WO2023098907A1

WO2023098907A1 - Vehicle calibrating system, battery swapping station and battery swapping method

Info

Publication number: WO2023098907A1
Application number: PCT/CN2022/136339
Authority: WO
Inventors: ***; 朱明厚; 庄智敏; 胡海龙; 刘青
Original assignee: 奥动新能源汽车科技有限公司; 上海电巴新能源科技有限公司
Priority date: 2021-12-02
Filing date: 2022-12-02
Publication date: 2023-06-08
Also published as: CN115284936A

Abstract

Disclosed in the present invention are a vehicle calibrating system, a battery swapping station and a battery swapping method. The vehicle calibrating system comprises a vehicle carrying platform and a battery swapping apparatus, wherein the vehicle carrying platform is used for driving an electric vehicle borne on the vehicle carrying platform to ascend or descend; and the battery swapping apparatus is used for swapping a battery of the vehicle on the vehicle carrying platform, the battery swapping apparatus is provided with a disassembling and assembling mechanism and a leveling member, the disassembling and assembling mechanism is configured to unlock or lock a locking member used for locking the battery on the vehicle, the leveling member is provided with a plurality of calibrating surfaces configured to make contact with the vehicle, and all the calibrating surfaces are located in the same plane. In the process of unlocking or locking the locking member by means of the disassembling and assembling mechanism, the leveling member supports the vehicle. According to the present invention, a relative position relationship between the vehicle and the disassembling and assembling mechanism is calibrated by means of the leveling member, so as to guarantee that the disassembling and assembling mechanism can accurately cooperate with the locking member, thereby reducing the risk of mechanical abrasion caused by the low positioning precision among the battery swapping apparatus, the vehicle and the battery, avoiding jamming between the battery swapping apparatus and the battery during a battery swapping process, and improving the battery swapping efficiency.

Description

车辆校正***、换电站及换电方法Vehicle calibration system, battery replacement station and battery replacement method

本申请要求申请日为2021/12/2的中国专利申请CN2021114601884的优先权。本申请引用上述中国专利申请的全文。This application claims the priority of the Chinese patent application CN2021114601884 with the filing date of 2021/12/2. This application cites the full text of the above-mentioned Chinese patent application.

技术领域technical field

本发明涉及一种车辆校正***、换电站及换电方法。The invention relates to a vehicle calibration system, a battery swapping station and a battery swapping method.

背景技术Background technique

换电站用于对电动汽车进行换电，车辆驶入换电站中，对车辆精确定位后，换电站内的相关设备将车辆上的亏电电池拆卸下来，然后将存储在换电站内的满电电池安装到车辆上，换电完成后，车辆驶出载车平台。换电过程中，对车辆的定位精度直接影响到相关设备拆、装电池的工作情况，现有技术中存在着由于车辆的定位精度不高致使相关设备、电池及车辆产生机械磨损甚至换电中卡死的情况。The battery swapping station is used for battery swapping of electric vehicles. The vehicle drives into the swapping station. After the vehicle is precisely positioned, the related equipment in the swapping station removes the battery that has lost power on the vehicle, and then replaces the fully charged battery stored in the swapping station. The battery is installed on the vehicle, and after the battery replacement is completed, the vehicle drives out of the vehicle-carrying platform. In the process of battery replacement, the positioning accuracy of the vehicle directly affects the work of dismantling and installing the battery of related equipment. In the prior art, there is a problem that the related equipment, battery and vehicle are mechanically worn due to the low positioning accuracy of the vehicle, and even during battery replacement. Stuck situation.

发明内容Contents of the invention

本发明要解决的技术问题是克服换电过程中换电设备、电池和车辆因定位不佳导致机械磨损的缺陷，而提供一种车辆校正***、换电站及换电方法。The technical problem to be solved by the present invention is to overcome the defects of mechanical wear caused by poor positioning of the battery swapping equipment, batteries and vehicles during the battery swapping process, and provide a vehicle calibration system, a swapping station and a battery swapping method.

本发明是通过下述技术方案来解决上述技术问题的：The present invention solves the above technical problems through the following technical solutions:

一种车辆校正***，包括：A vehicle calibration system comprising:

载车平台，用于带动承载于其上的电动车辆作升降运动；The vehicle-carrying platform is used to drive the electric vehicle carried on it for lifting movement;

换电设备，用于对所述载车平台上的车辆进行换电，所述换电设备上设置有拆装机构和校平件，所述拆装机构用于解锁或锁定所述车辆上用于锁紧电池的锁紧件，所述校平件具有多个用于和车辆接触的校准面，各所述校准面位于同一平面内；The battery exchange equipment is used to exchange electricity for the vehicles on the vehicle-carrying platform. The battery exchange equipment is provided with a disassembly mechanism and a leveling piece. The disassembly mechanism is used to unlock or lock the vehicles on the vehicle. For locking the locking part of the battery, the leveling part has a plurality of calibration surfaces for contacting with the vehicle, and each of the calibration surfaces is located in the same plane;

在所述拆装机构对所述锁紧件进行解锁或锁定的过程中，所述校平件支撑所述车辆。During the process of unlocking or locking the locking member by the dismounting mechanism, the leveling member supports the vehicle.

本方案中，通过校平件来校准车辆与拆装机构的相对位置关系，保证了拆装机构能够精准地与锁紧件配合，从而降低了换电设备、车辆和电池之间因定位精度不高导致机械磨损的风险，且能够有效避免换电过程中换电设备和电池之间发生卡死，有助于提高换电效率。In this solution, the relative positional relationship between the vehicle and the dismounting mechanism is calibrated through the leveling parts, which ensures that the dismounting mechanism can accurately cooperate with the locking parts, thereby reducing the gap between the replacement equipment, the vehicle and the battery due to the lack of positioning accuracy. The risk of mechanical wear is high, and it can effectively avoid the jamming between the battery replacement equipment and the battery during the battery replacement process, which helps to improve the power replacement efficiency.

优选地，各所述校准面所在的平面与所述拆装机构所在的平面平行。Preferably, the plane where each calibration surface is located is parallel to the plane where the dismounting mechanism is located.

本方案中，各校准面所在的平面与拆装机构所在的平面平行，能够确保车底盘及电池锁紧件所在的平面与拆装机构平行，从而能够保证拆装机构精准地与锁紧件配合，提高换电精度及效率。In this solution, the plane where each calibration surface is located is parallel to the plane where the disassembly mechanism is located, which can ensure that the plane where the chassis and battery locking parts are located is parallel to the disassembly mechanism, thereby ensuring that the disassembly mechanism is accurately matched with the locking parts , improve the accuracy and efficiency of battery replacement.

优选地，所述校平件包括多个校平立柱，多个所述校平立柱的高度相同，所述校平立柱的顶面形成所述校准面。Preferably, the leveling member includes a plurality of leveling columns, the heights of the plurality of leveling columns are the same, and the top surfaces of the leveling columns form the calibration surface.

本方案中，多个校平立柱的顶面形成校准面，各校准立柱的高度相同，确保多个校准面位于同一平面内，校平件结构简单且校准精度高。In this solution, the top surfaces of multiple leveling columns form a calibration surface, and the heights of each calibration column are the same to ensure that multiple calibration surfaces are located in the same plane, and the leveling member has a simple structure and high calibration accuracy.

优选地，所述换电设备包括设备本体和安装基座，所述拆装机构设置在所述设备本体上，所述安装基座于所述设备本体的四周外缘安装在所述设备本体上，所述安装基座设置在所述拆装机构外侧，所述校平立柱设置在所述安装基座上。Preferably, the power exchange device includes a device body and an installation base, the dismounting mechanism is arranged on the device body, and the installation base is installed on the device body around the outer edge of the device body , the installation base is arranged outside the dismounting mechanism, and the leveling column is arranged on the installation base.

本方案中，校平立柱通过安装基座安装在设备本体的四周外缘，校平立柱位于拆装机构外侧，拆装机构与电池的位置对准，校平立柱能够避开电池，可以有效避免校平立柱与电池发生碰撞干涉。另外，本方案中，将校平立柱通过安装基座安装在设备本体，实现直接将校平立柱安装在现有换电设备上，无需对现有换电设备进行其它改进，改造成本低，且能够实现模块化装配，便于拆装和维护。In this solution, the leveling column is installed on the outer edge of the equipment body through the installation base. The leveling column is located outside the disassembly mechanism. The disassembly mechanism is aligned with the position of the battery. The leveling column can avoid the battery, which can effectively avoid The leveling column collides with the battery. In addition, in this solution, the leveling column is installed on the equipment body through the installation base, so that the leveling column can be directly installed on the existing power exchange equipment, without other improvements to the existing power exchange equipment, the transformation cost is low, and it can realize Modular assembly, easy disassembly and maintenance.

优选地，所述换电设备还包括调节部，所述调节部分别与所述设备本体和所述安装基座连接，所述调节部被配置为能够带动所述安装基座沿水平方向和/或竖直方向相对于所述设备本体移动。Preferably, the power exchange device further includes an adjustment part, the adjustment part is respectively connected to the device body and the installation base, and the adjustment part is configured to drive the installation base along the horizontal direction and/or Or move vertically relative to the device body.

不同型号的车辆的较佳支撑点不同，通过调节部来调节校平立柱的位置，能够根据车型来选择较佳的支撑点，既能够对不同型号的车辆进行校平，又能够最大化地保护车辆，提高了换电设备对各类电动车辆的普适性。另外，利用调节部控制校平立柱在竖直方向上的位置，还可以用来控制车辆的升降，该功能可以与载车平台的升降功能配合使用。Different types of vehicles have different optimal support points. By adjusting the position of the leveling column through the adjustment part, the optimal support point can be selected according to the vehicle model, which can not only level different types of vehicles, but also maximize the protection Vehicles, improving the universality of battery replacement equipment for various types of electric vehicles. In addition, using the adjustment part to control the vertical position of the leveling column can also be used to control the lifting of the vehicle, and this function can be used in conjunction with the lifting function of the vehicle-carrying platform.

优选地，所述调节部包括导轨和滑块，所述导轨安装在所述设备本体上，所述滑块活动设置在所述导轨上，所述安装基座与所述滑块连接；或，Preferably, the adjustment part includes a guide rail and a slider, the guide rail is installed on the device body, the slider is movably arranged on the guide rail, and the installation base is connected to the slider; or,

所述调节部包括具有转动轴的转动组件，所述转动组件设置在所述设备本体上，所述转动轴与所述安装基座连接，所述转动组件用于将所述转动轴的旋转运动转化为所述安装基座的线性运动。The adjustment part includes a rotating assembly with a rotating shaft, the rotating assembly is arranged on the device body, the rotating shaft is connected with the installation base, and the rotating assembly is used to rotate the rotating shaft translates into linear motion of the mounting base.

本方案中，调节部包括导轨和滑块，或调节部采用转动组件，调节部结构简单，使用方便。采用导轨滑块结构，移动滑块即可带动安装基座在导轨上滑动，以实现校平立柱位置调节。采用转动组件结构，转动转动轴即可带动安装基座移动实现校平立柱位置调节。In this solution, the adjustment part includes a guide rail and a slider, or the adjustment part adopts a rotating assembly, and the adjustment part has a simple structure and is easy to use. Using the guide rail slider structure, moving the slider can drive the installation base to slide on the guide rail to realize the position adjustment of the leveling column. The rotating component structure is adopted, and the rotating shaft can drive the installation base to move to realize the position adjustment of the leveling column.

优选地，所述调节部还包括动力元件，所述动力元件设置在所述设备本体上，且所述动力元件与所述滑块或所述转动轴连接。Preferably, the adjusting part further includes a power element, the power element is arranged on the device body, and the power element is connected with the slider or the rotating shaft.

本方案中，通过动力元件驱动滑块运动或驱动转动轴转动，利于提高调解效率和调节精度。In this solution, the power element is used to drive the slider to move or to drive the rotating shaft to rotate, which is beneficial to improve the adjustment efficiency and adjustment accuracy.

优选地，所述换电设备上还设置有定位销，所述车辆的底盘上开设有用于容置所述定位销的定位孔。Preferably, positioning pins are also provided on the power exchange equipment, and positioning holes for accommodating the positioning pins are opened on the chassis of the vehicle.

本方案中，定位销和定位孔相互配合，定位销***定位孔后能够确定车辆和换电设备之间的相对位置关系，能够有效保证车辆底盘和校平立柱以及电池和拆装机构之间的对准精度。In this solution, the positioning pin and the positioning hole cooperate with each other. After the positioning pin is inserted into the positioning hole, the relative positional relationship between the vehicle and the power exchange equipment can be determined, and the vehicle chassis and the leveling column as well as the battery and the disassembly mechanism can be effectively guaranteed. Alignment accuracy.

优选地，所述换电设备上还设置有升降机构，所述升降机构分别与所述拆装机构和所述定位销连接。Preferably, the power exchange equipment is further provided with a lifting mechanism, and the lifting mechanism is respectively connected with the dismounting mechanism and the positioning pin.

升降机构能够带动拆装机构和定位销升降，以使拆装机构与锁紧件接触或分离，以及，将定位销***或移出定位孔。控制定位销插接于定位孔中时，可以通过升降机构控制定位销向上运动直至其***定位控制实现，也可以通过控制车辆向下运动直至定位销插接在定位孔中实现，或者通过同时控制车辆向下运动，且定位销向上运动直至定位销插接在定位孔中实现。The lifting mechanism can drive the dismounting mechanism and the positioning pin up and down, so that the disassembling mechanism contacts or separates from the locking member, and the positioning pin is inserted into or removed from the positioning hole. When the positioning pin is controlled to be inserted into the positioning hole, it can be realized by controlling the positioning pin to move upward until it is inserted into the positioning control through the lifting mechanism, or it can be realized by controlling the vehicle to move downward until the positioning pin is inserted in the positioning hole, or by simultaneously controlling The vehicle moves downward, and the positioning pin moves upward until the positioning pin is plugged into the positioning hole.

优选地，所述升降机构处于举升状态时，所述定位销的顶部高于所述校平件的校准面。Preferably, when the lifting mechanism is in the lifting state, the top of the positioning pin is higher than the calibration surface of the leveling member.

本方案可以实现先控制定位销***定位孔中对车辆进行粗定位，然后再利用校平立柱对车辆的位置进行矫正实现精确定位，保证了电池包与拆装机构位置关系的精确度；还避免了因定位销低于校平立柱而导致校平立柱与车辆干涉，造成定位销无法***到定位孔内的风险。This scheme can realize the rough positioning of the vehicle by first controlling the positioning pin to be inserted into the positioning hole, and then use the leveling column to correct the position of the vehicle to achieve precise positioning, ensuring the accuracy of the positional relationship between the battery pack and the disassembly mechanism; It avoids the risk that the positioning pin cannot be inserted into the positioning hole because the positioning pin is lower than the leveling column and the leveling column interferes with the vehicle.

优选地，所述换电设备上还设置有检测元件，所述检测元件用于检测所述校准面与车辆是否接触。Preferably, a detection element is also provided on the battery swapping device, and the detection element is used to detect whether the calibration surface is in contact with the vehicle.

根据检测元件的检测结果来判断车辆是否到达了预设的状态，校准精度高。According to the detection result of the detection element, it is judged whether the vehicle has reached the preset state, and the calibration accuracy is high.

优选地，所述载车平台包括对应车辆前轮的前举升机构和对应车辆后轮的后举升机构，所述换电设备在所述前举升机构和所述后举升机构之间对车辆进行换电。Preferably, the vehicle-loading platform includes a front lifting mechanism corresponding to the front wheels of the vehicle and a rear lifting mechanism corresponding to the rear wheels of the vehicle, and the power exchange device is between the front lifting mechanism and the rear lifting mechanism Replace the vehicle.

优选地，所述载车平台在所述拆装机构对所述锁紧件进行解锁或锁定的过程中与所述校平件共同托举所述车辆。Preferably, the vehicle-carrying platform and the leveling member jointly lift the vehicle when the dismounting mechanism unlocks or locks the locking member.

本方案中，控制车辆与校准面接触的同时保证车轮不脱离载车平台，拆装机构对锁紧件进行解锁和锁定的过程中，校平件和载车平台共同支撑车辆。从而载车平台可以分担校平件的载荷，各校平件承受的作用力降低，由此提高了校平件的寿命。In this solution, the vehicle is controlled to be in contact with the calibration surface while ensuring that the wheels do not leave the vehicle-carrying platform. During the process of unlocking and locking the locking parts by the disassembly mechanism, the leveling parts and the vehicle-carrying platform jointly support the vehicle. Thereby the vehicle-carrying platform can share the load of the leveling parts, and the force borne by each leveling part is reduced, thus improving the life of the leveling parts.

优选地，所述载车平台具有第一举升高度和第二举升高度，所述载车平台位于所述第一举升高度时，承载于载车平台上的车辆高于所述校平件；所述载车平台位于所述第二举升高度时，所述载车平台不高于所述校平件。Preferably, the vehicle-carrying platform has a first lifting height and a second lifting height. When the vehicle-carrying platform is at the first lifting height, the vehicle carried on the vehicle-carrying platform is higher than the leveling height. parts; when the vehicle-carrying platform is at the second lifting height, the vehicle-carrying platform is not higher than the leveling member.

本方案中，载车平台处于第一举升高度时，车辆的下表面高于校平件的校准面，换电设备能够驶入承载于载车平台上的车辆下方；载车平台处于第二举升高度时，载车平台的上表面不高于校平件的上表面，校平件支撑车辆或载车平台和校平件共同托举车辆。In this solution, when the vehicle-carrying platform is at the first lifting height, the lower surface of the vehicle is higher than the calibration surface of the leveling piece, and the power exchange equipment can drive under the vehicle on the vehicle-carrying platform; the vehicle-carrying platform is at the second When the lifting height is high, the upper surface of the vehicle-carrying platform is not higher than the upper surface of the leveling piece, and the leveling piece supports the vehicle or the vehicle-carrying platform and the leveling piece jointly lift the vehicle.

一种换电站，包括如上任一项所述的车辆校正***。A battery swapping station, comprising the vehicle calibration system described in any one of the above items.

一种基于如上任一项所述的车辆校正***的换电方法，包括如下步骤：A battery replacement method based on the vehicle calibration system described in any one of the above, comprising the following steps:

控制换电设备驶入并定位在载车平台上的车辆下方，使所述换电设备与车辆上的电池位置相对准；Control the power exchange equipment to drive into and position under the vehicle on the vehicle-carrying platform, so that the power exchange equipment is aligned with the position of the battery on the vehicle;

沿竖直方向调节所述载车平台和所述换电设备之间的相对位置，使所述校平件支撑车辆；Adjusting the relative position between the vehicle-carrying platform and the power exchange equipment in the vertical direction, so that the leveling member supports the vehicle;

控制拆装机构对所述车辆上的电池进行拆卸或将待安装的电池安装于所述车辆上。The dismounting mechanism is controlled to disassemble the battery on the vehicle or install the battery to be installed on the vehicle.

本方案中，利用校平件支撑车辆，使得车辆达到预设的状态，实现了对锁紧件和拆装机构的精确定位，然后再利用拆装机构拆卸和安装电池，提高了换电进度，降低了换电设备、车辆和电池之间因定位精度不高导致机械磨损的风险，且能够有效避免换电过程中换电设备和电池之间发生卡住，有助于提高换电效率。In this scheme, the vehicle is supported by leveling parts, so that the vehicle reaches the preset state, and the precise positioning of the locking parts and the disassembly mechanism is realized, and then the battery is disassembled and installed by the disassembly mechanism, which improves the progress of battery replacement. It reduces the risk of mechanical wear caused by low positioning accuracy between the battery replacement equipment, the vehicle and the battery, and can effectively avoid jamming between the battery replacement equipment and the battery during the battery replacement process, which helps to improve the efficiency of battery replacement.

优选地，所述沿竖直方向调节所述载车平台和所述换电设备之间的相对位置，使所述校平件支撑车辆的步骤包括：Preferably, the step of vertically adjusting the relative position between the vehicle-carrying platform and the power exchange equipment so that the leveling member supports the vehicle includes:

控制载车平台和校平件相对运动，实时检测各个校准面是否都与车辆接触，若各校准面均与车辆接触，载车平台和校平件停止相对运动，所述校平件支撑车辆。Control the relative movement of the vehicle-carrying platform and the leveling member, and detect in real time whether each calibration surface is in contact with the vehicle. If all the calibration surfaces are in contact with the vehicle, the vehicle-carrying platform and the leveling member stop relative movement, and the leveling member supports the vehicle.

本方案中，载车平台和校平件相对运动过程中，通过实施检测控制载车平台和校平件运动，以确保每个校准面都与车辆接触，校准精度高。In this solution, during the relative movement of the vehicle-carrying platform and the leveling piece, the movement of the vehicle-carrying platform and the leveling piece is controlled through detection to ensure that each calibration surface is in contact with the vehicle, and the calibration accuracy is high.

优选地，所述校平件支撑车辆的步骤之后，且步骤控制拆装机构对所述车辆上的电池进行拆卸或将待安装的电池安装于所述车辆上之前还包括以下步骤：Preferably, after the step of supporting the vehicle by the leveling member, and before the step of controlling the dismounting mechanism to disassemble the battery on the vehicle or install the battery to be installed on the vehicle, the following steps are further included:

检测载车平台的前举升机构和载车平台的后举升机构是否都与车辆接触，若否，则控制对应的所述前举升机构或所述后举升机构上升至与车辆接触，以使所述前举升机构和所述后举升机构与所述校平件共同托举所述车辆。Detect whether the front lifting mechanism of the vehicle-carrying platform and the rear lifting mechanism of the vehicle-carrying platform are in contact with the vehicle, if not, then control the corresponding front lifting mechanism or the rear lifting mechanism to rise to contact with the vehicle, so that the front lifting mechanism and the rear lifting mechanism together with the leveling piece lift the vehicle.

本方案中，前举升机构、后举升机构及各校平立柱共同托举车辆，从而载车平台可以分担校平件的载荷，各校平件承受的作用力降低，由此提高了校平件的寿命，并且车辆因为有更多的支撑点而稳定性更好。In this scheme, the front lifting mechanism, the rear lifting mechanism and each leveling column jointly lift the vehicle, so that the vehicle-loading platform can share the load of the leveling parts, and the force borne by each leveling part is reduced, thereby improving the leveling The life of the flat parts, and the stability of the vehicle is better because there are more support points.

优选地，所述控制换电设备驶入并定位在载车平台上的车辆下方，以使所述换电设备与车辆上的电池位置相对准的步骤包括：Preferably, the step of controlling the power exchange equipment to drive into and position under the vehicle on the vehicle-carrying platform, so that the power exchange equipment is aligned with the position of the battery on the vehicle includes:

所述换电设备驶入所述载车平台上的车辆下方后，控制所述载车平台和所述换电设备相对运动，当换电设备上的定位销***车辆底盘上的定位孔时，所述换电设备与车辆上的电池位置相对准。After the power exchange equipment drives under the vehicle on the vehicle-carrying platform, the relative movement between the vehicle-carrying platform and the battery exchange equipment is controlled. When the positioning pin on the battery exchange equipment is inserted into the positioning hole on the vehicle chassis, The power exchange equipment is aligned with the battery on the vehicle.

本方案中，控制定位销***定位孔确定车辆和换电设备之间的相对位置关系，能够有效保证车辆底盘和校平立柱以及电池和拆装机构之间的对准精度。In this solution, the positioning pin is controlled to be inserted into the positioning hole to determine the relative positional relationship between the vehicle and the power exchange equipment, which can effectively ensure the alignment accuracy between the vehicle chassis and the leveling column, as well as the battery and the disassembly mechanism.

优选地，所述控制换电设备驶入并定位在载车平台上的车辆下方，以使所述换电设备与车辆上的电池位置相对准的步骤之前还包括以下步骤：Preferably, the step of controlling the power exchange equipment to drive into and position under the vehicle on the vehicle-carrying platform, so as to align the power exchange equipment with the battery on the vehicle, further includes the following steps:

获取所述车辆的车型，根据所述车型信息沿水平方向和/或竖直方向调节校平立柱相对于设备本体的相对位置。The vehicle model of the vehicle is obtained, and the relative position of the leveling column relative to the device body is adjusted along the horizontal direction and/or vertical direction according to the vehicle model information.

本方案中，根据车型信息调节校平立柱的位置，能够根据车型来选择较佳的支撑点，既能够对不同型号的车辆进行校平，又能够最大化地保护车辆，提高了换电设备对各类电动车辆的普适性。In this solution, the position of the leveling column is adjusted according to the vehicle model information, and a better support point can be selected according to the vehicle model. The universality of all kinds of electric vehicles.

在符合本领域常识的基础上，上述各优选条件，可任意组合，即得本发明各较佳实例。On the basis of conforming to common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain preferred examples of the present invention.

本发明的积极进步效果在于：The positive progress effect of the present invention is:

本发明通过校平件来校准车辆与拆装机构的相对位置关系，保证了拆装机构能够精准地与锁紧件配合，从而降低了换电设备、车辆和电池之间因定位精度不高导致机械磨损的风险，且能够有效避免换电过程中换电设备和电池之间发生卡死，有助于提高换电效率。The invention calibrates the relative positional relationship between the vehicle and the dismounting mechanism through the leveling piece, ensuring that the dismounting mechanism can accurately cooperate with the locking piece, thereby reducing the gap between the power exchange equipment, the vehicle, and the battery due to low positioning accuracy. There is no risk of mechanical wear, and it can effectively avoid the jamming between the battery replacement equipment and the battery during the battery replacement process, which helps to improve the power replacement efficiency.

附图说明Description of drawings

图1为本发明一实施例的车辆校正***的结构示意图。FIG. 1 is a schematic structural diagram of a vehicle calibration system according to an embodiment of the present invention.

图2为本发明一实施例的换电设备的结构示意图。FIG. 2 is a schematic structural diagram of a power exchange device according to an embodiment of the present invention.

图3为本发明一实施例的换电方法的流程图。FIG. 3 is a flow chart of a battery replacement method according to an embodiment of the present invention.

附图标记说明：车辆校正***100；载车平台1；前举升机构11；后举升机构12；换电设备2；拆装机构21；定位销211；校平件22；校准面221；空心柱222；校平垫块223；安装板224；设备本体23；安装基座24Explanation of reference numerals: vehicle calibration system 100; vehicle loading platform 1; front lifting mechanism 11; rear lifting mechanism 12; power exchange equipment 2; Hollow column 222; Leveling block 223; Mounting plate 224; Equipment body 23; Mounting base 24

具体实施方式Detailed ways

下面通过实施例的方式进一步说明本发明，但并不因此将本发明限制在下述的实施例范围之中。The present invention is further illustrated below by means of examples, but the present invention is not limited to the scope of the following examples.

本发明实施例提供一种换电站，用于对电动汽车进行换电，车辆驶入换电站中，对车辆精确定位后，换电站内的相关设备将车辆上的亏电电池拆卸下来，然后将存储在换电站内的满电电池安装到车辆上，换电完成后，车辆驶出载车平台1。换电站包括车辆矫正***，车辆驶入换电站内，车辆矫正***对车辆的位置进行矫正，使车辆处于预设的状态，以供相关设备对车辆进行换电。An embodiment of the present invention provides a battery swapping station, which is used for battery swapping of electric vehicles. The vehicle drives into the swapping station, and after the vehicle is precisely positioned, the related equipment in the swapping station removes the exhausted battery on the vehicle, and then The fully charged battery stored in the battery swap station is installed on the vehicle, and the vehicle drives out of the vehicle-carrying platform 1 after the battery swap is completed. The battery swap station includes a vehicle correction system. When a vehicle enters the battery swap station, the vehicle correction system corrects the position of the vehicle so that the vehicle is in a preset state for the relevant equipment to exchange electricity for the vehicle.

请参阅图1、图2进行理解。本发明实施例提供了一种用于上述换电站中的车辆校正***100。车辆矫正***包括载车平台1和换电设备2。载车平台1用于带动承载于其上的电动车辆作升降运动；换电设备2用于对载车平台1上的车辆进行换电。具体应用时，载车平台1对车辆的水平方向进行初步定位，换电设备2对车辆进行精确定位，使车辆处于预设的状态，然后拆下车辆上的亏电电池，再安装上满电电池，完成换电。Please refer to Figure 1 and Figure 2 for understanding. An embodiment of the present invention provides a vehicle calibration system 100 used in the above-mentioned battery swapping station. The vehicle rectification system includes a vehicle loading platform 1 and a power exchange device 2 . The vehicle-carrying platform 1 is used to drive the electric vehicle carried on it to perform lifting movement; the power exchange device 2 is used to exchange power for the vehicles on the vehicle-carrying platform 1 . In specific applications, the vehicle-loading platform 1 initially positions the vehicle in the horizontal direction, and the battery replacement device 2 accurately positions the vehicle so that the vehicle is in a preset state, then removes the dead battery on the vehicle, and then installs a fully charged The battery is replaced.

换电设备2上设置有拆装机构21和校平件22，校平件22用于对车辆进行精确定位，使车辆处于预设的状态，拆装机构21用于解锁或锁定车辆上用于锁紧电池的锁紧件，应用时，载车平台1对车辆的水平方向进行初步定位后，使校平件22与车辆接触，利用校平件22支撑车辆，从而实现对车辆的校平，此时拆装机构21和锁紧件的位置被精准定位，拆装机构21可以对车辆进行拆、装电池的操作。The power exchange equipment 2 is provided with a disassembly mechanism 21 and a leveling piece 22. The leveling piece 22 is used to precisely position the vehicle so that the vehicle is in a preset state. The disassembly mechanism 21 is used to unlock or lock the vehicle for Lock the locking part of the battery. When in use, after the vehicle-carrying platform 1 initially positions the horizontal direction of the vehicle, the leveling part 22 is brought into contact with the vehicle, and the vehicle is supported by the leveling part 22, thereby realizing the leveling of the vehicle. At this time, the positions of the dismounting mechanism 21 and the locking member are accurately positioned, and the dismounting mechanism 21 can perform the operation of disassembling and installing the battery of the vehicle.

校平件22具有多个用于和车辆接触的校准面221，各校准面221位于同一平面内，通过使各校准面221和车辆接触，实现对车辆的精确定位，使车辆位于预设的状态；在拆装机构21对锁紧件进行解锁或锁定的过程中，校平件22支撑车辆。The leveling member 22 has a plurality of calibration surfaces 221 for contacting with the vehicle, and each calibration surface 221 is located in the same plane. By making each calibration surface 221 contact with the vehicle, the precise positioning of the vehicle is realized, so that the vehicle is in a preset state ; During the process of unlocking or locking the locking member by the dismounting mechanism 21, the leveling member 22 supports the vehicle.

车辆换电的整体过程为：车辆驶入载车平台1，载车平台1对前车轮和后车轮进行前后方向和左右方向的定位，从而实现车辆在水平方向的初步定位；利用载车平台1举升车辆，使得换电设备2能够顺利地驶入和驶出车辆下方；控制空载的换电设备2驶入电动汽车正下方；利用校平件22支撑车辆，位于同一平面内的各校准面221和车辆底盘贴合，使得车辆稳定地停靠在预设的状态之下；控制拆装机构21拆下车辆上的亏电电池，并在不干涉载车平台1的情况下将电池运送至电池存放架处，控制换电设备2将电池存放架上的满电电池运送至车辆的正下方，利用校平件22支撑车辆，使得车辆稳定地停靠在预设的状态之下，利用拆装机构21将满电电池安装到车辆上，然后换电设备2、载车平台1分别复位，车辆可以驶出换电站。The overall process of vehicle battery replacement is as follows: the vehicle drives into the vehicle-carrying platform 1, and the vehicle-carrying platform 1 positions the front and rear wheels in the front-rear direction and the left-right direction, so as to realize the preliminary positioning of the vehicle in the horizontal direction; use the vehicle-carrying platform 1 Lift the vehicle so that the power exchange equipment 2 can smoothly drive into and out of the vehicle; control the unloaded power exchange equipment 2 to drive directly under the electric vehicle; The surface 221 is attached to the vehicle chassis, so that the vehicle is stably parked under the preset state; the dismounting mechanism 21 is controlled to remove the dead battery on the vehicle, and the battery is transported to the vehicle without interfering with the vehicle platform 1 At the battery storage rack, control the power exchange equipment 2 to transport the fully charged battery on the battery storage rack to the right below the vehicle, and use the leveling piece 22 to support the vehicle, so that the vehicle can be parked stably under the preset state, and the disassembly and assembly The mechanism 21 installs the fully charged battery on the vehicle, and then resets the battery swapping device 2 and the vehicle loading platform 1 respectively, and the vehicle can drive out of the swapping station.

由上述可获知，本实施例通过校平件22来校准车辆与拆装机构21的相对位置关系，保证了拆装机构21能够精准地与锁紧件配合，从而降低了换电设备、车辆和电池之间因定位精度不高导致机械磨损的风险，且能够有效避免了换电过程中换电设备和电池之间卡住，有助于提高换电效率。It can be seen from the above that the present embodiment calibrates the relative positional relationship between the vehicle and the dismounting mechanism 21 through the leveling member 22, ensuring that the dismounting mechanism 21 can accurately cooperate with the locking member, thereby reducing the cost of power exchange equipment, vehicles and The risk of mechanical wear caused by the low positioning accuracy between the batteries can effectively avoid the jamming between the battery replacement equipment and the battery during the battery replacement process, which helps to improve the power replacement efficiency.

在一个实施例中，各校准面221所在的平面与拆装机构21所在的平面平行，从而能够确保车底盘及电池锁紧件所在的平面与拆装机构21平行，进而能够保证拆装机构21精准地与锁紧件配合，提高换电精度及效率。In one embodiment, the plane where each calibration surface 221 is located is parallel to the plane where the assembly and disassembly mechanism 21 is located, so as to ensure that the plane where the vehicle chassis and battery locking parts are located is parallel to the assembly and disassembly mechanism 21, thereby ensuring that the assembly and disassembly mechanism 21 Accurately cooperate with the locking parts to improve the accuracy and efficiency of battery replacement.

载车平台1具有第一举升高度和第二举升高度，载车平台1位于第一举升高度时，承载于载车平台1上的车辆高于校平件22；载车平台1位于第二举升高度时，载车平台1不高于校平件22。The vehicle-carrying platform 1 has a first lifting height and a second lifting height. When the vehicle-carrying platform 1 is at the first lifting height, the vehicle carried on the vehicle-carrying platform 1 is higher than the leveling member 22; the vehicle-carrying platform 1 is located at At the second lifting height, the vehicle-loading platform 1 is not higher than the leveling member 22 .

换言之，载车平台1处于第一举升高度时，车辆的下表面高于校平件22的校准面221，此时换电设备2能够顺利地驶入承载于载车平台1上的车辆下方；载车平台1处于第二举升高度时，载车平台1的上表面不高于校平件22的上表面，车辆通过校平件22支撑或通过校平件22和载车平台1共同托举。In other words, when the vehicle-mounted platform 1 is at the first lifting height, the lower surface of the vehicle is higher than the calibration surface 221 of the leveling member 22, and at this time the power exchange equipment 2 can smoothly drive under the vehicle carried on the vehicle-mounted platform 1 ; When the vehicle-carrying platform 1 is at the second lift height, the upper surface of the vehicle-carrying platform 1 is not higher than the upper surface of the leveling member 22, and the vehicle is supported by the leveling member 22 or passes through the leveling member 22 and the vehicle-carrying platform 1 together. lifting.

具体应用时，载车平台1包括前举升机构11和后举升机构12，前举升机构11对应车辆的前轮，后举升机构12对应车辆的后轮，前举升机构11和后举升机构12能够同步升降，来控制车辆的高度，当然，两者也可以分别升降，来满足换电站的需求。前举升机构11和后举升机构12采用现有的具有升降功能的举升设备实现。During specific application, the vehicle-loading platform 1 includes a front lifting mechanism 11 and a rear lifting mechanism 12, the front lifting mechanism 11 corresponds to the front wheel of the vehicle, the rear lifting mechanism 12 corresponds to the rear wheel of the vehicle, and the front lifting mechanism 11 and the rear The lifting mechanism 12 can be lifted and lowered synchronously to control the height of the vehicle. Of course, the two can also be lifted and lowered separately to meet the needs of the power station. Front lifting mechanism 11 and rear lifting mechanism 12 adopt the existing lifting equipment with lifting function to realize.

前举升机构11和后举升机构12之间形成一个通道，该通道供换电设备2驶入和驶出，换言之，换电设备2在前举升机构11和后举升机构12之间对车辆进行换电。载车平台1具有移动板，移动板能够被移入前举升机构11和后举升机构12之间并遮挡在通道的上方，供车轮从后举升机构12驶向前举升机构11，移动板还能够被从通道的上方移出，为换电设备2对车辆进行换电操作让出空间。A passage is formed between the front lifting mechanism 11 and the rear lifting mechanism 12, and the passage is used for the power exchange equipment 2 to drive in and out. In other words, the power exchange equipment 2 is between the front lift mechanism 11 and the rear lift mechanism 12. Replace the vehicle. The vehicle-loading platform 1 has a moving plate, which can be moved between the front lifting mechanism 11 and the rear lifting mechanism 12 and is blocked above the passage, so that the wheels can move forward from the rear lifting mechanism 12 to the front lifting mechanism 11 to move The board can also be removed from above the channel to make room for the battery swapping device 2 to perform the battery swapping operation on the vehicle.

校准面221用于和车辆的底盘贴合，校准面221的位置根据车辆和拆装机构21的位置关系进行确定，校准面221避开电池的位置，正对着车辆底盘的下表面。各校准面221预先校平，确保了车辆的位置精度；设置多个校准面221能够保证车辆的稳定性。本实施例中，一个校平件22具有一个校准面221，而在其他的实施例中，作为替换手段，一个校平件22可以具有多个校准面221。The calibration surface 221 is used to fit the chassis of the vehicle. The position of the calibration surface 221 is determined according to the positional relationship between the vehicle and the dismounting mechanism 21. The calibration surface 221 avoids the position of the battery and faces the lower surface of the vehicle chassis. Each calibration surface 221 is pre-leveled to ensure the position accuracy of the vehicle; setting multiple calibration surfaces 221 can ensure the stability of the vehicle. In this embodiment, one leveling piece 22 has one calibration surface 221 , while in other embodiments, as an alternative, one leveling piece 22 may have multiple calibration surfaces 221 .

进一步地，载车平台1在拆装机构21对锁紧件进行解锁或锁定的过程中与校平件22共同托举车辆，具体应用时，在拆装机构21对车辆换电之前，控制车辆与校准面221接触的同时保证车轮不脱离载车平台1，如若检测到车轮与前举升机构11或后举升机构12脱离，则控制前举升机构11和后举升机构12上升以接触车轮。本实施例中，拆装机构 21对锁紧件进行解锁和锁定的过程中，校平件22和载车平台1共同支撑车辆，从而载车平台1可以分担校平件22的载荷，各校平件22承受的作用力降低，由此提高了校平件22的寿命，并且有车辆因为有更多的支撑点而稳定性更好。Furthermore, the vehicle-loading platform 1 lifts the vehicle together with the leveling member 22 during the process of unlocking or locking the locking member by the dismounting mechanism 21. While in contact with the calibration surface 221, ensure that the wheels do not break away from the vehicle-carrying platform 1. If it is detected that the wheels are disengaged from the front lift mechanism 11 or the rear lift mechanism 12, the front lift mechanism 11 and the rear lift mechanism 12 are controlled to rise to contact wheel. In this embodiment, during the process of unlocking and locking the locking member by the dismounting mechanism 21, the leveling member 22 and the vehicle-carrying platform 1 jointly support the vehicle, so that the vehicle-carrying platform 1 can share the load of the leveling member 22, and each school The force borne by the flat piece 22 is reduced, thereby increasing the lifespan of the leveling piece 22, and the stability of the vehicle is better because there are more support points.

校平件22包括多个校平立柱，校平立柱的顶面形成校准面221，各校平立柱的高度相同，确保多个校准面221位于同一平面内，校平件22结构简单且校准精度高，同一型号换电设备2上的校平立柱只需要一种，便于批量生产，降低了生产成本，安装的时候也不需要区分校平立柱的型号，提高了装配效率。The leveling member 22 includes a plurality of leveling columns, and the top surface of the leveling column forms a calibration surface 221. The height of each leveling column is the same, ensuring that the multiple calibration surfaces 221 are located in the same plane. The structure of the leveling member 22 is simple and the calibration accuracy is high. High, only one type of leveling column is needed on the same type of power exchange equipment 2, which is convenient for mass production and reduces production costs. It is not necessary to distinguish the type of leveling column during installation, which improves assembly efficiency.

校平立柱包括空心柱222和校平垫块223，校平垫块223可拆卸地安装在空心柱222的上端，上述校准面221位于校平垫块223上。校平垫块223采用尼龙材质制成，既能够对车辆校平，又不容易对车辆产生机械损伤。校平立柱还包括安装板224，空心柱222的上端面上设置有一个安装板224，校平垫块223通过紧固件安装在安装板224上，从而校平垫块223承受的作用力能够较为均匀地通过安装板224传递给空心柱222，降低了校平垫块223上的应力集中而造成的变形，进而校平垫块223的使用寿命更长。空心柱222的下方也设置有一个安装板224，空心柱222通过该安装板224将作用力传递给换电设备2的其他构件。空心柱222和安装板224采用钢板，具有更高的抗变形能力。实际应用过程中，校平立柱分布在拆装机构21的四周，从而不会和电池发生碰撞，还可以从不同位置来支撑车辆，降低了车辆倾翻和偏摆的风险，提高了车辆的稳定性。The leveling column includes a hollow column 222 and a leveling block 223 , the leveling block 223 is detachably mounted on the upper end of the hollow column 222 , and the calibration surface 221 is located on the leveling block 223 . The leveling spacer 223 is made of nylon material, which can level the vehicle without causing mechanical damage to the vehicle. The leveling column also includes a mounting plate 224, the upper end surface of the hollow column 222 is provided with a mounting plate 224, and the leveling pad 223 is installed on the mounting plate 224 by fasteners, so that the force of the leveling pad 223 can be The transmission is evenly transmitted to the hollow column 222 through the mounting plate 224 , which reduces the deformation caused by the stress concentration on the leveling cushion block 223 , and furthermore, the service life of the leveling cushion block 223 is longer. A mounting plate 224 is also provided below the hollow column 222 , through which the hollow column 222 transmits the force to other components of the power exchange device 2 . The hollow column 222 and the mounting plate 224 are made of steel plates, which have higher resistance to deformation. During practical application, the leveling columns are distributed around the dismounting mechanism 21, so as not to collide with the battery, and can also support the vehicle from different positions, reducing the risk of vehicle tipping and deflection, and improving the stability of the vehicle sex.

换电设备2包括设备本体23和安装基座24，设备本体23为换电设备2中其他构件的载体，拆装机构21设置在设备本体23上，安装基座24于设备本体23的四周外缘安装在设备本体23上，安装基座24设置在拆装机构21外侧，校平立柱设置在安装基座24上。具体地，校平立柱通过安装基座24安装在设备本体23的四周外缘，拆装机构21与电池的位置对准，校平立柱能够避开电池，可以有效避免校平立柱与电池发生碰撞干涉。另外，本方案中，将校平立柱通过安装基座24安装在设备本体23，实现直接将校平立柱安装在现有换电设备上，无需对现有换电设备进行其它改进，改造成本低。将拆装机构21安装在设备本体23上，并通过安装基座24将校平立柱安装在设备本体23上，使得换电设备2的各个部分模块化，便于拆装和维护，并且，本实施例的换电设备2可以在现有的具有拆装机构21的设备上安装校平件22改造获得，不必须将整个换电设备2更换掉，从而以较低的改造成本便可以获得上述的功能。The power exchange device 2 includes a device body 23 and an installation base 24. The device body 23 is the carrier of other components in the power exchange device 2. The dismounting mechanism 21 is arranged on the device body 23, and the installation base 24 is outside the periphery of the device body 23. The edge is installed on the equipment body 23, the installation base 24 is arranged on the outside of the dismounting mechanism 21, and the leveling column is arranged on the installation base 24. Specifically, the leveling column is installed on the peripheral edge of the device body 23 through the installation base 24, and the dismounting mechanism 21 is aligned with the position of the battery. The leveling column can avoid the battery, and the collision between the leveling column and the battery can be effectively avoided. put one's oar in. In addition, in this solution, the leveling column is installed on the equipment body 23 through the installation base 24, so that the leveling column can be directly installed on the existing power exchange equipment, without other improvements to the existing power exchange equipment, and the transformation cost is low. The disassembly mechanism 21 is installed on the equipment body 23, and the leveling column is installed on the equipment body 23 through the installation base 24, so that each part of the power exchange equipment 2 is modularized, which is convenient for disassembly and maintenance, and this embodiment The power exchange equipment 2 can be retrofitted by installing a leveling piece 22 on the existing equipment with a disassembly mechanism 21, and it is not necessary to replace the entire power exchange equipment 2, so that the above-mentioned functions can be obtained at a relatively low transformation cost .

具体应用时，换电站中设置有与设备本体23配合的轨道，设备本体23沿着轨道运动，来控制拆装机构21的位置。设备本体23可以采用现有换电站中用来承载拆装机构21的装置实现。拆装机构21安装在设备本体23的中部，校平件22通过安装基座24间接地连接拆装机构21，安装基座24连接在设备本体23的外缘，避开了拆装机构21的位置，也有利于避开电池的位置。本实施例中，校平件22和安装基座24一一对应设置，安装基座24设置在设备本体23的四个转角处，其他实施例中，作为替换手段，安装基座24可以是环形，环绕设备本体23的外缘设置，安装基座24的各个转角处设置有校平件22。In a specific application, a track cooperating with the equipment body 23 is provided in the power station, and the equipment body 23 moves along the track to control the position of the dismounting mechanism 21 . The device body 23 can be realized by adopting the device used to carry the dismounting mechanism 21 in the existing substation. The disassembly mechanism 21 is installed in the middle part of the equipment body 23, and the leveling piece 22 is indirectly connected to the disassembly mechanism 21 through the installation base 24. The installation base 24 is connected to the outer edge of the equipment body 23, avoiding the The location is also conducive to avoiding the location of the battery. In this embodiment, the leveling member 22 and the installation base 24 are arranged in one-to-one correspondence, and the installation base 24 is arranged at the four corners of the device body 23. In other embodiments, as an alternative means, the installation base 24 can be ring-shaped , set around the outer edge of the device body 23 , and leveling pieces 22 are set at each corner of the installation base 24 .

换电设备2还包括调节部，调节部被配置为能够带动安装基座24沿水平方向和/或竖直方向相对于设备本体23移动。不同型号的车辆的较佳支撑点不同，通过调节部来调节校平立柱的位置，能够根据车型来选择较佳的支撑点，既能够对不同型号的车辆进行校平，又能够最大化地保护车辆，提高了换电设备2对各类电动车辆的普适性。另外，利用调节部控制校平立柱在竖直方向上的位置，还可以由此来控制车辆的升降，该功能可以与载车平台1的升降功能配合使用。The power swapping device 2 further includes an adjustment part configured to drive the installation base 24 to move relative to the device body 23 in a horizontal direction and/or a vertical direction. Different types of vehicles have different optimal support points. By adjusting the position of the leveling column through the adjustment part, the optimal support point can be selected according to the vehicle model, which can not only level different types of vehicles, but also maximize the protection The vehicle improves the universality of the power exchange equipment 2 to various electric vehicles. In addition, using the adjustment part to control the vertical position of the leveling column can also control the lifting of the vehicle. This function can be used in conjunction with the lifting function of the vehicle-carrying platform 1 .

具体应用时，安装基座24在车辆长度方向、车辆宽度方向及车辆高度方向这三个方向上的运动单独控制的，即调节部包括了与这三个方向一一对应的结构，来分别控制安装基座24，当安装基座24需要调节至某一位置时，计算出安装基座24在上述三个方向上的位移量，控制调节部上对应的结构根据计算结果走完各个方向对应的位移量。在其他实施例中，作为替换手段，在调节范围内，调节部能够带动安装基座24在任意位置内随意切换，调节部可以采用现有的机械手臂实现，当安装基座24需要调节至某一位置时，获取安装基座24所在位置到达该某一位置的直线轨迹，调节部带动安装基座24根据直线轨迹运动至该某一位置。In specific applications, the movement of the mounting base 24 in the three directions of the vehicle length direction, the vehicle width direction and the vehicle height direction is controlled separately, that is, the adjustment part includes structures corresponding to these three directions one by one to control them respectively. Install the base 24. When the installation base 24 needs to be adjusted to a certain position, calculate the displacement of the installation base 24 in the above three directions, and control the corresponding structure on the adjustment part to complete the corresponding positions in each direction according to the calculation results. displacement. In other embodiments, as an alternative means, within the adjustment range, the adjustment part can drive the installation base 24 to switch freely in any position. The adjustment part can be realized by using an existing mechanical arm. When the installation base 24 needs to be adjusted to a certain When a position is reached, the linear trajectory from the position of the installation base 24 to the certain position is obtained, and the adjusting part drives the installation base 24 to move to the certain position according to the linear trajectory.

本实施例中，调节部包括导轨和滑块，安装基座24在车辆长度方向、车辆宽度方向及车辆高度方向中的任一方向上的运动可以通过导轨和滑块实现，调节部采用该方式时，移动滑块即可带动安装基座24在导轨上滑动，以实现校平立柱位置调节，本实施例的调节部结构简单，使用方便。其中，导轨安装在设备本体23上，滑块活动设置在导轨上，滑块和导轨滑动连接，安装基座24与滑块连接，从而导轨为安装基座24进行导向，保证了安装基座24的运动精度。调节部还包括动力元件，动力元件设置在设备本体23上，且动力元件与滑块连接，动力元件可以采用基于气缸的气动***或基于液压缸的液动***，或者，也可以采用电机，动力元件通过驱动滑块运动带动校平件22移动。通过动力元件驱动滑块运动，利于提高调解效率和调节精度。In this embodiment, the adjustment part includes guide rails and sliders, and the movement of the mounting base 24 in any direction of the vehicle length direction, vehicle width direction, and vehicle height direction can be realized by the guide rails and sliders. When the adjustment part adopts this method , moving the slider can drive the installation base 24 to slide on the guide rail to realize the position adjustment of the leveling column. The adjustment part of this embodiment has a simple structure and is easy to use. Wherein, the guide rail is installed on the equipment body 23, the slider is movably arranged on the guide rail, the slider and the guide rail are slidably connected, and the installation base 24 is connected with the slider, so that the guide rail guides the installation base 24, ensuring that the installation base 24 movement precision. The adjustment part also includes a power element, which is arranged on the device body 23, and the power element is connected with the slider. The power element can adopt a pneumatic system based on a cylinder or a hydraulic system based on a hydraulic cylinder, or can also use a motor, power The element drives the leveling member 22 to move by driving the slider to move. The movement of the sliding block is driven by the power element, which is conducive to improving the adjustment efficiency and adjustment accuracy.

而在另一个实施例中，作为替换手段，调节部包括具有转动轴的转动组件，安装基座24在车辆长度方向、车辆宽度方向及车辆高度方向中的任一方向上的运动可以通过转动组件来实现，转动轴和转动组件配合能够将旋转运动转化为线性运动，转动组件设置在设备本体23上，转动轴与安装基座24连接，比如，转动轴为丝杠，转动组件还包括螺母，转动轴安装在设备本体23上，转动轴通过螺母与安装基座24连接。进一步地，本实施例的调节部还包括动力元件，动力元件设置在设备本体23上，且动力元件与转动轴连接，动力元件采用电机、旋转气缸或旋转液压缸，动力元件通过驱动转动轴转动使校平件22运动。采用转动组件结构，转动转动轴即可带动安装基座移动实现校平立柱位置调节，通过动力元件驱动转动轴转动，利于提高调解效率和调节精度。由此可知，该实施例的调节部结构简单，使用方便。In another embodiment, as an alternative, the adjusting part includes a rotating assembly with a rotating shaft, and the movement of the mounting base 24 in any direction of the vehicle length direction, the vehicle width direction and the vehicle height direction can be controlled by the rotating assembly. Realize that the cooperation between the rotating shaft and the rotating assembly can convert the rotating motion into a linear motion. The rotating assembly is arranged on the device body 23, and the rotating shaft is connected to the installation base 24. For example, the rotating shaft is a lead screw, and the rotating assembly also includes a nut. The shaft is installed on the device body 23, and the rotating shaft is connected with the mounting base 24 through a nut. Further, the adjustment part of this embodiment also includes a power element, which is arranged on the device body 23, and the power element is connected to the rotating shaft. The leveling member 22 is moved. The rotating component structure is adopted, and the rotating shaft can drive the installation base to move to realize the position adjustment of the leveling column, and the rotating shaft is driven to rotate through the power element, which is beneficial to improve the adjustment efficiency and adjustment accuracy. It can be seen that the adjusting part of this embodiment has a simple structure and is easy to use.

换电设备2上还设置有定位销211，车辆的底盘上开设有用于容置定位销211的定位孔。定位销211和定位孔相互配合，定位销211***定位孔后能够确定车辆和换电设备2之间的相对位置关系，能够有效保证车辆底盘和校平立柱以及电池和拆装机构21之间的对准精度。具体应用时，车辆定位在载车平台1上后，控制车辆和换电设备2在竖直方向上相对运动，直至定位销211插接在定位孔中，然后再使校准面221和车辆贴合。Positioning pins 211 are also provided on the power exchange equipment 2 , and positioning holes for accommodating the positioning pins 211 are opened on the chassis of the vehicle. The positioning pin 211 and the positioning hole cooperate with each other. After the positioning pin 211 is inserted into the positioning hole, the relative positional relationship between the vehicle and the battery replacement device 2 can be determined, and the relationship between the vehicle chassis and the leveling column and the battery and the dismounting mechanism 21 can be effectively ensured. Alignment accuracy. In a specific application, after the vehicle is positioned on the vehicle-carrying platform 1, the vehicle and the power exchange device 2 are controlled to move relative to each other in the vertical direction until the positioning pin 211 is inserted into the positioning hole, and then the calibration surface 221 is attached to the vehicle. .

换电设备2上还设置有升降机构，升降机构分别与拆装机构21和定位销211连接。升降机构能够带动拆装机构21和定位销211升降，以使拆装机构21与锁紧件接触或分离，以及，将定位销211***或移出定位孔。控制定位销211插接于定位孔中时，可以通过升降机构控制定位销211向上运动直至其***定位控制实现，也可以通过控制车辆向下运动直至定位销211插接在定位孔中实现，或者通过同时控制车辆向下运动，且定位销211向上运动直至定位销211插接在定位孔中实现。The power exchange device 2 is also provided with a lifting mechanism, and the lifting mechanism is connected with the dismounting mechanism 21 and the positioning pin 211 respectively. The lifting mechanism can drive the dismounting mechanism 21 and the positioning pin 211 up and down, so that the dismounting mechanism 21 contacts or separates from the locking member, and inserts or removes the positioning pin 211 from the positioning hole. When the positioning pin 211 is controlled to be inserted into the positioning hole, it can be realized by controlling the positioning pin 211 to move upward until it is inserted into the positioning control through the lifting mechanism, or it can be realized by controlling the vehicle to move downward until the positioning pin 211 is inserted in the positioning hole, or It is realized by simultaneously controlling the vehicle to move downward and the positioning pin 211 to move upward until the positioning pin 211 is plugged into the positioning hole.

升降机构处于举升状态时，定位销211的顶部高于校平件22的校准面221，从而可以实现先控制定位销211***定位孔211中对车辆进行粗定位，有效保证车辆底盘和校平立柱以及电池和拆装机构21之间的对准精度，然后再利用校平立柱对车辆的位置进行矫正实现精确定位，保证了电池包与拆装机构21位置关系的精确度；还避免了因定位销211低于校平立柱而导致校平立柱与车辆干涉，造成定位销211无法***到定位孔内的风险。When the lifting mechanism is in the lifting state, the top of the positioning pin 211 is higher than the calibration surface 221 of the leveling member 22, so that the positioning pin 211 can be controlled first to insert into the positioning hole 211 to perform rough positioning of the vehicle, effectively ensuring the vehicle chassis and leveling The alignment accuracy between the column and the battery and the disassembly mechanism 21, and then use the leveling column to correct the position of the vehicle to achieve accurate positioning, ensuring the accuracy of the positional relationship between the battery pack and the disassembly mechanism 21; The positioning pin 211 is lower than the leveling column and causes the leveling column to interfere with the vehicle, resulting in the risk that the positioning pin 211 cannot be inserted into the positioning hole.

换电设备2上还设置有检测元件，检测元件用于检测校准面221与车辆是否接触。根据检测元件的检测结果来判断车辆是否到达了预设的状态，校准精度高。本实施例中，当检测结果显示车辆尚未与校准面221接触时，则车辆矫正***继续矫正车辆的位置，直至检测显示车辆与校准面221接触，从而能够确保车辆和拆装机构21的位置关系的精准度。The battery swapping device 2 is also provided with a detection element, which is used to detect whether the calibration surface 221 is in contact with the vehicle. According to the detection result of the detection element, it is judged whether the vehicle has reached the preset state, and the calibration accuracy is high. In this embodiment, when the detection result shows that the vehicle has not been in contact with the calibration surface 221, the vehicle correction system continues to correct the position of the vehicle until the detection shows that the vehicle is in contact with the calibration surface 221, thereby ensuring the positional relationship between the vehicle and the dismounting mechanism 21 the accuracy.

本实施例中，检测元件采用压力传感器，每个校准面221各设置一个检测元件，各检测元件与换电站的控制***分别通信连接。In this embodiment, the detection element is a pressure sensor, and each calibration surface 221 is provided with a detection element, and each detection element is respectively connected to the control system of the power station by communication.

请结合图3进行理解。本发明实施例还提供了一种基于上述车辆矫正***的换电方法，包括如下步骤：Please understand it in conjunction with Figure 3. An embodiment of the present invention also provides a battery replacement method based on the above-mentioned vehicle correction system, including the following steps:

S10、获取车辆的车型，根据车型信息沿水平方向和/或竖直方向调节校平立柱相对于设备本体23的相对位置。S10. Acquire the vehicle model, and adjust the relative position of the leveling column relative to the device body 23 along the horizontal direction and/or vertical direction according to the vehicle model information.

S20、控制换电设备2驶入并定位在载车平台1上的车辆下方，以使换电设备2与车辆上的电池位置相对准，实现车辆与换电设备2的粗定位；S20. Control the battery swapping device 2 to drive in and position it under the vehicle on the vehicle-carrying platform 1, so that the battery swapping device 2 is aligned with the battery on the vehicle, and realize rough positioning of the vehicle and the battery swapping device 2;

S30、沿竖直方向调节载车平台1和换电设备2之间的相对位置，使校平件22支撑车辆，从而使车辆处于预设的状态，实现车辆与换电设备2之间的精确定位；S30. Adjust the relative position between the vehicle-loading platform 1 and the power exchange equipment 2 in the vertical direction, so that the leveling member 22 supports the vehicle, so that the vehicle is in a preset state, and the precise alignment between the vehicle and the power exchange equipment 2 is realized. position;

S40、检测前举升机构11和后举升机构12是否都与车辆接触，若否，则控制对应的前举升机构11或后举升机构12上升至与车辆接触，以使前举升机构11和后举升机构12与校平件22共同托举车辆。S40. Detect whether the front lift mechanism 11 and the rear lift mechanism 12 are in contact with the vehicle, if not, control the corresponding front lift mechanism 11 or rear lift mechanism 12 to rise to contact with the vehicle, so that the front lift mechanism 11 and the rear lifting mechanism 12 and the leveling part 22 jointly lift the vehicle.

S50、控制拆装机构21对车辆上的电池进行拆卸或将待安装的电池安装于车辆上。S50. Control the dismounting mechanism 21 to disassemble the battery on the vehicle or install the battery to be installed on the vehicle.

本实施例中，利用校平件22支撑车辆，使得车辆达到预设的状态，实现了对锁紧件和拆装机构21的精确定位，然后再利用拆装机构21拆卸和安装电池，提高了换电进度，降低了换电设备2、车辆和电池之间因定位精度不高导致机械磨损的风险，且能够有效避免换电过程中换电设备2和电池之间发生卡住，有助于提高换电效率。In this embodiment, the vehicle is supported by the leveling member 22, so that the vehicle reaches a preset state, and the precise positioning of the locking member and the disassembly mechanism 21 is realized, and then the battery is disassembled and installed by the disassembly mechanism 21, which improves the battery life. The battery replacement progress reduces the risk of mechanical wear between the battery replacement device 2, the vehicle, and the battery due to low positioning accuracy, and can effectively avoid jamming between the battery replacement device 2 and the battery during the battery replacement process, which helps Improve power exchange efficiency.

步骤S10中：In step S10:

获取车辆的车型的时机可以在车辆驶入载车平台1之前，或驶入载车平台1上且换电设备2驶入车辆正下方之前。获取车型的方式可以是基于现有的视觉识别***，对车辆的外形拍照后与换电站的数据库中的信息进行比对获取。根据车型信息调节校平立柱的位置，能够根据车型来选择较佳的支撑点，既能够对不同型号的车辆进行校平，又能够最大化地保护车辆，提高了换电设备对各类电动车辆的普适性。The time to obtain the model of the vehicle may be before the vehicle drives onto the vehicle loading platform 1 , or before the vehicle drives onto the vehicle loading platform 1 and the battery swapping device 2 drives directly under the vehicle. The way to obtain the vehicle model can be based on the existing visual recognition system, after taking pictures of the vehicle's appearance and comparing it with the information in the database of the swap station. Adjust the position of the leveling column according to the vehicle model information, and choose the best support point according to the vehicle model, which can not only level the vehicles of different models, but also protect the vehicle to the maximum extent, and improve the battery exchange equipment's support for various electric vehicles universality.

不同车型对应的校平立柱与设备本体23(或拆装机构21)的相对位置关系预存在数据库中，根据车型信息获取校平立柱与设备本体23的相对位置关系，并使校平立柱和设备本体23处于该相对位置关系：若检测获得校平立柱和设备本体23已经处于该相对位置关系，则调节部不动作，若检测获得校平立柱和设备本体23不在该相对位置关系下，则控制调节部动作，使校平立柱和设备本体23处于该相对位置关系。此时，当涉及调节部动作时，调节部所调节的可以是校平立柱和设备本体23在任意方向上的位置关系。The relative positional relationship between the leveling column corresponding to different vehicle types and the equipment body 23 (or dismounting mechanism 21) is pre-stored in the database, and the relative positional relationship between the leveling column and the equipment body 23 is obtained according to the vehicle type information, and the leveling column and the equipment The body 23 is in the relative positional relationship: if it is detected that the leveling column and the equipment body 23 are already in the relative positional relationship, the adjustment part will not act; if the detection is obtained that the leveling column and the equipment body 23 are not in the relative positional relationship, the The adjustment part acts to make the leveling column and the equipment body 23 in the relative positional relationship. At this time, when it comes to the action of the adjustment part, what the adjustment part adjusts may be the positional relationship between the leveling column and the equipment body 23 in any direction.

步骤S20中：In step S20:

载车平台1对车辆进行初步定位，检测车辆已经定位在载车平台1上后，控制载有车辆的载车平台1的高度不低于第一举升高度，控制换电设备2驶入车辆下方后，控制载车平台1和换电设备2相对运动以进行对准，当换电设备2上的定位销211***车辆底盘上的定位孔时，换电设备2与车辆上的电池位置相对准。本实施例中，载车平台1和换电设备2在竖直方向的相对位移量到达第一预设值时认为换电设备2上的定位销211***车辆底盘上的定位孔中，第一预设值为预存在换电站的数据库中的数据，该数据在设计阶段结合车辆和换电站的相关参数进行设定。The vehicle-carrying platform 1 performs preliminary positioning of the vehicle, and after detecting that the vehicle has been positioned on the vehicle-carrying platform 1, controls the height of the vehicle-carrying platform 1 on which the vehicle is loaded to not be lower than the first lifting height, and controls the power exchange equipment 2 to drive into the vehicle After lowering, control the relative movement of the vehicle-mounted platform 1 and the battery replacement device 2 for alignment. When the positioning pin 211 on the battery replacement device 2 is inserted into the positioning hole on the vehicle chassis, the battery replacement device 2 is opposite to the battery on the vehicle. allow. In this embodiment, when the relative displacement in the vertical direction between the vehicle-mounted platform 1 and the power exchange equipment 2 reaches the first preset value, it is considered that the positioning pin 211 on the power exchange equipment 2 is inserted into the positioning hole on the vehicle chassis, and the first The default value is the data pre-stored in the database of the power exchange station, and the data is set in the design stage in combination with relevant parameters of the vehicle and the power exchange station.

其中，控制载车平台1和换电设备2在竖直方向的相对位移量到达第一预设值可以通过下述任一方式实现：(1)控制载车平台1向下运动，换电设备2不动；(2)控制换电设备2向上运动，载车平台1不动；(3)控制载车平台1向下运动，且控制换电设备2向上运动。Among them, controlling the relative displacement of the vehicle-carrying platform 1 and the power exchange equipment 2 in the vertical direction to reach the first preset value can be achieved by any of the following methods: (1) controlling the vehicle-carrying platform 1 to move downward, and the power exchange equipment 2 does not move; (2) controls the power exchange equipment 2 to move upward, and the vehicle-carrying platform 1 does not move; (3) controls the vehicle-carrying platform 1 to move downward, and controls the power exchange equipment 2 to move upward.

对于步骤S30：For step S30:

本实施例步骤S30采用的方式是：控制载车平台1和校平件22相对运动，与此同时，实时检测各个校准面221是否都与车辆接触，检测到各校准面221均与车辆接触时，控制载车平台1和校平件22停止相对运动，此时校平件22支撑车辆，否则，继续控制载车平台1和校平件22相对运动。载车平台1和校平件22相对运动过程中，通过实施检测控制载车平台1和校平件22运动，以确保每个校准面221都与车辆接触，校准精度高。The method adopted in step S30 of this embodiment is: control the relative movement of the vehicle-loading platform 1 and the leveling member 22, and at the same time, detect in real time whether each calibration surface 221 is in contact with the vehicle, and when it is detected that each calibration surface 221 is in contact with the vehicle , control the vehicle-loading platform 1 and the leveling member 22 to stop relative movement, and at this time the leveling member 22 supports the vehicle; otherwise, continue to control the relative movement of the vehicle-loading platform 1 and the leveling member 22. During the relative movement of the vehicle-carrying platform 1 and the leveling member 22, the movement of the vehicle-carrying platform 1 and the leveling member 22 is controlled through detection to ensure that each calibration surface 221 is in contact with the vehicle, and the calibration accuracy is high.

在另一个实施例中，作为替换手段，步骤S30采用的方式是：控制载车平台1和校准面221的相对位移量到达第二预设值之后，检测各校准面221是否都与车辆接触，若是则进入步骤S40或步骤S50，否则控制载车平台1和校准面221之间进一步相对运动，直至检测到各校准面221均与车辆接触。In another embodiment, as an alternative, the method adopted in step S30 is: after controlling the relative displacement between the vehicle-mounted platform 1 and the calibration surface 221 to reach the second preset value, it is detected whether each calibration surface 221 is in contact with the vehicle, If so, go to step S40 or step S50, otherwise control the further relative movement between the vehicle-mounted platform 1 and the calibration surface 221 until it is detected that each calibration surface 221 is in contact with the vehicle.

上述的步骤S30的两种方式中所涉及的“控制载车平台1和校平件22相对运动”可采用下述任意一种实现：(1)控制载车平台1向下运动，校准面221不动；(2)控制调节部动作，使校准面221向上运动，载车平台1不动；(3)控制载车平台1向下运动，且调节部动作，使校准面221向上运动。The "controlling the relative movement of the vehicle-carrying platform 1 and the leveling member 22" involved in the two ways of the above-mentioned step S30 can be realized by any of the following: (1) controlling the downward movement of the vehicle-carrying platform 1, and aligning the surface 221 (2) Control the action of the adjustment part to make the calibration surface 221 move upward, and the vehicle-carrying platform 1 does not move; (3) Control the movement of the vehicle-carrying platform 1 downward, and the action of the adjustment part makes the calibration surface 221 move upward.

步骤S40中，In step S40,

检测到各校准平面都与车辆接触后，检测前举升机构11和后举升机构12是否都与车辆接触，若否，则控制对应的前举升机构11或后举升机构12上升与车辆接触，以使前举升机构11和后举升机构12与校平件22共同托举车辆。After detecting that each calibration plane is in contact with the vehicle, detect whether the front lift mechanism 11 and the rear lift mechanism 12 are in contact with the vehicle, if not, control the corresponding front lift mechanism 11 or rear lift mechanism 12 to rise and contact the vehicle Contact, so that the front lifting mechanism 11 and the rear lifting mechanism 12 and the leveling piece 22 jointly lift the vehicle.

如上阐述了换电方法的基本原理，接下来从车辆入站开始，简述换电方法的整个流程进行：The basic principle of the battery replacement method has been explained above. Next, starting from the vehicle entering the station, the entire process of the battery replacement method is briefly described:

(a)车辆驶入换电站。(a) The vehicle drives into the power station.

(b)采用视觉识别***获取车型信息；获取车型信息所对应的校平立柱与设备本体23(或拆装机构21)的位置关系信息；检测校平立柱和设备本体23(或拆装机构21)的实际位置是否符合该位置关系信息，若否，则计算校平立柱在车辆长度方向、车辆宽度方向及车辆高度方向上的位移量，控制调节部上对应的结构根据计算结果走完各方向上对应的位移量。(b) Adopt visual recognition system to obtain vehicle type information; Obtain the position relation information of leveling column corresponding to vehicle type information and equipment body 23 (or dismounting mechanism 21); Detect leveling column and equipment body 23 (or dismounting mechanism 21) ) conforms to the positional relationship information, if not, calculate the displacement of the leveling column in the vehicle length direction, vehicle width direction and vehicle height direction, and control the corresponding structure on the adjustment part to complete all directions according to the calculation results Up corresponding displacement.

(c)车辆定位在载车平台1上，车辆在水平方向上的位移自由度被约束住；控制举升平台的高度不低于第一举升高度。(c) The vehicle is positioned on the vehicle-carrying platform 1, and the displacement freedom of the vehicle in the horizontal direction is constrained; the height of the lifting platform is controlled not to be lower than the first lifting height.

其中，(b)和(c)不区分先后。Among them, (b) and (c) are not distinguished.

(d)控制换电设备2驶入车辆的正下方。(d) Control the power exchange equipment 2 to drive directly under the vehicle.

(e)控制前举升机构11、后举升机构12和换电设备上的升降机构在竖直方向上相对运动，直至定位销211***定位孔中，此时，定位销211的顶面高于校平件22的校准面221。(e) Control the front lifting mechanism 11, the rear lifting mechanism 12 and the lifting mechanism on the power exchange equipment to move relative to each other in the vertical direction until the positioning pin 211 is inserted into the positioning hole. At this time, the top surface of the positioning pin 211 is as high as on the calibration surface 221 of the leveling member 22 .

(f)控制前举升机构11、后举升机构12和校平件22在竖直方向上相对运动，与此同时，检测元件实时检测各校准面221是否都与车辆接触，检测到各校准面221均与车辆接触时控制载车平台1和校平件22停止相对运动。(f) Control the relative movement of the front lifting mechanism 11, the rear lifting mechanism 12 and the leveling member 22 in the vertical direction. When the surfaces 221 are in contact with the vehicle, the vehicle-carrying platform 1 and the leveling member 22 are controlled to stop relative movement.

(g)检测前举升机构11和后举升机构12是否都与车辆接触，若否，则对应前举升机构11或后举升机构12上升，直至前举升机构11和后举升机构12都与车辆接触。(g) Detect whether the front lifting mechanism 11 and the rear lifting mechanism 12 are in contact with the vehicle, if not, then the corresponding front lifting mechanism 11 or rear lifting mechanism 12 rises until the front lifting mechanism 11 and the rear lifting mechanism 12 are in contact with the vehicle.

(h)控制拆装机构21拆下车辆上的电池，拆下电池后，控制载车平台1不低于第一举升高度，利用换电设备2将拆下的电池运送回换电站内的码垛机处，码垛机将换电设备2上的电池取下放置在电池存放架上；(h) Control the dismounting mechanism 21 to remove the battery on the vehicle. After the battery is removed, control the vehicle-loading platform 1 to not be lower than the first lifting height, and use the battery replacement device 2 to transport the removed battery back to the battery in the replacement station. At the palletizer, the palletizer removes the battery from the power exchange device 2 and places it on the battery storage rack;

(i)码垛机将存储在换电站中的满电电池放置在换电设备2上后，重复步骤(d)至(g)。(i) After the palletizer places the fully charged battery stored in the battery swapping station on the battery swapping device 2, repeat steps (d) to (g).

(j)控制拆装机构21将满电电池安装在车辆上。(j) Control the dismounting mechanism 21 to install the fully charged battery on the vehicle.

(k)控制载车平台1不低于第一举升高度，使换电设备2驶出车辆的正下方，之后，使载车平台1复位至初始状态，并使移动板铺设在前举升机构11和后举升机构12之间。(k) Control the vehicle-carrying platform 1 to not be lower than the first lifting height, make the power exchange equipment 2 drive out of the vehicle, and then reset the vehicle-carrying platform 1 to the initial state, and make the mobile plate lay in front of the lift Between the mechanism 11 and the rear lifting mechanism 12.

(m)车辆驶出载车平台1。(m) The vehicle drives out of the vehicle-loading platform 1 .

虽然以上描述了本发明的具体实施方式，但是本领域的技术人员应当理解，这仅是举例说明，本发明的保护范围是由所附权利要求书限定的。本领域的技术人员在不背离本发明的原理和实质的前提下，可以对这些实施方式做出多种变更或修改，但这些变更和修改均落入本发明的保护范围内。Although the specific implementation of the present invention has been described above, those skilled in the art should understand that this is only an example, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principle and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

一种车辆校正***，其特征在于，包括：A vehicle calibration system, characterized in that it comprises:

载车平台，用于带动承载于其上的电动车辆作升降运动；The vehicle-carrying platform is used to drive the electric vehicle carried on it for lifting movement;

换电设备，用于对所述载车平台上的车辆进行换电，所述换电设备上设置有拆装机构和校平件，所述拆装机构用于解锁或锁定所述车辆上用于锁紧电池的锁紧件，所述校平件具有多个用于和车辆接触的校准面，各所述校准面位于同一平面内；The battery exchange equipment is used to exchange electricity for the vehicles on the vehicle-carrying platform. The battery exchange equipment is provided with a disassembly mechanism and a leveling piece. The disassembly mechanism is used to unlock or lock the vehicles on the vehicle. For locking the locking part of the battery, the leveling part has a plurality of calibration surfaces for contacting with the vehicle, and each of the calibration surfaces is located in the same plane;

在所述拆装机构对所述锁紧件进行解锁或锁定的过程中，所述校平件支撑所述车辆。During the process of unlocking or locking the locking member by the dismounting mechanism, the leveling member supports the vehicle.
如权利要求1所述的车辆校正***，其特征在于，各所述校准面所在的平面与所述拆装机构所在的平面平行。The vehicle calibration system according to claim 1, wherein the plane where each of the calibration surfaces is located is parallel to the plane where the dismounting mechanism is located.
如权利要求1或2所述的车辆校正***，其特征在于，所述校平件包括多个校平立柱，多个所述校平立柱的高度相同，所述校平立柱的顶面形成所述校准面。The vehicle calibration system according to claim 1 or 2, wherein the leveling member comprises a plurality of leveling columns, the heights of the plurality of leveling columns are the same, and the top surfaces of the leveling columns form the the calibration surface described above.
如权利要求1-3任一项所述的车辆校正***，其特征在于，所述换电设备包括设备本体和安装基座，所述拆装机构设置在所述设备本体上，所述安装基座于所述设备本体的四周外缘安装在所述设备本体上，所述安装基座设置在所述拆装机构外侧，所述校平件设置在所述安装基座上。The vehicle calibration system according to any one of claims 1-3, wherein the power exchange equipment includes a device body and an installation base, the dismounting mechanism is arranged on the equipment body, and the installation base It is seated on the peripheral periphery of the equipment body and installed on the equipment body, the installation base is arranged outside the dismounting mechanism, and the leveling member is arranged on the installation base.
如权利要求4所述的车辆校正***，其特征在于，所述换电设备还包括调节部，所述调节部分别与所述设备本体和所述安装基座连接，所述调节部被配置为能够带动所述安装基座沿水平方向和/或竖直方向相对于所述设备本体移动。The vehicle calibration system according to claim 4, wherein the power exchange equipment further comprises an adjustment part, the adjustment part is respectively connected to the device body and the installation base, and the adjustment part is configured to The installation base can be driven to move relative to the device body in a horizontal direction and/or a vertical direction.
如权利要求5所述的车辆校正***，其特征在于，所述调节部包括导轨和滑块，所述导轨安装在所述设备本体上，所述滑块活动设置在所述导轨上，所述安装基座与所述滑块连接；或，The vehicle calibration system according to claim 5, wherein the adjusting part comprises a guide rail and a slider, the guide rail is installed on the device body, the slider is movably arranged on the guide rail, the a mounting base is connected to said slider; or,

所述调节部包括具有转动轴的转动组件，所述转动组件设置在所述设备本体上，所述转动轴与所述安装基座连接，所述转动组件用于将所述转动轴的旋转运动转化为所述安装基座的线性运动。The adjustment part includes a rotating assembly with a rotating shaft, the rotating assembly is arranged on the device body, the rotating shaft is connected with the installation base, and the rotating assembly is used to rotate the rotating shaft translates into linear motion of the mounting base.
如权利要求6所述的车辆校正***，其特征在于，所述调节部还包括动力元件，所述动力元件设置在所述设备本体上，且所述动力元件与所述滑块或所述转动轴连接。The vehicle correction system according to claim 6, characterized in that, the adjustment part further includes a power element, the power element is arranged on the device body, and the power element is connected with the slider or the rotating shaft connection.
如权利要求1-7任一项所述的车辆校正***，其特征在于，所述换电设备上还设置有定位销，所述车辆的底盘上开设有用于容置所述定位销的定位孔。The vehicle calibration system according to any one of claims 1-7, characterized in that, positioning pins are also provided on the power exchange equipment, and positioning holes for accommodating the positioning pins are opened on the chassis of the vehicle .
如权利要求8所述的车辆校正***，其特征在于，所述换电设备上还设置有升降机构，所述升降机构分别与所述拆装机构和所述定位销连接。The vehicle calibration system according to claim 8, characterized in that a lifting mechanism is further provided on the power exchange device, and the lifting mechanism is respectively connected with the dismounting mechanism and the positioning pin.
如权利要求9所述的车辆校正***，其特征在于，所述升降机构处于举升状态时，所述定位销的顶部高于所述校平件的校准面。The vehicle calibration system according to claim 9, wherein when the lifting mechanism is in the lifting state, the top of the positioning pin is higher than the calibration surface of the leveling member.
如权利要求1-10任一项所述的车辆校正***，其特征在于，所述换电设备上还设置有检测元件，所述检测元件用于检测所述校准面与车辆是否接触。The vehicle calibration system according to any one of claims 1-10, wherein a detection element is further arranged on the power exchange device, and the detection element is used to detect whether the calibration surface is in contact with the vehicle.
如权利要求1-11任一项所述的车辆校正***，其特征在于，所述载车平台包括对应车辆前轮的前举升机构和对应车辆后轮的后举升机构，所述换电设备在所述前举升机构和所述后举升机构之间对车辆进行换电。The vehicle calibration system according to any one of claims 1-11, wherein the vehicle-carrying platform includes a front lifting mechanism corresponding to the front wheels of the vehicle and a rear lifting mechanism corresponding to the rear wheels of the vehicle, and the power exchange The device exchanges electricity for the vehicle between the front lifting mechanism and the rear lifting mechanism.
如权利要求1-12任一项所述的车辆校正***，其特征在于，所述载车平台在所述拆装机构对所述锁紧件进行解锁或锁定的过程中与所述校平件共同托举所述车辆。The vehicle calibration system according to any one of claims 1-12, wherein the vehicle-carrying platform is in contact with the leveling member during the process of unlocking or locking the locking member by the dismounting mechanism Lift the vehicle together.
如权利要求1-13任一项所述的车辆校正***，其特征在于，所述载车平台具有第一举升高度和第二举升高度，所述载车平台位于所述第一举升高度时，承载于载车平台上的车辆高于所述校平件；所述载车平台位于所述第二举升高度时，所述载车平台不高于所述校平件。The vehicle correction system according to any one of claims 1-13, wherein the vehicle-carrying platform has a first lifting height and a second lifting height, and the vehicle-carrying platform is located at the first lifting height height, the vehicle carried on the vehicle-carrying platform is higher than the leveling member; when the vehicle-carrying platform is at the second lifting height, the vehicle-carrying platform is not higher than the leveling member.
一种换电站，其特征在于，包括如权利要求1至14任一项所述的车辆校正***。A power station, characterized by comprising the vehicle calibration system according to any one of claims 1 to 14.
一种基于权利要求1至14中任一项所述的车辆校正***的换电方法，其特征在于，包括如下步骤：A battery replacement method based on the vehicle calibration system according to any one of claims 1 to 14, characterized in that it comprises the following steps:

控制换电设备驶入并定位在载车平台上的车辆下方，使所述换电设备与车辆上的电池位置相对准；Control the power exchange equipment to drive into and position under the vehicle on the vehicle-carrying platform, so that the power exchange equipment is aligned with the position of the battery on the vehicle;

沿竖直方向调节所述载车平台和所述换电设备之间的相对位置，使所述校平件支撑车辆；Adjusting the relative position between the vehicle-carrying platform and the power exchange equipment in the vertical direction, so that the leveling member supports the vehicle;

控制拆装机构对所述车辆上的电池进行拆卸或将待安装的电池安装于所述车辆上。The dismounting mechanism is controlled to disassemble the battery on the vehicle or install the battery to be installed on the vehicle.
如权利要求16所述的换电方法，其特征在于，所述沿竖直方向调节所述载车平台和所述换电设备之间的相对位置，使所述校平件支撑车辆的步骤包括：The battery replacement method according to claim 16, wherein the step of vertically adjusting the relative position between the vehicle-carrying platform and the battery replacement equipment so that the leveling member supports the vehicle comprises :

控制载车平台和校平件相对运动，实时检测各个校准面是否都与车辆接触，若各校准面均与车辆接触，载车平台和校平件停止相对运动，所述校平件支撑车辆。Control the relative movement of the vehicle-carrying platform and the leveling member, and detect in real time whether each calibration surface is in contact with the vehicle. If all the calibration surfaces are in contact with the vehicle, the vehicle-carrying platform and the leveling member stop relative movement, and the leveling member supports the vehicle.
如权利要求17所述的换电方法，其特征在于，所述校平件支撑车辆的步骤之后，且步骤控制拆装机构对所述车辆上的电池进行拆卸或将待安装的电池安装于所述车辆上之前还包括以下步骤：The battery replacement method according to claim 17, characterized in that, after the step of supporting the vehicle by the leveling member, the step controls the dismounting mechanism to disassemble the battery on the vehicle or install the battery to be installed on the vehicle. The following steps are also included before boarding the vehicle:

检测载车平台的前举升机构和载车平台的后举升机构是否都与车辆接触，若否，则控制对应的所述前举升机构或所述后举升机构上升至与车辆接触，以使所述前举升机构和所述后举升机构与所述校平件共同托举所述车辆。Detect whether the front lifting mechanism of the vehicle-carrying platform and the rear lifting mechanism of the vehicle-carrying platform are in contact with the vehicle, if not, then control the corresponding front lifting mechanism or the rear lifting mechanism to rise to contact with the vehicle, so that the front lifting mechanism and the rear lifting mechanism together with the leveling piece lift the vehicle.
如权利要求16-18任一项所述的换电方法，其特征在于，所述控制换电设备驶入并定位在载车平台上的车辆下方，以使所述换电设备与车辆上的电池位置相对准的步骤包括：The power exchange method according to any one of claims 16-18, characterized in that, the control power exchange equipment drives into and is positioned under the vehicle on the vehicle-carrying platform, so that the power exchange equipment and the vehicle on the vehicle The steps for battery alignment include:

所述换电设备驶入所述载车平台上的车辆下方后，控制所述载车平台和所述换电设备相对运动，当换电设备上的定位销***车辆底盘上的定位孔时，所述换电设备与车辆上的电池位置相对准。After the power exchange equipment drives under the vehicle on the vehicle-carrying platform, the relative movement between the vehicle-carrying platform and the battery exchange equipment is controlled. When the positioning pin on the battery exchange equipment is inserted into the positioning hole on the vehicle chassis, The power exchange equipment is aligned with the battery on the vehicle.
如权利要求16-19任一项所述的换电方法，其特征在于，所述控制换电设备驶入并定位在载车平台上的车辆下方，以使所述换电设备与车辆上的电池位置相对准的步骤之前还包括以下步骤：The power exchange method according to any one of claims 16-19, wherein the power exchange equipment is controlled to drive into and positioned under the vehicle on the vehicle-carrying platform, so that the power exchange equipment and the vehicle on the vehicle Before the step of battery position alignment, the following steps are also included:

获取所述车辆的车型，根据所述车型信息沿水平方向和/或竖直方向调节校平立柱相对于设备本体的相对位置。The vehicle model of the vehicle is obtained, and the relative position of the leveling column relative to the device body is adjusted along the horizontal direction and/or vertical direction according to the vehicle model information.