CN111231749B - Battery replacement equipment and battery replacement equipment control method - Google Patents

Battery replacement equipment and battery replacement equipment control method Download PDF

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Publication number
CN111231749B
CN111231749B CN202010076988.5A CN202010076988A CN111231749B CN 111231749 B CN111231749 B CN 111231749B CN 202010076988 A CN202010076988 A CN 202010076988A CN 111231749 B CN111231749 B CN 111231749B
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China
Prior art keywords
battery
origin
mobile platform
sensor
unlocking
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CN202010076988.5A
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Chinese (zh)
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CN111231749A (en
Inventor
***
黄春华
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Aulton New Energy Automotive Technology Co Ltd
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Aulton New Energy Automotive Technology Co Ltd
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Priority to CN202010076988.5A priority Critical patent/CN111231749B/en
Priority to CN202210509421.1A priority patent/CN114834305A/en
Priority to CN202210509417.5A priority patent/CN114851903A/en
Publication of CN111231749A publication Critical patent/CN111231749A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)

Abstract

The invention discloses a battery replacement device and a battery replacement device control method, wherein the battery replacement device comprises a walking mechanism, a first mobile platform and a controller, the first mobile platform is positioned on the walking mechanism, and the controller is used for controlling the walking mechanism to walk; the controller is also used for controlling the first mobile platform to move relative to the walking mechanism so as to enable the first mobile platform to be aligned with a positioning seat of a battery pack on the electric automobile. The battery replacement equipment and the battery replacement equipment control method can realize quick battery replacement operation, and improve the battery replacement efficiency and the stability of the battery replacement operation.

Description

Battery replacement equipment and battery replacement equipment control method
Technical Field
The invention relates to a battery replacement device.
The invention also relates to a control method of the battery replacement equipment.
Background
The quick-change electric automobile can meet the power supply requirement of the quick-change electric automobile in a mode of replacing the battery pack. In the process of replacing the battery pack, a battery replacement device (namely a battery replacement trolley) is generally required to be used. The battery replacement equipment is used for transporting the battery pack between the electric automobile and the battery cabin, and also has the functions of unlocking the old battery pack from the electric automobile and packaging the new battery pack into the electric automobile and locking the new battery pack. How to design the battery replacement equipment and enable the battery replacement equipment to realize the battery replacement operation is a problem which needs to be solved urgently.
Disclosure of Invention
The invention aims to solve the technical problem of providing a battery replacement device and a control method of the battery replacement device for achieving the purpose of controlling unlocking and locking of a battery pack by the battery replacement device.
The invention solves the technical problems through the following technical scheme:
the invention provides a battery replacing device, which comprises:
a traveling mechanism;
the first mobile platform is positioned on the walking mechanism;
the controller is used for controlling the travelling mechanism to travel; the controller is also used for controlling the first mobile platform to move relative to the walking mechanism so as to enable the first mobile platform to be aligned with a positioning seat of a battery pack on the electric automobile.
In the technical scheme, the traveling mechanism is controlled to move, so that the battery replacing equipment reaches a battery replacing position below the electric vehicle, the first moving platform is aligned to a positioning seat of a battery pack on the electric vehicle, and battery replacing operation can be performed.
Preferably, the first moving platform includes a first guide fork, and the first guide fork aligns with the positioning seat when the first moving platform moves to the power exchanging station.
In this technical scheme, through adjusting first moving platform for the positioning seat is aimed at to first guide fork, so that follow-up trade electric operation in carrying out.
Preferably, the first mobile platform and the traveling mechanism are respectively provided with a first positioning origin and a first origin sensor for detecting the first positioning origin.
In the technical scheme, the position of the first positioning origin is detected by the first origin sensor, and when the first origin sensor detects the first positioning origin, the first mobile platform is indicated to reach the battery replacement station, so that the battery replacement equipment can accurately perform battery replacement operation.
Preferably, the first standard coordinate difference is a coordinate difference between the first positioning origin and the first origin sensor when the first mobile platform is at the battery replacement station; the first origin sensor is a vision sensor, the vision sensor is used for obtaining the actual coordinate of the first positioning origin, the controller is further used for comparing the actual coordinate of the first positioning origin with the actual coordinate of the first origin sensor to generate a first standard coordinate difference, and the controller is further used for controlling the first mobile platform to move according to the first standard coordinate difference.
In the technical scheme, the first standard coordinate difference can be acquired in real time by using the vision sensor, the controller controls the first mobile platform to move according to the first standard coordinate difference, and the position of the first mobile platform can be accurately controlled so as to facilitate subsequent battery replacement operation.
Preferably, the first origin sensor is an infrared sensor, the battery replacement device includes an infrared emitter, the infrared emitter is disposed at the first positioning origin, the infrared sensor is configured to obtain a distance between the infrared sensor and the infrared emitter, and the controller is further configured to control the first mobile platform to move according to the distance.
In the technical scheme, the infrared sensor can be used for acquiring the coordinate difference between the first positioning origin and the infrared sensor, and the controller controls the first mobile platform to move according to the coordinate difference.
Preferably, the battery replacement equipment further comprises a second mobile platform, the second mobile platform is arranged below the first mobile platform, and the controller is further configured to control the second mobile platform to move to a disassembly station or an installation station of the battery pack.
In the technical scheme, the battery pack can be detached or installed by the battery replacing equipment by adjusting the second mobile platform.
Preferably, a second positioning origin is arranged on the second mobile platform, and a second origin sensor for detecting the second positioning origin is arranged on the traveling mechanism.
In the technical scheme, the position of the second positioning origin is detected by using the second origin sensor, and when the second origin sensor detects the second positioning origin, the second mobile platform reaches the preset position.
Preferably, the second disassembly standard coordinate difference is a coordinate difference between the second positioning origin and the second origin sensor when the second mobile platform is at the disassembly station; the second origin sensor is a vision sensor, the vision sensor is used for obtaining the actual coordinate of the second positioning origin, the controller is further used for comparing the actual coordinate of the second positioning origin with the actual coordinate of the second origin sensor to generate a second disassembly standard coordinate difference, and the controller is further used for controlling the second mobile platform to move according to the second disassembly standard coordinate difference.
In the technical scheme, the vision sensor can be used for acquiring the second disassembly standard coordinate difference in real time, the controller controls the second mobile platform to move according to the second disassembly standard coordinate difference, and the position of the second mobile platform can be accurately controlled so as to facilitate subsequent disassembly operation.
Preferably, the second installation standard coordinate difference is a coordinate difference between the second positioning origin and the second origin sensor when the second mobile platform is located at the installation station; the second origin sensor is a vision sensor, the vision sensor is used for acquiring the actual coordinate of the second positioning origin, the controller is further used for comparing the actual coordinate of the second positioning origin with the actual coordinate of the second origin sensor to generate a second installation standard coordinate difference, and the controller is further used for controlling the second mobile platform to move according to the second installation standard coordinate difference.
In the technical scheme, the vision sensor can be used for acquiring the second installation standard coordinate difference in real time, the controller controls the second mobile platform to move according to the second installation standard coordinate difference, and the position of the second mobile platform can be accurately controlled so as to facilitate subsequent installation operation.
Preferably, the second origin sensor is an infrared sensor, the battery replacement device includes an infrared emitter, the infrared emitter is disposed at the second positioning origin, the infrared sensor is configured to obtain a distance between the infrared emitter and the infrared sensor, and the controller is further configured to control the second mobile platform to move according to the distance.
In the technical scheme, the infrared sensor can be used for acquiring the coordinate difference between the second positioning origin and the infrared sensor, and the controller controls the second mobile platform to move according to the coordinate difference.
Preferably, the battery replacement equipment comprises an unlocking device, the unlocking device comprises an unlocking rod and a driving mechanism, and the driving mechanism is used for controlling the unlocking rod to move to a locking position or an unlocking position so as to lock and unlock the battery pack.
In the technical scheme, the battery pack is locked and unlocked by controlling the movement of the unlocking rod of the unlocking device.
Preferably, the unlocking device further comprises a first unlocking sensor, and the first unlocking sensor is used for detecting whether the unlocking rod is located at the locking position; the controller is also used for controlling the unlocking rod to stop when the unlocking rod is positioned at the locking position.
In the technical scheme, whether the unlocking rod reaches the locking position or not is detected by using the first unlocking sensor, so that the safe locking of the battery pack is ensured.
Preferably, the unlocking device further comprises a second unlocking sensor, and the second unlocking sensor is used for detecting whether the unlocking rod is located at the unlocking position or not; the controller is also used for controlling the unlocking rod to stop acting when the unlocking rod is positioned at the unlocking position.
In the technical scheme, whether the unlocking rod reaches the unlocking position or not is detected by the second unlocking sensor, so that the safe unlocking of the battery pack is ensured.
Preferably, the battery replacement position is provided with an alignment origin, the battery replacement equipment is provided with an alignment sensor, and the alignment sensor is used for detecting whether the battery replacement equipment reaches the alignment origin.
In the technical scheme, the position of the alignment origin is detected by using the alignment sensor, and when the alignment sensor detects the alignment origin, the battery replacement device is indicated to reach the battery replacement position, so that the battery replacement device can be accurately stopped at the battery replacement position.
Preferably, the battery swapping device travels between a battery swapping position and an exchange position along a traveling channel, the traveling channel is provided with a first waiting position, the first waiting position is located between the battery swapping position and the exchange position, and the battery swapping device is further configured to move to the first waiting position along the traveling channel when receiving a first waiting signal.
In the technical scheme, the battery swapping device may be stopped at the first waiting position to wait for another battery swapping device to leave the battery swapping position.
Preferably, the battery swapping device travels between a battery swapping position and an exchange position along a traveling channel, the traveling channel is provided with a second waiting position, the second waiting position is located between the battery swapping position and the exchange position, and the battery swapping device is further configured to move to the second waiting position along the traveling channel when receiving a second waiting signal.
In this technical solution, the swapping device may stop at the second waiting position to wait for another swapping device to leave the swapping position.
Preferably, the battery replacement equipment runs between a battery replacement position and an exchange position along a running channel, the running channel is provided with a limit position, and the battery replacement equipment is further configured to stop moving when moving to the limit position.
In the technical scheme, when the limit sensor detects the limit positioning point, the battery replacing device stops moving, and danger caused by the fact that the battery replacing device exceeds the limit position is prevented.
The invention also provides a control method of the battery replacement equipment, the battery replacement equipment is used for replacing a battery pack on an electric automobile, the battery replacement equipment comprises a first mobile platform and a travelling mechanism, the first mobile platform is positioned on the travelling mechanism, and the control method of the battery replacement equipment comprises the following steps:
and controlling the first mobile platform to move to a battery replacement station so that the first mobile platform is aligned with a positioning seat of a battery pack on the electric automobile.
In the technical scheme, through the steps, the first mobile platform can be accurately positioned, and the reliability of the operation of the battery replacement equipment is ensured.
Preferably, the first moving platform comprises a first guide fork;
the method comprises the following steps of controlling the first mobile platform to move to a battery replacing station so that the first mobile platform is aligned with a positioning seat of a battery pack on the electric automobile, and the method comprises the following steps:
and controlling the first moving platform to move to a power exchanging station so that the first guide fork is aligned with the positioning seat.
In the technical scheme, the first guide fork is aligned with the positioning seat by controlling the first moving platform so as to perform the battery replacement operation.
Preferably, the method for controlling the first mobile platform to move to the battery replacing station so that the first mobile platform is aligned with the positioning seat of the battery pack on the electric vehicle includes the following steps:
when a battery dismounting signal or a battery mounting signal is received, acquiring the current position of the first mobile platform and comparing the current position with a battery changing station of the first mobile platform;
and controlling the first mobile platform to move to the battery replacement station.
In the technical scheme, the first mobile platform can be controlled to accurately move to the battery replacement station through the steps.
Preferably, a first positioning origin and a first origin sensor for detecting the first positioning origin are respectively arranged on the first mobile platform and the travelling mechanism;
the method comprises the following steps of controlling the first mobile platform to move to a battery replacing station so that the first mobile platform is aligned with a positioning seat of a battery pack on the electric automobile, and the method comprises the following steps:
establishing an origin coordinate system, wherein a first standard coordinate difference is a coordinate difference between the first positioning origin and the first origin sensor when the first mobile platform is positioned at the battery replacement station;
obtaining an actual coordinate difference between the first origin sensor and the first positioning origin;
and controlling the first mobile platform to move according to the actual coordinate difference until the actual coordinate difference between the first origin sensor and the first positioning origin is the first standard coordinate difference.
Preferably, the battery replacement equipment further comprises a second mobile platform, and the second mobile platform is arranged below the first mobile platform;
the method comprises the following steps of controlling the first mobile platform to move to a battery replacing station so that the first mobile platform is aligned with a positioning seat of a battery pack on the electric automobile, and further comprising the following steps:
and controlling the second mobile platform to move to a disassembling station or an installing station of the battery pack, and disassembling the battery pack at a battery replacing position below the electric automobile.
In the technical scheme, through the steps, the second mobile platform can be adjusted to the dismounting station or the mounting station so as to perform subsequent battery pack dismounting operation.
Preferably, the second mobile platform is controlled to move to a disassembly station of the battery pack, and the battery pack is disassembled and assembled at a battery replacement position below the electric vehicle, and the method comprises the following steps:
when a battery disassembly signal is received, acquiring the current position of the second mobile platform and comparing the current position with a disassembly station of the second mobile platform;
and controlling the second moving platform to move to the disassembling station.
In the technical scheme, the second moving platform can be accurately moved to the disassembling station through the steps.
Preferably, the second mobile platform is controlled to move to an installation station of the battery pack, and the battery pack is disassembled and assembled at a battery replacement position below the electric automobile, and the method comprises the following steps:
when a battery installation signal is received, acquiring the current position of the second mobile platform and comparing the current position with an installation station of the second mobile platform;
and controlling the second moving platform to move to the installation station.
In the technical scheme, the second moving platform can be accurately moved to the installation station through the steps.
Preferably, a second positioning origin and a second origin sensor for detecting the second positioning origin are respectively arranged on the second mobile platform and the travelling mechanism;
controlling the second mobile platform to move to a disassembly station of the battery pack, and disassembling the battery pack at a battery replacement position below the electric automobile, wherein the method comprises the following steps:
establishing an origin coordinate system, wherein a second disassembly standard coordinate difference is a coordinate difference between the second positioning origin and the second origin sensor when the second mobile platform is positioned at the disassembly station;
obtaining an actual coordinate difference between the second origin sensor and the second positioning origin;
and controlling the second mobile platform to move according to the actual coordinate difference until the actual coordinate difference between the second origin sensor and the second positioning origin is the second disassembly standard coordinate difference.
In the technical scheme, the second moving platform can be controlled to accurately move to the disassembling station through the steps.
Preferably, a second positioning origin and a second origin sensor for detecting the second positioning origin are respectively arranged on the second mobile platform and the travelling mechanism;
controlling the second mobile platform to move to an installation station of the battery pack, and disassembling and assembling the battery pack at a battery replacement position below the electric automobile, wherein the method comprises the following steps:
establishing an origin coordinate system, wherein a second installation standard coordinate difference is a coordinate difference between the second positioning origin and the second origin sensor when the second mobile platform is positioned at the installation station;
obtaining an actual coordinate difference between the second origin sensor and the second positioning origin;
and controlling the second mobile platform to move according to the actual coordinate difference until the actual coordinate difference between the second origin sensor and the second positioning origin is the second installation standard coordinate difference.
In the technical scheme, the second mobile platform can be controlled to accurately move to the installation station through the steps.
Preferably, the second mobile platform is provided with an unlocking device, the unlocking device comprises an unlocking rod,
controlling the second mobile platform to move to a disassembly station or an installation station of the battery pack, and disassembling and assembling the battery pack at a battery replacement position below the electric automobile, wherein the method further comprises the following steps:
and controlling the unlocking rod to move to a locking position or an unlocking position.
In the technical scheme, the unlocking device can lock and unlock the battery pack through the steps.
Preferably, the unlocking device further comprises a first unlocking sensor, and the first unlocking sensor is used for detecting whether the unlocking rod is located at the locking position;
controlling the unlocking lever to move to the locking position, comprising the steps of:
the first unlocking sensor detects that the unlocking rod reaches the locking position, and controls the unlocking rod to stop acting.
In the technical scheme, the unlocking rod can be ensured to reach the locking position through the steps, and the locking reliability is ensured.
Preferably, the unlocking device further comprises a second unlocking sensor, and the second unlocking sensor is used for detecting whether the unlocking rod is located at the unlocking position or not;
controlling the unlocking rod to move to the unlocking position, comprising the following steps:
the second unlocking sensor detects that the unlocking rod reaches the unlocking position, and controls the unlocking rod to stop acting.
In the technical scheme, the unlocking rod can be ensured to reach the unlocking position through the steps, and the battery pack can be ensured to be unlocked smoothly.
Preferably, the battery replacement equipment runs between a battery replacement position and an exchange position along a running channel; the battery replacement equipment control method comprises the following steps:
and when a battery disassembly or battery installation signal is received, the battery replacement equipment is controlled to move to a battery replacement position along the walking channel.
In the technical scheme, the battery replacement equipment can be stopped at the battery replacement position through the steps.
Preferably, the battery replacing equipment runs between a battery replacing position and an exchange position along a walking channel, the walking channel is provided with a first waiting position, and the first waiting position is located between the battery replacing position and the exchange position;
the battery replacement equipment control method comprises the following steps:
and when receiving a first waiting signal, controlling the battery replacement equipment to move to a first waiting position along the walking channel.
In the technical scheme, through the steps, the battery replacing device can be accurately stopped at the first waiting position, and the battery replacing operation of the other battery replacing device cannot be influenced.
Preferably, the battery replacing equipment runs between the battery replacing position and the exchange position along a walking channel, the walking channel is provided with a second waiting position, the second waiting position is located between the battery replacing position and the exchange position,
the battery replacement equipment control method comprises the following steps:
and when receiving a second waiting signal, controlling the battery replacement equipment to move to a second waiting position along the walking channel.
In the technical scheme, through the steps, the battery replacing device can be accurately stopped at the first waiting position, and the battery pack can not be placed into the battery bin by another battery replacing device.
Preferably, the battery replacement equipment runs between a battery replacement position and an exchange position along a running channel, and the running channel is provided with a limit position;
controlling the first mobile platform to move to a disassembly station or an installation station of the battery pack, and disassembling and assembling the battery pack at a battery replacement position below the electric automobile, wherein the method comprises the following steps:
and when the battery replacement equipment moves to the limit positioning point, the battery replacement equipment stops moving.
In the technical scheme, the battery replacement equipment can be prevented from driving away from a working area and causing danger through the steps.
The positive progress effects of the invention are as follows: the battery replacement equipment and the battery replacement equipment control method can realize quick battery replacement operation, and improve the battery replacement efficiency and the stability of the battery replacement operation.
Drawings
Fig. 1 is a schematic structural diagram of a battery swapping device in embodiment 1 of the present invention.
Fig. 2 is a schematic structural diagram of an unlocking device of the battery replacement device shown in fig. 1.
Fig. 3 is a schematic structural diagram of the battery swapping device shown in fig. 1.
Fig. 4 is a schematic step diagram of a power swapping device control method according to embodiment 3 of the present invention.
Fig. 5 is a schematic step diagram of a power swapping device control method according to embodiment 4 of the present invention.
Fig. 6 is a step diagram illustrating a method for controlling a battery swapping device according to embodiment 6 of the present invention.
Fig. 7 is a step diagram illustrating a method for controlling a battery swapping device in embodiment 7 of the present invention.
Fig. 8 is a step diagram illustrating a method for controlling a battery swapping device according to embodiment 8 of the present invention.
Fig. 9 is a step diagram illustrating a method for controlling a battery swapping device according to embodiment 9 of the present invention.
Description of the reference numerals
First moving platform 1
First origin sensor 11
Second moving platform 2
Second origin sensor 21
Running gear 3
Unlocking device 4
Unlocking lever 41
First unlock sensor 42
Second unlock sensor 43
First guide fork 5
Controller 10
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1 to 3, an electricity swapping device includes a traveling mechanism 3, a first moving platform 1, and a controller 10. The first mobile platform 1 is positioned on the travelling mechanism 3, and the controller 10 is used for controlling the travelling mechanism 3 to travel; the controller 10 is further configured to control the first mobile platform 1 to move relative to the traveling mechanism 3, so that the first mobile platform 1 is aligned with the positioning seat of the battery pack on the electric vehicle. The traveling mechanism 3 is controlled to move, so that the battery replacing equipment reaches a battery replacing position below the electric vehicle, and the first moving platform 1 is aligned to a positioning seat of a battery pack on the electric vehicle, so that the battery replacing operation can be performed.
The first moving platform 1 comprises a first guide fork 5, and the first guide fork 5 is aligned with the positioning seat when the first moving platform 1 moves to the power exchanging station. By adjusting the first moving platform 1, the first guide fork 5 is aligned with the positioning seat, so as to facilitate subsequent battery replacement operation.
The first moving platform 1 and the traveling mechanism 3 are respectively provided with a first positioning origin and a first origin sensor 11 for detecting the first positioning origin. The first origin sensor 11 is used for detecting a coordinate difference between the first origin sensor 11 and the first positioning origin, and when the coordinate difference reaches a standard value, the first mobile platform 1 is indicated to have reached the battery replacement station, so that the battery replacement equipment can accurately perform battery replacement operation.
A specific control mode for moving the first moving platform 11 to the battery replacement station is as follows: the first standard coordinate difference is a coordinate difference between a first positioning origin and the first origin sensor 11 when the first mobile platform 1 is at the power exchange station; the first origin sensor 11 is a vision sensor, the vision sensor is configured to acquire an actual coordinate of the first positioning origin, the controller 10 is further configured to compare the actual coordinate of the first positioning origin with the actual coordinate of the first origin sensor 11 to generate a first standard coordinate difference, and the controller 10 is further configured to control the first mobile platform 1 to move according to the first standard coordinate difference. The first standard coordinate difference can be obtained in real time by using the vision sensor, and the controller 10 controls the first mobile platform 1 to move according to the first standard coordinate difference, so that the position of the first mobile platform 1 can be accurately controlled, and the subsequent battery replacement operation is facilitated.
In some other preferred embodiments, the first origin sensor 11 may also be another type of sensor, such as an infrared sensor, and the movement of the first mobile platform 1 is controlled by: trade electric equipment and include infrared emitter, infrared emitter sets up in first location initial point, and infrared sensor is used for acquireing infrared sensor and infrared emitter's distance, controller 10 still is used for moving according to the first moving platform 1 of distance control. The coordinate difference between the first positioning origin and the infrared sensor may be obtained by the infrared sensor, and the controller 10 controls the first mobile platform 1 to move according to the coordinate difference.
The battery replacing equipment further comprises a second moving platform 2, the second moving platform 2 is arranged below the first moving platform 1, and the controller 10 is further used for controlling the second moving platform 2 to move to a disassembling station or an installing station of the battery pack. The battery pack can be detached or installed by the battery replacing device by adjusting the second mobile platform 2.
The second moving platform 2 is provided with a second positioning origin, and the traveling mechanism 3 is provided with a second origin sensor 21 for detecting the second positioning origin. The position of the second positioning origin is detected by the second origin sensor 21, and when the second origin sensor 21 detects the second positioning origin, it is indicated that the second moving platform 2 has reached the predetermined position.
A specific control mode for moving the second moving platform 2 to the disassembling station is as follows: the second disassembly standard coordinate difference is the coordinate difference between the second positioning origin and the second origin sensor 21 when the second mobile platform 2 is at the disassembly station; the second origin sensor 21 is a vision sensor, the vision sensor is configured to acquire an actual coordinate of a second positioning origin, the controller 10 is further configured to compare the actual coordinate of the second positioning origin with the actual coordinate of the second origin sensor 21 to generate a second disassembly standard coordinate difference, and the controller 10 is further configured to control the second mobile platform 2 to move according to the second disassembly standard coordinate difference. The second disassembly standard coordinate difference can be acquired in real time by using the vision sensor, and the controller 10 controls the second mobile platform 2 to move according to the second disassembly standard coordinate difference, so that the position of the second mobile platform 2 can be accurately controlled, and the subsequent disassembly operation is facilitated.
Similarly, one specific way of controlling the movement of the second moving platform 2 to the installation station is: the second installation standard coordinate difference is the coordinate difference between the second positioning origin and the second origin sensor 21 when the second mobile platform 2 is at the installation station; the second origin sensor 21 is a vision sensor, the vision sensor is configured to acquire an actual coordinate of a second positioning origin, the controller 10 is further configured to compare the actual coordinate of the second positioning origin with the actual coordinate of the second origin sensor 21 to generate a second installation standard coordinate difference, and the controller 10 is further configured to control the second mobile platform 2 to move according to the second installation standard coordinate difference. The second installation standard coordinate difference can be obtained in real time by using the vision sensor, and the controller 10 controls the second mobile platform 2 to move according to the second installation standard coordinate difference, so that the position of the second mobile platform 2 can be accurately controlled, and the subsequent installation operation is facilitated.
In some other preferred embodiments, the second origin sensor 21 may also be another type of sensor, such as an infrared sensor, and the movement of the second moving platform 2 is controlled by: trade electric equipment and include infrared emitter, infrared emitter sets up in second location initial point, and infrared sensor is used for acquireing its and infrared emitter's distance, and controller 10 still is used for moving according to distance control second moving platform 2. The coordinate difference between the second positioning origin and the infrared sensor may be acquired by the infrared sensor, and the controller 10 controls the second moving platform 2 to move according to the coordinate difference.
The battery replacement equipment comprises an unlocking device 4, the unlocking device 4 comprises an unlocking rod 41 and a driving mechanism, and the driving mechanism is used for controlling the unlocking rod 41 to move to a locking position or an unlocking position so as to realize locking and unlocking of the battery pack. The battery pack is locked and unlocked by controlling the movement of the unlocking lever 41 of the unlocking device 4.
The unlocking device 4 further includes a first unlocking sensor 42, and the first unlocking sensor 42 is used for detecting whether the unlocking lever 41 is located at the locking position; the controller 10 is also configured to control the lock release lever 41 to stop when the lock release lever 41 is in the lock position. The lock release lever 41 is controlled to be in the lock position so that the lock release lever 41 does not interfere with the movement of the lock mechanism when the battery pack is mounted.
Similarly, the unlocking device 4 further includes a second unlocking sensor 43, and the second unlocking sensor 43 is used for detecting whether the unlocking lever 41 is located at the unlocking position; the controller 10 is also configured to control the lock release lever 41 to stop when the lock release lever 41 is in the lock release position. Whether the lock release lever 41 reaches the lock release position is detected by the second lock release sensor 43, so that the lock release lever 41 is aligned with the lock release point on the lock mechanism.
The battery replacement position is provided with an alignment origin, the battery replacement equipment is provided with an alignment sensor, and the alignment sensor is used for detecting whether the battery replacement equipment reaches the alignment origin. The position of the alignment origin is detected by the alignment sensor, and when the alignment sensor detects the alignment origin, the battery replacement device is indicated to reach the battery replacement position, so that the battery replacement device can be accurately stopped at the battery replacement position.
The battery replacing device runs between a battery replacing position and an exchange position along a running channel, the running channel is provided with a first waiting position, the first waiting position is located between the battery replacing position and the exchange position, and the battery replacing device is further used for moving to the first waiting position along the running channel when receiving a first waiting signal. Before the electric automobile stops in place, the battery replacing device can stop at the first waiting position in advance, and after the electric automobile stops in place, the battery replacing device can enter the battery replacing position from the first waiting position to disassemble and assemble the battery pack.
The battery replacing equipment runs between a battery replacing position and an exchange position along the walking channel, the walking channel is provided with a second waiting position, the battery replacing position is located between the second waiting position and the exchange position, and the battery replacing equipment is further used for moving to the second waiting position along the walking channel when receiving a second waiting signal. When the battery replacing device moves to the battery replacing position along the walking channel to perform the action of disassembling and assembling the battery pack, the battery replacing device continues to move forwards to the second waiting position along the original walking direction so as to execute the next battery replacing action. If the battery pack is disassembled, the battery pack loading action can be executed by waiting for another battery replacing device to move to the battery replacing position along the same walking channel, or the battery pack is moved to a second waiting position after the battery pack is assembled, and the electric automobile leaves.
The battery replacing equipment runs between the battery replacing position and the exchange position along the walking channel, the walking channel is provided with a limit position, and the battery replacing equipment is further used for stopping moving when moving to the limit position. When the limit sensor detects the limit positioning point, the battery replacing device stops moving, and danger caused by the fact that the battery replacing device exceeds the limit position is prevented.
Example 2
The invention also provides a control method of the battery replacement equipment, the battery replacement equipment is used for replacing a battery pack on the electric automobile, the battery replacement equipment comprises a first mobile platform 1 and a travelling mechanism 3, the first mobile platform 1 is positioned on the travelling mechanism 3, and the control method of the battery replacement equipment comprises the following steps:
and S1, controlling the first moving platform 1 to move to the battery replacement station so that the first moving platform 1 is aligned with a positioning seat of a battery pack on the electric automobile.
Through the steps, the first mobile platform 1 can be controlled to move to the battery replacing station, so that the battery replacing equipment and the electric automobile are aligned, and the running reliability of the battery replacing equipment is ensured.
The first mobile platform 1 comprises a first guide fork 5;
s1 includes the steps of:
s10001, controlling the first moving platform 1 to move to the battery replacement station so that the first guide fork 5 is aligned with the positioning seat.
By controlling the first moving platform 1, the alignment of the first guide fork 5 and the positioning seat is realized, so that the battery replacement operation is performed.
Example 3
As shown in fig. 4, the method for controlling a battery swapping device in this embodiment adds the following steps to embodiment 2.
Step S1 includes:
s11, when the battery disassembling signal or the battery installing signal is received, the current position of the first mobile platform 1 is obtained and compared with the battery replacing station of the first mobile platform 1;
and S12, controlling the first mobile platform 1 to move to the battery replacement station.
When the battery replacing device receives a battery disassembling signal or a battery installing signal, the current position of the first mobile platform 1 is obtained and compared with the battery replacing station of the first mobile platform 1, and in this embodiment, the first mobile platform 1 can be controlled to accurately move to the battery replacing station according to the position comparison result through the steps.
Example 4
As shown in fig. 5, the method for controlling a battery swapping device in this embodiment adds the following steps to embodiment 2.
A first positioning origin and a first origin sensor 11 for detecting the first positioning origin are respectively arranged on the first mobile platform 1 and the travelling mechanism 3;
step S1 includes:
s110, establishing an origin coordinate system, wherein a first standard coordinate difference is a coordinate difference between a first positioning origin and a first origin sensor 11 when the first mobile platform 1 is positioned at a power exchange station;
s120, obtaining an actual coordinate difference between the first origin sensor 11 and the first positioning origin;
and S130, controlling the first mobile platform 1 to move according to the actual coordinate difference until the actual coordinate difference between the first origin sensor 11 and the first positioning origin is the first standard coordinate difference.
Through the steps, the position of the first positioning original point detected by the first original point sensor 11 is compared with the battery replacing station, and the first mobile platform 1 is controlled to move to the battery replacing station, so that the reliability of subsequent battery pack dismounting work is facilitated. Wherein the first origin sensor may be a vision sensor, an infrared distance measuring sensor, etc.
Example 5
The method for controlling a battery swapping device in this embodiment further includes the following steps based on embodiment 2.
The battery replacement equipment further comprises a second mobile platform 2, and the second mobile platform 2 is arranged below the first mobile platform 1.
S1 further includes:
s101, controlling the second mobile platform 2 to move to a disassembling station or an installing station of the battery pack, and disassembling the battery pack at a battery replacing position below the electric automobile.
In this embodiment, through the above steps, the second moving platform 2 can be adjusted to a dismounting station or an installation station, so as to perform subsequent battery pack dismounting operation.
Example 6
As shown in fig. 6, the method for controlling a battery replacement device in this embodiment adds the following steps to embodiment 5.
S101 includes the steps of:
s1011, when the battery disassembling signal is received, acquiring the current position of the second mobile platform 2 and comparing the current position with the disassembling station of the second mobile platform 2;
and S1012, controlling the second mobile platform 2 to move to the disassembling station.
When the battery replacing equipment receives a battery disassembling signal, the current position of the second mobile platform 2 is obtained and compared with the disassembling station of the second mobile platform 2, and through the steps, the second mobile platform 2 can be accurately moved to the disassembling station according to the position comparison result so as to perform subsequent disassembling work.
Example 7
As shown in fig. 7, the method for controlling a battery swapping device in this embodiment adds the following steps to embodiment 5.
S101 includes the steps of:
s10110, when receiving the battery installation signal, acquiring the current position of the second mobile platform 2 and comparing the current position with the installation station of the second mobile platform 2;
s10120, controlling the second moving platform 2 to move to the installation station.
When the battery replacement equipment receives the battery installation signal, the current position of the second mobile platform 2 is obtained and compared with the installation station of the second mobile platform 2, and through the steps, the second mobile platform 2 can be accurately moved to the installation station according to the position comparison result so as to perform subsequent installation work.
Example 8
As shown in fig. 8, the method for controlling a battery swapping device in this embodiment adds the following steps to embodiment 5.
A second positioning origin and a second origin sensor 21 for detecting the second positioning origin are respectively arranged on the second mobile platform 2 and the travelling mechanism 3;
s101 includes the steps of:
s10101, establishing an origin coordinate system, wherein a second disassembly standard coordinate difference is a coordinate difference between a second positioning origin and a second origin sensor 21 when the second mobile platform 2 is positioned at a disassembly station;
s10102, obtaining an actual coordinate difference between the second origin sensor 21 and a second positioning origin;
s10103, controlling the second moving platform 2 to move according to the actual coordinate difference until the actual coordinate difference between the second origin sensor 21 and the second positioning origin is the second disassembly standard coordinate difference.
Through the steps, the second moving platform 2 can be controlled to accurately move to the disassembling station.
In the above steps, the second origin sensor 21 may be a vision sensor, the vision sensor may be used to obtain the second disassembly standard coordinate difference in real time, the controller 10 controls the second moving platform 2 to move according to the second disassembly standard coordinate difference, and the second moving platform 2 may be accurately controlled to move to the disassembly station, so as to facilitate subsequent disassembly operations.
Example 9
As shown in fig. 9, the method for controlling a battery replacement device in this embodiment adds the following steps to embodiment 5.
A second positioning origin and a second origin sensor 21 for detecting the second positioning origin are respectively arranged on the second mobile platform 2 and the travelling mechanism 3;
s101 includes the steps of:
s101010, establishing an origin coordinate system, wherein a second installation standard coordinate difference is a coordinate difference between a second positioning origin and a second origin sensor 21 when the second mobile platform 2 is located at an installation station;
s101020, obtaining an actual coordinate difference between the second origin sensor 21 and a second positioning origin;
s101030, controlling the second moving platform 2 to move according to the actual coordinate difference until the actual coordinate difference between the second origin sensor 21 and the second positioning origin is the second installation standard coordinate difference.
Through the steps, the second moving platform 2 can be controlled to accurately move to the installation station.
In the above steps, the second origin sensor 21 may be a vision sensor, the vision sensor can obtain the second installation standard coordinate difference in real time, the controller 10 controls the second moving platform 2 to move according to the second installation standard coordinate difference, and the second moving platform 2 can be accurately controlled to move to the installation station, so as to facilitate subsequent installation operation.
Example 10
The method for controlling a battery replacement device in this embodiment adds the following steps to the method in embodiment 5.
The second moving platform 2 is provided with an unlocking device 4, and the unlocking device 4 comprises an unlocking rod 41.
S101 includes the steps of:
s10111, controlling the lock release lever 41 to move to the lock position or the unlock position.
Through the steps, the unlocking device 4 can lock and unlock the battery pack.
The unlocking device 4 further includes a first unlocking sensor 42, and the first unlocking sensor 42 is used for detecting whether the unlocking lever 41 is located at the locking position.
S10111 comprises the steps of:
s101111, the first unlock sensor 42 detects that the unlock lever 41 reaches the lock position, and controls the unlock lever 41 to stop operating.
Through the above steps, the unlocking lever 41 can be ensured to reach the locking position, and the reliability of locking is ensured.
The unlocking device 4 further includes a second unlocking sensor 43, and the second unlocking sensor 43 is used for detecting whether the unlocking lever 41 is located at the unlocking position.
S10111 comprises the steps of:
s101112 and the second unlock sensor 43 detect that the unlock lever 41 reaches the unlock position, and control the unlock lever 41 to stop operating.
The unlocking lever 41 is controlled to be located at the locking position, so that the unlocking lever 41 does not interfere with the movement of the locking mechanism when the battery pack is mounted, the unlocking lever 41 can be ensured to reach the unlocking position, and the battery pack can be smoothly unlocked.
Example 11
The method for controlling a battery swapping device in this embodiment further includes the following steps based on embodiment 2.
The battery replacement equipment runs between the battery replacement position and the exchange position along the walking channel. The battery replacement equipment control method comprises the following steps:
and S100, when the battery disassembling signal or the battery installing signal is received, the battery replacing device is controlled to move to a battery replacing position along the walking channel.
When the battery replacing device receives a battery disassembling signal or a battery installing signal, the controller of the battery replacing device controls the battery replacing device to move to the battery replacing position along the walking channel, and through the operation, the battery replacing device can reach the battery replacing position to perform the battery replacing operation.
In addition, the walking channel is also provided with a first waiting position, the first waiting position is positioned between the battery replacement position and the exchange position, and the battery replacement equipment control method comprises the following steps:
and S200, when the first waiting signal is received, controlling the battery replacement equipment to move to a first waiting position along the walking channel.
When the battery replacing device receives the first waiting signal, the controller of the battery replacing device controls the battery replacing device to move to the first waiting position along the traveling channel, through the steps, the battery replacing device can be accurately stopped at the first waiting position, the battery replacing device can stop at the first waiting position in advance before the electric automobile stops in place, and after the electric automobile stops in place, the battery replacing device can enter the battery replacing position from the first waiting position to disassemble and assemble the battery pack.
Furthermore, the walking channel is also provided with a second waiting position, and the battery replacement position is positioned between the second waiting position and the exchange position.
The battery replacement equipment control method comprises the following steps:
and S300, when receiving a second waiting signal, controlling the battery replacement equipment to move to a second waiting position along the walking channel.
When the battery swapping device receives the second waiting signal, the controller of the battery swapping device controls the battery swapping device to move to the second waiting position along the traveling channel. When the battery replacing device moves to the battery replacing position along the walking channel to perform the action of disassembling and assembling the battery pack, the battery replacing device continues to move forwards to the second waiting position along the original walking direction so as to execute the next battery replacing action. If the battery pack is disassembled, the battery pack loading action can be executed by waiting for another battery replacing device to move to the battery replacing position along the same walking channel, or the battery pack is moved to a second waiting position after the battery pack is assembled, and the electric automobile leaves.
The walking channel is also provided with a limit position. Preferably, the limit position is provided in plurality.
The battery replacement equipment control method comprises the following steps:
and S400, stopping moving when the battery replacement equipment moves to the limit positioning point.
In this embodiment, through the above steps, the power swapping device can be prevented from moving away from the working area, which causes danger.
In this embodiment, the battery replacement system is provided with a plurality of positioning points and a plurality of corresponding positioning sensors, so as to realize positioning control corresponding to the battery replacement position, the first waiting position, the second waiting position, and the limit position.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims (30)

1. The utility model provides a trade electric installation, its characterized in that trades electric installation and includes:
the traveling mechanism enables the battery replacing equipment to reach a battery replacing position below the electric vehicle;
the first mobile platform is positioned on the walking mechanism;
the controller is used for controlling the travelling mechanism to travel; the controller is also used for controlling the first moving platform to move to a battery replacing station relative to the travelling mechanism so as to enable the first moving platform to align to a positioning seat of a battery pack on the electric automobile;
a first positioning origin and a first origin sensor for detecting the first positioning origin are respectively arranged on the first mobile platform and the travelling mechanism;
the first standard coordinate difference is a coordinate difference between the first positioning origin and the first origin sensor when the first mobile platform is positioned at the battery replacement station; the first origin sensor is a vision sensor, the vision sensor is used for acquiring the actual coordinate of the first positioning origin, the controller is further used for comparing the actual coordinate of the first positioning origin with the actual coordinate of the first origin sensor to generate a first actual coordinate difference, and the controller is further used for controlling the first mobile platform to move according to the first actual coordinate difference.
2. The battery replacement device of claim 1, wherein the first moving platform comprises a first guide fork, and the first guide fork is aligned with the positioning seat when the first moving platform moves to the battery replacement station.
3. The battery replacement device according to claim 1, wherein the first origin sensor is an infrared sensor, the battery replacement device includes an infrared transmitter, the infrared transmitter is disposed at the first positioning origin, the infrared sensor is configured to obtain a distance between the infrared sensor and the infrared transmitter, and the controller is further configured to control the first moving platform to move according to the distance.
4. The battery swapping device of claim 1, further comprising a second moving platform, wherein the second moving platform is disposed below the first moving platform, and the controller is further configured to control the second moving platform to move to a disassembly station or an assembly station of a battery pack.
5. The battery replacement device as claimed in claim 4, wherein a second positioning origin is provided on the second moving platform, and a second origin sensor for detecting the second positioning origin is provided on the traveling mechanism.
6. The battery swapping device of claim 5, wherein a second disassembly standard coordinate difference is a coordinate difference between the second positioning origin and the second origin sensor when the second mobile platform is at the disassembly station; the second origin sensor is a vision sensor, the vision sensor is used for acquiring the actual coordinate of the second positioning origin, the controller is further used for comparing the actual coordinate of the second positioning origin with the actual coordinate of the second origin sensor to generate a second disassembly actual coordinate difference, and the controller is further used for controlling the second mobile platform to move according to the second disassembly actual coordinate difference.
7. The battery swapping device of claim 5, wherein a second installation standard coordinate difference is a coordinate difference between the second positioning origin and the second origin sensor when the second mobile platform is at the installation station; the second origin sensor is a vision sensor, the vision sensor is used for acquiring the actual coordinate of the second positioning origin, the controller is further used for comparing the actual coordinate of the second positioning origin with the actual coordinate of the second origin sensor to generate a second installation actual coordinate difference, and the controller is further used for controlling the second mobile platform to move according to the second installation actual coordinate difference.
8. The battery replacement device according to claim 5, wherein the second origin sensor is an infrared sensor, the battery replacement device includes an infrared transmitter, the infrared transmitter is disposed at the second positioning origin, the infrared sensor is configured to receive a signal sent by the infrared transmitter, the infrared sensor is further configured to receive the signal sent by the infrared transmitter and generate a signal in place, and the controller is further configured to stop movement of the second moving platform after receiving the signal in place.
9. The battery swapping device of claim 4, wherein the battery swapping device comprises an unlocking device, the unlocking device comprises an unlocking rod and a driving mechanism, and the driving mechanism is used for controlling the unlocking rod to move to a locking position or an unlocking position so as to lock and unlock the battery pack.
10. The battery swapping device as in claim 9, wherein the unlocking device further comprises a first unlocking sensor for detecting whether the unlocking lever is located at the locking position; the controller is also used for controlling the unlocking rod to stop when the unlocking rod is positioned at the locking position.
11. The battery swapping device of claim 9, wherein the unlocking device further comprises a second unlocking sensor for detecting whether the unlocking lever is located at the unlocking position; the controller is also used for controlling the unlocking rod to stop acting when the unlocking rod is positioned at the unlocking position.
12. The battery replacement device according to claim 1, wherein a position of replacing batteries is provided with an origin of alignment, and a position sensor is provided on the battery replacement device and used for detecting whether the battery replacement device reaches the origin of alignment.
13. The battery swapping device of claim 1, wherein the battery swapping device travels along a travel path between a battery swapping position and an exchange position, the travel path is provided with a first waiting position, the first waiting position is located between the battery swapping position and the exchange position, and the battery swapping device is further configured to move to the first waiting position along the travel path when receiving a first waiting signal.
14. The battery swapping device of claim 1, wherein the battery swapping device travels along a travel path between a battery swapping position and an exchange position, the travel path is provided with a second waiting position, the second waiting position is located between the battery swapping position and the exchange position, and the battery swapping device is further configured to move to the second waiting position along the travel path when receiving a second waiting signal.
15. The battery swapping device of claim 1, wherein the battery swapping device travels along a travel path between a battery swapping position and an exchange position, the travel path is provided with a limit position, and the battery swapping device is further configured to stop moving when moving to the limit position.
16. A control method of a battery replacing device is characterized in that the battery replacing device comprises a first moving platform and a traveling mechanism, wherein the first moving platform is positioned on the traveling mechanism, and a first positioning origin and a first origin sensor for detecting the first positioning origin are respectively arranged on the first moving platform and the traveling mechanism; the battery replacement equipment control method comprises the following steps:
the method for controlling the first mobile platform to move to a battery replacing station so that the first mobile platform is aligned with a positioning seat of a battery pack on the electric automobile comprises the following steps:
establishing an origin coordinate system, wherein a first standard coordinate difference is a coordinate difference between the first positioning origin and the first origin sensor when the first mobile platform is positioned at the battery replacement station;
obtaining an actual coordinate difference between the first origin sensor and the first positioning origin;
and controlling the first mobile platform to move according to the actual coordinate difference until the actual coordinate difference between the first origin sensor and the first positioning origin is the first standard coordinate difference.
17. The battery swapping device control method of claim 16, wherein the first mobile platform comprises a first guide fork;
the method comprises the following steps of controlling the first mobile platform to move to a battery replacing station so that the first mobile platform is aligned with a positioning seat of a battery pack on the electric automobile, and the method comprises the following steps:
and controlling the first moving platform to move to a power exchanging station so that the first guide fork is aligned with the positioning seat.
18. The method for controlling a battery replacement device according to claim 16, wherein the step of controlling the first moving platform to move to a battery replacement station so that the first moving platform is aligned with a positioning seat of a battery pack on the electric vehicle comprises the following steps:
when a battery dismounting signal or a battery mounting signal is received, acquiring the current position of the first mobile platform and comparing the current position with a battery changing station of the first mobile platform;
and controlling the first mobile platform to move to the battery replacement station.
19. The battery swapping device control method of claim 16, wherein the battery swapping device further comprises a second mobile platform, and the second mobile platform is arranged below the first mobile platform;
the method comprises the following steps of controlling the first mobile platform to move to a battery replacing station so that the first mobile platform is aligned with a positioning seat of a battery pack on the electric automobile, and further comprising the following steps:
and controlling the second mobile platform to move to a disassembling station or an installing station of the battery pack, and disassembling the battery pack at a battery replacing position below the electric automobile.
20. The battery replacement device control method of claim 19, wherein the second mobile platform is controlled to move to a battery pack disassembly station, and the battery pack is disassembled and assembled at a battery replacement position below the electric vehicle, and the method comprises the following steps:
when a battery disassembly signal is received, acquiring the current position of the second mobile platform and comparing the current position with a disassembly station of the second mobile platform;
and controlling the second moving platform to move to the disassembling station.
21. The battery replacement device control method of claim 19, wherein the second mobile platform is controlled to move to an installation station of the battery pack, and the battery pack is disassembled and assembled at a battery replacement position below the electric vehicle, and the method comprises the following steps:
when a battery installation signal is received, acquiring the current position of the second mobile platform and comparing the current position with an installation station of the second mobile platform;
and controlling the second moving platform to move to the installation station.
22. The battery replacement device control method according to claim 19, wherein a second positioning origin and a second origin sensor for detecting the second positioning origin are respectively disposed on the second moving platform and the traveling mechanism;
controlling the second mobile platform to move to a disassembly station of the battery pack, and disassembling the battery pack at a battery replacement position below the electric automobile, wherein the method comprises the following steps:
establishing an origin coordinate system, wherein a second disassembly standard coordinate difference is a coordinate difference between the second positioning origin and the second origin sensor when the second mobile platform is positioned at the disassembly station;
obtaining an actual coordinate difference between the second origin sensor and the second positioning origin;
and controlling the second mobile platform to move according to the actual coordinate difference until the actual coordinate difference between the second origin sensor and the second positioning origin is the second disassembly standard coordinate difference.
23. The battery replacement device control method according to claim 19, wherein a second positioning origin and a second origin sensor for detecting the second positioning origin are respectively disposed on the second moving platform and the traveling mechanism;
controlling the second mobile platform to move to an installation station of the battery pack, and disassembling and assembling the battery pack at a battery replacement position below the electric automobile, wherein the method comprises the following steps:
establishing an origin coordinate system, wherein a second installation standard coordinate difference is a coordinate difference between the second positioning origin and the second origin sensor when the second mobile platform is positioned at the installation station;
obtaining an actual coordinate difference between the second origin sensor and the second positioning origin;
and controlling the second mobile platform to move according to the actual coordinate difference until the actual coordinate difference between the second origin sensor and the second positioning origin is the second installation standard coordinate difference.
24. The battery replacement device control method of claim 19, wherein an unlocking device is arranged on the second mobile platform, and the unlocking device comprises an unlocking rod;
controlling the second mobile platform to move to a disassembly station or an installation station of the battery pack, and disassembling and assembling the battery pack at a battery replacement position below the electric automobile, wherein the method further comprises the following steps:
and controlling the unlocking rod to move to a locking position or an unlocking position.
25. The battery swapping device control method of claim 24,
the unlocking device further comprises a first unlocking sensor, and the first unlocking sensor is used for detecting whether the unlocking rod is located at the locking position or not;
controlling the unlocking lever to move to the locking position, comprising the steps of:
the first unlocking sensor detects that the unlocking rod reaches the locking position, and controls the unlocking rod to stop acting.
26. The battery swapping device control method of claim 25,
the unlocking device also comprises a second unlocking sensor, and the second unlocking sensor is used for detecting whether the unlocking rod is positioned at the unlocking position or not;
controlling the unlocking rod to move to the unlocking position, comprising the following steps:
the second unlocking sensor detects that the unlocking rod reaches the unlocking position, and controls the unlocking rod to stop acting.
27. The battery swapping device control method of claim 16, wherein the battery swapping device travels along a travel path between a battery swapping position and an exchange position; the battery replacement equipment control method comprises the following steps:
and when a battery disassembly signal or a battery installation signal is received, the battery replacement equipment is controlled to move to a battery replacement position along the walking channel.
28. The battery swapping device control method of claim 16, wherein the battery swapping device travels along a travel path between a battery swapping position and an exchange position, the travel path is provided with a first waiting position, and the first waiting position is located between the battery swapping position and the exchange position;
the battery replacement equipment control method comprises the following steps:
and when receiving a first waiting signal, controlling the battery replacement equipment to move to a first waiting position along the walking channel.
29. The battery swapping device control method of claim 16, wherein the battery swapping device travels along a travel path between a battery swapping position and an exchange position, the travel path is provided with a second waiting position, the second waiting position is located between the battery swapping position and the exchange position,
the battery replacement equipment control method comprises the following steps:
and when receiving a second waiting signal, controlling the battery replacement equipment to move to a second waiting position along the walking channel.
30. The battery replacement device control method of claim 16, wherein the battery replacement device travels along a travel path between a battery replacement position and a replacement position, the travel path having a limit position;
controlling the first mobile platform to move to a disassembly station or an installation station of the battery pack, and disassembling and assembling the battery pack at a battery replacement position below the electric automobile, wherein the method comprises the following steps:
and when the battery replacement equipment moves to the limit position, the battery replacement equipment stops moving.
CN202010076988.5A 2020-01-23 2020-01-23 Battery replacement equipment and battery replacement equipment control method Active CN111231749B (en)

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CN206812968U (en) * 2017-05-15 2017-12-29 上海蔚来汽车有限公司 Homing guidance type electricity changing robot and electric charging station
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