CN115465129A - Battery changing station, battery changing system and battery changing control method - Google Patents

Abstract

The invention provides a power exchanging station, a power exchanging system and a power exchanging control method, wherein the power exchanging station comprises: the battery storage area comprises a plurality of charging bases, and a first battery box is arranged on each charging base; the vehicle-mounted battery system comprises a battery base and a second battery box arranged on the battery base; the battery storage area is arranged by semi-surrounding the transfer device; the controller is electrically connected with the transfer device and the battery storage area respectively and is used for sending electric signals to the transfer device and the battery storage area; the transfer device and the battery storage area are used for replacing a second battery box on the battery base with a first battery box and replacing the first battery box on the charging base with a second battery box according to the electric signals. According to the scheme of the invention, the transfer device is arranged in the battery storage area in a semi-surrounding manner, so that the floor area of the battery changing station is reduced, the battery changing is carried out through the transfer device, the battery changing time is reduced, and the battery changing efficiency is improved.

Description

A battery swapping station, a battery swapping system, and a battery swapping control method

technical field

The invention relates to the technical field of mobile power exchange equipment, in particular to a power exchange station, a power exchange system and a power exchange control method.

Background technique

With the continuous popularization of new energy vehicles, the electric vehicle battery replacement link is a problem that the electric vehicle industry needs to solve. Using special battery replacement equipment to realize automatic battery replacement is the technical development direction of the battery replacement station for electric vehicle replacement stations.

At present, most of the battery swapping stations on the market are crane-mounted or single-station rail-guided vehicle (RGV) battery swapping. The charging positions are arranged side by side on both sides of the driving, and the increase of the positions will result in a longer driving distance of the battery-swapping vehicle and RGV trolley, prolonging the battery-swapping time, and the battery-swapping station occupies a larger area.

Contents of the invention

Embodiments of the present invention provide a battery swapping station, a battery swapping system, and a battery swapping control method, which are used to solve the problems in the prior art that vehicle battery swapping takes a long time and the swapping station occupies a large area.

In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions:

An embodiment of the present invention provides a power station, including:

A battery storage area, the battery storage area includes a plurality of charging bases, and a first battery box is arranged on the charging bases;

A vehicle battery system, the vehicle battery system includes a battery base and a second battery box arranged on the battery base;

A transfer device, the battery storage area half surrounds the transfer device;

a controller, the controller is electrically connected to the transfer device and the battery storage area, and the controller is used to send electrical signals to the transfer device and the battery storage area;

Wherein, the transfer device and the battery storage area are used for replacing the second battery box on the battery base with the first battery box according to the electrical signal, and replacing the battery box on the charging base with the first battery box. The first battery box is replaced with the second battery box.

Optionally, the battery storage area is arranged around the first side, the second side and the third side of the relay device;

The vehicle battery system is located on the fourth side of the transfer device;

Wherein, the first side is adjacent to the second side and the third side respectively;

The first side and the fourth side are two opposite sides.

Optionally, the first sub-storage area of the battery storage area includes a plurality of the charging bases;

The second sub-storage area of the battery storage area includes a plurality of the charging bases;

The third sub-storage area of the battery storage area includes a plurality of the charging bases;

The first corner storage area of the battery storage area includes at least one of the charging bases;

The second corner storage area of the battery storage area includes at least one of the charging bases;

Wherein, the first sub-storage area is a storage area opposite to the first side in the battery storage area;

The first sub-storage area is a storage area opposite to the first side in the battery storage area; the second sub-storage area is a storage area in the battery storage area opposite to the second side area; the third sub-storage area is the storage area opposite to the third side in the battery storage area; the first corner storage area is the first sub-storage area in the battery storage area A storage area intersecting the second sub-storage area; the second corner storage area is a storage area in the battery storage area where the first sub-storage area intersects the third sub-storage area.

Optionally, the transfer device includes: a first seat, and a telescopic mechanism, a first grabbing mechanism, a carrying mechanism and a rotating mechanism electrically connected to the controller;

A first bracket is fixedly arranged on the first base;

The telescopic mechanism is connected to the first bracket, and the telescopic mechanism is used to expand and contract relative to the first bracket according to the electrical signal sent by the controller;

The first grabbing mechanism is connected to the telescoping mechanism, and the first grabbing mechanism is used to grab or release the battery box according to the electrical signal sent by the controller;

The carrying mechanism is arranged on the first seat, and the carrying mechanism is used to carry the battery box;

The rotating mechanism is arranged under the first seat, and the rotating mechanism is used to drive the first seat to rotate according to the electrical signal sent by the controller;

The battery box includes the first battery box and the second battery box.

Optionally, the carrying mechanism includes: a rail-guided vehicle RGV electrically connected to the controller, and the RGV can move along the first direction on the first seat according to an electrical signal sent by the controller ; The first direction is a direction perpendicular to the telescopic direction of the telescopic mechanism;

The RGV is provided with two battery bases;

The telescoping mechanism is located above the first position of the RGV;

Wherein, when the RGV moves to the first state on the first base, the first battery base of the two battery bases is in the first position; the RGV is on the first base When moving to the second state, the second battery base of the two battery bases is in the first position.

Optionally, the relay device further includes: a mobile device electrically connected to the controller;

The moving device is cooperatively connected with the first base, and the moving device is used to drive the first base to move in a first direction according to the electrical signal sent by the controller; the first direction is A direction perpendicular to the telescopic direction of the telescopic mechanism.

Optionally, the first grabbing mechanism includes a first lifting structure and a first floating suspension bridge respectively connected to the controller;

The first lifting structure is connected to the telescoping mechanism;

The first floating suspension bridge is connected to the first lifting structure;

The first lifting structure is used to drive the first floating suspension bridge to rise or fall according to the electrical signal sent by the controller;

The first floating suspension bridge is used to grab or release the battery box according to the electrical signal sent by the controller.

Optionally, the battery storage area further includes a second bracket located above the plurality of charging bases, and a second grabbing mechanism mated with the second brackets;

The second grabbing mechanism is connected to the controller, and the second grabbing mechanism is used to move along the second bracket according to the electrical signal sent by the controller;

When the second grabbing mechanism moves to the third state, the second grabbing mechanism is located above a first target charging base, and grabs or releases the battery box according to the electrical signal sent by the controller, and, When the second grabbing mechanism moves to the fourth state, the second grabbing mechanism is located above the second target charging base, and grabs or releases the battery box according to the electrical signal sent by the controller;

Wherein, the first target charging base is at least one of the plurality of charging bases in the battery storage area;

The second target charging base is any one of the plurality of charging bases in the battery storage area except the first target charging base;

The battery box includes the first battery box and the second battery box.

Optionally, the second grabbing mechanism includes a moving structure, a second lifting structure and a second floating suspension bridge respectively connected to the controller;

The moving structure is mated and connected with the second bracket;

The moving structure is connected to the second lifting structure;

The second floating suspension bridge is connected to the second lifting structure;

The moving structure is used to drive the second lifting structure and the second floating suspension bridge to move between the third state and the fourth state according to the electrical signal sent by the controller;

The second lifting structure is used to drive the second floating suspension bridge to rise or fall according to the electrical signal sent by the controller;

The second floating suspension bridge is used to grab or release the battery box according to the electrical signal sent by the controller.

Optionally, the relay device further includes: a first sensor;

The first sensor is used to send an indication signal to the controller; the indication signal is used to indicate the position of the battery replacement vehicle;

The battery swapping vehicle includes the on-board battery system.

Optionally, it also includes: a vehicle parking area for parking the battery replacement vehicle;

The vehicle stop area is provided with a positioning device, and the positioning device is used for positioning the battery exchange vehicle;

The battery swapping vehicle includes the on-board battery system.

Optionally, it also includes: a vehicle parking area for parking the battery replacement vehicle;

The vehicle stop area is provided with a second sensor, and the second sensor is used to indicate the stop position of the battery replacement vehicle;

The battery swapping vehicle includes the on-board battery system.

An embodiment of the present invention also provides a power exchange system, including the power exchange station described in any one of the above;

Wherein, the battery replacement system includes at least one battery storage area;

The power exchange system includes at least one relay device.

The embodiment of the present invention also provides a power swap control method, which is applied to the swap station described in any one of the above, and the method includes:

controlling the transfer device to grab the first battery box in the battery storage area, and release the first battery box on the carrying mechanism of the transfer device;

Control the transfer device to grab the second battery box in the vehicle battery system, and release the second battery box on the carrying mechanism of the transfer device; the first battery box and the second battery box are respectively located on the carrying mechanism On the two battery bases on the RGV in the mechanism;

controlling the transfer device to grab the first battery box on the carrying mechanism, and release the first battery box on the battery base in the vehicle battery system;

The transfer device is controlled to grab the second battery box on the carrying mechanism, and release the second battery box on the battery base corresponding to the first battery box in the battery storage area.

Optionally, the control transfer device grabs the first battery box in the battery storage area, and releases the first battery box on the carrying mechanism of the transfer device, including:

controlling the second grasping mechanism in the battery storage area to move along the second bracket to above the second target charging base, and grasp the first battery box on the second target charging base;

controlling the second grabbing mechanism to move along the second bracket to above a first target charging base, and release the first battery box on the first target charging base;

controlling the rotation mechanism in the transfer device to rotate a preset angle, grabbing the first battery box on the first target charging base through the telescopic mechanism and the first grasping mechanism in the transfer device, and The first battery box is released on the battery base corresponding to the first position of the RGV.

Optionally, the control transfer device grabs the second battery box in the vehicle battery system, and releases the second battery box on the carrying mechanism of the transfer device, including:

When the first battery box is located on the first battery base on the RGV, controlling the RGV to move from the first state to the second state on the first seat of the transfer device, or, When the first battery box is located on the second battery base on the RGV, control the RGV to move from the second state to the first state on the first seat of the transfer device;

Catch the second battery box in the on-vehicle battery system through the telescopic mechanism and the first grabbing mechanism in the transfer device, and release the second battery box to the battery base corresponding to the first position of the RGV superior;

Wherein, when the RGV moves to the first state on the first seat, the first battery base is in the first position; when the RGV moves to the second state on the first seat , the second battery base is at the first position.

Optionally, the controlling the transfer device to grab the first battery box on the carrying mechanism and release the first battery box on the battery base in the vehicle battery system includes:

When the second battery box is located on the first battery base on the RGV, control the RGV to move from the first state to the second state on the first seat of the transfer device, or, When the second battery box is located on the second battery base on the RGV, control the RGV to move from the second state to the first state on the first seat of the transfer device;

The first battery box located on the battery base corresponding to the first position of the RGV is grabbed by the telescopic mechanism and the first grasping mechanism in the transfer device, and the first battery box is released on the on the battery mount in the on-board battery system.

Optionally, the control of the transfer device grabs the second battery box on the carrying mechanism, and releases the second battery box in the battery storage area, and the first battery box corresponds to on the battery base, including:

When the RGV is in the second state, control the RGV to move from the second state to the first state on the first seat of the transfer device, or, when the RGV is in the first state Next, control the RGV to move from the first state to the second state on the first seat of the transfer device;

Grab the second battery box on the battery base corresponding to the first position on the RGV by the first grasping mechanism in the transfer device, and control the rotation mechanism in the transfer device to rotate a preset angle, And release the second battery box on the first target charging base through the telescopic mechanism in the transfer device and the first grasping mechanism;

Controlling the second grabbing mechanism in the battery storage area to move along the second bracket to above the first target charging base, and grab the second battery box on the first target charging base;

Controlling the second grabbing mechanism to move to the second target charging base along the second bracket, and releasing the second battery box on the second target charging base; the second target charging base is the second target charging base In the battery storage area, the battery base corresponding to the first battery box.

Optionally, before the control transfer device grabs the first battery box in the battery storage area and releases the first battery box on the carrying mechanism of the transfer device, the method further includes:

Determining the position of the battery-swapping vehicle through the first sensor in the transfer device;

Wherein, the battery replacement vehicle includes the on-board battery system.

The embodiment of the present invention also provides a battery replacement control device, the device includes:

The first control module is used to control the transfer device to grab the first battery box in the battery storage area, and release the first battery box on the carrying mechanism of the transfer device;

The second control module is used to control the transfer device to grab the second battery box in the vehicle battery system, and release the second battery box on the carrying mechanism of the transfer device; the first battery box and the second battery box The battery boxes are respectively located on the two battery bases on the RGV in the carrying mechanism;

A third control module, configured to control the transfer device to grab the first battery box on the carrying mechanism, and release the first battery box on the battery base in the vehicle battery system;

The fourth control module is used to control the transfer device to grab the second battery box on the carrying mechanism and release the second battery box in the battery storage area, and the first battery box on the corresponding battery base.

Optionally, the first control module includes:

The first control unit is configured to control the second grabbing mechanism in the battery storage area to move along the second bracket to above the second target charging base, and grab the first charging mechanism on the second target charging base. battery box;

The second control unit is used to control the second grabbing mechanism to move along the second support to above a first target charging base, and release the first battery box on the first target charging base. ;

The third control unit is used to control the rotation mechanism in the transfer device to rotate a preset angle, and grasp the first target charging base on the first target charging base through the telescopic mechanism and the first grasping mechanism in the transfer device. A battery box, and the first battery box is released on the battery base corresponding to the first position of the RGV.

Optionally, the second control module includes:

A fourth control unit, configured to control the RGV to move from the first state on the first seat of the transfer device when the first battery box is located on the first battery base on the RGV to the second state, or, when the first battery box is located on the second battery base on the RGV, control the RGV to move from the second state on the first seat of the transfer device to the first state;

The fifth control unit is used to grab the second battery box in the on-vehicle battery system through the telescopic mechanism and the first grabbing mechanism in the transfer device, and release the second battery box in the RGV On the battery base corresponding to the first position;

Wherein, when the RGV moves to the first state on the first seat, the first battery base is in the first position; when the RGV moves to the second state on the first seat , the second battery base is at the first position.

Optionally, the third control module includes:

The sixth control unit is used to control the RGV to move from the first state to the The second state, or, when the second battery box is located on the second battery base on the RGV, control the RGV to move from the second state to the first base of the transfer device first state;

The seventh control unit is used to grab the first battery box on the battery base corresponding to the first position of the RGV through the telescopic mechanism and the first grabbing mechanism in the transfer device, and place the first battery box on the battery base corresponding to the first position of the RGV. A battery compartment is released on the battery mount in the on-board battery system.

Optionally, the fourth control module includes:

The eighth control unit is configured to control the RGV to move from the second state to the first state on the first seat of the transfer device when the RGV is in the second state, or, in the When the RGV is in the first state, control the RGV to move from the first state to the second state on the first seat of the transfer device;

A ninth control unit, configured to grab the second battery box on the battery base corresponding to the first position on the RGV through the first grabbing mechanism in the transfer device, and control the The rotation mechanism rotates a preset angle, and releases the second battery box on the first target charging base through the telescopic mechanism in the transfer device and the first grasping mechanism;

The tenth control unit is configured to control the second grabbing mechanism in the battery storage area to move along the second bracket to above the first target charging base, and grab the battery on the first target charging base. the second battery box;

An eleventh control unit, configured to control the second grabbing mechanism to move to the second target charging base along the second bracket, and release the second battery box on the second target charging base; The second target charging base is the battery base corresponding to the first battery box in the battery storage area.

Optionally, the device also includes:

A determining module, configured to determine the position of the battery-swapping vehicle through the first sensor in the transfer device;

Wherein, the battery replacement vehicle includes the on-board battery system.

An embodiment of the present invention also provides a battery replacement control device, including: a processor, a memory, and a program stored on the memory and operable on the processor. When the program is executed by the processor, the above The battery replacement control method described in any one of the above.

An embodiment of the present invention also provides a readable storage medium, on which a program is stored, and when the program is executed by a processor, the steps in any one of the battery replacement control methods described above are implemented.

The beneficial effects of the present invention are:

According to the solution of the present invention, the battery storage area is semi-surrounded by a transfer device, which reduces the floor area of the power station, and the second battery box on the battery base is replaced by the first battery box through the transfer device, and the first battery box on the charging base is replaced. The battery box is replaced with the second battery box, which reduces the battery replacement time and improves the battery replacement efficiency.

Description of drawings

FIG. 1 shows a schematic structural diagram of a power station provided by an embodiment of the present invention;

Fig. 2 shows the top view of the power station provided by the embodiment of the present invention;

FIG. 3 shows a schematic structural diagram of a transfer device provided by an embodiment of the present invention;

Fig. 4 shows the side view of the transfer device provided by the embodiment of the present invention;

FIG. 5 shows a schematic structural diagram of an RGV provided by an embodiment of the present invention;

FIG. 6 shows a flow chart of a battery replacement control method provided by an embodiment of the present invention;

Fig. 7 shows a schematic structural diagram of a power exchange control device provided by an embodiment of the present invention;

FIG. 8 shows a schematic structural diagram of a battery swap control device provided by an embodiment of the present invention.

Explanation of reference signs:

100-swapping station; 1-battery storage area; 11-charging base; 12-first battery box; 13-second support; 14-mobile structure; 15-second lifting structure; 16-second floating suspension bridge; 2- On-board battery system; 21-battery base; 22-second battery box; 3-transfer device; 31-first seat; 32-telescopic mechanism; 33-rotation mechanism; 352-the second battery base; A-the first position; B the second position; 36-moving device; 361-walking wheels; 362-moving frame; 37-the first lifting structure; 38-the first floating Suspension bridge; 4-positioning device; 601-step; 602-step; 603-step; 604-step; 701-first control module; 702-second control module; 703-third control module; 704-fourth control module ; 801-processor; 802-bus interface; 803-memory; 804-transceiver; 805-user interface.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Aiming at the problems in the prior art that the time for vehicle battery replacement is long and the battery replacement station occupies a large area, the invention provides a battery replacement station, a battery replacement system and a method for controlling battery replacement.

As shown in Fig. 1 to Fig. 1 , an embodiment of the present invention provides a power station 100, including:

A battery storage area 1, the battery storage area 1 includes a plurality of charging bases 11, and a first battery box 12 is arranged on the charging bases 11;

The vehicle battery system 2, the vehicle battery system 2 includes a battery base 21 and a second battery box 22 arranged on the battery base 21;

A transfer device 3, the battery storage area 1 is half-surrounded by the transfer device 3;

a controller, the controller is electrically connected to the relay device 3 and the battery storage area 1 respectively, and the controller is used to send electrical signals to the transfer device 3 and the battery storage area 1;

Wherein, the transfer device 3 and the battery storage area 1 are used to replace the second battery box 22 on the battery base 21 with the first battery box 12 according to the electrical signal, and replace the battery box 12 with the first battery box 12. The first battery box 12 on the charging base 11 is replaced with the second battery box 22 .

Please refer to FIG. 1 , the battery exchange station 100 provided by the implementation of the present invention includes a battery storage area 1, an on-board battery system 2, a transfer device 3 and a controller (not shown in the figure), wherein the battery storage area 1 includes a plurality of charging bases 11 , the charging base 11 can be used to charge the first battery box 12 and store the first battery box 12 after the charging is completed. The on-board battery system 2 is located on the battery replacement vehicle. The second battery box 22 on the top, the second battery box 22 is a battery box that needs to be replaced, the transfer device 3 and the battery storage area 1 are used to replace the second battery box 22 on the battery base 21 under the control of the controller For the first battery box 12, and replacing the first battery box 12 on the charging base 11 with the second battery box 22, the battery replacement time is reduced and the battery replacement efficiency is improved.

Please refer to FIG. 2 , the battery storage area 1 is half-surrounded by the transfer device 3, which increases the number of charging bases 11 and the first battery boxes 12 placed on the charging base 11 within a certain unit area, and reduces the floor area of the battery swapping station.

Optionally, the battery storage area 1 is arranged around the first side, the second side and the third side of the relay device 3;

The vehicle battery system 2 is located on the fourth side of the transfer device 3;

Wherein, the first side is adjacent to the second side and the third side respectively;

The first side and the fourth side are two opposite sides.

Please continue to refer to Fig. 2, the structure of the transfer device 3 is a rectangular structure, and the battery storage area 1 surrounds three adjacent sides of the transfer device 3, that is, the battery storage area 1 surrounds the first side of the transfer device 3, the second The side and the third side are arranged, and the remaining fourth side of the transfer device 3 is used for setting the on-board battery system 2 , that is, the battery swap vehicle is parked at the fourth side of the transfer device 3 .

Optionally, the first sub-storage area of the battery storage area 1 includes a plurality of charging bases 11;

The second sub-storage area of the battery storage area 1 includes a plurality of charging bases 11;

The third sub-storage area of the battery storage area 1 includes a plurality of the charging bases 11;

The first corner storage area of the battery storage area 1 includes at least one charging base 11;

The second corner storage area of the battery storage area 1 includes at least one charging base 11;

Wherein, the first sub-storage area is a storage area opposite to the first side in the battery storage area 1;

The first sub-storage area is a storage area in the battery storage area 1 opposite to the first side; the second sub-storage area is in the battery storage area 1 and opposite to the second side storage area; the third sub-storage area is the storage area opposite to the third side in the battery storage area 1; the first corner storage area is the battery storage area 1, the second A storage area where a sub-storage area intersects the second sub-storage area; the second corner storage area is the intersection of the first sub-storage area and the third sub-storage area in the battery storage area 1 storage area.

Please continue to refer to FIG. 2, in the battery storage area 1, in the first sub-storage area corresponding to the first side of the relay device 3, a plurality of charging bases 11 are set, and the second sub-storage area corresponding to the second side of the relay device 3 In the storage area, a plurality of charging bases 11 are set, and in the third sub-storage area corresponding to the third side of the relay device 3, a plurality of charging bases 11 are set, and at the same time, in order to further increase the charging base 11 within a certain unit area Quantity, at least one charging base 11 is also arranged in the first corner storage area where the first sub-storage area intersects with the second sub-storage area, and at the second corner where the first sub-storage area intersects with the third sub-storage area At least one charging base 11 is also arranged in the storage area.

It should be noted that the number of charging bases 11 specifically provided for each storage area in the battery storage area 1 can be set according to requirements.

Optionally, the transfer device 3 includes: a first base body 31, and a telescopic mechanism 32, a first grasping mechanism, a carrying mechanism and a rotating mechanism 33 electrically connected to the controller;

A first bracket 34 is fixedly arranged on the first seat body 31;

The telescoping mechanism 32 is connected to the first bracket 34, and the telescoping mechanism 32 is used to expand and contract relative to the first bracket 34 according to the electrical signal sent by the controller;

The first grabbing mechanism is connected to the telescoping mechanism 32, and the first grabbing mechanism is used to grab or release the battery box according to the electrical signal sent by the controller;

The carrying mechanism is arranged on the first seat 31, and the carrying mechanism is used to carry the battery box;

The rotating mechanism 33 is arranged under the first seat 31, and the rotating mechanism 33 is used to drive the first seat 31 to rotate according to the electrical signal sent by the controller;

The battery box includes the first battery box and the second battery box.

Referring to Fig. 3 and Fig. 4, the transfer device 3 includes a first base body 31, a telescoping mechanism 32, a first grasping mechanism, a carrying mechanism and a rotation mechanism 33, wherein a first bracket 34 is fixed on the first base body 31, The first bracket 34 is used to connect the telescopic mechanism 32, the telescopic mechanism 32 can be stretched relative to the first bracket 34 under the control of the controller, the first grasping mechanism is connected with the telescopic mechanism 32, the first grasping mechanism is used Under the control of the controller, the battery box is grasped or released. The carrying mechanism is arranged on the first seat 31 for carrying the first battery box and the second battery box grasped by the first grasping mechanism. The rotating mechanism 33 Set under the first seat 31, the rotating mechanism 33 is used to drive the first seat 31 and the first support 34 on the first seat 31, the telescopic mechanism 32 and the first grabbing mechanism under the control of the controller Rotate, the angle of its rotation is controlled by the controller.

Optionally, the carrying mechanism includes: a rail-guided vehicle RGV 35 electrically connected to the controller, and the RGV 35 can move along the first base 31 along the first base 31 according to the electrical signal sent by the controller. Move in one direction; the first direction is a direction perpendicular to the telescopic direction of the telescopic mechanism 32;

The RGV 35 is provided with two battery bases;

The telescoping mechanism 32 is located above the first position of the RGV 35;

Wherein, when the RGV 35 moves to the first state on the first seat body 31, the first battery base 351 of the two battery bases is in the first position; When the base body 31 moves to the second state, the second battery base 352 of the two battery bases is in the first position.

Please continue to refer to Fig. 3, on the carrying mechanism are provided with a track laid along the first direction and a track-guided vehicle RGV 35, under the control of the controller, the track laid along the first direction of the RGV 35 can move in the first direction For movement, please refer to FIG. 5, the RGV 35 has two working states, wherein, under the control of the controller, the RGV 35 moves to the first state, in which the first battery base 351 is located at the first position A, As shown in Fig. 5, at this moment, the second battery base 352 is located at the second position B, and under the control of the controller, the RGV 35 moves to the second state, and in this second state, the second battery base 352 is located at the first position B. Position A, at this time, the first battery base 351 is located at another position C (not shown in the figure) except the first position A and the second position B on the RGV 35 . Wherein, the telescopic mechanism 32 is located directly above the first position A, and under the control of the controller, the battery box can be grasped on the battery base corresponding to the first position A through the telescopic mechanism 32 and the first grasping mechanism, or, The battery box is released on the battery base corresponding to the first position A, and the battery box includes a first battery box and a second battery box.

Optionally, the transfer device 3 further includes: a mobile device 36 electrically connected to the controller;

The moving device 36 is mated with the first seat 31, and the moving device 36 is used to drive the first seat 31 to move in a first direction according to the electrical signal sent by the controller; The first direction is a direction perpendicular to the telescopic direction of the telescopic mechanism 32 .

Please continue to refer to FIG. 3 , the transfer device 3 further includes a moving device 36 , the moving device 36 is mated with the first base body 31 , and the moving device 36 moves along the first direction under the control of the controller.

In this embodiment, the advantage of designing the mobile device 36 is that it has low requirements on the location of the parking spot of the battery-swapping vehicle. Adjust the position of the transfer device 3 upward to realize a smooth power exchange.

As a preferred embodiment, the moving device 36 includes two moving rails arranged along the first direction, and a moving frame 362 provided with traveling wheels 361, wherein the traveling wheels 361 are connected with the moving rails, and the moving frame 362 is arranged on a rotating Below the mechanism 33 , under the control of the controller, the moving frame 362 can move along the first direction on the moving track through the traveling wheels 361 .

Optionally, the first grabbing mechanism includes a first lifting structure 37 and a first floating suspension bridge 38 respectively connected to the controller;

The first lifting structure 37 is connected to the telescoping mechanism 32;

The first floating suspension bridge 38 is connected to the first lifting structure 37;

The first lifting structure 37 is used to drive the first floating suspension bridge 38 to rise or fall according to the electrical signal sent by the controller;

The first floating suspension bridge 38 is used to grab or release the battery box according to the electrical signal sent by the controller.

Please continue to refer to FIG. 3, the first grabbing mechanism includes a first lifting structure 37 and a first floating suspension bridge 38, the first floating suspension bridge 38 includes a grabbing structure, and the first lifting structure 37 can drive the first lifting structure 37 under the control of the controller. A floating suspension bridge 38 rises or falls. After the first floating suspension bridge 38 moves to the set position, it can grasp or release the battery box through the grasping structure under the control of the controller. The battery box can be the first battery box , can also be the second battery box.

Specifically, the working process of the transfer device 3 is as follows: after the battery-swapping vehicle stops, if the parking point position deviates from the set parking point position, the controller controls the moving device 36 to move to the set parking point position on the moving track, The controller controls the RGV 35 to be in the first state, and at the same time, controls the telescopic mechanism 32 to extend toward the direction of the on-board battery system 2, and then controls the first lifting structure 37 to drive the first floating suspension bridge 38 to move down to be able to move the on-board battery system 2 The position captured by the second battery box 22 in the first floating suspension bridge 38 grabs the second battery box 22 through the grabbing structure on the first floating suspension bridge 38, controls the first lifting structure 37 to drive the first floating suspension bridge 38 to rise, and controls the telescopic mechanism 32 Retract, put the second battery box 22 on the first battery base 351 on the RGV 35, and control the first lifting structure 37 to drive the first floating suspension bridge 38 to return to its original position, the controller controls the RGV35 to adjust to the second state, and Control the rotation mechanism 33 to drive the relay device 3 to rotate, so that the telescopic mechanism 32 faces a set first battery box 12, the first battery box 12 is fully charged, and the telescopic mechanism 32 is controlled to extend toward the direction of the first battery box 12, Afterwards, control the first lifting structure 37 to drive the first floating suspension bridge 38 to move down to the position where the first battery box 12 can be grasped, and grab the first battery box 12 by the grasping structure on the first floating suspension bridge 38, and control The first lifting structure 37 drives the first floating suspension bridge 38 to rise, and controls the telescopic mechanism 32 to retract, so that the first battery box 12 is placed on the second battery base 352 on the RGV 35 . Wherein, the process of grabbing the second battery box 22 and placing it in the RGV 35 may be before the process of grabbing the first battery box 12 and placing it in the RGV 35 , or after the process of grabbing the first battery box 12 and placing it in the RGV 35 .

After placing the first battery box 12 and the second battery box 22 on the RGV 35, control the RGV 35 to adjust to the first state. At this time, the telescopic mechanism 32 is located directly above the second battery box 22, and the first lifting structure 37 is controlled Drive the first floating suspension bridge 38 to move down to the position where the second battery box 22 can be grasped, grab the second battery box 22 through the grasping structure on the first floating suspension bridge 38, and control the telescopic mechanism 32 to place the first battery box 22 toward the original position. The direction of the charging base 11 of the battery box 12 stretches out, after that, the first lifting structure 37 is controlled to drive the first floating suspension bridge 38 downward, and the grasping structure on the first floating suspension bridge 38 is controlled to release the second battery box 22 in the original position. On the charging base 11 of the first battery box 12, the telescopic mechanism 32 is controlled to retract, and the first lifting structure 37 is controlled to drive the first floating suspension bridge 38 to return to its original position, and the rotating mechanism 33 is controlled to drive the relay device 3 to rotate, so that the telescopic mechanism 32 faces The direction of the on-board battery system 2, and control the RGV 35 to adjust to the second state, after that, control the first lifting structure 37 to drive the first floating suspension bridge 38 to move down to a position where the first battery box 12 can be grabbed, and control the first The lifting structure 37 drives the first floating suspension bridge 38 to move downward, grabs the first battery box 12 through the grasping structure in the first floating suspension bridge 38, controls the extension of the telescopic mechanism 32, and releases the first battery box 12 in the vehicle battery system 2 on the battery base 21. Wherein, the process of releasing the second battery box 22 on the charging base 11 where the first battery box 12 was originally placed can be before the process of releasing the first battery box 12 on the battery base 21 of the vehicle battery system 2, or before releasing the first battery box 12 on the battery base 21 of the vehicle battery system 2. A battery box 12 follows the flow on the battery base 21 of the on-board battery system 2 .

It should be noted that steps such as the controller controlling the RGV 35 to adjust the state and controlling the rotating mechanism 33 to drive the relay device 3 to rotate can be performed simultaneously to improve the power exchange efficiency.

It should also be noted that the number of the telescopic mechanism 32 and the first grasping mechanism provided in the embodiment of the present invention can be two or more, that is, the power station can be provided with two or more telescopic mechanisms 32 and the first grasping mechanism. Take the mechanism to improve the efficiency of battery replacement. In the case where two telescopic mechanisms 32 and two first grabbing mechanisms are set, each telescoping mechanism 32 and the first grabbing mechanism can be arranged at the first position A and the second position B respectively, or can be arranged at the first position A and the second position B respectively. First position A and position C.

Optionally, the battery storage area 1 further includes a second bracket 13 located above the plurality of charging bases 11, and a second grabbing mechanism mated with the second brackets 13;

The second grabbing mechanism is connected to the controller, and the second grabbing mechanism is used to move along the second bracket 13 according to the electrical signal sent by the controller;

When the second grabbing mechanism moves to the third state, the second grabbing mechanism is located above a first target charging base, and grabs or releases the battery box according to the electrical signal sent by the controller, and, When the second grabbing mechanism moves to the fourth state, the second grabbing mechanism is located above the second target charging base, and grabs or releases the battery box according to the electrical signal sent by the controller;

Wherein, the first target charging base is at least one of the multiple charging bases 11 in the battery storage area 1;

The second target charging base is any one of the plurality of charging bases 11 in the battery storage area 1 except the first target charging base;

The battery box includes the first battery box and the second battery box.

In the embodiment of the present invention, please continue to refer to FIG. 1 , in the battery storage area 1 , a second support 13 is provided above the charging base 11 , and a second grasping mechanism is mated and connected with the second support 13 . Under the control of the controller, the two grabbing mechanisms can move between the third state and the fourth state on the second bracket 13. When the second grabbing mechanism moves to the third state, the second grabbing mechanism Located above the first target charging base, and according to the control of the controller, the second grabbing mechanism is used to grab the battery box located on the first target charging base, or release the battery box on the first target charging base, When the second grabbing mechanism moves to the fourth state, the second grabbing mechanism is located above the second target charging base, and under the control of the controller, the second grabbing mechanism is used to grab the charging base located on the second target on the battery pack, or release the battery pack on the second destination charging base.

Wherein, the battery box can be the first battery box 12 in the battery storage area 1, or it can be the second battery box 22 moved from the vehicle battery system 2 to the battery storage area 1 through the transfer device 3.

It should be noted that the first target charging base can be one or more of the multiple charging bases 11 in the battery storage area 1, which one or more of the first target charging bases in the battery storage area 1 are specifically , which can be set according to specific needs. Which one the second target charging base is is determined by the controller.

In the embodiment of the present invention, the advantage of designing the second grabbing mechanism is that the rotation mechanism 33 can only be set to rotate at a preset angle, that is, the rotation mechanism 33 only needs to move the telescopic mechanism 32 toward the first target charging base. Rotate between and toward the vehicle battery system 2 to get final product.

Optionally, the second grabbing mechanism includes a moving structure 14, a second lifting structure 15 and a second floating suspension bridge 16 respectively connected to the controller;

The moving structure 14 is mated with the second bracket 13;

The moving structure 14 is connected with the second lifting structure 15;

The second floating suspension bridge 16 is connected to the second lifting structure 15;

The moving structure 14 is used to drive the second lifting structure 15 and the second floating suspension bridge 16 to move between the third state and the fourth state according to the electrical signal sent by the controller;

The second lifting structure 15 is used to drive the second floating suspension bridge 16 to rise or fall according to the electrical signal sent by the controller;

The second floating suspension bridge 16 is used to grab or release the battery box according to the electrical signal sent by the controller.

Please continue to refer to Fig. 1, the second grasping structure specifically includes a moving structure 14, a second lifting structure 15 and a second floating suspension bridge 16, wherein the moving structure 14 drives the second lifting structure 15 and the second floating structure 16 under the control of the controller. The floating suspension bridge 16 moves between the third state and the fourth state. After the moving structure 14 drives the second lifting structure 15 and the second floating suspension bridge 16 to move to the third state or the fourth state under the control of the controller, Under the control of the controller, the second lifting structure 15 drives the second floating suspension bridge 16 to rise or fall, and the second floating suspension bridge 16 includes a grasping structure, and the second lifting structure 15 drives the second floating suspension bridge 16 to rise or fall to a set position Finally, the controller controls the second floating suspension bridge 16 to grasp or release the battery box through the grasping structure.

Specifically, the working process of the second grabbing mechanism is as follows: After the transfer device 3 moves the second battery box 22 on the vehicle battery system 2 to the first target charging base, control the moving structure 14 to drive the second lifting structure 15 and The second floating suspension bridge 16 moves to the third state, and the controller controls the second lifting structure 15 to drive the second floating suspension bridge 16 down to a position where the second battery box can be grabbed, and controls the second lifting structure 15 to descend, and the second floating suspension bridge 16 Grasp the second battery box through the grabbing structure. After grabbing the second battery box, the second floating suspension bridge 16 returns to its original position, and the controller controls the moving structure 14 to drive the second lifting structure 15 and the second floating suspension bridge 16 to move to the first In the fourth state, the controller controls the second lifting structure 15 to drive the second floating suspension bridge 16 down to release the second battery box on the idle second target charging base.

Another work flow of the second grasping mechanism is: the controller controls the moving structure 14 to drive the second lifting structure 15 and the second floating suspension bridge 16 to move to the fourth state, and controls the second lifting structure 15 to drive the second floating suspension bridge 16 to descend to Can grab the position of the first battery box on the second target charging base, and control the second lifting structure 15 to descend, the second floating suspension bridge 16 grabs the first battery box through the grabbing structure, and the second lifting structure 15 returns to its original position Finally, the controller controls the moving structure 14 to drive the second lifting structure 15 and the second floating suspension bridge 16 to move to the third state, and controls the second lifting structure 15 to drive the second floating suspension bridge 16 to descend, releasing the first battery box on the first on the target charging base, so that the transfer device 3 moves the first battery box on the first target charging base to the battery base on the vehicle battery system 2 .

Wherein, the process of the transfer device 3 moving the second battery box 22 on the vehicle battery system 2 to the first target charging base please refer to the above-mentioned work flow of the transfer device 3, and the transfer device 3 moves the second battery box 22 on the first target charging base For the process of moving a battery box to the battery base on the vehicle battery system 2 , please also refer to the above-mentioned work process of the transfer device 3 .

Optionally, the relay device 3 further includes: a first sensor;

The first sensor is used to send an indication signal to the controller; the indication signal is used to indicate the position of the battery replacement vehicle;

The battery swapping vehicle includes the vehicle battery system 2 .

In this embodiment, the transfer device 3 is also provided with a first sensor, preferably, the first sensor is a 3D sensor, and the first sensor can be used to sense the position of the battery-swapping vehicle and send the position signal of the battery-swapping vehicle Send it to the controller, the controller can sense and model the position of the battery-swapping vehicle, and control and adjust the position of the moving frame in the moving device 36 on the moving track according to the position signal fed back by the first sensor, or further adjust the rotation The rotation angle of the drive relay device 3 of the mechanism 33 and the extension or retraction length of the telescopic mechanism 32 .

Optionally, it also includes: a vehicle parking area for parking the battery replacement vehicle;

The vehicle stop area is provided with a positioning device 4, and the positioning device is used for positioning the battery exchange vehicle;

The battery swapping vehicle includes the vehicle battery system 2 .

Please refer to Fig. 2, a vehicle stop area is provided on the fourth side of the transfer device 3, and the battery exchange vehicle stops in the vehicle stop area, and a positioning device 4 is arranged on the vehicle stop area. Preferably, the positioning device is two A deceleration belt, the positioning device can indicate the parking position for the driver of the battery-changing vehicle, which is convenient for the driver to park. The parking positioning method of the positioning device belongs to mechanical positioning, and the cost of the mechanical positioning method is low and the layout is easy.

Optionally, it also includes: a vehicle parking area for parking the battery replacement vehicle;

The vehicle stop area is provided with a second sensor, and the second sensor is used to indicate the stop position of the battery replacement vehicle;

The battery swapping vehicle includes the vehicle battery system 2 .

As another preferred embodiment, a second sensor is provided on the vehicle stop area, and the second sensor is used to indicate the parking position for the driver of the battery-swapping vehicle.

The embodiment of the present invention also provides a power exchange system, including the power exchange station described in any one of the above;

Wherein, the battery replacement system includes at least one battery storage area;

The power exchange system includes at least one relay device.

It should be noted that the power exchange system provided by the embodiment of the present invention includes the above-mentioned power exchange station. Preferably, the power exchange system includes two battery storage areas and two transfer devices.

It should also be noted that the power exchange system provided by the embodiment of the present invention includes the above-mentioned power exchange station, and all embodiments of the above-mentioned power exchange station are applicable to the power exchange system, and can achieve the same or similar technical effects.

As shown in FIG. 6, an embodiment of the present invention also provides a battery swap control method, which is applied to the battery swap station described in any one of the above, and the method includes:

Step 601: Control the transfer device to grab the first battery box in the battery storage area, and release the first battery box on the carrying mechanism of the transfer device;

It should be noted that the battery replacement control method provided in the embodiment of the present invention is executed by the above-mentioned controller.

In this step, the controller controls the transfer device to grab the first battery box in the battery storage area, the first battery box is a fully charged battery box, and place the first battery box on one of the carrying mechanisms in the transfer device. on the battery base.

Step 602: Control the transfer device to grab the second battery box in the vehicle battery system, and release the second battery box on the carrying mechanism of the transfer device; the first battery box and the second battery box are respectively located at Two battery bases on the RGV in the carrying mechanism.

In this step, the controller controls the transfer device to grab the second battery box in the vehicle battery system, the second battery box is a battery box that needs to be replaced, and the second battery box is placed on the carrying mechanism in the transfer device on the other battery base.

It should be noted that the execution order of step 601 and step 602 may be that step 601 is executed first and then step 602 is executed, or step 602 is executed first and then step 601 is executed.

Step 603: Control the transfer device to grab the first battery box on the carrying mechanism, and release the first battery box on the battery base in the vehicle battery system.

In this step, after both the first battery box and the second battery box are placed on the carrying mechanism, the controller controls the transfer device to release the first battery box on the battery base in the vehicle battery system.

Step 604: Control the transfer device to grab the second battery box on the carrying mechanism, and release the second battery box in the battery storage area, the battery base corresponding to the first battery box superior.

In this step, after both the first battery box and the second battery box are placed on the carrying mechanism, the controller controls the transfer device to release the second battery box in the battery storage area, on the charging base where the first battery box was originally located .

It should be noted that the execution order of step 603 and step 604 may be that step 603 is executed first and then step 604 is executed, or step 604 is executed first and then step 603 is executed.

Preferably, if in step 601 and step 602, step 601 is executed first, then in step 603 and step 604, step 603 is executed first, which can improve the power exchange efficiency.

In the embodiment of the present invention, the controller controls the transfer device to perform the battery swapping operation between the vehicle-mounted battery swapping system and the battery storage area, which can improve the power swapping efficiency.

Optionally, the control transfer device grabs the first battery box in the battery storage area, and releases the first battery box on the carrying mechanism of the transfer device, including:

controlling the second grasping mechanism in the battery storage area to move along the second bracket to above the second target charging base, and grasp the first battery box on the second target charging base;

controlling the second grabbing mechanism to move along the second bracket to above a first target charging base, and release the first battery box on the first target charging base;

controlling the rotation mechanism in the transfer device to rotate a preset angle, grabbing the first battery box on the first target charging base through the telescopic mechanism and the first grasping mechanism in the transfer device, and The first battery box is released on the battery base corresponding to the first position of the RGV.

Specifically explain the process of the transfer device grabbing the first battery box and placing it on the battery base of the carrying mechanism: control the second grabbing mechanism in the battery storage area to move along the second bracket to the top of the second target charging base, control the second The grabbing mechanism grabs the first battery box on the second target charging base, controls the second grabbing mechanism to drive the first battery box to move above the first target charging base, and releases the first battery box on the first target charging base superior. Control the rotation mechanism in the transfer device to rotate a preset angle, drive the telescopic mechanism in the transfer device toward the first target charging base, and grab the first target charging base by controlling the telescopic mechanism and the first grasping mechanism. A battery box, the first battery box is placed on the battery base corresponding to the first position of the RGV in the transfer device.

Optionally, the control transfer device grabs the second battery box in the vehicle battery system, and releases the second battery box on the carrying mechanism of the transfer device, including:

When the first battery box is located on the first battery base on the RGV, controlling the RGV to move from the first state to the second state on the first seat of the transfer device, or, When the first battery box is located on the second battery base on the RGV, control the RGV to move from the second state to the first state on the first seat of the transfer device;

Catch the second battery box in the on-vehicle battery system through the telescopic mechanism and the first grabbing mechanism in the transfer device, and release the second battery box to the battery base corresponding to the first position of the RGV superior;

Wherein, when the RGV moves to the first state on the first seat, the first battery base is in the first position; when the RGV moves to the second state on the first seat , the second battery base is at the first position.

Specifically explain the process of the transfer device grabbing the second battery box in the on-board battery system: If the transfer device grabs the first battery box and places the first battery box on the charging base corresponding to the first position, the working state of the RGV is changed , adjust the charging base corresponding to the first position, and control the rotation mechanism in the relay device to rotate a preset angle, so that the telescopic mechanism in the relay device faces the vehicle battery system, and grabs the battery by controlling the telescopic mechanism and the first grabbing mechanism For the second battery box in the vehicle battery system, the second battery box is released on the battery base corresponding to the first position of the RGV.

Optionally, the controlling the transfer device to grab the first battery box on the carrying mechanism and release the first battery box on the battery base in the vehicle battery system includes:

When the second battery box is located on the first battery base on the RGV, control the RGV to move from the first state to the second state on the first seat of the transfer device, or, When the second battery box is located on the second battery base on the RGV, control the RGV to move from the second state to the first state on the first seat of the transfer device;

The first battery box located on the battery base corresponding to the first position of the RGV is grabbed by the telescopic mechanism and the first grasping mechanism in the transfer device, and the first battery box is released on the on the battery mount in the on-board battery system.

Specifically explain the process of the transfer device releasing the first battery box to the battery base in the vehicle battery system: when the transfer device places both the first battery box and the second battery box on the battery base on the carrying mechanism, the controller controls The RGV adjusts the working state, that is, adjusts the battery base where the first battery box on the RGV is located to the first position, grabs the first battery box through the telescopic mechanism and the first grasping mechanism in the transfer device, and puts the first battery The box is placed on the battery base in the battery on-board system.

Optionally, the control of the transfer device grabs the second battery box on the carrying mechanism, and releases the second battery box in the battery storage area, and the first battery box corresponds to on the battery base, including:

When the RGV is in the second state, control the RGV to move from the second state to the first state on the first seat of the transfer device, or, when the RGV is in the first state Next, control the RGV to move from the first state to the second state on the first seat of the transfer device;

Grab the second battery box on the battery base corresponding to the first position on the RGV by the first grasping mechanism in the transfer device, and control the rotation mechanism in the transfer device to rotate a preset angle, And release the second battery box on the first target charging base through the telescopic mechanism in the transfer device and the first grasping mechanism;

Controlling the second grabbing mechanism in the battery storage area to move along the second bracket to above the first target charging base, and grab the second battery box on the first target charging base;

Controlling the second grabbing mechanism to move to the second target charging base along the second bracket, and releasing the second battery box on the second target charging base; the second target charging base is the second target charging base In the battery storage area, the battery base corresponding to the first battery box.

Specifically explain the process of the transfer device releasing the second battery box on the battery base corresponding to the original first battery box: After the transfer device releases the first battery box on the vehicle battery system, the controller controls the RGV to adjust the working state, and the second battery The charging base where the box is located is adjusted to the first position, and the rotating mechanism in the relay device is controlled to drive the relay device to rotate at a preset angle, so that the telescopic mechanism in the relay device faces the first target charging base, and the relay device is controlled to pass through the telescopic mechanism and the charging base. The first grabbing mechanism releases the second battery box on the first target charging base, controls the second grabbing mechanism in the battery storage area to move along the second bracket to the top of the first target charging base, and controls the second grabbing mechanism The fetching mechanism grabs the second battery box, drives the second battery box to move to the second target charging base, and releases the second battery box on the second target charging base.

Optionally, before the control transfer device grabs the first battery box in the battery storage area and releases the first battery box on the carrying mechanism of the transfer device, the method further includes:

Determining the position of the battery-swapping vehicle through the first sensor in the transfer device;

Wherein, the battery replacement vehicle includes the on-board battery system.

Before performing the battery swap operation, the position of the battery swap vehicle equipped with the on-board battery system is determined through the first sensor in the transfer device. If the position does not meet the set position, adjust the moving frame in the mobile device in the swap station Move the position on the track, or further adjust the rotation angle of the drive relay device of the rotary mechanism and the extension or retraction length of the telescopic mechanism.

As shown in Fig. 7, the embodiment of the present invention also provides a battery replacement control device, which includes:

The first control module 701 is configured to control the transfer device to grab the first battery box in the battery storage area, and release the first battery box on the carrying mechanism of the transfer device;

The second control module 702 is used to control the transfer device to grab the second battery box in the vehicle battery system, and release the second battery box on the carrying mechanism of the transfer device; the first battery box and the second battery box The two battery boxes are respectively located on the two battery bases on the RGV in the carrying mechanism;

A third control module 703, configured to control the transfer device to grab the first battery box on the carrying mechanism, and release the first battery box on the battery base in the vehicle battery system;

The fourth control module 704 is configured to control the transfer device to grab the second battery box on the carrying mechanism, and release the second battery box in the battery storage area, and the first battery on the corresponding battery base of the box.

Optionally, the first control module 701 includes:

The first control unit is configured to control the second grabbing mechanism in the battery storage area to move along the second bracket to above the second target charging base, and grab the first charging mechanism on the second target charging base. battery box;

The second control unit is used to control the second grabbing mechanism to move along the second support to above a first target charging base, and release the first battery box on the first target charging base. ;

The third control unit is used to control the rotation mechanism in the transfer device to rotate a preset angle, and grasp the first target charging base on the first target charging base through the telescopic mechanism and the first grasping mechanism in the transfer device. A battery box, and the first battery box is released on the battery base corresponding to the first position of the RGV.

Optionally, the second control module 702 includes:

A fourth control unit, configured to control the RGV to move from the first state on the first seat of the transfer device when the first battery box is located on the first battery base on the RGV to the second state, or, when the first battery box is located on the second battery base on the RGV, control the RGV to move from the second state on the first seat of the transfer device to the first state;

The fifth control unit is used to grab the second battery box in the on-vehicle battery system through the telescopic mechanism and the first grabbing mechanism in the transfer device, and release the second battery box in the RGV On the battery base corresponding to the first position;

Wherein, when the RGV moves to the first state on the first seat, the first battery base is in the first position; when the RGV moves to the second state on the first seat , the second battery base is at the first position.

Optionally, the third control module 703 includes:

The sixth control unit is used to control the RGV to move from the first state to the The second state, or, when the second battery box is located on the second battery base on the RGV, control the RGV to move from the second state to the first base of the transfer device first state;

The seventh control unit is used to grab the first battery box on the battery base corresponding to the first position of the RGV through the telescopic mechanism and the first grabbing mechanism in the transfer device, and place the first battery box on the battery base corresponding to the first position of the RGV. A battery compartment is released on the battery mount in the on-board battery system.

Optionally, the fourth control module 704 includes:

The eighth control unit is configured to control the RGV to move from the second state to the first state on the first seat of the transfer device when the RGV is in the second state, or, in the When the RGV is in the first state, control the RGV to move from the first state to the second state on the first seat of the transfer device;

A ninth control unit, configured to grab the second battery box on the battery base corresponding to the first position on the RGV through the first grabbing mechanism in the transfer device, and control the The rotation mechanism rotates a preset angle, and releases the second battery box on the first target charging base through the telescopic mechanism in the transfer device and the first grasping mechanism;

The tenth control unit is configured to control the second grabbing mechanism in the battery storage area to move along the second bracket to above the first target charging base, and grab the battery on the first target charging base. the second battery box;

An eleventh control unit, configured to control the second grabbing mechanism to move to the second target charging base along the second bracket, and release the second battery box on the second target charging base; The second target charging base is the battery base corresponding to the first battery box in the battery storage area.

Optionally, the device also includes:

A determining module, configured to determine the position of the battery-swapping vehicle through the first sensor in the transfer device;

Wherein, the battery replacement vehicle includes the on-board battery system.

It should be noted that the battery replacement control device provided by the embodiment of the present invention is a device capable of executing the above battery replacement control method, and all embodiments of the above battery replacement control method are applicable to this device, and can achieve the same or Similar technical effects.

As shown in FIG. 8 , an embodiment of the present invention also provides a battery replacement control device, including: a processor 801; and a memory 803 connected to the processor 801 through a bus interface 802, and the memory 803 is used to store the The processor 801 uses programs and data when performing operations, and the processor 801 invokes and executes the programs and data stored in the memory 803 .

Wherein, the transceiver 804 is connected to the bus interface 802 for receiving and sending data under the control of the processor 801, specifically, the processor 801 is used for reading the program in the memory 803 , the processor 801 performs the following process:

controlling the transfer device to grab the first battery box in the battery storage area, and release the first battery box on the carrying mechanism of the transfer device;

Control the transfer device to grab the second battery box in the vehicle battery system, and release the second battery box on the carrying mechanism of the transfer device; the first battery box and the second battery box are respectively located on the carrying mechanism On the two battery bases on the RGV in the mechanism;

controlling the transfer device to grab the first battery box on the carrying mechanism, and release the first battery box on the battery base in the vehicle battery system;

The transfer device is controlled to grab the second battery box on the carrying mechanism, and release the second battery box on the battery base corresponding to the first battery box in the battery storage area.

Optionally, the processor 801 is specifically configured to:

controlling the second grasping mechanism in the battery storage area to move along the second bracket to above the second target charging base, and grasp the first battery box on the second target charging base;

controlling the second grabbing mechanism to move along the second bracket to above a first target charging base, and release the first battery box on the first target charging base;

controlling the rotation mechanism in the transfer device to rotate a preset angle, grabbing the first battery box on the first target charging base through the telescopic mechanism and the first grasping mechanism in the transfer device, and The first battery box is released on the battery base corresponding to the first position of the RGV.

Optionally, the processor 801 is specifically configured to:

When the first battery box is located on the first battery base on the RGV, controlling the RGV to move from the first state to the second state on the first seat of the transfer device, or, When the first battery box is located on the second battery base on the RGV, control the RGV to move from the second state to the first state on the first seat of the transfer device;

Catch the second battery box in the on-vehicle battery system through the telescopic mechanism and the first grabbing mechanism in the transfer device, and release the second battery box to the battery base corresponding to the first position of the RGV superior;

Wherein, when the RGV moves to the first state on the first seat, the first battery base is in the first position; when the RGV moves to the second state on the first seat , the second battery base is at the first position.

Optionally, the processor 801 is specifically configured to:

When the second battery box is located on the first battery base on the RGV, control the RGV to move from the first state to the second state on the first seat of the transfer device, or, When the second battery box is located on the second battery base on the RGV, control the RGV to move from the second state to the first state on the first seat of the transfer device;

The first battery box located on the battery base corresponding to the first position of the RGV is grabbed by the telescopic mechanism and the first grasping mechanism in the transfer device, and the first battery box is released on the on the battery mount in the on-board battery system.

Optionally, the processor 801 is specifically configured to:

When the RGV is in the second state, control the RGV to move from the second state to the first state on the first seat of the transfer device, or, when the RGV is in the first state Next, control the RGV to move from the first state to the second state on the first seat of the transfer device;

Grab the second battery box on the battery base corresponding to the first position on the RGV by the first grasping mechanism in the transfer device, and control the rotation mechanism in the transfer device to rotate a preset angle, And release the second battery box on the first target charging base through the telescopic mechanism in the transfer device and the first grasping mechanism;

Controlling the second grabbing mechanism in the battery storage area to move along the second bracket to above the first target charging base, and grab the second battery box on the first target charging base;

Controlling the second grabbing mechanism to move to the second target charging base along the second bracket, and releasing the second battery box on the second target charging base; the second target charging base is the second target charging base In the battery storage area, the battery base corresponding to the first battery box.

Optionally, the processor 801 is further configured to:

Determining the position of the battery-swapping vehicle through the first sensor in the transfer device;

Wherein, the battery replacement vehicle includes the on-board battery system.

Wherein, in FIG. 8 , the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by the processor 801 and various circuits of the memory represented by the memory 803 are linked together. The bus architecture can also link together various other circuits such as peripherals, voltage regulators, and power management circuits, etc., which are well known in the art and therefore will not be further described herein. The bus interface provides a user interface 805 . Transceiver 804 may be a plurality of elements, including a transmitter and a receiver, providing a means for communicating with various other devices over transmission media. The processor 801 is responsible for managing the bus architecture and general processing, and the memory 803 can store data used by the processor 801 when performing operations.

An embodiment of the present invention also provides a readable storage medium, on which a program is stored, and when the program is executed by a processor, the steps in any one of the battery replacement control methods described above are implemented.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " The orientation or positional relationship indicated by "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientation or position shown in the drawings The positional relationship is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless specifically defined otherwise.

In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; it can be mechanically connected, or electrically connected, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the present invention, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "beneath" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

What has been described above is a preferred embodiment of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications can be made without departing from the principles described in the present invention. within the scope of protection of the invention.

Claims (19)

1. A power swapping station, comprising:

the battery storage area comprises a plurality of charging bases, and a first battery box is arranged on each charging base;

the vehicle-mounted battery system comprises a battery base and a second battery box arranged on the battery base;

the battery storage area is arranged by semi-surrounding the transfer device;

the controller is electrically connected with the transfer device and the battery storage area respectively and is used for sending electric signals to the transfer device and the battery storage area;

the transfer device and the battery storage area are used for replacing the second battery box on the battery base with the first battery box and replacing the first battery box on the charging base with the second battery box according to the electric signal.

2. The power conversion station of claim 1, wherein the battery storage area is disposed around a first side, a second side, and a third side of the transfer device;

the vehicle-mounted battery system is positioned on the fourth side surface of the transfer device;

wherein the first side is adjacent to the second side and the third side, respectively;

the first side face and the fourth side face are two opposite side faces.

3. The swapping station of claim 2, wherein a first sub-storage area of the battery storage area comprises a plurality of the charging docks;

the second sub-storage area of the battery storage area comprises a plurality of charging bases;

a third sub-storage area of the battery storage area comprises a plurality of charging bases;

a first corner storage area of the battery storage area includes at least one of the charging docks;

a second corner storage area of the battery storage area includes at least one of the charging docks;

the first sub-storage area is a storage area in the battery storage area and opposite to the first side face;

the first sub-storage area is a storage area in the battery storage area, which is opposite to the first side face; the second sub-storage area is a storage area in the battery storage area, which is opposite to the second side surface; the third sub-storage area is a storage area in the battery storage area, which is opposite to the third side surface; the first corner storage area is a storage area in the battery storage area, and the first sub storage area and the second sub storage area are intersected; the second corner storage area is a storage area in the battery storage area, where the first sub storage area intersects with the third sub storage area.

4. The station of claim 1, wherein the transfer means comprises: the first seat body, and a telescopic mechanism, a first grabbing mechanism, a bearing mechanism and a rotating mechanism which are electrically connected with the controller respectively;

a first bracket is fixedly arranged on the first seat body;

the telescopic mechanism is connected with the first support and is used for stretching relative to the first support according to an electric signal sent by the controller;

the first grabbing mechanism is connected with the telescopic mechanism and used for grabbing or releasing the battery box according to the electric signal sent by the controller;

the bearing mechanism is arranged on the first seat body and used for bearing a battery box;

the rotating mechanism is arranged below the first seat body and used for driving the first seat body to rotate according to an electric signal sent by the controller;

the battery box includes the first battery box and the second battery box.

5. The swapping station of claim 4, wherein the carrier mechanism comprises: a Rail Guided Vehicle (RGV) electrically connected to the controller, the RGV being movable in a first direction on the first seat based on an electrical signal sent by the controller; the first direction is a direction perpendicular to the telescopic direction of the telescopic mechanism;

two battery bases are arranged on the RGV;

the telescoping mechanism is located above a first position of the RGV;

when the RGV moves to a first state on the first seat body, the first battery seat of the two battery seats is at the first position; when the RGV moves to a second state on the first seat body, the second battery seat of the two battery seats is at the first position.

6. The swapping station of claim 4, wherein the transfer device further comprises: a mobile device electrically connected with the controller;

the mobile device is connected with the first seat body in a matching way and is used for driving the first seat body to move in a first direction according to the electric signal sent by the controller; the first direction is a direction perpendicular to the extending direction of the extending mechanism.

7. The power station as recited in claim 4, wherein the first grasping mechanism comprises a first lifting structure and a first floating suspension bridge respectively connected to the controller;

the first lifting structure is connected with the telescopic mechanism;

the first floating suspension bridge is connected with the first lifting structure;

the first lifting structure is used for driving the first floating suspension bridge to ascend or descend according to an electric signal sent by the controller;

the first floating suspension bridge is used for grabbing or releasing the battery box according to the electric signal sent by the controller.

8. The swapping station of claim 1, wherein the battery storage area further comprises a second rack positioned above the plurality of charging bases and a second grasping mechanism cooperatively connected with the second rack;

the second grabbing mechanism is connected with the controller and used for moving along the second support according to an electric signal sent by the controller;

when the second grabbing mechanism moves to a third state, the second grabbing mechanism is located above a first target charging base and grabs or releases the battery box according to the electric signal sent by the controller, and when the second grabbing mechanism moves to a fourth state, the second grabbing mechanism is located above a second target charging base and grabs or releases the battery box according to the electric signal sent by the controller;

wherein the first target charging dock is at least one of the plurality of charging docks in the battery storage area;

the second target charging base is any one of the plurality of charging bases in the battery storage area except the first target charging base;

the battery box includes the first battery box and the second battery box.

9. The power station as recited in claim 8, wherein the second grasping mechanism comprises a moving structure, a second lifting structure and a second floating suspension bridge respectively connected to the controller;

the moving structure is connected with the second bracket in a matching way;

the moving structure is connected with the second lifting structure;

the second floating suspension bridge is connected with the second lifting structure;

the moving structure is used for driving the second lifting structure and the second floating suspension bridge to move between the third state and the fourth state according to an electric signal sent by the controller;

the second lifting structure is used for driving the second floating suspension bridge to ascend or descend according to the electric signal sent by the controller;

the second floating suspension bridge is used for grabbing or releasing the battery box according to the electric signal sent by the controller.

10. The station of claim 1, wherein the transfer device further comprises: a first sensor;

the first sensor is used for sending an indication signal to the controller; the indication signal is used for indicating the position of the battery replacement vehicle;

the battery replacement vehicle comprises the vehicle-mounted battery system.

11. The swapping station of claim 1, further comprising: a vehicle stop area for parking the battery replacement vehicle;

the vehicle stopping area is provided with a positioning device used for positioning the battery replacement vehicle;

the battery replacement vehicle comprises the vehicle-mounted battery system.

12. The swapping station of claim 1, further comprising: a vehicle stopping area for parking the battery replacement vehicle;

the vehicle stop area is provided with a second sensor, and the second sensor is used for indicating the stop position of the battery replacement vehicle;

the battery replacement vehicle comprises the vehicle-mounted battery system.

13. A battery swapping system comprising the battery swapping station of any one of claims 1 to 12;

wherein the battery swapping system comprises at least one battery storage area;

the power conversion system comprises at least one transfer device.

14. A battery replacement control method is applied to the battery replacement station as claimed in any one of claims 1 to 12, and comprises the following steps:

the method comprises the steps that a transfer device is controlled to grab a first battery box in a battery storage area, and the first battery box is released on a bearing mechanism of the transfer device;

the transfer device is controlled to grab a second battery box in the vehicle-mounted battery system and release the second battery box on a bearing mechanism of the transfer device; the first battery box and the second battery box are respectively positioned on two battery bases on the RGV in the bearing mechanism;

controlling the transfer device to grab the first battery box on the bearing mechanism and release the first battery box on a battery base in the vehicle-mounted battery system;

and controlling the transfer device to grab the second battery box on the bearing mechanism and release the second battery box in the battery storage area on the battery base corresponding to the first battery box.

15. The battery swap control method of claim 14, wherein the controlling the transfer device to grab the first battery box in the battery storage area and release the first battery box on the support mechanism of the transfer device comprises:

controlling a second grabbing mechanism in the battery storage area to move to the position above a second target charging base along a second support, and grabbing the first battery box on the second target charging base;

controlling the second grabbing mechanism to move along the second support to a position above a first target charging base, and releasing the first battery box on the first target charging base;

and controlling a rotating mechanism in the transfer device to rotate by a preset angle, grabbing the first battery box on the first target charging base through a telescopic mechanism and a first grabbing mechanism in the transfer device, and releasing the first battery box on the battery base corresponding to the first position of the RGV.

16. The battery swap control method of claim 14, wherein the controlling the transfer device to grab a second battery box in the vehicle-mounted battery system and release the second battery box on a carrying mechanism of the transfer device comprises:

under the condition that the first battery box is positioned on a first battery base on the RGV, controlling the RGV to move from a first state to a second state on a first seat of the transfer device, or, under the condition that the first battery box is positioned on a second battery base on the RGV, controlling the RGV to move from the second state to the first state on the first seat of the transfer device;

grabbing a second battery box in the vehicle-mounted battery system through a telescopic mechanism and a first grabbing mechanism in the transfer device, and releasing the second battery box on a battery base corresponding to the first position of the RGV;

wherein when the RGV moves to a first state on the first seat, the first battery seat is in the first position; when the RGV moves to a second state on the first seat body, the second battery seat is at the first position.

17. The battery swap control method of claim 14, wherein the controlling the transfer device to grab the first battery box on the carrying mechanism and release the first battery box on a battery dock of the on-board battery system comprises:

under the condition that the second battery box is positioned on the first battery base on the RGV, the RGV is controlled to move from a first state to a second state on the first seat body of the transfer device, or under the condition that the second battery box is positioned on the second battery base on the RGV, the RGV is controlled to move from the second state to the first state on the first seat body of the transfer device;

and grabbing the first battery box on the battery base corresponding to the first position of the RGV through a telescopic mechanism and a first grabbing mechanism in the transfer device, and releasing the first battery box on the battery base in the vehicle-mounted battery system.

18. The battery swap control method of claim 14, wherein the controlling the transfer device to grab the second battery box on the carrying mechanism and release the second battery box in the battery storage area comprises:

under the condition that the RGV is in the second state, controlling the RGV to move from the second state to the first state on the first seat of the transfer device, or under the condition that the RGV is in the first state, controlling the RGV to move from the first state to the second state on the first seat of the transfer device;

grabbing the second battery box on the battery base corresponding to the first position on the RGV through a first grabbing mechanism in the transit device, controlling a rotating mechanism in the transit device to rotate by a preset angle, and releasing the second battery box on a first target charging base through a telescopic mechanism in the transit device and the first grabbing mechanism;

controlling a second grabbing mechanism in the battery storage area to move to the position above the first target charging base along a second support to grab the second battery box on the first target charging base;

controlling the second grabbing mechanism to move to a second target charging base along a second support, and releasing the second battery box on the second target charging base; the second target charging base is a battery base corresponding to the first battery box in the battery storage area.

19. The battery swap control method of claim 14, wherein before the controlling the transfer device grabs a first battery box in the battery storage area and releases the first battery box on a carrier of the transfer device, the method further comprises:

determining, by a first sensor in the transfer device, a position of the swap vehicle;

wherein, trade electric vehicle includes on-vehicle battery system.

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