to assist in replacing a vehicle's power battery pack, the vehicle battery swapping device comprising: Determine the platform; Dynamic platform; Four kinetic chains; The kinematic chain includes a first prismatic joint, a second prismatic joint, a third prismatic joint, and a ball joint connected in series; The four kinematic branches are respectively connected to the fixed platform and the moving platform to form a box-type support structure; The first, second, and third prismatic joints are respectively the prismatic joints of the kinematic chain along the ZXY axis, and together with the ball joint, they enable the kinematic chain to translate and rotate in three-dimensional space.

[0008] Optionally, the four motion branches include a first branch, a second branch, a third branch, and a fourth branch; The first branch includes a first drive linear module; The second branch includes a second drive linear module and a third drive linear module; The third branch includes the second drive linear module and the third drive linear module; The fourth branch includes the third driving linear module; Wherein, the first driving linear module of the first branch is connected to the third moving joint of the first branch, driving the third moving joint of the first branch to move along the Y-axis direction. The second drive linear module of the second branch is connected to the second sliding joint of the second branch, and drives the second sliding joint of the second branch to move along the X-axis direction; The second driving linear module of the third branch is connected to the second sliding joint of the third branch, driving the second sliding joint of the third branch to move along the X-axis direction; The third drive linear module of the second branch is connected to the first sliding joint of the second branch, driving the first sliding joint of the second branch to move along the Z-axis direction; The third driving linear module of the third branch is connected to the first moving joint of the third branch, and drives the first moving joint of the third branch to move along the Z-axis. The third driving linear module of the fourth branch is connected to the first sliding joint of the fourth branch, driving the first sliding joint of the fourth branch to move along the Z-axis.

[0009] Optionally, the first drive linear module includes a servo motor and a ball screw; The second drive linear module includes a servo motor and a ball screw. The third drive linear module includes a servo motor, a guide rail, a slider, and a ball screw or synchronous belt. The third drive linear module is used to provide load-bearing capacity for the vehicle battery swapping device while driving the first moving pair of the corresponding branch to move along the Z-axis.

[0010] Optionally, the first branch may further include the third drive linear module; The third drive linear module of the first branch is connected to the first moving joint of the first branch, and is used to enhance the load-bearing capacity of the vehicle battery swapping device while driving the first moving joint of the first branch to move along the Z-axis.

[0011] Optionally, it also includes: a clamp; The clamp is located on the other side of the connection surface between the moving platform and the four kinematic chains; The clamp is used to secure the power battery pack.

[0012] Secondly, embodiments of the present invention provide a control method for a vehicle battery swapping device, applied to the aforementioned vehicle battery swapping device, which may include: Obtain the position and orientation of the battery pack to be removed from the vehicle; Based on the pose of the power battery pack to be disassembled, trajectory planning is performed to obtain the first motion trajectory of each motion branch in the vehicle battery swapping device. Based on the first motion trajectory of each motion branch, control the movement of each motion branch in the vehicle battery swapping device; The actuators on the moving platform of the vehicle battery swapping device are controlled to replace the power battery pack to be removed with a new power battery pack.

[0013] In one or more optional embodiments of this application, controlling the execution components on the dynamic platform of the vehicle battery swapping device to replace the power battery pack to be removed with a new power battery pack includes: Control the actuators on the moving platform in the vehicle battery swapping device to disassemble and discard the power battery pack to be disassembled; Control the movement of each moving chain in the vehicle battery swapping device until the moving platform moves to the vicinity of the new power battery pack; Control the clamps on the moving platform of the vehicle battery swapping device to fix the new power battery pack; Control the movement of each moving chain in the vehicle battery swapping device until the moving platform moves to the position where the vehicle's power battery is to be installed; The actuators on the moving platform of the vehicle battery swapping device are controlled to install the new power battery pack.

[0014] In one or more optional embodiments of this application, the step of trajectory planning based on the pose of the power battery pack to be disassembled to obtain the first motion trajectory of each motion branch in the vehicle battery swapping device includes: Based on the orientation of the power battery pack to be disassembled, the shortest movement time, the minimum required driving force, and the lowest movement energy consumption are taken as optimization objectives to perform trajectory planning and obtain the first motion trajectory of each motion branch in the vehicle battery swapping device.

[0015] Thirdly, embodiments of the present invention provide a control device for a vehicle battery swapping device, including a memory, a processor, and computer program instructions stored in the memory. When the processor executes the computer program instructions, it implements the control method for the vehicle battery swapping device as described above. Fourthly, embodiments of the present invention provide a control system for a vehicle battery swapping device, which may include: According to the above-described vehicle battery swapping device, visual positioning device, and control device of the above-described vehicle battery swapping device, the control device of the vehicle battery swapping device is connected to the visual positioning device and the vehicle battery swapping device respectively.

[0016] Fifthly, embodiments of the present invention provide a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implements the control method for a vehicle battery swapping device as described above.

[0017] In a sixth aspect, embodiments of the present invention provide a computer program product, including a computer program / instructions, which, when executed by a processor, implement the control method for a vehicle battery swapping device as described above.

[0018] The beneficial effects of the above-described technical solutions provided in the embodiments of the present invention include at least the following: This invention provides a vehicle battery swapping device. This device employs a parallel mechanism consisting of four motion chains, forming a box-type support structure with high rigidity and stability. This effectively avoids the error accumulation problem inherent in series mechanisms, significantly improving the positioning accuracy and motion stability of the vehicle battery swapping device, thereby reducing the risk of battery impact during the swapping process. Secondly, the vehicle battery swapping device inherently possesses the ability to move and rotate flexibly in three-dimensional space. It can not only achieve precise docking of the power battery pack but also flexibly adapt to the complex spatial posture requirements of battery installation positions in different vehicle models, greatly enhancing the versatility and adaptability of the vehicle battery swapping device. Furthermore, this highly integrated structure eliminates the need for a separate vehicle positioning system, simplifying the overall architecture, reducing hardware costs, and effectively improving battery swapping efficiency by reducing operational steps.

[0019] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0020] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is one of the structural schematic diagrams of a vehicle battery swapping device provided in an embodiment of the present invention; Figure 2 This is a second schematic diagram of the structure of the vehicle battery swapping device provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the local coordinate system of the motion branch provided in an embodiment of the present invention; Figure 4 A schematic diagram of the motion helix of the motion branch provided in an embodiment of the present invention; Figure 5 This is a flowchart illustrating the control method for a vehicle battery swapping device provided in an embodiment of the present invention.

[0022] Explanation of icon numbers: 11-Fixed platform; 12-Moving platform; 13-First branch; 14-Second branch; 15-Third branch; 16-Fourth branch; 131-First sliding joint of first branch 13; 132-Second sliding joint of first branch 13; 133-Third sliding joint of first branch 13; 134-Spherical joint of first branch 13; 141-First sliding joint of second branch 14; 142-Second sliding joint of second branch 14; 144-Second branch 1 4 - Third sliding joint; 144 - Ball joint of second branch 14; 151 - First sliding joint of third branch 15; 152 - Second sliding joint of third branch 15; 155 - Third sliding joint of third branch 15; 155 - Ball joint of third branch 15; 161 - First sliding joint of fourth branch 16; 162 - Second sliding joint of fourth branch 16; 166 - Third sliding joint of fourth branch 16; 166 - Ball joint of fourth branch 16. Detailed Implementation

[0023] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0024] The inventors discovered that current mainstream solutions for rapid battery swapping in new energy vehicles typically rely on one or more automated mechanical systems. These systems generally require two core steps: vehicle positioning and battery removal / installation. The vehicle positioning system aligns the entire vehicle, and the battery removal / installation device replaces the battery pack. In terms of system configuration, a series mechanical structure is commonly used, with each joint moving sequentially to achieve the desired function.

[0025] However, existing solutions face a series of common technical challenges and limitations in practical applications: First, regarding motion accuracy, due to the inherent characteristics of the serial structure, the positioning error of the end effector accumulates at each stage, potentially causing collisions during battery pack docking, affecting operational safety and equipment reliability. Second, regarding system complexity and cost, the positioning system and battery swapping system are often independent, resulting in a complex overall structure, large space occupation, high manufacturing costs, and cumbersome maintenance. Third, regarding adaptability to operating conditions, the battery pack installation positions and orientations may differ for different vehicle models, requiring the battery swapping device to have flexible orientation adjustment capabilities. However, the workspace and degrees of freedom of traditional mechanisms often cannot meet the precise adaptation requirements of complex orientations, limiting its compatibility with multiple vehicle models. Finally, regarding battery swapping efficiency, the step-by-step positioning and battery swapping process fundamentally restricts further reduction in the time required for a single battery swapping operation. Based on these considerations, the inventors, through further research and development, have created this invention, providing a vehicle battery swapping device, method, equipment, and system.

[0026] Example 1 Embodiment 1 of the present invention provides a vehicle battery swapping device for assisting in the replacement of a vehicle's power battery pack, as described below. Figure 1 As shown, the vehicle battery swapping device includes: Fixed platform 11, moving platform 12, and four motion chains, The various kinematic chains include the first, second, and third prismatic joints and the ball joint connected in series.

[0027] Four motion chains are connected to the fixed platform 11 and the moving platform 12 respectively, forming a box-type support structure.

[0028] The first, second, and third prismatic joints are the prismatic joints of the kinematic chain along the ZXY axis, which work together with the ball joint to enable the kinematic chain to translate and rotate in three-dimensional space.

[0029] This invention provides a vehicle battery swapping device. This device employs a parallel mechanism consisting of four motion chains, forming a box-type support structure with high rigidity and stability. This effectively avoids the error accumulation problem inherent in series mechanisms, significantly improving the positioning accuracy and motion stability of the vehicle battery swapping device, thereby reducing the risk of battery impact during the swapping process. Secondly, the vehicle battery swapping device inherently possesses the ability to move and rotate flexibly in three-dimensional space. It can not only achieve precise docking of the power battery pack but also flexibly adapt to the complex spatial posture requirements of battery installation positions in different vehicle models, greatly enhancing the versatility and adaptability of the vehicle battery swapping device. Furthermore, this highly integrated structure eliminates the need for a separate vehicle positioning system, simplifying the overall architecture, reducing hardware costs, and effectively improving battery swapping efficiency by reducing operational steps.

[0030] In some embodiments, such as Figure 2 As shown, there are four motion branches, including the first branch 13, the second branch 14, the third branch 15, and the fourth branch 16.

[0031] Right now, The first branch 13 includes a first sliding joint 131, a second sliding joint 132, a third sliding joint 133, and a ball joint 134 connected in series.

[0032] The second branch 14 includes a first sliding joint 141, a second sliding joint 142, a third sliding joint 143, and a ball joint 144 connected in series.

[0033] The third branch 15 includes a first sliding joint 151, a second sliding joint 152, a third sliding joint 153, and a ball joint 154 connected in series.

[0034] The fourth branch 16 includes a first sliding joint 161, a second sliding joint 162, a third sliding joint 163, and a ball joint 164 connected in series.

[0035] The identical structure of each branch ensures the symmetry of the mechanism and the coordination of its movements.

[0036] Specifically, such as Figure 3 Schematic diagram of the local coordinate system of the motion branch and Figure 4 As shown in the schematic diagram of the motion helix of the motion chain, the first prismatic joint realizes linear motion along the vertical direction (Z-axis), that is... Figure 4 In In terms of direction, the second prismatic joint enables linear motion along the first horizontal direction (X-axis), that is... Figure 4 In In terms of direction, the third prismatic joint enables linear motion along the second horizontal direction (Y-axis), that is... Figure 4 In The directions, axes of motion of the three elements are orthogonal to each other. A ball joint provides three coordinate axes in space. , and The rotational degrees of freedom. This "three-shift, one-rotation" branched configuration is the foundation of the entire mechanism's motion capability.

[0037] Four kinematic chains are connected to the fixed platform 11 and the moving platform 12 respectively, forming a box-type support structure. This closed-loop parallel configuration allows the movement of the moving platform 12 to be driven and controlled by the four kinematic chains in a coordinated manner, and its load-bearing capacity and structural stiffness are significantly better than those of traditional open-chain serial mechanisms.

[0038] The first, second, and third prismatic joints are the prismatic joints along the ZXY axes of the motion chain, respectively. Working together with the ball joints, they enable the ends of the motion chains (i.e., the points of connection with the moving platform 12) to translate and rotate in three-dimensional space. By coordinating and controlling the movement of the prismatic joints in each motion chain, the position and attitude of the moving platform 12 in three-dimensional space can be precisely controlled, thereby achieving complete six-degree-of-freedom pose adjustment.

[0039] In some embodiments, the first branch 13 includes a first driving linear module, and the first driving linear module of the first branch 13 is connected to the third sliding joint 133 of the first branch 13, driving the third sliding joint 133 of the first branch 13 to move along the Y-axis direction.

[0040] The second branch 14 includes a second drive linear module and a third drive linear module. The second drive linear module of the second branch 14 is connected to the second sliding joint 142 of the second branch 14, driving the second sliding joint 142 of the second branch 14 to move along the X-axis. The third drive linear module of the second branch 14 is connected to the first sliding joint 141 of the second branch 14, driving the first sliding joint 141 of the second branch 14 to move along the Z-axis.

[0041] The third branch 15 includes a second drive linear module and a third drive linear module. The second drive linear module of the third branch 15 is connected to the second sliding joint 152 of the third branch 15, driving the second sliding joint 152 of the third branch 15 to move along the X-axis. The third drive linear module of the third branch 15 is connected to the first sliding joint 151 of the third branch 15, driving the first sliding joint 151 of the third branch 15 to move along the Z-axis.

[0042] The fourth branch 16 includes a third drive linear module. The third drive linear module of the fourth branch 16 is connected to the first sliding joint 161 of the fourth branch 16, driving the first sliding joint 161 of the fourth branch 16 to move along the Z-axis.

[0043] In summary, in this embodiment, the drive linear modules in the four motion chains work collaboratively to achieve six-degree-of-freedom pose control of the moving platform 12: The first chain 13 drives the third prismatic joint 133 through its first drive linear module, mainly providing drive capability in the Y-axis direction to optimize dynamic performance and load distribution. The second chain 14 and the third chain 15 are structurally symmetrical, each driving the second prismatic joints (142, 152) through its respective second drive linear module to achieve displacement in the X-axis direction, and driving the first prismatic joints (141, 151) through its respective third drive linear module to achieve the main lifting and load-bearing in the Z-axis direction. The fourth chain 16 drives the first prismatic joint 161 through its third drive linear module, and together with the Z-axis drive of the second chain 14 and the third chain 15, they form a stable and high-load-bearing four-corner synchronous lifting system.

[0044] The Z-axis drive group, composed of all the first moving joints, is responsible for the main load-bearing and vertical positioning of the device. The X-axis drive group, composed of the second drive linear modules in the second branch 14 and the third branch 15, is responsible for the displacement in the X direction in the horizontal plane. The Y-axis drive group, composed of the first drive linear modules in the first branch 13, is responsible for the displacement in the Y direction in the horizontal plane. Through the coordinated control of the corresponding moving joints by the above six sets of drive linear modules, the dynamic platform 12 can be precisely and stably adjusted to any position and attitude in three-dimensional space, completing the precise gripping, transportation, and installation of the power battery pack.

[0045] In some embodiments, the first drive linear module includes a servo motor and a ball screw. The second drive linear module includes a servo motor and a ball screw. The third drive linear module includes a servo motor, a guide rail, a slider, and a ball screw or synchronous belt. The third drive linear module is used to provide load-bearing capacity for the vehicle battery swapping device while driving the first moving pair of the corresponding branch to move along the Z-axis. The first and second drive linear modules are mainly used to achieve precise displacement control in the X and Y directions, while the third drive linear module needs to bear the vertical drive capacity of high load and long stroke. The three modules can be emphasized in terms of structure and selection according to functional requirements.

[0046] In some embodiments, the first branch 13 further includes a third drive linear module. The third drive linear module of the first branch 13 is connected to the first sliding joint 131 of the first branch 13 and is used to enhance the load-bearing capacity of the vehicle battery swapping device while driving the first sliding joint 131 of the first branch 13 to move along the Z-axis direction.

[0047] Specifically, at this time, the first movable joint 131 of the first branch 13 serves as a redundant drive joint, which, while driving the first movable joint 131 of the first branch 13 to move along the Z-axis, can enhance the overall load-bearing capacity of the vehicle battery swapping device in the Z-direction, improve dynamic performance, and enhance system reliability.

[0048] Redundant drive refers to additional drive joints added when the required drive joints already meet the required number of degrees of freedom (6 degrees of freedom in this device). The main purposes of introducing this redundant drive joint are: in terms of load-bearing capacity, it can distribute the load of other Z-axis drive joints, especially when lifting heavy battery packs, effectively reducing the load on a single joint and improving overall load-bearing capacity and structural stiffness; in terms of motion control, it can coordinate the output force of multiple drive joints through optimization algorithms, reducing vibration and errors during motion, and improving trajectory tracking accuracy and dynamic response performance; in terms of reliability, the redundant design can provide a certain degree of motion compensation capability when a single drive joint fails, enhancing system fault tolerance and thus ensuring the continuity and safety of battery swapping operations.

[0049] In this embodiment, the vehicle battery swapping device further includes a clamp, which is located on the other side of the connection surface between the moving platform and the four motion chains, and is used to fix the power battery pack. This clamp can be adapted to different battery pack models and typically includes a clamping mechanism, positioning pins, and floating connectors for connecting the battery pack's electrical interfaces. Based on its six-degree-of-freedom motion capability, the moving platform 12, carrying the clamp, can precisely complete a series of battery swapping operations, including docking with the vehicle battery pack, locking, unlocking, disassembling, transferring, and installing new battery packs.

[0050] To verify the kinematic characteristics and drive configuration rationality of the vehicle battery swapping device, a theoretical analysis of its degrees of freedom is conducted below. Based on spiral theory, a motion spiral system model and analysis are performed on the vehicle battery swapping device. This analysis will prove that the device possesses six degrees of freedom, and that the seven drive joints configured, including the third sliding joint 133 of the first branch 13, the first sliding joint 141 and the second sliding joint 142 of the second branch 14, the first sliding joint 151 and the second sliding joint 152 of the third branch 15, and the first sliding joint 161 of the fourth branch 16, as well as a redundant drive joint, the third sliding joint 131 of the first branch 13, can effectively and stably control all movements of the mechanism. The specific analysis is as follows: I. Calculation and Verification of the Degrees of Freedom of the Apparatus To rigorously demonstrate the kinematic performance and drive configuration rationality of the vehicle battery swapping device from a theoretical perspective, a degree-of-freedom analysis is necessary. The device can be abstracted as a parallel mechanism consisting of a fixed platform 11, a moving platform 12, and four identical kinematic chains. Using screw theory, a mathematical tool for analyzing the degrees of freedom and constraints of mechanisms, the following analysis is conducted.

[0051] First, since the four kinematic branches have the same configuration, their kinematic properties are equivalent; therefore, it is sufficient to analyze only one kinematic branch. For example... Figure 3 Local coordinate system As shown, its origin is set at the center of the ball joint. In this coordinate system, the motion helical system of a single kinematic chain can be represented as a set containing six independent motion helices:

[0052] In the formula, The six components of a motion spiral system representing a motion branch. to These correspond to the translational motion along the Z, X, and Y axes provided by the three prismatic joints in the kinematic chain, and the rotational motion around the X, Y, and Z axes provided by the ball joint.

[0053] Each motion spiral Let be a six-dimensional vector, where, This represents the angular velocity vector component corresponding to the motion, used to describe rotational motion. This represents the linear velocity vector component corresponding to the motion, used to describe translational motion. Specifically, the various motion spirals are as follows:

[0054] In the formula, This represents translational motion along the Z-axis of the local coordinate system. This represents translational motion along the X-axis of the local coordinate system. This represents translational motion along the Y-axis of the local coordinate system. This represents rotational motion along the X-axis of the local coordinate system. This represents translational motion along the Y-axis of the local coordinate system. This represents translational motion along the Z-axis of the local coordinate system.

[0055] Based on the calculations of each motion spiral shown in Formula 2, the motion spiral system can be determined. The rank is 6, meaning these six motion spirals are linearly independent. Based on the anti-spiral theory, the anti-spiral system corresponding to a motion spiral system describes the constraint of that branch on the moving platform. A rank of 6 indicates that the motion spiral system of the motion branch does not have a non-zero anti-spiral, meaning that the motion branch does not impose any motion constraint on the moving platform 12 connected to it. Furthermore, it can be seen that there are no common constraint spirals among the four motion branches, meaning the number of common constraints of this device is zero, and this device also has no redundant constraints or local degrees of freedom.

[0056] Next, the degrees of freedom of this device are calculated according to the Kutzbach-Grübler formula shown below:

[0057] In the formula, M For the degrees of freedom of the device, d Let be the order of the apparatus, calculated as d = 6 - λ, where λ is the number of common constraints and n is the total number of components in the apparatus. g The total number of moving pairs in the device. f i Let be the number of degrees of freedom of the i-th prismatic joint in the device. v The number of redundancy constraints for the device. Let be the number of local degrees of freedom of the device.

[0058] Substituting the configuration parameters of this device, the common constraint number λ=0, therefore the order of the device is... d The total number of movable components is 6. Based on the specific device configuration, the total number of movable components n = 14, including the fixed platform 12, the moving platform 11, and the 3 sliding joints on each kinematic chain, i.e., 1 + 1 + 12 = 14. The total number of sliding joints is... g=16, including 3 prismatic joints and 1 ball joint on each kinematic branch, i.e., 4*4=16, the sum of the degrees of freedom of each prismatic joint and ball joint. This includes the sum of the degrees of freedom of the three prismatic joints and one ball joint on each kinematic branch. Each prismatic joint has 1 degree of freedom, and each ball joint has 3 degrees of freedom, totaling 4*3*1 + 4*1*3 = 24. Combining this with the aforementioned conclusions, the number of redundant constraints is... v =0, local degrees of freedom =0, substituting into Formula 3 above, we obtain the number of degrees of freedom of this device. M =6.

[0059] Therefore, the theoretical calculations above prove that the device has 6 degrees of freedom. This means that the moving platform 12 can move along the three coordinate axes of X, Y, and Z in space, as well as rotate around these three coordinate axes, thus possessing complete motion capabilities for arbitrary position and attitude adjustment in three-dimensional space, which can meet the complex posture requirements for precise docking and installation of power battery packs during battery swapping.

[0060] II. Driver Configuration Scheme Verification The device has 6 degrees of freedom. According to the principles of mechanics, theoretically, only 6 independently controlled drive joints are needed to completely determine its motion state. This invention actually configures seven drive joints, including one redundant drive joint for performance optimization, namely the first prismatic joint 131 of the first branch 13. Therefore, to first verify the completeness of the mechanism in terms of basic drive requirements, a feasibility test needs to be conducted on the configuration scheme of only six necessary drive joints (excluding the first prismatic joint 131 of the first branch 13) without considering redundant drive. Based on the drive joint selection principle, the test method is as follows: assuming all six pre-selected drive joints are "rigidified" (considered fixed), the degrees of freedom of the remaining mechanism are analyzed. If the degrees of freedom of the remaining mechanism after rigidification are 0, then the basic drive scheme is proven to be feasible and complete. The specific verification steps are as follows: Verification Step 1: Stiffening Treatment and Residual Motion Spiral System First, all six drive joints mentioned above are stiffened, meaning they are considered fixed. At this point, because some joints in each branch are locked, the remaining kinematic pairs constitute a new kinematic chain. Let the kinematic helical systems of kinematic branches 1 to 4 after stiffening be respectively... , , and Based on the spiral theory, we can obtain:

[0061] In the formula, , , and These represent the independent motion spirals that each motion branch can still provide after stiffening. For example, if the first branch 13 is stiffened, meaning the third prismatic joint 133 on the first branch 13 is considered fixed, then the other three motion branches can still provide translational motion along the Z-axis, translational motion along the X-axis, rotational motion along the X-axis, translational motion along the Y-axis, and translational motion along the Z-axis of the local coordinate system. These correspond to the following motion spirals: , , , and Therefore, we can obtain The same principle applies to the motion spiral systems after the other motion branches have been stiffened, and they will not be explained individually here.

[0062] Verification step 2: Solve for the anti-screw system of each kinematic branch. The anti-helical system of a motion branch represents the motion constraint imposed by that motion branch on the moving platform 11. This can be obtained by calculating the reciprocity product: The first branch 13's motion spiral system Its rank is 5, and its antiscrew system is:

[0063] In the formula, The first branch 13 is an anti-helical system, and the constraint helix indicates that the first branch 13 restricts the translational degree of freedom of the moving platform 11 along its local coordinate system Y-axis.

[0064] The motion spiral system of the second branch 14 Its rank is 4, and its antiscrew system is:

[0065] In the formula, and The second branch 14 is an anti-spiral system, and the constraint spiral indicates that the second branch 14 restricts the translational degrees of freedom of the moving platform 11 along the Z-axis of its local coordinate system and the translational degrees of freedom along the X-axis of its local coordinate system.

[0066] The motion spiral system of the third branch 15 Its rank is 4, and its antiscrew system is:

[0067] In the formula, and The third branch 15 is an anti-screw system, which means that the third branch 15 restricts the translational degrees of freedom of the moving platform 11 along the Z-axis of its local coordinate system and the translational degrees of freedom along the X-axis of its local coordinate system.

[0068] The motion spiral system of the fourth branch 16 Its rank is 5, and its antiscrew system is:

[0069] In the formula, The first branch 13 is an anti-spiral system, and the constraint spiral indicates that the fourth branch 16 restricts the translational degree of freedom of the moving platform 11 along its local coordinate system Z-axis.

[0070] Verification Step 3: Analyze the overall constraints and calculate the degrees of freedom Analyze the anti-screw system of each kinematic branch obtained in verification step 2 above. , , , , and According to the spiral theory, these anti-spiral systems are their corresponding constraint spiral systems. Analysis shows that there are no spirals in the same direction among all constraint spiral systems, meaning the mechanism has no common constraint spiral systems. Therefore, it can be deduced that there are no common constraints among all branches, meaning the number of common constraints λ = 0. Furthermore, the system analysis also shows no redundant constraints or local degrees of freedom, meaning the number of redundant constraints is very low. v =0, local degrees of freedom =0.

[0071] Substituting the parameters obtained from the above analysis, along with the configuration parameters of the rigidified device, into the Kutzbach-Grübler degree of freedom calculation formula shown in Formula 3 above, the calculation process is as follows:

[0072] In the formula, M The degrees of freedom of the rigidified device. d Let be the order of the apparatus, calculated as d = 6 - λ, where λ is the number of common constraints and n is the total number of components in the apparatus. g The total number of moving pairs in the device. f i Let be the number of degrees of freedom of the i-th prismatic joint in the device. v The number of redundancy constraints for the device. Let be the number of local degrees of freedom of the device.

[0073] Since the common constraint number λ = 0, the order of the apparatus is... dThe total number of movable components is 6. Based on the specific device configuration, the total number of movable components n=8, including the fixed platform 12, the moving platform 11, the first sliding joint 131 and the second sliding joint 132 of the first branch 13, the third sliding joint 143 of the second branch 14, the third sliding joint 153 of the third branch 15, and the second sliding joint 162 and the third sliding joint 163 of the fourth branch 16. The total number of sliding joints is... g =10, including the first prismatic joint 131 and the second prismatic joint 132 of the first branch 13, the third prismatic joint 143 of the second branch 14, the third prismatic joint 153 of the third branch 15, the second prismatic joint 162 and the third prismatic joint 163 of the fourth branch 16, and four ball joints, the sum of the degrees of freedom of each prismatic joint and ball joint. Based on the aforementioned conclusions, the number of redundant constraints can be determined. v =0, local degrees of freedom =0, substituting into Formula 8 above, we obtain the number of degrees of freedom of this device. M =6.

[0074] The calculation results show that when all six pre-selected necessary drive joints are stiffened (i.e. effectively controlled), the newly formed parallel mechanism has zero degrees of freedom. According to the drive joint selection principle, this fully proves that the allocation scheme of the six drive joints is complete and feasible, and can completely determine and control all the movements of the moving platform 11.

[0075] This conclusion rigorously confirms the reliability of the basic drive scheme from a mechanics perspective, providing a solid theoretical basis for the subsequent introduction of a seventh redundant drive joint to further enhance load-bearing capacity, improve dynamic performance, and enhance system reliability.

[0076] Due to the large mass of the power battery pack and the long lifting stroke required in the Z direction, the power battery pack mainly exerts a vertically downward force on the device clamp during the battery swapping process. If only the three motion chains are driven in the Z direction, and the moving joint of the first chain 13 in the Z direction is set as a follower, based on the helical theory, it is known that the first chain 13 will not be able to exert a constraint force on the moving platform 11 in the Z direction. Therefore, the redundant drive layout adopted in this method not only further improves the load-bearing capacity of the device but also improves its dynamic characteristics.

[0077] The introduction of redundant drives transforms this device from a typical parallel configuration with six drive joints controlling six degrees of freedom into a redundant drive parallel system with seven drive joints controlling six degrees of freedom. This transformation brings significant advantages at the control level: since the number of drive joints is greater than the number of degrees of freedom of the mechanism, the inverse dynamic solution of the system (i.e., solving for the driving force / torque of each joint based on the end effector motion) no longer has a unique solution. This non-uniqueness of the solution provides space for optimizing the control strategy. By setting reasonable optimization objectives (such as minimizing the overall driving torque of all drive joints, achieving the most balanced load on each drive joint, or minimizing system energy consumption), and using optimization algorithms (such as gradient method, quadratic programming, etc.) to distribute the driving force online or offline, the peak load of a single drive joint (especially the Z-axis drive joint) can be significantly reduced while ensuring motion accuracy, thereby extending the life of drive components and reducing the failure rate. At the same time, optimized force distribution also helps to suppress vibrations that may occur during high-speed or variable-load motion of the mechanism, improve motion smoothness and dynamic accuracy, and further enhance the safety and reliability of the battery swapping process.

[0078] based on Figure 1 and Figure 2 The vehicle battery swapping device, in this embodiment, also provides a control method for the vehicle battery swapping device, specifically including the following steps S101-S104: S101: Obtain the position of the power battery pack to be removed from the vehicle.

[0079] Specifically, the new energy vehicle to be swapped may manually or automatically drive to the designated swapping area of ​​the swapping station and complete initial alignment. Subsequently, a vision positioning system integrated into the swapping device or station acquires and identifies images of a positioning target pre-installed on the bottom of the power battery pack at the vehicle's chassis. The vision positioning system calculates the six-dimensional relative pose of the target (i.e., the power battery pack to be removed) relative to the fixed platform 11 of the swapping device (or the fixed coordinate system of the swapping station) using a vision processing algorithm, which can be represented as […]. ] ,in, These represent the translation amounts along the three coordinate axes of the fixed platform coordinate system. These represent the rotation angles around the three coordinate axes of the coordinate system. This relative pose represents the initial spatial position and attitude of the power battery pack to be removed, providing a unique and accurate input for subsequent precise trajectory planning.

[0080] S102: Based on the pose of the power battery pack to be removed, perform trajectory planning to obtain the first motion trajectory of each motion branch in the vehicle battery swapping device.

[0081] Specifically, based on the pose of the power battery pack to be removed, the trajectory planning can be performed with the objectives of minimizing the movement time, minimizing the required driving force, and minimizing the movement energy consumption, so as to obtain the first motion trajectory of each motion branch in the vehicle's battery swapping device.

[0082] Specifically, based on the pose of the power battery pack to be disassembled obtained in step S101 above, and the initial pose of the moving platform 11, the trajectory planning module is activated. The core task of this module is to calculate an optimal path that allows the moving platform 11 to move smoothly and accurately from the initial pose to the pose of the power battery pack to be disassembled.

[0083] During the planning process, one or more optimization objectives can be set to guide trajectory generation. These objectives typically include minimizing the overall battery swapping time, minimizing the total driving force required, and minimizing energy consumption throughout the motion process. Under the premise of satisfying the physical constraints such as the speed and acceleration limits of each drive joint and the workspace of the mechanism, the optimal motion trajectory of each drive joint that satisfies these optimization objectives is solved using an optimization algorithm. This includes a sequence of displacement, velocity, and acceleration changes over time for each of the seven drive joints. This sequence constitutes the first motion trajectory, which will serve as the direct basis for subsequent joint servo control.

[0084] S103: Control the movement of each motion branch in the vehicle battery swapping device according to the first motion trajectory of each motion branch.

[0085] Specifically, control commands can be generated based on the motion trajectories of each drive joint in the first motion trajectory. These commands drive the servo motors in the corresponding first, second, and third drive linear modules to move precisely along a predetermined trajectory, thereby driving the corresponding gliding pairs in each motion chain to move smoothly and precisely along the planned path to the position where the power battery pack to be removed is docked.

[0086] S104: Control the actuators on the moving platform in the vehicle's battery swapping device to replace the battery pack to be removed with a new battery pack. Specifically, this includes the following steps S1041-S1045: S1041: Controls the actuators on the moving platform in the vehicle's battery swapping unit to remove and discard the power battery pack to be removed.

[0087] Specifically, after the moving platform 11 is docked with the battery pack to be removed, a command is sent to the unlocking / unlocking actuator on the moving platform 11. The actuator activates its built-in electric or pneumatic tool to loosen and remove the bolts securing the battery pack to the vehicle chassis. Subsequently, the clamping actuator on the moving platform 11 tightens, firmly gripping the unlocked battery pack to be removed.

[0088] Controlling the coordinated movement of each motion chain drives the driving platform 11 and the grabbed power battery pack to be disassembled to move along a safe path, transporting it to the designated battery storage rack or recycling area within the battery swapping station and releasing it, thus completing the disassembly and storage of the power battery pack to be disassembled.

[0089] In this process, the power battery pack to be disassembled is moved and stored along a safe path. The method for obtaining the safe path can be the same as in step S102 above. Based on the current pose of the moving platform 11 and the target pose of the battery storage rack retrieval point, trajectory planning is performed to obtain the corresponding safe path. The specific implementation method is the same as in step S102 above, and will not be repeated here.

[0090] S1042: Controls the movement of each moving chain in the vehicle's battery swapping device until the moving platform moves to the vicinity of the new power battery pack.

[0091] Specifically, after the placement of the power battery pack to be disassembled is completed, a second motion trajectory is generated by planning a similar trajectory to step S102 above, based on the preset storage location coordinates of the new power battery pack within the battery swapping station. According to this second motion trajectory, each motion chain is driven to move, causing the unloaded moving platform 11 to move from the battery storage rack recovery point to a predetermined grabbing point near the storage location of the new power battery pack.

[0092] S1043: Controls the clamps on the moving platform of the vehicle's battery swapping device to secure the new power battery pack.

[0093] Specifically, when the moving platform 11 moves to a predetermined gripping point near the new power battery pack, the clamping execution component, i.e. the clamp, on the moving platform 11 is controlled to align and engage with the corresponding interface or gripping point on the new power battery pack, thereby firmly gripping the new power battery pack.

[0094] S1044: Controls the movement of each moving chain in the vehicle's battery swapping device until the moving platform moves to the position where the vehicle's power battery is to be installed.

[0095] Specifically, after acquiring the new power battery pack, based on the target orientation of the battery mounting cavity on the vehicle chassis, a similar trajectory planning process as described in step S102 is performed again to generate a third motion trajectory. Based on this third motion trajectory, each motion chain is driven to move, causing the moving platform 11 carrying the new power battery pack to move smoothly and precisely to the battery mounting position under the vehicle, and to initially align the new power battery pack with the battery pack mounting interface on the vehicle chassis.

[0096] S1045: Controls the actuators on the moving platform in the vehicle's battery swapping unit to install a new power battery pack.

[0097] Specifically, after the new power battery pack is precisely aligned with the battery pack mounting interface on the vehicle chassis, the locking / unlocking actuator on the control platform 11 is activated, driving its tool head to screw in and tighten the connecting bolts between the new power battery pack and the vehicle chassis to the specified torque. Once the installation is confirmed to be secure, the clamping assembly on the control platform 11 releases its grip on the new power battery pack. Finally, the movement of each motion chain is controlled, causing the device to detach from the bottom of the vehicle and return to its standby position within the battery swapping station, thus completing the entire installation process of the new power battery pack.

[0098] In this embodiment of the application, in order to implement the control method of the above-mentioned vehicle battery swapping device, a corresponding hardware and system integration solution is also provided.

[0099] Specifically, this embodiment provides a control device for a vehicle battery swapping device, the core of which includes a processor and a memory. The memory stores executable computer program instructions, and when the processor loads and executes these instructions, it can fully realize all or part of the functions described in the control method for the vehicle battery swapping device.

[0100] Furthermore, this embodiment also provides an integrated control system for a vehicle battery swapping device. This system mainly includes a vehicle battery swapping device, a visual positioning device for acquiring pose, and the aforementioned control device for the vehicle battery swapping device. In the control system of the vehicle battery swapping device, the control device acts as the central hub, establishing communication and control connections with the visual positioning device and each drive linear module and actuator component within the vehicle battery swapping device, thereby coordinating and completing a fully automated operation process from vehicle positioning, trajectory planning, motion control to battery swapping.

[0101] Example 2 Based on the same inventive concept, embodiments of the present invention also provide a control method for a vehicle battery swapping device, applied to the aforementioned vehicle battery swapping device, with reference to... Figure 5 As shown, the method includes: S101: Obtain the position of the power battery pack to be removed from the vehicle; S102: Based on the pose of the power battery pack to be disassembled, trajectory planning is performed to obtain the first motion trajectory of each motion branch in the vehicle battery swapping device; S103: Control the movement of each motion branch in the vehicle battery swapping device according to the first motion trajectory of each motion branch; S104: Control the execution component on the moving platform in the vehicle battery swapping device to replace the power battery pack to be removed with a new power battery pack.

[0102] In step S102 above, the step of trajectory planning based on the pose of the power battery pack to be disassembled to obtain the first motion trajectory of each motion branch in the vehicle battery swapping device includes: Based on the orientation of the power battery pack to be disassembled, the shortest movement time, the minimum required driving force, and the lowest movement energy consumption are taken as optimization objectives to perform trajectory planning and obtain the first motion trajectory of each motion branch in the vehicle battery swapping device.

[0103] In step S104 above, controlling the execution component on the moving platform of the vehicle battery swapping device to replace the power battery pack to be removed with a new power battery pack includes: Control the actuators on the moving platform in the vehicle battery swapping device to disassemble and discard the power battery pack to be disassembled; Control the movement of each moving chain in the vehicle battery swapping device until the moving platform moves to the vicinity of the new power battery pack; Control the clamps on the moving platform of the vehicle battery swapping device to fix the new power battery pack; Control the movement of each moving chain in the vehicle battery swapping device until the moving platform moves to the position where the vehicle's power battery is to be installed; The actuators on the moving platform of the vehicle battery swapping device are controlled to install the new power battery pack.

[0104] Example 3 Based on the same inventive concept, this embodiment of the invention also provides a control device for a vehicle battery swapping device, including a memory, a processor, and computer program instructions stored in the memory. When the processor executes the computer program instructions, it implements the control method for the vehicle battery swapping device as described in Embodiment 2 above.

[0105] Example 4 Based on the same inventive concept, embodiments of the present invention also provide a control system for a vehicle battery swapping device, which may include: According to the vehicle battery swapping device, visual positioning device, and control device of the vehicle battery swapping device described in Embodiment 1 above, the control device of the vehicle battery swapping device is connected to the visual positioning device and the vehicle battery swapping device respectively.

[0106] Example 5 Based on the same inventive concept, embodiments of the present invention also provide a computer-readable storage medium storing a computer program / instructions thereon, which, when executed by a processor, implements the control method for the vehicle battery swapping device as described in Embodiment 2 above.

[0107] Example 6 Based on the same inventive concept, this embodiment of the invention also provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the control method for the vehicle battery swapping device as described in Embodiment 2 above.

[0108] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0109] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0110] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0111] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0112] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A vehicle battery swapping device, characterized in that, The vehicle battery swapping device is used to assist in replacing the vehicle's power battery pack, and the vehicle battery swapping device includes: Determine the platform; Dynamic platform; Four kinetic chains; The kinematic chain includes a first prismatic joint, a second prismatic joint, a third prismatic joint, and a ball joint connected in series; The four kinematic branches are respectively connected to the fixed platform and the moving platform to form a box-type support structure; The first, second, and third prismatic joints are respectively the prismatic joints of the kinematic chain along the ZXY axis, and together with the ball joint, they enable the kinematic chain to translate and rotate in three-dimensional space.

2. The vehicle battery swapping device according to claim 1, characterized in that, The four motion branches include the first branch, the second branch, the third branch, and the fourth branch; The first branch includes a first drive linear module; The second branch includes a second drive linear module and a third drive linear module; The third branch includes the second drive linear module and the third drive linear module; The fourth branch includes the third driving linear module; Wherein, the first driving linear module of the first branch is connected to the third moving joint of the first branch, driving the third moving joint of the first branch to move along the Y-axis direction. The second drive linear module of the second branch is connected to the second sliding joint of the second branch, and drives the second sliding joint of the second branch to move along the X-axis direction; The second driving linear module of the third branch is connected to the second sliding joint of the third branch, and drives the second sliding joint of the third branch to move along the X-axis direction; The third drive linear module of the second branch is connected to the first sliding joint of the second branch, driving the first sliding joint of the second branch to move along the Z-axis direction; The third driving linear module of the third branch is connected to the first moving joint of the third branch, and drives the first moving joint of the third branch to move along the Z-axis. The third driving linear module of the fourth branch is connected to the first sliding joint of the fourth branch, driving the first sliding joint of the fourth branch to move along the Z-axis.

3. The vehicle battery swapping device according to claim 2, characterized in that, The first drive linear module includes a servo motor and a ball screw; The second drive linear module includes a servo motor and a ball screw. The third drive linear module includes a servo motor, a guide rail, a slider, and a ball screw or synchronous belt. The third drive linear module is used to provide load-bearing capacity for the vehicle battery swapping device while driving the first moving pair of the corresponding branch to move along the Z-axis.

4. The vehicle battery swapping device according to claim 3, characterized in that, The first branch also includes the third drive linear module; The third drive linear module of the first branch is connected to the first moving joint of the first branch, and is used to enhance the load-bearing capacity of the vehicle battery swapping device while driving the first moving joint of the first branch to move along the Z-axis.

5. The vehicle battery swapping device according to claim 1, characterized in that, Also includes: Fixture; The clamp is located on the other side of the connection surface between the moving platform and the four kinematic chains; The clamp is used to secure the power battery pack.

6. A control method for a vehicle battery swapping device, applied to the vehicle battery swapping device according to any one of claims 1-5, characterized in that, The method includes: Obtain the position and orientation of the battery pack to be removed from the vehicle; Based on the pose of the power battery pack to be disassembled, trajectory planning is performed to obtain the first motion trajectory of each motion branch in the vehicle battery swapping device. Based on the first motion trajectory of each motion branch, control the movement of each motion branch in the vehicle battery swapping device; The actuators on the moving platform of the vehicle battery swapping device are controlled to replace the power battery pack to be removed with a new power battery pack.

7. The method according to claim 6, characterized in that, The execution component on the moving platform of the vehicle battery swapping device is controlled to replace the power battery pack to be removed with a new power battery pack, including: Control the actuators on the moving platform in the vehicle battery swapping device to disassemble and discard the power battery pack to be disassembled; Control the movement of each moving chain in the vehicle battery swapping device until the moving platform moves to the vicinity of the new power battery pack; Control the clamps on the moving platform of the vehicle battery swapping device to fix the new power battery pack; Control the movement of each moving chain in the vehicle battery swapping device until the moving platform moves to the position where the vehicle's power battery is to be assembled; The actuators on the moving platform of the vehicle battery swapping device are controlled to install the new power battery pack.

8. The method according to claim 6, characterized in that, Based on the pose of the power battery pack to be disassembled, trajectory planning is performed to obtain the first motion trajectory of each motion chain in the vehicle battery swapping device, including: Based on the orientation of the power battery pack to be disassembled, the shortest movement time, the minimum required driving force, and the lowest movement energy consumption are taken as optimization objectives to perform trajectory planning and obtain the first motion trajectory of each motion branch in the vehicle battery swapping device.

9. A control device for a vehicle battery swapping device, comprising a processor and a memory, characterized in that, The memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, it implements the steps of the method as described in any one of claims 6 to 8.

10. A control system for a vehicle battery swapping device, characterized in that, include: The vehicle battery swapping device, the visual positioning device, and the control device of the vehicle battery swapping device according to any one of claims 1 to 5, wherein the control device of the vehicle battery swapping device is connected to the visual positioning device and the vehicle battery swapping device respectively.

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