CN113895303B

CN113895303B - Battery replacement positioning control system, battery replacement equipment and battery replacement control method

Info

Publication number: CN113895303B
Application number: CN202111302372.6A
Authority: CN
Inventors: 黄春华
Original assignee: Aulton New Energy Automotive Technology Co Ltd; Shanghai Dianba New Energy Technology Co Ltd
Current assignee: Aulton New Energy Automotive Technology Co Ltd; Shanghai Dianba New Energy Technology Co Ltd
Priority date: 2017-12-29
Filing date: 2017-12-29
Publication date: 2024-02-13
Anticipated expiration: 2037-12-29
Also published as: CN113910967B; CN113895302B; CN109987065B; CN113910970B; CN113910971B; CN113895303A; CN113910971A; CN113895302A; CN113910967A; CN109987065A; CN113910970A

Abstract

The invention provides a battery replacement positioning control system, battery replacement equipment and a control method, wherein a rotating mechanism is positioned below a battery tray seat and drives the battery tray seat to rotate; the rotation detection unit and the telescopic detection unit are arranged on the battery tray, the rotation detection unit detects the angle between the battery tray and the reference object and is communicated with the rotation mechanism, and the telescopic detection unit detects the distance between the battery tray and the reference object and is communicated with the tray telescopic mechanism; when the battery tray is retracted beyond the limit position, the front detection unit sends a signal to the tray retracting mechanism, and the tray retracting mechanism confirms whether the battery tray stops retracting or not. Through setting up detection units such as rotatory detection unit, flexible detection unit, preceding detection unit, realized the accurate positioning of battery tray in flexible in-process, improved holistic accuracy and the security of system.

Description

Battery replacement positioning control system, battery replacement equipment and battery replacement control method

The present application is a divisional application of chinese patent application with application date 2017, 12, 29, 201711482879.8 and the inventive name of "battery replacement positioning control system, battery replacement device, and control method".

Technical Field

The invention relates to a battery replacement positioning control system.

The invention also relates to a battery replacement device comprising the battery replacement positioning control system.

The invention also relates to a battery replacement positioning control method.

Background

The electric automobile replaces oil with electricity, can realize zero emission and low noise, and is an important means for solving the energy and environmental problems. With the shortage of petroleum resources and the development of battery technology, electric automobiles are approaching to or even superior to traditional fuel automobiles in performance and economy, and are gradually popularized and applied worldwide. A new generation of energy-saving and environment-friendly automobiles represented by electric automobiles is a necessary trend of the development of the automobile industry. As an important premise and foundation for large-scale popularization and application of electric vehicles, development of electric vehicle charging and replacing technology and construction of electric vehicle charging and replacing facilities are widely focused by all parties.

The battery box of the electric automobile can be positioned at the bottom of the automobile or at the side surface of the automobile. For example, a plurality of battery boxes of an electric bus are generally provided, and the plurality of battery boxes are respectively located at both sides of the electric bus. When the battery is replaced from the side face of the electric automobile by the battery replacing device, the battery box in the electric automobile is taken out by extending the battery tray, then the battery box is rotated to the battery storage rack, and the old battery box is placed in the battery storage rack; and taking out the new battery box from the battery storage rack, and putting the new battery box into a battery compartment of the electric automobile. In the replacement process, the position of the battery tray in the battery replacement process needs to be accurately positioned so as to ensure the accuracy and efficiency of the replacement of the battery box.

Disclosure of Invention

The invention aims to overcome the defect that a control system for accurately positioning a battery tray is lack in the power change process in the prior art, and provides a battery replacement positioning control system, power change equipment and a control method.

The invention solves the technical problems by the following technical proposal:

the invention provides a battery replacement positioning control system, which comprises:

the battery tray is installed in the battery tray seat, the battery tray seat is provided with an outlet for the battery tray to extend out, the battery tray is driven by the tray extending mechanism to extend and retract on the battery tray seat, and one end of the battery tray which can extend out of the battery tray seat is an extending end;

the rotating mechanism is positioned below the battery tray seat and drives the battery tray seat to rotate;

the rotation detection unit and the extension detection unit are arranged on the battery tray, the rotation detection unit detects the angle between the battery tray and a reference object and is communicated with the rotation mechanism, and the extension detection unit detects the distance between the battery tray and the reference object and is communicated with the tray extension mechanism;

And the front detection unit sends a signal to the tray telescopic mechanism when the battery tray is retracted beyond the limiting position, and the tray telescopic mechanism confirms whether the battery tray stops retracting or not.

In the technical scheme, the position of the battery tray is adjusted through the rotation detection unit and the telescopic detection unit, so that the battery tray can be opposite to the power conversion position in the power conversion process, and the accuracy and the success rate of the power conversion process are ensured; the front detection unit is used for detecting whether the battery tray is retracted beyond a limit position.

Preferably, the rotation detection unit comprises two first proximity switches, the two first proximity switches are symmetrically arranged on two sides of the extending end, and the first proximity switches measure the distance between the first proximity switches and the reference object; when the distances between the two first proximity switches and the reference object are equal, the first proximity switches send a rotation stopping signal to the rotating mechanism, and the rotating mechanism pauses the rotation of the battery tray seat.

In this technical scheme, when the distance between two first proximity switches and the reference object is equal, indicate that the battery tray stretches out the end and just to the reference object (i.e. trade the electric potential), can trade electric activity.

Preferably, the telescopic detection unit comprises a second proximity switch, and the second proximity switch is positioned on the end face of the extending end; when the distance between the second proximity switch and the reference object reaches a preset value, the second proximity switch sends a signal for stopping extending to the tray telescopic mechanism, and the tray telescopic mechanism pauses the extending action of the battery tray.

In the technical scheme, when the second proximity switch measures that the distance between the second proximity switch and the reference object reaches a preset value, the extending end of the battery tray is indicated to reach the preset position, and the extending end of the battery tray is butted with the potential replacement position, so that the battery box can smoothly move between the battery tray and the potential replacement position.

Preferably, the battery replacement positioning control system further comprises a position adjusting mechanism, wherein the position adjusting mechanism is connected with the rotating mechanism, and the position adjusting mechanism adjusts the position of the rotating mechanism.

In the technical scheme, the position adjusting mechanism adjusts the position of the rotating mechanism, and simultaneously adjusts the positions of the battery tray seat and the battery tray above the rotating mechanism.

Preferably, the battery replacement positioning control system further includes a position detection unit fixed to the battery tray holder, the position detection unit detecting a position of the battery tray holder relative to the reference object and communicating with the position adjustment mechanism.

In the technical scheme, the position detection unit detects the position of the battery tray seat relative to the reference object and feeds back the position to the position adjustment mechanism, and the position adjustment mechanism adjusts the positions of the rotating mechanism, the battery tray seat and the battery tray so that the battery tray seat corresponds to the position of the reference object.

Preferably, the position detection unit comprises at least one laser positioning instrument, at least one reflecting plate is arranged on the reference object, and each laser positioning instrument corresponds to one reflecting plate; when the laser energy emitted by the laser positioning instrument is reflected by the corresponding reflecting plate, the laser positioning instrument sends an in-place signal to the position adjusting mechanism, and the position adjusting mechanism adjusts the position of the rotating mechanism until the battery tray seat corresponds to the position of the reference object.

In the technical scheme, before the battery tray stretches out, the relative position between the battery tray seat and the reference object is confirmed through the position of the laser positioning instrument after being reflected by the reflecting plate, and then the position of the rotating mechanism is adjusted through the position adjusting mechanism until the position of the battery tray seat corresponds to the position of the reference object.

Preferably, the number of the laser positioners is two, and the two laser positioners are respectively positioned at two sides of the battery tray seat.

In this technical scheme, in order to guarantee that the location of battery tray seat is accurate, the quantity of laser locator can be set up to two, and two laser locator are located the both sides of battery tray seat respectively.

Preferably, the front detection unit includes a front limit detection portion and a front limit detection portion, and a distance from a detection position of the front limit detection portion to the protruding end is greater than a distance from a detection position of the front limit detection portion to the protruding end.

In this technical scheme, the detection position of preceding limit detection portion, preceding limit detection portion is arranged along the flexible direction of battery tray from beginning to end, and when the battery tray work was unusual, when the withdrawal exceeded the limit position, even preceding limit detection portion did not detect, led to the battery tray still to continue the withdrawal, the preceding limit detection portion of follow-up position still can detect, has improved the holistic security of system.

Preferably, the front limit detection part comprises a front limit detection block and a front limit sensor, wherein the front limit detection block is positioned on one surface of the battery tray facing the battery tray seat, and the front limit sensor is positioned on one surface of the battery tray seat facing the battery tray; the front limit sensor detects the front limit detection block, the front limit sensor sends a front limit signal to the tray telescopic mechanism, and the tray telescopic mechanism confirms whether the battery tray stops retracting.

In the technical scheme, the current limit sensor detects the front limit detection block to indicate that the battery tray is retracted beyond the limit position, and the tray telescopic mechanism confirms whether the battery tray stops retracting.

Preferably, the front limit detection part comprises a front limit detection block and a front limit sensor, wherein the front limit detection block is positioned on one surface of the battery tray facing the battery tray seat, and the front limit sensor is positioned on one surface of the battery tray seat facing the battery tray; when the front limit sensor detects the front limit detection block, the front limit sensor sends a front limit signal to the tray telescopic mechanism, and the tray telescopic mechanism confirms whether the battery tray stops retracting.

In the technical scheme, the current limit sensor detects the front limit detection block to indicate that the battery tray is retracted to the limit position, and the tray telescopic mechanism confirms whether the battery tray stops retracting action or not.

Preferably, the battery replacement positioning control system further comprises a rear limit detection unit, and when the battery tray extends beyond the limiting position, the rear limit detection unit sends a signal to the tray telescopic mechanism, and the tray telescopic mechanism confirms whether the battery tray stops extending.

In this technical solution, the rear limit detection unit is used to detect whether the battery tray protrudes beyond the defined position.

Preferably, the rear limit detection unit comprises a rear limit detection block and a rear limit sensor, wherein the rear limit detection block is positioned on one surface of the battery tray facing the battery tray seat, and the rear limit sensor is positioned on one surface of the battery tray seat facing the battery tray; the rear limit sensor detects the rear limit detection block, the rear limit sensor sends a rear limit signal to the tray telescopic mechanism, and the tray telescopic mechanism confirms whether the battery tray stops stretching out or not.

In the technical scheme, when the rear limit sensor detects the rear limit detection block, the rear limit detection block indicates that the battery tray stretches out to reach the limit position, and the tray telescopic mechanism confirms whether the battery tray stops retracting.

Preferably, the battery replacement positioning control system further comprises a push disc box and a push disc driving mechanism, wherein the push disc box is arranged on the battery tray; the pushing disc box moves on the battery tray under the drive of the pushing disc driving mechanism; the push disc box is provided with a distance sensor, and the distance sensor detects the distance between the push disc box and the reference object and is communicated with the push disc driving mechanism.

In the technical scheme, the distance sensor detects the distance between the push disc box and the reference object and feeds back the distance to the push disc driving mechanism, and the push disc driving mechanism adjusts the position of the push disc box on the battery tray according to the measurement data of the distance sensor, so that the battery tray can be just connected with a movable object (such as a battery box) in the power change process, and the accuracy and the success rate of the power change process are ensured.

Preferably, the battery replacement positioning control system further includes a front-in-place unit that sends a signal to the push disk drive mechanism when the push disk cartridge moves forward beyond a defined position, the push disk drive mechanism confirming whether the push disk cartridge stops moving forward.

In this technical scheme, the front-in-place unit is used for detecting whether the push disk box moves forward beyond the limit position.

Preferably, the front in-place unit comprises a front in-place detection block and a front in-place sensor, wherein the front in-place detection block is positioned on one surface of the battery tray facing the push tray box, and the front in-place sensor is positioned on one surface of the push tray box facing the battery tray; the front in-place sensor detects the front in-place detection block, the front in-place sensor sends a front in-place signal to the push disc driving mechanism, and the push disc driving mechanism confirms whether the push disc box stops moving forwards or not.

In this technical solution, the current in-place sensor detects the front in-place detection block, which indicates that the push disc cartridge moves forward beyond the defined position, and the push disc driving mechanism confirms whether the push disc cartridge stops moving forward.

Preferably, the battery replacement positioning control system further includes a rear detection unit that sends a signal to the push disk drive mechanism when the push disk cartridge moves rearward beyond a defined position, the push disk drive mechanism confirming whether the push disk cartridge stops moving rearward.

In this technical scheme, the back detection unit is used for detecting whether the push disc box moves backward beyond the limit position.

Preferably, the rear detection unit comprises a rear in-place detection part and a rear alarm detection part, and the distance from the detection position of the rear in-place detection part to the extending end is smaller than the distance from the detection position of the rear alarm detection part to the extending end.

In the technical scheme, the detection positions of the rear in-place detection part and the rear alarm detection part are sequentially arranged along the backward movement direction of the push disc box, when the push disc box works abnormally and moves backward beyond the limiting position, even if the rear in-place detection part does not detect the push disc box, the push disc box still continues to retract, the rear alarm detection part at the subsequent position can also detect the push disc box, and the overall safety of the system is improved.

Preferably, the back in-place detection part comprises a back in-place detection block and a back in-place sensor, wherein the back in-place detection block is positioned on one surface of the battery tray facing the push tray box, and the back in-place sensor is positioned on one surface of the push tray box facing the battery tray; the rear in-place sensor detects the rear in-place detection block, the rear in-place sensor sends a rear in-place signal to the push disc driving mechanism, and the push disc driving mechanism confirms whether the push disc box stops moving backwards or not.

In this technical solution, when the in-place sensor detects the in-place detection block indicating that the push disc cartridge moves backward beyond the defined position, the push disc driving mechanism will confirm whether the push disc cartridge stops moving backward.

Preferably, the rear alarm detection part comprises a rear alarm detection block and a rear alarm sensor, wherein the rear alarm detection block is positioned on one surface of the battery tray facing the push tray box, and the rear alarm sensor is positioned on one surface of the push tray box facing the battery tray; the rear alarm sensor detects the rear alarm detection block, the rear alarm sensor sends a rear alarm signal to the push disc driving mechanism, and the push disc driving mechanism confirms whether the push disc box stops moving backwards or not.

In the technical scheme, when the rear alarm sensor detects the rear alarm detection block, the rear alarm detection block indicates that the push disc box moves backwards to reach an alarm position, and the push disc driving mechanism confirms whether the push disc box stops moving backwards or not.

Preferably, a third proximity switch is further arranged on the surface of the push disc box facing the reference object; when the push disc box is connected with a mobile object and is retracted, the third proximity switch measures the distance between the push disc box and the mobile object; when the third proximity switch measures that the movable object is separated from the push disc box, the third proximity switch sends a separation alarm signal to the push disc driving mechanism.

In this technical solution, the third proximity switch is used to detect whether a mobile object (such as a battery box) connected to the push disc box is separated from the push disc box.

Preferably, the battery replacement positioning control system further comprises an in-place protection sensor, wherein the in-place protection sensor is positioned on the end face of the outlet of the battery tray seat, and when no moving object is detected in the detection range of the in-place protection sensor, the in-place protection sensor sends a starting signal to the rotating mechanism.

In the technical scheme, when the in-place protection sensor cannot detect the moving object, the moving object is indicated to be installed in place, or is completely retracted into the battery tray seat, and the system can start to perform the next action.

The invention also provides a battery replacing device, which comprises the battery replacing and positioning control system.

In the technical scheme, the battery box can be accurately installed and removed through the battery replacement positioning control system.

The invention also provides a battery replacement positioning control method, which is the control method of the battery replacement positioning control system, and comprises the following steps:

the rotating mechanism drives the battery tray seat to rotate in place, and the battery tray stretches out to the reference object;

when the rotation detecting unit detects the reference object, the extending speed of the battery tray is slowed down; the rotation detection unit sends a signal to the rotation mechanism according to the measured angle, and the rotation mechanism controls the battery tray seat to rotate until the battery tray is opposite to the reference object;

the tray telescopic mechanism drives the battery tray to extend continuously, and the telescopic detection unit detects the distance between the battery tray and the reference object;

when the telescopic detection unit detects that the distance between the battery tray and the reference object reaches a preset value, the telescopic detection unit sends a signal to the tray telescopic mechanism, and the tray telescopic mechanism controls the battery tray to stop extending.

In the technical scheme, through the steps, accurate positioning in the extending process of the battery tray can be realized.

On the basis of conforming to the common knowledge in the field, the above preferred conditions can be arbitrarily combined to obtain the preferred examples of the invention.

The invention has the positive progress effects that:

according to the battery replacement positioning control system, the battery replacement equipment and the battery replacement control method, through the arrangement of the detection units such as the rotation detection unit, the telescopic detection unit and the front detection unit, accurate positioning of the battery tray in the telescopic process is achieved, and the overall accuracy and safety of the system are improved.

Drawings

Fig. 1 is a schematic diagram of a battery replacement positioning control system according to the present invention.

Fig. 2 is a schematic diagram of the battery replacement positioning control system shown in fig. 1.

Fig. 3 is a schematic connection diagram of a tray retracting mechanism of the battery replacement positioning control system shown in fig. 1.

Fig. 4 is a schematic connection diagram of a rotating mechanism of the battery replacement positioning control system shown in fig. 1.

Fig. 5 is a schematic connection diagram of a position adjustment mechanism of the battery replacement positioning control system shown in fig. 1.

Fig. 6 is a schematic connection diagram of a push disk drive mechanism of the battery replacement positioning control system shown in fig. 1.

Fig. 7 is a schematic diagram of the front and rear limit detection units of the battery replacement positioning control system shown in fig. 1.

Fig. 8 is a schematic structural view of a front detection unit and a rear limit detection unit of the battery replacement positioning control system shown in fig. 1.

Fig. 9 is a schematic diagram of the structure of the front-in-place unit and the rear detection unit of the battery replacement positioning control system shown in fig. 1.

Description of the reference numerals

Battery tray seat 1

First guide rail 11

Battery tray 2

Extension end 21

Second guide rail 22

Tray telescoping mechanism 3

Rotation mechanism 4

Rotation detection unit 5

First proximity switch 51

Expansion and contraction detecting unit 6

Second proximity switch 61

Position adjusting mechanism 7

Position detection unit 8

Laser positioning instrument 81

Front detection unit 9

Front limit detection unit 91

Front limit detection block 911

Front limit sensor 912

Front limit detecting unit 92

Front limit detection block 921

Front limit sensor 922

Rear limit detection unit 10

Rear limit detection block 101

Rear limit sensor 102

Push box 20

Push disk drive mechanism 30

Front-to-position unit 40

Front in-place detection block 401

Front in-place sensor 402

Rear detection unit 50

Post-in-place detection unit 501

Post-in-place detection block 511

Post-home sensor 512

Rear alarm detection unit 502

Rear alarm detection block 521

Rear alarm sensor 522

Third proximity switch 60

In-place protection sensor 70

Distance sensor 80

Detailed Description

The invention is further illustrated by means of the following examples, which are not intended to limit the scope of the invention.

As shown in fig. 1 to 6, the battery replacement positioning control system of the present invention includes a battery tray holder 1, a battery tray 2, a tray retracting mechanism 3, a rotating mechanism 4, a rotation detecting unit 5 and a retracting detecting unit 6, wherein the battery tray 2 is installed in the battery tray holder 1, the battery tray holder 1 has an outlet from which power supply Chi Tuopan 2 extends, the tray retracting mechanism 3 drives the battery tray 2 to retract on the battery tray holder 1, and one end of the battery tray 2 which can extend to the outside of the battery tray holder 1 is an extending end 21; the rotating mechanism 4 is positioned below the battery tray seat 1, and the rotating mechanism 4 drives the battery tray seat 1 to rotate; the rotation detection unit 5 and the extension detection unit 6 are arranged on the battery tray 2, the rotation detection unit 5 detects the angle between the battery tray 2 and the reference object and is communicated with the rotation mechanism 4, and the extension detection unit 6 detects the distance between the battery tray 2 and the reference object and is communicated with the tray extension mechanism 3.

The battery tray seat 1 may be provided therein with a first guide rail 11, the battery tray 2 is mounted on the first guide rail 11, and the battery tray 2 moves on the first guide rail 11. The tray telescopic mechanism 3 can be a motor and transmission belt structure, a motor, a gear and a rack structure or other transmission mechanisms, and the tray telescopic mechanism 3 drives the battery tray 2 to move on the first guide rail 11.

The rotation mechanism 4 may be composed of a motor, a rotating disk which rotates relatively, or other transmission mechanism which can realize the rotation of the object.

The angle between the battery tray 2 and the reference object is detected through the rotation detection unit 5 and is fed back to the rotation mechanism 4, and the rotation mechanism 4 adjusts the angles of the battery tray seat 1 and the battery tray 2 according to the rotation detection unit 5, so that the battery tray 2 can be opposite to the power change position in the power change process, and the accuracy and the success rate of the power change process are ensured.

The distance between the battery tray 2 and the reference object is detected through the telescopic detection unit 6 and is fed back to the tray telescopic mechanism 3, and the tray telescopic mechanism 3 adjusts the length of the battery tray 2 extending out of the battery tray seat 1 according to the telescopic detection unit 6, so that the battery tray 2 can just extend to a position connected with a voltage-changing position in the power-changing process, and the accuracy and the success rate of the power-changing process are ensured.

As shown in fig. 5, the battery replacement positioning control system further includes a position adjustment mechanism 7, the position adjustment mechanism 7 being connected to the rotation mechanism 4, the position adjustment mechanism 7 adjusting the position of the rotation mechanism 4. The position adjusting mechanism 7 adjusts the position of the rotating mechanism 4 and also adjusts the positions of the battery tray seat 1 and the battery tray 2 located above the rotating mechanism 4. The position adjusting mechanism 7 can adjust the position of the rotating mechanism 4 up and down, left and right, or tilt the rotating mechanism 4, and the position adjustment of the position adjusting mechanism 7 can be realized by various transmission mechanisms such as a motor, a transmission chain, and the like.

As shown in fig. 5, the battery replacement positioning control system further includes a position detection unit 8, the position detection unit 8 being fixed to the battery tray holder 1, the position detection unit 8 detecting the position of the battery tray holder 1 with respect to the reference object and communicating with the position adjustment mechanism 7. The position detecting unit 8 detects the position of the battery tray holder 1 relative to the reference object, and feeds back to the position adjusting mechanism 7, and the position adjusting mechanism 7 adjusts the positions of the rotating mechanism 4, the battery tray holder 1, and the battery tray 2 so that the battery tray holder 1 corresponds to the position of the reference object.

As shown in fig. 1, 2 and 8, the battery replacement positioning control system further comprises a push disk box 20 and a push disk driving mechanism 30, wherein the push disk box 20 is mounted on the battery tray 2; the push disk case 20 moves on the battery tray 2 under the drive of the push disk driving mechanism 30; the push disk cartridge 20 is provided with a distance sensor 80, and the distance sensor 80 detects the distance between the push disk cartridge 20 and the reference object and communicates with the push disk drive mechanism 30.

The pushing tray 20 may be connected to a moving object (e.g., a battery box) to push the moving object to a reference object (e.g., a potential change), or may be pulled back to the battery tray 2. The battery tray 2 is provided with a second guide rail 22, and the push tray 20 moves on the second guide rail 22. The pushing disc driving mechanism 30 may be a motor, a driving belt, a motor, a gear, a rack, or other driving mechanisms, and the pushing disc driving mechanism 30 drives the pushing disc box 20 to move on the second guide rail 22.

The distance sensor 80 detects the distance between the push disc box 20 and the reference object and feeds the distance back to the push disc driving mechanism 30, and the push disc driving mechanism 30 adjusts the position of the push disc box 20 on the battery tray 2 according to the measurement data of the distance sensor 80, so that the push disc box 20 can be just connected with the moving object (such as a battery box) in the power change process, and the accuracy and the success rate of the power change process are ensured.

As shown in fig. 1 and 8, one embodiment of the rotation detecting unit 5 is: the rotation detection unit 5 comprises two first proximity switches 51, one end of the battery tray 2, which can extend out of the battery tray seat 1, is an extending end 21, the two first proximity switches 51 are symmetrically arranged on two sides of the extending end 21, and the first proximity switches 51 measure the distance between the first proximity switches and a reference object; when the distances between the two first proximity switches 51 and the reference object are equal, the first proximity switches 51 send a rotation stop signal to the rotation mechanism 4, and the rotation mechanism 4 pauses the rotation of the battery tray base 1.

When the distances between the two first proximity switches 51 and the reference object are equal, it is indicated that the protruding end 21 of the battery tray 2 is opposite to the reference object (i.e., the potential is changed), and the battery tray can be subjected to the electric change operation.

The rotation detecting unit 5 may employ other measuring devices for measuring the relative angle, such as an angle measuring instrument, an angle measuring sensor, etc., in addition to the two first proximity switches 51.

As shown in fig. 1 and 8, one specific embodiment of the expansion and contraction detecting unit 6 is: the telescopic detection unit 6 comprises a second proximity switch 61, one end of the battery tray 2 which can extend out of the battery tray seat 1 is an extending end 21, and the second proximity switch 61 is positioned on the end face of the extending end 21; when the distance between the second proximity switch 61 and the reference object reaches a predetermined value, the second proximity switch 61 sends a stop extension signal to the tray extension mechanism 3, and the tray extension mechanism 3 pauses the extension action of the battery tray 2.

When the second proximity switch 61 measures that the distance between the second proximity switch 61 and the reference object reaches the preset value, it is indicated that the extending end 21 of the battery tray 2 has reached the preset position, and the extending end 21 of the battery tray 2 is in butt joint with the replacement position, so that the battery box can smoothly move between the battery tray 2 and the replacement position.

The expansion/contraction detecting means 6 may employ a measuring device for measuring the relative distance, in addition to the second proximity switch 61.

As shown in fig. 1 and 8, one embodiment of the position detection unit 8 is: the position detection unit 8 comprises at least one laser positioning instrument 81, at least one reflecting plate is arranged on the reference object, and each laser positioning instrument 81 corresponds to one reflecting plate; when the laser energy emitted by the laser positioning instrument 81 is reflected by the corresponding reflecting plate, the laser positioning instrument 81 sends a signal to the position adjusting mechanism 7, and the position adjusting mechanism 7 adjusts the position of the rotating mechanism 4 until the battery tray seat 1 corresponds to the position of the reference object.

Before the battery tray 2 stretches out, the relative position between the battery tray seat 1 and the reference object can be confirmed through the position of the laser positioning instrument 81 after being reflected by the reflecting plate, and then the position of the rotating mechanism 4 is adjusted through the position adjusting mechanism 7 until the position of the battery tray seat 1 corresponds to the position of the reference object.

In order to ensure accurate positioning of the battery tray seat 1, the number of the laser positioners 81 may be two, and the two laser positioners 81 are respectively located at two sides of the battery tray seat 1.

As shown in fig. 3, the battery replacement positioning control system is further provided with a front detection unit 9, a rear limit detection unit 10 in order to prevent the battery tray 2 from being extended or retracted beyond a defined position.

The front detection unit 9 is used for detecting whether the battery tray 2 is retracted beyond the limit position, and when the battery tray 2 is retracted beyond the limit position, the front detection unit 9 sends a signal to the tray retracting mechanism 3, and the tray retracting mechanism 3 confirms whether the battery tray 2 stops the retracting action. If the battery tray 2 does not stop the retracting action, the tray retracting mechanism 3 will take forced action to stop the battery tray 2 and give an alarm.

In order to ensure the detection success rate of the front detection unit 9, the front detection unit 9 includes a front limit detection portion 91 and a front limit detection portion 92, and the distance from the detection position of the front limit detection portion 91 to the projecting end 21 is greater than the distance from the detection position of the front limit detection portion 92 to the projecting end 21. The detection positions of the front limit detection part 91 and the front limit detection part 92 are arranged front and back along the expansion and contraction direction of the battery tray 2, when the battery tray 2 works abnormally and retracts beyond the limit position, even if the front limit detection part 91 does not detect the battery tray, the battery tray 2 still continues to retract, the front limit detection part 92 at the subsequent position can also detect the battery tray, and the overall safety of the system is improved.

One specific structure of the front limit detection portion 91 is shown in fig. 7 to 8. The front limit detection part 91 comprises a front limit detection block 911 and a front limit sensor 912, the front limit detection block 911 is positioned on one surface of the battery tray 2 facing the battery tray seat 1, and the front limit sensor 912 is positioned on one surface of the battery tray seat 1 facing the battery tray 2; the front limit sensor 912 detects the front limit detection block 911, and the front limit sensor 912 transmits a front limit signal to the tray retracting mechanism 3, and the tray retracting mechanism 3 confirms whether the battery tray 2 stops retracting. The current limit sensor 912 detects the front limit detection block 911 indicating that the battery tray 2 is retracted beyond the defined position, the tray retracting mechanism 3 will confirm whether the battery tray 2 stops the retracting action.

One specific structure of the front limit detecting portion 92 is shown in fig. 7 to 8. The front limit detection section 92 includes a front limit detection block 921 and a front limit sensor 922, the front limit detection block 921 being located on a side of the battery tray 2 facing the battery tray holder 1, the front limit sensor 922 being located on a side of the battery tray holder 1 facing the battery tray 2; when the front limit sensor 922 detects the front limit detection block 921, the front limit sensor 922 sends a front limit signal to the tray retracting mechanism 3, and the tray retracting mechanism 3 confirms whether the battery tray 2 stops retracting. The current limit sensor 922 detects the front limit detection block 921 indicating that the battery tray 2 is retracted to the limit position, and the tray retracting mechanism 3 confirms whether the battery tray 2 stops the retracting action.

The rear limit detection unit 10 is used for detecting whether the battery tray 2 extends beyond a limit position, and when the battery tray 2 extends beyond the limit position, the rear limit detection unit 10 sends a signal to the tray telescopic mechanism 3, and the tray telescopic mechanism 3 confirms whether the battery tray 2 stops extending. If the battery tray 2 does not stop the extending action, the tray retracting mechanism 3 will take forced measures to stop the battery tray 2 and give an alarm.

Among them, a specific structure of the rear limit detection unit 10 is shown in fig. 7 to 8. The rear limit detection unit 10 includes a rear limit detection block 101 and a rear limit sensor 102, the rear limit detection block 101 is located on a side of the battery tray 2 facing the battery tray holder 1, and the rear limit sensor 102 is located on a side of the battery tray holder 1 facing the battery tray 2; the rear limit sensor 102 detects the rear limit detection block 101, and the rear limit sensor 102 sends a rear limit signal to the tray retracting mechanism 3, and the tray retracting mechanism 3 confirms whether the battery tray 2 stops the extending operation. When the rear limit sensor 102 detects the rear limit detection block 101, indicating that the battery tray 2 is extended to the limit position, the tray retracting mechanism 3 confirms whether the battery tray 2 stops the extending action.

As shown in fig. 6, the battery replacement positioning control system is further provided with a front-in-place unit 40, a rear detection unit 50 in order to prevent the push disk case 20 from being moved forward or backward beyond a defined position.

The front-in-place unit 40 is used to detect whether the push disk cartridge 20 moves forward beyond the limit position, and when the push disk cartridge 20 moves forward beyond the limit position, the front-in-place unit 40 sends a signal to the push disk drive mechanism 30, and the push disk drive mechanism 30 confirms whether the push disk cartridge 20 stops moving forward. If the push disk cartridge 20 does not stop moving forward, the push disk drive mechanism 30 will take a forced action to stop the push disk cartridge 20 and issue an alarm.

One specific configuration of the front-in-place unit 40 is shown in fig. 9. The front in-place unit 40 includes a front in-place detection block 401 and a front in-place sensor 402, the front in-place detection block 401 being located on a side of the battery tray 2 facing the push tray case 20, the front in-place sensor 402 being located on a side of the push tray case 20 facing the battery tray 2; the front in-place sensor 402 detects the front in-place detection block 401, and the front in-place sensor 402 sends a front in-place signal to the push disk drive mechanism 30, and the push disk drive mechanism 30 confirms whether the push disk cartridge 20 stops moving forward. The detection of the forward-in-place detection block 401 by the present-in-place sensor 402 indicates that the push disk cartridge 20 has moved forward beyond the defined position, and the push disk drive mechanism 30 will confirm whether the push disk cartridge 20 has stopped moving forward.

The rear detection unit 50 is used to detect whether the push disk cartridge 20 moves backward beyond the defined position, and when the push disk cartridge 20 moves backward beyond the defined position, the rear detection unit 50 sends a signal to the push disk drive mechanism 30, and the push disk drive mechanism 30 confirms whether the push disk cartridge 20 stops moving backward. If the push disk cartridge 20 does not stop moving rearward, the push disk drive mechanism 30 will take a forced action to stop the push disk cartridge 20 and alert.

In order to ensure the detection success rate of the rear detection unit 50, the rear detection unit 50 includes a rear in-place detection portion 501 and a rear alarm detection portion 502, and the distance from the detection position of the rear in-place detection portion 501 to the projecting end 21 is smaller than the distance from the detection position of the rear alarm detection portion 502 to the projecting end 21. The detection positions of the rear-in-place detection part 501 and the rear-alarm detection part 502 are sequentially arranged along the backward movement direction of the push disk box 20, when the push disk box 20 works abnormally and moves backward beyond the limit position, even if the rear-in-place detection part 501 does not detect, the push disk box 20 still continues to retract, the rear-alarm detection part 502 at the subsequent position can also detect, and the overall safety of the system is improved.

One specific structure of the post-position detecting section 501 is shown in fig. 9. The rear in-place detecting section 501 includes a rear in-place detecting block 511 and a rear in-place sensor 512, the rear in-place detecting block 511 being located on a side of the battery tray 2 facing the push tray 20, the rear in-place sensor 512 being located on a side of the push tray 20 facing the battery tray 2; the rear in-place sensor 512 detects the rear in-place detection block 511, and the rear in-place sensor 512 sends a rear in-place signal to the push disk drive mechanism 30, and the push disk drive mechanism 30 confirms whether the push disk cartridge 20 stops moving rearward. When the backward in-place sensor 512 detects the backward in-place detection block 511, which indicates that the push disk cartridge 20 moves backward beyond the defined position, the push disk drive mechanism 30 will confirm whether the push disk cartridge 20 stops moving backward.

One specific structure of the rear alarm detecting section 502 is shown in fig. 9. The rear alarm detection section 502 includes a rear alarm detection block 521 and a rear alarm sensor 522, the rear alarm detection block 521 being located on a side of the battery tray 2 facing the push tray 20, the rear alarm sensor 522 being located on a side of the push tray 20 facing the battery tray 2; the rear alarm sensor 522 detects the rear alarm detection block 521, and the rear alarm sensor 522 transmits a rear alarm signal to the push disk drive mechanism 30, and the push disk drive mechanism 30 confirms whether the push disk cartridge 20 stops moving rearward. When the rear warning sensor 522 detects the rear warning detection block 521, indicating that the push disk cartridge 20 is moved rearward to the warning position, the push disk drive mechanism 30 will confirm whether the push disk cartridge 20 stops moving rearward.

The front and rear in-place detecting blocks 401 and 511 may be arranged in a row and in tandem in the moving direction of the push box 20. Thus, the front in-place sensor 402 and the rear in-place sensor 512 may share one sensor, i.e., the sensors perform the functions of the front in-place sensor 402 and the rear in-place sensor 512 at the same time.

The rear warning detecting block 521 is elongated and extends in the moving direction of the push disk case 20. The long-strip-shaped rear alarm detection block 521 enables the rear alarm sensor 522 to detect the rear alarm detection block 521 in a longer time, increases the inductable time of the rear alarm sensor 522, and increases the overall safety of the system.

As shown in fig. 1 and 8, the surface of the push disk case 20 facing the reference object is further provided with a third proximity switch 60, and the third proximity switch 60 is used for detecting whether a moving object (such as a battery box) connected to the push disk case 20 is separated from the push disk case 20. That is, the third proximity switch 60 measures the distance between the push disk case 20 and the moving object when the push disk case 20 is connected to the moving object and retracted; when the third proximity switch 60 measures that the mover is separated from the push disk cartridge 20, the third proximity switch 60 sends a separation alarm signal to the push disk drive mechanism 30. After receiving the detachment alarm signal, the push disk drive mechanism 30 stops the movement of the push disk cartridge 20, alarms and waits for further processing.

As shown in fig. 1 and 8, the battery replacement positioning control system further includes an in-place protection sensor 70, wherein the in-place protection sensor 70 is located on the end surface of the outlet of the battery tray base 1, and when no moving object is detected within the detection range of the in-place protection sensor 70, the in-place protection sensor 70 sends a start signal to the rotating mechanism 4. When the in-place protection sensor 70 does not detect the moving object, indicating that the moving object is installed in place, or has been fully retracted into the battery tray holder 1, the system may be activated for further actions.

The control method of the battery replacement positioning control system comprises the following steps:

s1, a rotating mechanism 4 drives a battery tray seat 1 to rotate in place, and a battery tray 2 extends out to a reference object;

s2, when the rotation detection unit 5 detects a reference object, the extending speed of the battery tray 2 is slowed down; the rotation detection unit 5 sends a signal to the rotation mechanism 4 according to the measured angle, and the rotation mechanism 4 controls the battery tray seat 1 to rotate until the battery tray 2 is opposite to the reference object;

s3, the tray telescopic mechanism 3 drives the battery tray 2 to extend continuously, and the telescopic detection unit 6 detects the distance between the battery tray 2 and the reference object;

and S4, when the telescopic detection unit 6 detects that the distance between the battery tray 2 and the reference object reaches a preset value, the telescopic detection unit 6 sends a signal to the tray telescopic mechanism 3, and the tray telescopic mechanism 3 controls the battery tray 2 to stop extending.

Through the above steps, accurate positioning in the process of extending the battery tray 2 can be achieved, and after the battery tray 2 is extended in place, the push tray box 20 moves forward on the battery tray 2 under the drive of the push tray driving mechanism 30, and the distance between the push tray box 20 and the reference object is detected by the distance sensor 80. When the distance between the push disk cartridge 20 and the reference object reaches a preset value, the push disk drive mechanism 30 controls the push disk cartridge 20 to stop protruding forward.

Before the battery tray 2 extends in the reference direction, the position of the battery tray seat 1 relative to the reference can be detected by the position detecting unit 8, and the positions of the rotating mechanism 4, the battery tray seat 1 and the battery tray 2 can be adjusted by the position adjusting mechanism 7, so that the position of the battery tray seat 1 corresponds to the position of the reference. The position detection unit 8 achieves rough positioning of the battery tray seat 1 and the battery tray 2 as a whole. In the extending process of the battery tray 2, the rotation detection unit 5 and the extension detection unit 6 realize the accurate positioning of the battery tray 2.

During the extension of the battery tray 2 in the direction of the reference object, if the battery tray 2 extends beyond the limit position, the rear limit detection unit 10 can detect and send a signal to the tray telescopic mechanism 3, and the tray telescopic mechanism 3 will take forced measures to stop the battery tray 2 and give an alarm.

During the forward movement of the push disk cartridge 20 on the battery tray 2, if the push disk cartridge 20 moves forward beyond the defined position, the forward-in-place unit 40 can detect and send a signal to the push disk drive mechanism 30, and the push disk drive mechanism 30 will take forced action to stop the push disk cartridge 20 and issue an alarm.

After the battery tray 2 is extended to the reference object direction and the pushing tray 20 moves forward on the battery tray 2 to the position, the pushing tray 20 needs to move backward to the position after the predetermined action is completed, and the battery tray 2 is retracted into the battery tray seat 1.

During the rearward movement of the push disk cartridge 20, if the push disk cartridge 20 moves rearward beyond the defined position, the rear detection unit 50 can detect and send a signal to the push disk drive mechanism 30, and the push disk drive mechanism 30 will take a forced action to stop the push disk cartridge 20 and issue an alarm.

During the retraction of the battery tray 2 into the battery tray holder 1, if the battery tray 2 is retracted beyond the defined position, the front detection unit 9 can detect and send a signal to the tray retracting mechanism 3, and the tray retracting mechanism 3 will take forced measures to stop the battery tray 2 and give an alarm.

When the battery replacement positioning control system and the control method are applied to the battery replacement equipment, the reference object is the battery installation bin, the moving object is the battery box, and the accurate installation and the detachment of the battery box can be realized through the battery replacement positioning control system.

The present invention is not limited to the above-described embodiments, and any changes in shape or structure thereof are within the scope of the present invention. The scope of the present invention is defined by the appended claims, and those skilled in the art can make various changes or modifications to these embodiments without departing from the principle and spirit of the present invention, but these changes and modifications fall within the scope of the present invention.

Claims

1. A battery replacement positioning control system, comprising:

a front detection unit, which sends a signal to the tray telescopic mechanism when the battery tray is retracted beyond the limit position, and the tray telescopic mechanism confirms whether the battery tray stops retracting action;

The pushing disc box and the pushing disc driving mechanism are arranged on the battery tray; the pushing disc box moves on the battery tray under the drive of the pushing disc driving mechanism;

the front detection unit comprises a front limit detection part and a front limit detection part, and the distance from the detection position of the front limit detection part to the extending end is larger than the distance from the detection position of the front limit detection part to the extending end;

the front limit detection part comprises a front limit detection block and a front limit sensor, the front limit detection block is positioned on one surface of the battery tray facing the battery tray seat, and the front limit sensor is positioned on one surface of the battery tray seat facing the battery tray.

2. The battery replacement positioning control system according to claim 1, wherein: the rotation detection unit comprises two first proximity switches, the two first proximity switches are symmetrically arranged on two sides of the extending end, and the first proximity switches measure the distance between the first proximity switches and the reference object; when the distances between the two first proximity switches and the reference object are equal, the first proximity switches send a rotation stopping signal to the rotating mechanism, and the rotating mechanism pauses the rotation of the battery tray seat.

3. The battery replacement positioning control system according to claim 1, wherein: the telescopic detection unit comprises a second proximity switch, and the second proximity switch is positioned on the end face of the extending end; when the distance between the second proximity switch and the reference object reaches a preset value, the second proximity switch sends a signal for stopping extending to the tray telescopic mechanism, and the tray telescopic mechanism pauses the extending action of the battery tray.

4. The battery replacement positioning control system according to claim 1, wherein: the battery replacement positioning control system further comprises a position adjusting mechanism, wherein the position adjusting mechanism is connected with the rotating mechanism, and the position adjusting mechanism adjusts the position of the rotating mechanism.

5. The battery replacement positioning control system according to claim 4, wherein: the battery replacement positioning control system further comprises a position detection unit, wherein the position detection unit is fixed on the battery tray seat, and the position detection unit detects the position of the battery tray seat relative to the reference object and is communicated with the position adjustment mechanism.

6. The battery replacement positioning control system according to claim 5, wherein: the position detection unit comprises at least one laser positioning instrument, at least one reflecting plate is arranged on the reference object, and each laser positioning instrument corresponds to one reflecting plate; when the laser energy emitted by the laser positioning instrument is reflected by the corresponding reflecting plate, the laser positioning instrument sends an in-place signal to the position adjusting mechanism, and the position adjusting mechanism adjusts the position of the rotating mechanism until the battery tray seat corresponds to the position of the reference object.

7. The battery replacement positioning control system according to claim 6, wherein: the number of the laser positioners is two, and the two laser positioners are respectively positioned at two sides of the battery tray seat.

8. The battery replacement positioning control system according to claim 1, wherein: the front limit sensor detects the front limit detection block, the front limit sensor sends a front limit signal to the tray telescopic mechanism, and the tray telescopic mechanism confirms whether the battery tray stops retracting.

9. The battery replacement positioning control system according to claim 1, wherein: the front limit detection part comprises a front limit detection block and a front limit sensor, the front limit detection block is positioned on one surface of the battery tray facing the battery tray seat, and the front limit sensor is positioned on one surface of the battery tray seat facing the battery tray; when the front limit sensor detects the front limit detection block, the front limit sensor sends a front limit signal to the tray telescopic mechanism, and the tray telescopic mechanism confirms whether the battery tray stops retracting.

10. The battery replacement positioning control system according to claim 1, wherein: the battery replacement positioning control system further comprises a rear limit detection unit, when the battery tray stretches out of the limiting position, the rear limit detection unit sends a signal to the tray telescopic mechanism, and the tray telescopic mechanism confirms whether the battery tray stops stretching.

11. The battery replacement positioning control system of claim 10, wherein: the rear limit detection unit comprises a rear limit detection block and a rear limit sensor, wherein the rear limit detection block is positioned on one surface of the battery tray, which faces the battery tray seat, and the rear limit sensor is positioned on one surface of the battery tray seat, which faces the battery tray; the rear limit sensor detects the rear limit detection block, the rear limit sensor sends a rear limit signal to the tray telescopic mechanism, and the tray telescopic mechanism confirms whether the battery tray stops stretching out or not.

12. The battery replacement positioning control system according to claim 1, wherein: the push disc box is provided with a distance sensor, and the distance sensor detects the distance between the push disc box and the reference object and is communicated with the push disc driving mechanism.

13. The battery replacement positioning control system of claim 12, wherein: the battery replacement positioning control system further comprises a front-in-place unit, and when the push disc box moves forwards beyond a limiting position, the front-in-place unit sends a signal to the push disc driving mechanism, and the push disc driving mechanism confirms whether the push disc box stops moving forwards or not.

14. The battery replacement positioning control system of claim 13, wherein: the front in-place unit comprises a front in-place detection block and a front in-place sensor, the front in-place detection block is positioned on one surface of the battery tray facing the push disc box, and the front in-place sensor is positioned on one surface of the push disc box facing the battery tray; the front in-place sensor detects the front in-place detection block, the front in-place sensor sends a front in-place signal to the push disc driving mechanism, and the push disc driving mechanism confirms whether the push disc box stops moving forwards or not.

15. The battery replacement positioning control system of claim 12, wherein: the battery replacement positioning control system further includes a rear detection unit that sends a signal to the push disk drive mechanism when the push disk cartridge moves rearward beyond a defined position, the push disk drive mechanism confirming whether the push disk cartridge stops moving rearward.

16. The battery replacement positioning control system of claim 15, wherein: the rear detection unit comprises a rear in-place detection part and a rear alarm detection part, and the distance from the detection position of the rear in-place detection part to the extending end is smaller than the distance from the detection position of the rear alarm detection part to the extending end.

17. The battery replacement positioning control system of claim 16, wherein: the rear in-place detection part comprises a rear in-place detection block and a rear in-place sensor, the rear in-place detection block is positioned on one surface of the battery tray facing the push disc box, and the rear in-place sensor is positioned on one surface of the push disc box facing the battery tray; the rear in-place sensor detects the rear in-place detection block, the rear in-place sensor sends a rear in-place signal to the push disc driving mechanism, and the push disc driving mechanism confirms whether the push disc box stops moving backwards or not.

18. The battery replacement positioning control system of claim 16, wherein: the rear alarm detection part comprises a rear alarm detection block and a rear alarm sensor, the rear alarm detection block is positioned on one surface of the battery tray facing the push tray box, and the rear alarm sensor is positioned on one surface of the push tray box facing the battery tray; the rear alarm sensor detects the rear alarm detection block, the rear alarm sensor sends a rear alarm signal to the push disc driving mechanism, and the push disc driving mechanism confirms whether the push disc box stops moving backwards or not.

19. The battery replacement positioning control system of claim 12, wherein: a third proximity switch is further arranged on the surface of the push disc box facing the reference object; when the push disc box is connected with a mobile object and is retracted, the third proximity switch measures the distance between the push disc box and the mobile object; when the third proximity switch measures that the movable object is separated from the push disc box, the third proximity switch sends a separation alarm signal to the push disc driving mechanism.

20. The battery replacement positioning control system according to claim 1, wherein: the battery replacement positioning control system further comprises an in-place protection sensor, wherein the in-place protection sensor is positioned on the end face of the outlet of the battery tray seat, and when a moving object cannot be detected in the detection range of the in-place protection sensor, the in-place protection sensor sends a starting signal to the rotating mechanism.

21. A power conversion apparatus, characterized in that: the battery replacement positioning control system according to any one of claims 1 to 20.

22. A battery replacement positioning control method, which is the control method of the battery replacement positioning control system according to any one of claims 1 to 20, characterized by comprising the steps of: