A quick battery swap station in the shape of a well

Abstract

The utility model relates to new energy automobile battery swap technical field and provide a kind of well-shaped quick battery swap station, and the battery swap station includes: X direction vehicle enters passageway, Y direction battery swap execution passageway and battery swap mechanism;Wherein, X direction vehicle enters passageway for vehicle and positioning;Y direction battery swap execution passageway and the well-shaped portal frame of battery swap mechanism cooperate before vehicle completes positioning to realize full power battery acquisition, realize empty power battery acquisition and full power battery installation when battery swap, and realize empty power battery moves into empty power charging position;Empty power battery acquisition and full power battery installation two actions are alternately executed by the well-shaped portal frame along X direction movement fixed distance. The battery swap station of the utility model is especially suitable for high-density, high-flow new energy automobile battery swap station scene.

Description

Technical Field

[0001] This utility model relates to the field of battery swapping technology for new energy vehicles, and specifically to a grid-shaped fast battery swapping station based on advanced positioning technology. Background Technology

[0002] With the surge in the number of new energy vehicles, battery swapping has become an important supplement to charging due to its "fast energy replenishment." However, existing battery swapping stations mainly face three core problems:

[0003] 1. Insufficient positioning accuracy: Traditional battery swapping relies on mechanical limiters or simple visual positioning. The misalignment error between the battery and the vehicle mounting bracket often exceeds 5mm, which can easily lead to wear or poor contact of the interface due to collision, or even damage. This poses a safety hazard and reduces the service life of vehicle parts and batteries.

[0004] 2. Inefficient vehicle guidance: When vehicles enter the battery swapping area, they rely heavily on manual observation of the markings, which takes more than 40 seconds to locate. Furthermore, the vehicle is prone to repeated adjustments due to driver operation errors, which affects the overall battery swapping efficiency.

[0005] 3. Poor coordination: The positioning of the battery swapping arm (crane), battery, and vehicle is carried out independently, lacking a dynamic coordination mechanism. The crane needs to grab an empty battery, lower it, grab a fully charged battery, and swap the battery in sequence, resulting in repeated crane movement paths, long waiting times, and a single battery swapping cycle generally exceeding 3 minutes.

[0006] Therefore, there has always been a strong demand in this field for fast and accurate battery swapping. Utility Model Content

[0007] This invention aims to address the efficiency bottlenecks in existing battery swapping technologies, such as low battery alignment accuracy, long vehicle positioning time, and poor coordination of the swapping process. It proposes a grid-shaped rapid battery swapping station that integrates advanced technologies such as LiDAR, visual servo, and millimeter-wave radar to achieve precise positioning and dynamic coordination of the battery, the swapping arm (crane), and the vehicle's entry area. This reduces the single battery swapping cycle to less than one minute while ensuring positioning accuracy within ±1mm, significantly improving battery swapping safety and scalable service capabilities. It is particularly suitable for high-density, high-volume new energy vehicle battery swapping station scenarios, constructing a "three-in-one" precise positioning and coordination system to solve the aforementioned technical deficiencies.

[0008] Specifically, this utility model provides a grid-shaped fast battery swapping station, which mainly includes: an X-direction vehicle entry channel, a Y-direction battery swapping execution channel, and a battery swapping mechanism. The X-direction vehicle entry channel is used for vehicle entry and positioning; the Y-direction battery swapping execution channel, in conjunction with the grid-shaped gantry of the battery swapping mechanism, acquires a fully charged battery before the vehicle is positioned, acquires an empty battery and installs a fully charged battery during battery swapping, and moves an empty battery into an empty charging position; the acquisition of an empty battery and the installation of a fully charged battery are performed alternately by moving the grid-shaped gantry a fixed distance along the X-direction.

[0009] Furthermore, the battery swapping mechanism includes: a grid-shaped gantry, fully charged storage positions, empty charging positions, and sliding rails. The grid-shaped gantry has at least two booms facing one side, used to grab empty batteries from the vehicle and install fully charged batteries onto the vehicle, respectively. The distance between the booms is a fixed distance the grid-shaped gantry slides along the sliding rails. In practice, the fully charged storage positions and empty charging positions are interchangeable, both used for storing and charging batteries. Moreover, the term "fully charged battery" in this article does not specifically refer to a battery with 100% capacity, but rather to a battery that meets the industry standard for battery swapping, is charging to the required level, or even has a slightly lower capacity than the standard. Similarly, the term "empty battery" in this article does not refer to a battery with zero remaining capacity (which is actually unrealistic), but rather to a battery that meets the industry standard for battery swapping, requires charging, or even has a higher capacity.

[0010] Specifically, for battery swapping of vehicles entering the X-direction vehicle lane on one side of the battery swapping mechanism, before the vehicle is positioned, the first crane arm on that side lifts a fully charged battery from the fully charged storage position. After the vehicle is positioned, the second crane arm on that side (extends) grabs an empty battery from the vehicle and retracts it. The grid-shaped gantry slides along the rails a fixed distance (the distance between the first and second crane arms), and the first crane arm (extends) installs the lifted fully charged battery onto the vehicle and retracts, completing the battery swap. During this process, the multiple positioning operations between a single crane arm and the fully charged and empty batteries after the vehicle is in place, as well as the number of grabbing and lowering operations, are reduced. The lifting of fully charged batteries and the placement and charging of empty batteries do not occupy the vehicle's parking time, thus shortening the vehicle's parking and battery swapping time by about one-third compared to a single crane arm, greatly improving battery swapping efficiency and providing a more efficient battery swapping method for high-demand, continuous battery swapping.

[0011] Preferably, the grid-shaped gantry has two booms on each side for battery swapping of vehicles entering the X-direction vehicle access lanes on both sides. Preferably, the two booms on each side can function as the first and second booms to lift fully charged and empty batteries, respectively, simply by coordinating the corresponding sliding directions.

[0012] Furthermore, the X-direction vehicle entry channel is equipped with millimeter-wave radar and high-definition industrial cameras to determine the characteristics and data of the vehicle and battery, and also has embedded magnetic navigation sensors on the ground to achieve vehicle positioning.

[0013] Furthermore, the boom is equipped with a visual servo unit and a six-axis force sensor. The visual servo unit identifies the reference position of the boom located above the vehicle battery and corrects the boom's spatial posture in real time. The six-axis force sensor monitors the contact force between the boom and the battery to ensure that the boom and the battery are accurately docked and stably gripped or released.

[0014] Furthermore, a battery storage location is also provided on the outer side of the X-direction vehicle entry lane on the Y-direction battery swapping execution lane for battery storage and charging. When no vehicle enters, the battery can be retrieved from the fully charged storage location of the battery swapping mechanism via the boom of the grid-shaped gantry on this side. For a battery swapping mechanism configured with only one X-direction vehicle entry lane, this battery storage location is provided on the outer side of the battery swapping mechanism on the Y-direction battery swapping execution lane. In practice, for large battery swapping stations with multiple battery swapping lanes, depending on the specific terrain conditions, multiple X-direction vehicle entry lanes can be set up on one Y-direction battery swapping execution lane, or multiple Y-direction battery swapping execution lanes can be set up on one or more substantially parallel X-direction vehicle entry lanes.

[0015] Furthermore, the battery swapping station includes one or more X-direction vehicle entry lanes and one or more Y-direction vehicle entry lanes; wherein the X-direction vehicle entry lanes and the Y-direction vehicle entry lanes are arranged at intersections, and battery swapping is achieved through a battery swapping mechanism on the Y-direction vehicle entry lane next to the intersection point.

[0016] Furthermore, the battery swapping station also includes an electrical control system for information collection, communication, and operational control between the vehicle and various components of the station. Preferably, the electrical control system can be configured as follows: including a central control module, a vehicle area perception module, a vehicle feedback module, a boom feedback module, a battery module, and a charging module. The central control module receives information collected and fed back by each module and issues relevant instructions based on the received information. The vehicle area perception module scans the vehicle outline in real time to obtain initial position deviation, captures vehicle battery interface feature points, and combines them with pre-stored vehicle model data to generate a dynamic guidance path, sending a positioning signal to the vehicle feedback module to guide the vehicle into the battery swapping station. After receiving the positioning signal and completing entry into the battery swapping station, the vehicle feedback module sends vehicle unlocking information to the central control module, which then sends boom execution commands to the boom feedback module. While performing the battery swapping task, the crane adjusts its posture based on the collected positioning and contact force information, as well as the feedback from the battery module, to ensure precise docking and stable gripping of the boom and battery. When no vehicle enters, the central control module also sends a charging command to the boom feedback module. The boom feedback module, in conjunction with the battery module, performs the gripping and release of empty batteries to the empty charging position or battery storage position for storage and charging, as well as the lifting of fully charged batteries and the retrieval of fully charged batteries from the battery storage position to the fully charged storage position of the battery swapping mechanism. The charging module scans the reflective markings on the surface of the empty battery to obtain the real-time posture deviation of the empty battery and feeds it back to the central control module, which then controls the battery transportation and release of the boom feedback module so that the charging module can perform charging of the empty battery.

[0017] The fast battery swapping station provided by this utility model optimizes the traffic flow of the battery swapping area through a grid-shaped spatial layout. It combines advanced technologies such as lidar, visual servo, and millimeter-wave radar to construct a single-line, dynamic positioning and collaborative system of "vehicle-crane-battery". This not only solves the pain points of accuracy and efficiency in traditional battery swapping, but also has strong adaptability and scalability. It provides key technical support for the standardization and large-scale construction of battery swapping stations and can be widely used in high-density battery swapping scenarios such as urban business districts and highway service areas. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of an example of a grid-shaped fast battery swapping station according to this utility model.

[0019] Figure 2 yes Figure 1 The diagram shown is a side view of an example of a grid-shaped fast battery swapping station of this utility model, illustrating the crane arm grabbing an empty battery.

[0020] Figure 3 yes Figure 1 The diagram shows an example of a grid-shaped fast battery swapping station of this utility model, in which the boom grabs an empty battery and then retracts.

[0021] Figure 4 yes Figure 1 The diagram shown is an example of a grid-shaped fast battery swapping station of this utility model, with a fully charged battery mounted on the boom.

[0022] Figure 5 yes Figure 1 The diagram shown is a schematic of the battery swapping mechanism in an example of a grid-shaped fast battery swapping station of this utility model.

[0023] Figure 6 yes Figure 1 The diagram shown is a top view of an example of a grid-shaped fast battery swapping station according to the present invention.

[0024] Figure 7 yes Figure 4 This is a schematic diagram showing another perspective of the boom equipped with a fully charged battery.

[0025] In the diagram, 1. Vehicle entry lane in the X direction; 2. Battery swapping execution lane in the Y direction; 3. Battery swapping mechanism; 4. Vehicle; 5. Well-shaped gantry; 6. Battery storage location; 7. Fully charged battery; 8. Empty battery; 11. First boom; 12. Second boom. Detailed Implementation

[0026] The following description, in conjunction with the accompanying drawings, further illustrates the "grid-shaped fast battery swapping station" of this utility model.

[0027] See Figure 1-7 This utility model provides a grid-shaped fast battery swapping station. In this example, the battery swapping station mainly includes: X-direction vehicle entry lane 1 (two lanes shown) and Y-direction battery swapping execution lane 2 (see [reference]). Figure 1 (Three are shown) and battery swapping mechanism 3 (only the battery swapping mechanism 3 at the first Y-direction battery swapping execution channel 2 is shown).

[0028] The X-direction vehicle entry channel 1 is used for vehicle 4 to enter and position. The Y-direction battery swapping execution channel 2 is perpendicularly intersected with the X-direction vehicle entry channel 1. The battery swapping mechanism 3 is located on the Y-direction battery swapping execution channel 2 and beside the X-direction vehicle entry channel 1. The battery swapping mechanism 3 includes: a grid-shaped gantry 5, battery storage positions 6 (including a universal fully charged storage position and an empty charging position), and a slide rail (not shown).

[0029] The grid-shaped gantry 5 is equipped with a first boom 11 and a second boom 12 extending to each X-direction vehicle entry lane 1. Taking the front of vehicle 4 in the figure as an example, for clarity, each figure shows a schematic diagram of the first boom 11 and the second boom 12 extending to the left X-direction vehicle entry lane 1. In reality, the grid-shaped gantry 5 has four booms extending to both sides of the X-direction vehicle entry lane 1, respectively serving as the first boom 11 and the second boom 12 on each side.

[0030] To improve battery swapping efficiency, before vehicle 4 is positioned, one boom (the front boom in the diagram) performing the function of the first boom 11 lifts the fully charged battery 7 from the battery storage position 6, and holds the grid-shaped gantry 5 in a position directly opposite the empty battery 8 of vehicle 4 after it has been positioned, while the other boom (the rear boom in the diagram) performing the function of the second boom 12 is positioned to grab the empty battery 8 of vehicle 4. After vehicle 4 is positioned, the second boom 12 extends, lifts the empty battery 8 from vehicle 4 and retracts it to prevent interference with vehicle 4. The grid-shaped gantry 5 slides backward along the slide rail (based on the current general battery thickness and gantry design standards, the backward slide in the diagram is 1677mm, which can be adjusted according to the matching target). The first boom 11 extends, lowers, and retracts the fully charged battery 7, thus completing one battery swapping task, at which point vehicle 4 can be driven away. After this, the second boom 12 transports the empty battery 8 to the battery storage position 6 (empty charging position) inside the battery swapping mechanism or the battery storage position 6 (not shown) outside the X-direction vehicle entry channel 1. At the same time, the first boom 11 can also lift another fully charged battery 7 to prepare for the next battery swapping task.

[0031] Furthermore, the X-direction vehicle entry channel 1 is equipped with millimeter-wave radar and high-definition industrial cameras to determine the characteristics and data of vehicle 4 and battery, and also has embedded magnetic navigation sensors on the ground to achieve vehicle 4 positioning.

[0032] Furthermore, the first boom 11 and the second boom 12 are equipped with a visual servo unit and a six-axis force sensor. The visual servo unit identifies the reference position of the first boom 11 or the second boom 12 located above the battery of the vehicle 4 and corrects the spatial posture of the first boom 11 or the second boom 12 in real time. The six-axis force sensor monitors the contact force between the boom and the fully charged battery 7 or the empty battery 8 to ensure that the first boom 11 or the second boom 12 accurately docks with the fully charged battery 7 or the empty battery 8 and stably grabs or releases the battery.

[0033] Furthermore, optionally, a battery storage position 6 (not shown) is also provided on the far side of the Y-direction battery swapping execution channel 2 for storing and charging batteries. When no vehicle enters, the batteries are retrieved to the fully charged storage position of the battery swapping mechanism 3 for standby via the boom of the grid-shaped gantry 5 on this side.

[0034] Furthermore, the battery swapping station may also include an electrical control system for information collection, communication, and operation control between the vehicle 4 and various components of the battery swapping station.

[0035] Specifically, Figure 1-7 The example parameters for the grid-shaped layout and core equipment configuration of the battery swapping station shown are as follows:

[0036] The grid-shaped spatial layout allows vehicles to enter in both directions. The X-direction vehicle entry lane 1 is 3m wide and, for example, 14.5m long. The Y-direction battery swapping execution lane 2 is 3.5m wide and 4.4m long. The intersection area of ​​the lanes is set with N groups of battery storage positions (distributed in a grid pattern) according to the traffic flow of the transportation scenario. The spacing between each group of storage positions is 800mm, and the size of a single storage position is approximately 2800mm × 1077mm × 1500mm (length × width × height).

[0037] Core high-tech equipment: LiDAR positioning unit with battery storage compartment 6: adopts TOF LiDAR (model: RoboSense RS-LIDAR-M1), ranging range 0.1-200m, ranging accuracy ±0.1mm, frame rate 20Hz, and can output three-dimensional point cloud data.

[0038] X-axis vehicle entry area perception module: millimeter-wave radar (model: Continental ARS548), detection angle ±45°, distance resolution 0.1m; high-definition industrial camera (model: Basler acA2500-14uc), resolution 2592×1944, frame rate 14fps, equipped with Hikvision distortion correction algorithm; embedded magnetic navigation sensor (model: Pepperl+Fuchs RL31-8-H-1200-RT / 73c / 136), positioning accuracy ±0.3mm.

[0039] Battery swapping boom control module: boom end vision servo unit (binocular camera model: Intel RealSense D455), depth measurement range 0.1-10m, depth accuracy ±2%; six-axis force sensor (model: ATI Nano17), force measurement range -200~+200N, resolution 0.01N; boom drive adopts servo motor (model: Panasonic A6 series), displacement control accuracy ±0.1mm.

[0040] Battery swapping control system: adopts industrial-grade PLC, equipped with real-time operating system, data processing delay ≤10ms, supports multi-device data fusion and dynamic instruction generation.

[0041] Based on this, the battery swapping method of the present invention (taking an electric heavy-duty truck tractor as an example, with battery dimensions of 2498mm×850mm×1881mm and weight ≤4500kg) includes:

[0042] S1: System Initialization: After the battery swapping control system is started, the first boom 11 of the grid-shaped gantry 5 acquires the spatial coordinates (e.g., X=2m, Y=3m, Z=0.5m) of the fully charged battery 7 (with a charge ≥80%, considering battery life factors, the battery is not prone to overcharging or over-discharging), and marks it as "awaiting call status". The binocular camera and lidar work together to position the first boom 11 and the fully charged battery 7 (deviation ≤0.6mm) and grab the fully charged battery 7; at the same time, the initial position of the second boom 12 (X=0m, Y=0m, Z=3m) is detected to confirm that the communication of each sensor is normal. The initialization time is ≤20 seconds.

[0043] S2: Vehicle Positioning Guidance: Vehicle 4 enters the X-direction vehicle entry channel 1. The millimeter-wave radar first scans the outline of vehicle 4 to obtain the initial position deviation of vehicle 4 (e.g., X-direction deviation +3cm, Y-direction deviation -2cm), and feeds it back to the control system. The high-definition industrial camera captures three feature points (metal marks with a diameter of 8mm) of the battery interface on the chassis of vehicle 4, matches them with the pre-stored vehicle model feature library, and generates a guidance path. The ground magnetic navigation sensor sends pulse signals to the vehicle ESP system to guide vehicle 4 to adjust its direction, and finally aligns the center of the battery mounting base of vehicle 4 with the reference point of the battery swapping station (positioning accuracy ±0.8mm). This step takes ≤30 seconds.

[0044] S3: Crane Positioning and Empty Battery 8 Grabbing: The control system drives the second crane arm 12 to extend and move along the Y-axis battery swapping execution channel 2 to directly above the battery of vehicle 4 (Y=3m). The binocular camera identifies 6 reference positions of the second crane arm 12 on the battery, calculates the deviation between the second crane arm 12 and the reference positions, and fine-tunes the second crane arm 12 through visual servo control. The six-axis force sensor monitors the contact force between the second crane arm 12 and the upper surface of the empty battery 8. When the contact force reaches 6N, the second crane arm 12 stops descending and activates the electromagnetic adsorption device (adsorption force 350N) and the mechanical locking mechanism (locking response time 0.2 seconds) to complete the grabbing of the empty battery 8. This step takes ≤25 seconds.

[0045] S4: Storage and Positioning of Empty Battery 8: The second boom 12 carries the empty battery 8 and moves it back along the Y-direction battery swapping execution channel 2 to the empty battery storage position (i.e., battery storage position 6) (e.g., X=4m, Y=3m). The storage position's lidar scans the three reflective markers on the surface of the empty battery 8 to obtain the current posture of the empty battery 8 (e.g., tilt angle 0.3°) and feeds it back to the control system. The control system drives the second boom 12 to adjust its posture (tilt compensation 0.3°, X-direction fine adjustment +0.5mm) and place the empty battery 8 stably on the charging tray of the battery storage position 6. The tray locking mechanism (electromagnetic lock) is activated to fix the battery, and at the same time, the charging module (power 15kW) is activated. This step takes ≤20 seconds.

[0046] S5: New Battery Retrieval and Installation: The control system drives the grid-shaped gantry 5 to move backward 1677mm along the slide rail, and drives the first boom 11 to move backward carrying the fully charged battery 7 to directly above the vehicle 4; the position of the first boom 11 is corrected again by visual servo, the fully charged battery 7 is embedded into the vehicle mounting seat, the six-axis force sensor monitors the installation pressure (controlled at 90N) to ensure that the battery interface is fully engaged, the vehicle battery locking mechanism is activated, and the boom is reset after installation. This step takes ≤35 seconds. At the same time, the grid-shaped gantry 5 moves forward 1677mm, returning to the initial position.

[0047] S6: Empty battery return to storage, new battery retrieval: The second boom 12, carrying the empty battery 8, can also move along the Y-direction battery swapping execution channel 2 to the battery storage position 6 outside the diagram. The laser radar positioning unit of the battery storage position 6 scans the reflective markings on the surface of the empty battery 8 again to obtain the real-time attitude deviation of the empty battery 8 and feeds it back to the battery swapping control system. The control system drives the boom to make fine adjustments (fine adjustment amount ≤3mm) to accurately place the empty battery 8 on the charging tray of the battery storage position 6. The storage position automatically starts the locking mechanism to fix the battery, and at the same time, the charging module starts charging the empty battery 8. This step takes ≤15 seconds.

[0048] This example demonstrates the technical advantages of the following:

[0049] Positioning accuracy: Through the collaboration of LiDAR, visual servo, and millimeter-wave radar, the positioning accuracy of the battery, boom, and vehicle 4 is controlled within ±1mm, which is 80% higher than the traditional technology (±5mm), and completely solves the problem of interface wear.

[0050] Efficiency improvement: The total time for a single battery swap is 2 minutes and 25 seconds, which is 28% shorter than the existing battery swap method (3 minutes). The hourly service capacity of a single station can reach 24 vehicles, meeting the traffic demand during peak hours.

[0051] Highly adaptable: Supports battery positioning for different vehicle types (semi-trailer tractors, concrete mixers, dump trucks). Through a pre-stored vehicle feature library and dynamic guidance, there is no need to adjust the layout for a single vehicle type, reducing the cost of upgrading battery swapping stations.

[0052] It should be understood that the directional indicators such as "front," "rear," "rearward," and "left" mentioned in this document are based on the orientation or forward direction of the device shown in the example figure. It should also be understood that the front / rear, left / right, and other position indicators in this invention are interchangeable and do not constitute a substantial limitation on the invention.

[0053] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the concept and scope of the present utility model. Various modifications and improvements made by those skilled in the art to the technical solution of the present utility model without departing from the design scheme of the present utility model are all within the protection scope of the present utility model. The technical content for which protection is sought in the present utility model has been recorded in the claims.

Claims

1. A grid-shaped fast battery swapping station, characterized in that, The battery swapping station includes: an X-direction vehicle entry channel, a Y-direction battery swapping execution channel, and a battery swapping mechanism; wherein, the X-direction vehicle entry channel is used for vehicle entry and positioning; the Y-direction battery swapping execution channel cooperates with the grid-shaped gantry of the battery swapping mechanism to acquire a fully charged battery before the vehicle is positioned, acquire an empty battery and install a fully charged battery during battery swapping, and move an empty battery into an empty charging position; the two actions of acquiring an empty battery and installing a fully charged battery are alternately performed by the grid-shaped gantry moving a fixed distance along the X direction.

2. The grid-shaped fast battery swapping station according to claim 1, characterized in that, The battery swapping mechanism includes: the grid-shaped gantry, a fully charged storage position, an empty charging position, and a slide rail; the grid-shaped gantry has at least two booms facing one side, which are used to grab empty batteries from the vehicle and install fully charged batteries on the vehicle, respectively, and the distance between the booms is a fixed distance that the grid-shaped gantry slides along the slide rail.

3. A grid-shaped fast battery swapping station according to claim 2, characterized in that, Before the vehicle is positioned, the first boom, positioned to one side, lifts a fully charged battery from the fully charged storage location. After the vehicle is positioned, the second boom on the same side grabs an empty battery from the vehicle and carries it back. The grid-shaped gantry slides a fixed distance along the slide rail, and the first boom installs the lifted fully charged battery onto the vehicle and then retracts it, completing the battery swap.

4. A grid-shaped fast battery swapping station according to any one of claims 1-3, characterized in that, The X-direction vehicle entry channel is equipped with millimeter-wave radar and high-definition industrial cameras to determine the characteristics and data of vehicles and batteries. Embedded magnetic navigation sensors are also placed on the ground to enable vehicle positioning.

5. A grid-shaped fast battery swapping station according to any one of claims 1-3, characterized in that, The boom is equipped with a vision servo unit and a six-axis force sensor. The vision servo unit identifies the reference position of the boom located above the vehicle battery and corrects the boom's spatial posture in real time. The six-axis force sensor monitors the contact force between the boom and the battery to ensure that the boom and the battery are accurately docked and can be stably gripped or released.

6. A grid-shaped fast battery swapping station according to claim 3, characterized in that, The fixed distance that the grid-shaped gantry slides along the slide rail is the distance between the first boom and the second boom.

7. A grid-shaped fast battery swapping station according to any one of claims 1-3, characterized in that, The grid-shaped gantry has two booms on each side for battery swapping of vehicles entering the X-direction vehicle lane on both sides.

8. A grid-shaped fast battery swapping station according to any one of claims 1-3, characterized in that, A battery storage location is also provided on the outer side of the X-direction vehicle entry channel on the Y-direction battery swapping execution channel for storing and charging batteries. When no vehicle enters, the batteries are retrieved to the fully charged storage location of the battery swapping mechanism via the boom of the grid-shaped gantry on this side for standby.

9. A grid-shaped fast battery swapping station according to any one of claims 1-3, characterized in that, The battery swapping station also includes an electrical control system for information collection, communication, and operation control between the vehicle and various components of the battery swapping station.

10. A grid-shaped fast battery swapping station according to any one of claims 1-3, characterized in that, The battery swapping station includes one or more X-direction vehicle entry lanes and one or more Y-direction vehicle entry lanes, which are arranged at the intersection of the X-direction and Y-direction vehicle entry lanes, and battery swapping is achieved through a battery swapping mechanism on the Y-direction vehicle entry lane.

Images