CN111823931A

CN111823931A - Intelligent battery replacement control method for electric cars of different models

Info

Publication number: CN111823931A
Application number: CN201910250066.9A
Authority: CN
Inventors: 谢子聪; 赵振华
Original assignee: Zhongliyuan Zhenjiang Electric Vehicle Technology Co ltd
Current assignee: Zhongliyuan Zhenjiang Electric Vehicle Technology Co ltd
Priority date: 2019-03-29
Filing date: 2019-03-29
Publication date: 2020-10-27

Abstract

An intelligent battery replacement control method for electric cars of different models comprises the following steps: after the electric passenger car completes vehicle positioning on the vehicle positioning platform, the intelligent battery replacement robot controls the lifting system to move upwards along the Z direction, and simultaneously drives the cradle head arranged on the lifting system to move synchronously, and controls the cradle head to enable the positioning unit arranged on the cradle head unlocking device to be inserted into the conical positioning sleeve at the bottom of the electric passenger car, and then drives the positioning unit to move in a conical automatic centering mode, so that position errors generated in the process of replacing a power battery are compensated, and the positioning unit and the conical positioning sleeve at the bottom of the electric passenger car reach a preset joint position; after the intelligent battery replacement robot receives the battery replacement starting information, the unlocking device is controlled to unlock, and battery replacement of the electric motor coach by the battery replacement robot is completed. The invention solves the problems that the power batteries of various electric cars with different wheel tracks and different wheel base can be safely, conveniently and quickly replaced, and the battery replacement precision is improved.

Description

Intelligent battery replacement control method for electric cars of different models

Technical Field

The invention relates to the field of power battery replacement of electric coaches, in particular to an intelligent power replacement control method for electric coaches of different vehicle types.

Background

With the shortage of global energy, the problem of environmental pollution is becoming more serious, and under the large trend of environmental protection and clean energy concept, the electric passenger car has a very wide development prospect because the influence on the environment is smaller than that of the traditional car. The electric motor coach is a coach which takes a vehicle-mounted power supply as power and drives wheels to run by a motor, and meets various requirements of road traffic and safety regulations. The power battery is the core of the electric motor coach, but the insufficient cruising ability of the power battery is the bottleneck troubling the development of the electric motor coach.

The operation mode that the power battery is not required to be charged and only the electric vehicle is reloaded with the power battery full of electric power appears now, so that the time for a user to wait for charging the power battery is shortened, the time is basically the same as the time for refueling the traditional automobile, and the habit of the user for using the automobile does not need to be changed. A quick-change mode: the small electric motor coach running into the battery replacement station directly replaces the charged power battery through the battery replacement equipment in the battery replacement station, so that the small electric motor coach with the power battery of the small electric motor coach with insufficient electric quantity is convenient and quick, but the battery replacement technology is not mature.

In the battery replacement mode, the power battery is arranged on the body of the electric motor coach, the size of the power battery is large (the length and the width are several meters generally) and the weight of the power battery is large (several hundred kilograms), and the safety requirement on the battery replacement mode is high; and the wheelbase and the wheel base of the electric motor coach of different models are different, even the size of the power battery is different, the current power exchange device in the power exchange mode is mainly suitable for the electric motor coach of a single model, the power battery of the electric motor coach of other models with different wheelbase/different wheel base can not be replaced, and under the concept of global new energy vehicle construction, the power battery of the electric motor coach of a single model can only be replaced, which is a great waste of resources.

In the battery replacement mode, a battery replacement robot which has a function of carrying full/insufficient power batteries between a battery bin and a battery replacement platform and performing power battery replacement is one of key devices. In the battery replacement process, the positioning between the battery replacement robot and the vehicle to be replaced is the key for realizing the power battery replacement scheme, and the success rate and the precision of the positioning directly influence the success rate of battery replacement and the reliability and the service life of the battery. In order to reduce the positioning error and improve the positioning efficiency, the current solution of the swapping robot basically operates by using motions in X, Y and Z directions (where the X direction is an axial direction opposite to a direction in which the vehicle keeps running straight on a horizontal ground, the Y direction is an axial direction perpendicular to the X direction on a vehicle chassis plane, and the Z direction is an axial direction perpendicular to a plane formed by the X direction and the Y direction), but due to different conditions of the vehicle to be swapped (for example, there is manufacturing tolerance in the vehicle itself, or the vehicle axis is not parallel to the platform axis when the vehicle is stopped on the platform, even the vehicle itself is deformed due to an over-impact, etc.), the swapping robot may cause insufficient positioning accuracy, so that when the swapping robot is positioned with the vehicle to be swapped, the swapping robot may fail or the device may be damaged, therefore, the conventional battery replacement robot has the problems of low battery replacement precision and poor stability.

Therefore, a new technical scheme for battery replacement control is needed at present, so that the battery replacement of various electric coaches with different wheel pitches and different wheel pitches can be ensured, and the problem of improving the battery replacement precision becomes the problem to be solved at present.

Disclosure of Invention

The invention aims to provide an intelligent battery replacement control method for small electric buses of different vehicle types, so as to solve the problems of ensuring that power batteries of various small electric buses with different wheel pitches and different wheel pitches can be safely, conveniently and quickly replaced and improving the battery replacement precision.

In order to solve the problems, the invention provides an intelligent battery replacement control method for an electric motor coach of different vehicle types, which comprises the following steps:

after an electric passenger car drives into a power exchanging station to complete vehicle positioning on a vehicle positioning platform, an intelligent power exchanging robot receives successful vehicle positioning information sent by a control center of the power exchanging station, controls a lifting system to move upwards along the Z direction, simultaneously drives a cradle head arranged on the lifting system to move synchronously, and controls a plane formed by the cradle head in the X direction and the Y direction to move freely, so that a positioning unit of an unlocking device arranged on the cradle head is inserted into a conical positioning sleeve at the bottom of the electric passenger car, the positioning unit is driven to move in a conical automatic centering mode, position errors generated in the process of replacing a power battery are compensated, and after the positioning unit and the conical positioning sleeve at the bottom of the electric passenger car reach a preset joint position, the intelligent power exchanging robot sends successful positioning information to the control center of the power exchanging station; the positioning unit comprises 2 groups of telescopic taper pins, and the 2 groups of telescopic taper pins are respectively and relatively fixedly arranged on two sides of an unlocking bottom plate of the unlocking device according to the positions of 2 corresponding conical positioning sleeves in a locking mechanism at the bottom of the electric motor coach; the conical pin comprises a positioning conical pin, a conical tip of the positioning conical pin faces upwards, and the angle of the conical tip of the positioning conical pin is matched with the opening angle of the conical positioning sleeve;

after receiving the information of starting to exchange the battery, which is sent by the control center, the intelligent battery exchange robot controls an unlocking shifting fork of a shifting fork part of an unlocking device, after unlocking operation is completed on a power battery and a locking mechanism at the bottom of the electric passenger car, a battery plugging shifting fork of the shifting fork part of the unlocking device is controlled, after the power battery is separated from a car body of the electric passenger car, the mobile conveying platform is controlled to convey the exchanged power-deficient battery to a specified position, and then the mobile conveying platform is controlled to convey the full-charge battery to the bottom of the electric passenger car; after the positioning operation is repeated, the intelligent battery replacement robot controls a battery plugging shifting fork of a shifting fork part of the unlocking device to push a fully charged battery, and after the plugging and electrifying operation is carried out, the information of successful battery replacement is sent to a control center of the battery replacement station, so that the operation of replacing the battery of the electric motor coach by the battery replacement robot is completed;

the X direction is an axial direction that is a direction opposite to a linear direction in which the vehicle travels, the Y direction is an axial direction perpendicular to the X direction on a vehicle chassis plane, and the Z direction is an axial direction perpendicular to a plane formed by the X direction and the Y direction.

Compared with the prior art, the mechanical positioning mode that the positioning taper pin in the positioning unit is inserted into the tapered positioning sleeve at the bottom of the electric passenger car can ensure that the battery replacement robot needs to accurately position the locking mechanism before detaching the insufficient-voltage battery and installing the full-voltage battery of the electric passenger car, and is efficient and accurate; the power battery can be disassembled and assembled through the functions of fine adjustment in all directions, lifting of the unlocking device, integral horizontal linear running and the like of the unlocking device; the intelligent battery replacement robot can intelligently adjust the battery replacement state according to multi-vehicle-type and multi-model power batteries, each battery replacement action is controlled by adopting servo programming, and the operation of replacing the power batteries of the electric motor coach can be automatically coordinated and finished.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an intelligent battery replacement robot for replacing batteries of electric cars of different vehicle types, to which the method of the present invention is applied;

fig. 2 is a schematic structural diagram of a pan/tilt head 200 and an unlocking device 600 thereon to which the present invention is applied;

FIG. 3 is a schematic view of the positioning unit according to the present invention;

FIG. 4 is a schematic structural view (unlocked state) of a return device of the present invention;

FIG. 5 is a schematic structural diagram of a single-side lift of the lift system of the present invention;

FIG. 6 is a top view of a single side lift of the lift system of the present invention;

FIG. 7 is a schematic structural diagram of a lifting transmission part and a lifting tray part in the lifting system of the present invention;

FIG. 8 is a schematic diagram of the structure of the mobile conveyor platform of the present invention;

FIG. 9 is a schematic diagram of positioning by a swapping robot in the present invention;

FIG. 10 is a schematic structural diagram of a locking mechanism for replacing batteries of electric cars of different models in the invention;

fig. 11 is a schematic structural diagram of a power battery 20 to which the present invention is applied;

FIG. 12 is a schematic structural view of a battery locking and positioning unit T of the locking mechanism of the present invention;

fig. 13 is a flowchart of an intelligent battery replacement control method for an electric motor coach of different vehicle types according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Note: in the present application, the X direction means an axial direction that is a direction opposite to a direction in which the vehicle keeps traveling straight on a horizontal ground surface, the Y direction means an axial direction perpendicular to the X direction on a vehicle chassis plane, and the Z direction means an axial direction perpendicular to a plane formed by the X direction and the Y direction.

The electric motor coach is a small-sized light passenger-carrying electric vehicle with less than 9 passengers, and the electric motor drives wheels to run by using a vehicle-mounted power supply as power. The electric motor coach is different from special electric vehicles (such as garbage transport vehicles powered by vehicle-mounted power supplies, urban goods transport vehicles powered by vehicle-mounted power supplies, public transport vehicles powered by vehicle-mounted power supplies and the like)

According to the intelligent battery replacement robot for the electric coaches of different vehicle types (namely, the electric coaches of different vehicle types with different wheel tracks and different wheel base), the power battery can be detached and installed through the functions of fine adjustment of the unlocking device in all directions, lifting of the unlocking device, integral horizontal linear running and the like; the intelligent battery replacement robot can intelligently adjust the battery replacement state according to multi-vehicle-type and multi-model power batteries, each battery replacement action is controlled by adopting servo programming, and the operation of replacing the power batteries of the electric motor coach can be automatically coordinated and finished.

As shown in fig. 1, the intelligent battery replacement robot includes an unlocking device 600, a cradle head 200, a return device 300, a lifting system 400 and a mobile conveying platform 500, the unlocking device 600 is disposed on the cradle head 200, the cradle head 200 is disposed on the lifting system 400, the lifting system 400 is disposed on the mobile conveying platform 500, the return device 300 includes a

return taper pin

3001 and 2 corresponding return taper holes 3002, the return taper holes are fixedly disposed at the bottom of the cradle head 200, the return taper pins are fixedly disposed on the mobile conveying platform 500 of the battery replacement robot, wherein,

as shown in fig. 2, the unlocking device 600 is a core device for performing battery replacement action (the unlocking device can perform width adjustment and corresponding shift fork position adjustment according to different types of power batteries to ensure successful detachment and installation of the power batteries), the unlocking device 600 is disposed at the uppermost layer of the intelligent battery replacement robot for detaching and installing a vehicle-mounted power battery, and includes an unlocking bottom plate, a positioning unit 100, 2 shift fork portions, a width adjustment transmission portion and 2 shift fork driving portions, the 2 shift fork portions are disposed at two sides of the unlocking bottom plate, the width adjustment transmission portion is disposed at the middle portion of the unlocking bottom plate, the 2 shift fork portions are connected through the width adjustment transmission portion, and the 2 shift fork driving portions are respectively connected to the 2 shift fork portions, wherein the positioning unit 100 may include 2 sets of telescopic conical pins which are respectively and fixedly disposed at two sides of the unlocking bottom plate;

the positioning unit 100 is used for positioning the intelligent battery replacement robot and a locking mechanism arranged at the bottom of the small electric passenger car; the positioning unit 100 includes one or more sets of retractable taper pins, the one or more sets of taper pins are respectively arranged on the cradle head 200 according to the position of one or more corresponding tapered positioning sleeves at the bottom of the electric motor coach, and the number of the taper pins is the same as that of the tapered positioning sleeves.

As shown in fig. 1 and 2, the positioning unit 100 may include 2 sets of retractable taper pins, which are respectively fixedly disposed on an unlocking device 600 of the intelligent battery replacement robot; the conical tip of the positioning taper pin 1001 faces upwards and corresponds to a conical positioning sleeve in the corresponding 2 battery locking and positioning units 100 on the locking mechanism of the electric motor coach, and the angle of the conical tip of the positioning taper pin 1001 is matched with the opening angle of the conical positioning sleeve; the number of the taper pins is not less than 2 groups, which is determined according to the number of the conical positioning sleeves 17 respectively arranged on the cross beams 11 at the two sides of the main body frame 1, and the application does not limit the number; the intelligent battery replacing robot can be positioned at two points, namely, the two side beams 11 of the main body frame 1 are respectively provided with the conical positioning sleeves 17, and certainly, the positioning can be performed at more than two points, because the positioning taper pins 1001 are in normal wear due to physical contact with the conical positioning sleeves 17, if the two side beams 11 of the main body frame 1 are respectively provided with the plurality of conical positioning sleeves 17, the number of the positioning taper pins 1001 can be correspondingly increased, so that the intelligent battery replacing robot is high in complexity and high in cost, and therefore, aiming at the two side beams 11, respectively provided with the

conical positioning sleeves

17, 2 groups of telescopic taper pins are adopted according to the positions of the 2 conical positioning sleeves 17 at the bottom of the electric car and are respectively fixedly arranged on the unlocking device 600 of the intelligent battery replacing robot, and the unlocking device is the best implementation mode of the application.

As shown in fig. 3, the taper pin may include a positioning taper pin 1001, an intermediate sleeve 1002, a positioning taper pin base 1003, and a return spring 1004, wherein a taper point of the positioning taper pin 1001 faces upward, and an angle of a taper angle of the taper point of the positioning taper pin 1001 is adapted to an opening angle of the tapered positioning sleeve; wherein, the positioning taper pin 1001 can perform vertical reciprocating linear movement in the positioning pin base; the taper pin is arranged into a three-stage telescopic taper pin; the middle sleeve comprises a plurality of cylinders, the cylinders are uniformly arranged around the positioning taper pin 1001 and are arranged on the positioning taper pin base through return springs, the positioning taper pin 1001 is arranged on the positioning taper pin base, and the number of the cylinders of the middle sleeve is the same as that of the return springs; the middle sleeve is used for guiding the taper pin, after the positioning taper pin 1001 is inserted into the tapered positioning sleeve at the bottom of the electric motor coach, the end face of the middle sleeve is contacted with the main body frame, and the positioning taper pin 1001 is determined to reach a preset positioning position through the compression degree of the return spring.

The middle sleeve can comprise 2 cylinders, 3 cylinders (the middle sleeve comprises 3 cylinders) or 4 cylinders and the like, the cylinders are uniformly arranged around the positioning taper pin 1001, when the positioning taper pin 1001 is inserted into the conical positioning sleeve at the bottom of the electric passenger car and the end surfaces of the middle sleeves are contacted with the main body frame, the pressure generated by the contact of the end surfaces of the middle sleeves and the main body frame is generated by compressing the return spring, so that the position of inserting the positioning taper pin 1001 into the conical positioning sleeve is more accurate, the precision of entering a locking mechanism by a shifting fork group of the unlocking device is ensured, and the stability is improved; the cylinders are uniformly arranged around the positioning taper pin 1001, so that when the return spring is compressed, the end face of each middle sleeve is enabled to be in contact with the main body frame to generate relatively balanced pressure, and in an actual test, 3 or 4 cylinders are arranged to be the best implementation mode of the application).

The one or more conical positioning sleeves are arranged in one or more corresponding battery locking and positioning units T on the locking mechanism of the electric motor coach; the locking mechanism is used for being coupled with a power battery and comprises a main body frame 11 with a rectangular structure, and the main body frame 11 is used for fixedly mounting the main body frame at the bottom of each electric passenger car of different types at corresponding mounting positions set at the bottom of each electric passenger car according to the bottom structure of the electric passenger car with different wheel tracks/different wheel bases; the battery locking and positioning unit T of the locking mechanism is used for positioning operation in the butt joint process with the positioning unit 100, and the opening angle of the conical positioning sleeve 17 is more than or equal to 35 degrees and less than or equal to 90 degrees; the range of the conical angle of the conical tip of the positioning taper pin 1001 is greater than 35 degrees and smaller than 90 degrees, and the angle of the conical tip of the positioning taper pin 1001 is smaller than the opening angle of the conical positioning sleeve 17. Through practical test, the opening angle A of the conical positioning sleeve 17 and the angle of the conical tip of the positioning taper pin 1001 are set, so that the conical tip of the positioning taper pin 1001 can be inserted into the conical positioning sleeve 17, high adaptability is achieved, the conical tip of the positioning taper pin 1001 can be smoothly inserted into the conical positioning sleeve 17 within a tolerance range of 20 mm, and the success rate of positioning is improved.

The shifting fork part is used for unlocking the power battery and a connecting rod locking device at the bottom of the electric motor coach, separating the power battery from the coach body or performing plugging and electrifying operation on the power battery;

as shown in fig. 1 and 2, each yoke may include: an unlocking fork 610 and a battery inserting and extracting fork 611, wherein,

the unlocking shifting fork is used for pushing a connecting rod of a locking mechanism at the bottom of the electric motor coach to enable the power battery and the locking mechanism at the bottom of the electric motor coach to be unlocked after a locking sector gear of the locking mechanism rotates;

the battery plugging and pulling forks are used for pushing the power battery on a horizontal plane, and the battery plugging and pulling forks arranged on the two sides of the unlocking bottom plate simultaneously push the guide blocks arranged on the two sides of the power battery to perform linear motion along the horizontal direction, so that the operation that the power battery is separated from the vehicle body or the power battery is plugged and electrified is completed. (ii) a

As shown in fig. 2, the width adjustment transmission part is used for adjusting 2 shifting fork parts in the width direction of the power battery according to the width size of the power battery: the power battery is set to be in a gear-double-rack structure form (namely, two racks are respectively coupled with a gear), a speed reducer is driven by a motor, a gear drives the two racks to rotate, the racks are connected with the shifting fork parts on the two sides to perform adjustment action, and therefore the adjustment operation of 2 shifting fork parts in the width direction of the power battery is completed (namely, the adjustment in the Y direction can be performed according to the sizes of different widths of the power battery, the 2 shifting fork parts simultaneously perform the separation movement of the two shifting fork parts, the distance between the 2 shifting fork parts is enlarged, or the 2 shifting fork parts simultaneously perform the approaching movement of the two shifting fork parts, and the distance between the 2 shifting fork parts is reduced); the gear-double rack structure is adopted, the adjusting distance is accurate, the structure is relatively simple, and the adaptability is good.

Each shifting fork driving part is used for driving the unlocking shifting fork and the battery plugging shifting fork to move, the connecting plate is directly pushed by the electric pushing cylinder to drive each shifting fork to move (namely move in the X direction), the electric pushing cylinder is compact in structure and controlled by servo programming, and the intelligent unlocking and plugging actions of the power battery can be realized in a very small space.

As shown in fig. 2, the pan/tilt head 200 is configured to perform fine adjustment operation on the position of the unlocking device 600, and can realize that the unlocking device 600 moves along the X direction, the Y direction, and the Z direction (the movement along the Z axis is synchronous with the pan/tilt head 200 through the lifting machine 400, that is, the lifting system 400 drives the pan/tilt head 200 and the unlocking device 600 to move upward or downward along the Z direction), so as to ensure that the unlocking device 600 reaches a position and a state where the power battery is smoothly detached and installed.

As shown in fig. 1 and 2, the pan/tilt head 200 is fixedly disposed on a bracket 4001 of a lifting machine 400 of the intelligent battery replacement robot, and the pan/tilt head 200 moves up and down in the Z direction by the lifting machine 400. The positioning unit 100 is arranged on the unlocking device 600 of the intelligent battery replacement robot, the positioning unit 100 is fixedly arranged on the unlocking device 600 through a positioning taper pin base, and the unlocking device 600 is fixedly arranged on the holder 200; the lifting machine 400 and the cradle head 200 move synchronously, that is, the lifting machine 400 drives the cradle head 200 and the unlocking device 600 to move upwards along the Z direction, and meanwhile, the cradle head 200 moves freely on a plane formed in the X direction and the Y direction, so that the positioning unit 100 is inserted into a conical positioning sleeve at the bottom of the electric car. The cradle head 200 can support the unlocking device 600, has horizontal freedom in all directions within a preset movement range, and can enable the unlocking device 600 and the positioning unit 100 to move freely in all directions (namely, the plane formed by the X direction and the Y direction moves freely)

The pan/tilt head 200 is used for moving the positioning unit 100 in a plane formed by the X direction and the Y direction within a preset movement range, and simultaneously moving up and down in the Z direction; after the electric motor coach drives into the battery replacing station to complete vehicle positioning (namely after the electric motor coach drives into the vehicle positioning platform of the battery replacing station, the vehicle positioning platform positions the electric motor coach on the vehicle positioning platform), the cradle head 200 moves upwards along the Z direction and freely moves on a plane formed in the X direction and the Y direction, so that the positioning unit 100 is inserted into the conical positioning sleeve at the bottom of the electric motor coach, the positioning unit 100 is driven to move in a conical automatic centering mode, and after position errors generated in the process of replacing a power battery are compensated, the positioning unit and the conical positioning sleeve at the bottom of the electric motor coach reach a preset joint position, and positioning before battery replacement of the electric motor coach is completed. (when the electric motor coach has manufacturing tolerance, or the vehicle axis is not parallel to the platform axis when the vehicle is stopped on the platform, even the vehicle has the condition of shape change and the like when the vehicle is collided, the mechanical positioning mode that the positioning taper pin 1001 in the positioning unit 100 on the cradle head 200 is inserted into the taper positioning sleeve at the bottom of the electric motor coach is used for adjustment, so that the unlocking device 600 arranged on the cradle head 200 can adapt to the electricity changing state of the electric motor coach for changing the electricity to the maximum extent, the power battery of the electric motor coach can be successfully disassembled and installed by the intelligent electricity changing robot, the time for changing the primary power battery of the electric motor coach is controlled within 3 minutes through actual tests, the work is stable and reliable, the electricity changing efficiency is high, the requirement for high-frequency stable electricity changing of the electricity changing station is met, the requirement on the positioning environment is low, and the electric motor coach can adapt to various electricity changing environments, meanwhile, the equipment cost of the battery replacement station is reduced, and large-scale commercial popularization of the electric motor coach is facilitated).

The cradle head 200 moves upwards along the Z direction, so that the top end of the conical tip of the positioning taper pin 1001 is in contact with the edge of the conical positioning sleeve firstly, the conical tip of the positioning taper pin 1001 is pushed to enter the conical positioning sleeve through slow rising, the positioning unit 100 is driven to move in a conical automatic centering mode, after position errors generated in the power battery replacing process are compensated, the positioning unit and the conical positioning sleeve at the bottom of the electric passenger car reach a preset joint position, and positioning before power replacement of the electric passenger car is completed.

As shown in fig. 2, the holder 200 comprises an upper top plate 2001, a lower bottom plate 2002, a universal bearing 2003, a pre-stressed cylindrical spring 2004 and a holder stop collar 2005, wherein the upper top plate and the lower bottom plate are connected through the pre-stressed cylindrical spring, and the universal bearing is fixedly arranged on the lower bottom plate; the cloud platform stop collar is fixed to be set up at the roof, and the cloud platform stop collar is used for restricting the motion range of cloud platform 200 in predetermineeing motion range. As shown in fig. 1, the intelligent battery replacement robot lifts the unlocking device 600 to enable the positioning unit 100 fixed on the unlocking device 600 to be inserted into the conical positioning sleeve in the battery locking and positioning unit 100 of the locking mechanism, and drives the unlocking device 600 to move in a conical automatic centering manner, so that the compensation of the position error in the battery replacement process is completed, and the intelligent battery replacement robot can accurately position the electric motor coach before replacing the battery.

Including 2 layers of structures on the last roof of

cloud platform

200, 2 layers of structures are from last down the structure and are in proper order: a moving frame along the X direction and a moving frame along the Y direction; wherein, a Y-direction electric pushing cylinder is arranged along the Y-direction moving frame to push the multi-direction intelligent moving system to move along the Y direction; an X-direction electric pushing cylinder is arranged along the X-direction moving frame to push the multi-direction intelligent moving system along the X direction. The movement in each direction is independently completed by each electric pushing cylinder, the structure is compact, and the intelligent control can be realized.

The returning device 300 is used for returning the unlocking device 600 to an initial set position after the unlocking device 600 is subjected to position deviation in the battery replacement process, wherein as shown in fig. 4, the returning device 300 comprises 2 groups of three-stage telescopic returning

taper pins

3001 and 2 corresponding returning taper holes 3002, the returning taper pins are fixedly arranged on a mobile conveying platform 500 of the battery replacement robot, the conical heads of the returning taper pins face upwards, the returning taper holes are fixedly arranged at the bottom of the cradle head 200, and the taper holes of the taper holes face downwards. When the unlocking device 600 falls back to the preset height, the return taper pin is inserted into the return taper hole to drive the unlocking device 600 to return to the initial setting state through the automatic cone positioning center mode.

The angle of the conical head of the return taper pin is matched with the opening angle of the return taper hole, and the opening angle of the return taper hole is more than or equal to 35 degrees and less than or equal to 90 degrees; the range of the cone angle of the cone head of the return taper pin is larger than 35 degrees and smaller than 90 degrees, and the angle of the cone head of the return taper pin is smaller than the opening angle of the return taper hole.

Through practical tests, the set opening angle of the return taper hole and the set angle of the taper head of the return taper pin ensure that the taper head of the return taper pin can be inserted into the return taper hole, the adaptability is high, the taper head of the return taper pin can be smoothly inserted into the return taper hole within the tolerance range of 20 mm, and the success rate of returning the unlocking device 600 to the initial set position is improved.

The lifting system 400 is fixed on the mobile conveying platform 500, and the unlocking device 600 is lifted to reach the height for dismounting the power battery by adopting a bilateral synchronous lifting mode; wherein, including two unilateral machines 400A of lifting, lift transmission portion and lift tray portion, two unilateral machines of lifting realize lifting in step (this application adopts one to lift transmission portion and drives, has reduced the complexity of equipment, the cost is reduced, can ensure 2 unilateral machine synchronous motion of lifting simultaneously, has promoted lifting system's stability) through same drive mechanism (lift transmission portion) for lift and descend the operation to unlocking device 600. Note that the overall height of the lifting system is reduced by the structure that the lifting system is lifted at two sides, the height is reduced by about 40cm, the depth of the pit dug by the power station in the construction is reduced, the current depth of the pit dug is less than 60cm, and the construction difficulty is greatly reduced (the depth of the pit dug by the power station is originally 1.8 m, and the construction difficulty is too high)

As shown in fig. 5, the single-sided lift 400A: the single-stage hinge plate lifting structure is characterized in that a bottom plate of the single-stage hinge plate lifting structure is fixedly arranged on the movable conveying platform 500, a top plate of the single-stage hinge plate lifting structure is connected with the supporting plate, and left-handed and right-handed ball screws are driven to drive nuts of the single-stage hinge plate lifting structure to move in opposite directions or relative directions, so that the angles among hinge plate groups are changed to realize the lifting of the single-stage lifter, and the unlocking device 600 and the like;

as shown in fig. 5 and 6, the single-side lifter comprises a top plate 400a1, a bottom plate 400a2 and a middle movable hinge plate group 400A3, wherein rollers 400a6 are respectively arranged at the upper end and the lower end of each hinge plate, the upper end roller is in contact with a track on the top plate, the lower end roller is in contact with a track on the bottom plate, the lower end roller is connected with a screw nut 400a7, the middle transmission is transmission of a left-handed ball screw 400a4 and a right-handed ball screw 400a5, and the left-handed and right-handed ball screws are driven to drive the nuts to move oppositely or relatively, so that the lifting of the single-side lifter is realized.

The freedom degree limiting mode of the top plate is as follows: the X-direction movement limiting and the Y-direction movement limiting are realized in a mode of gear-two racks (namely two racks are respectively coupled with a gear, a gear-double rack structure mode is adopted, the distance adjusting is accurate, the structure is relatively simple, and the adaptability is good), the gear is fixed on the top plate, the two racks are respectively connected to roller shafts at the upper ends of the hinge plates at two sides, when the hinge plates are contracted or expanded, the racks are always meshed with the gear to rotate, and the top plate is limited in the X-direction and the Y-direction movement through the length of the racks; the Z-direction movement limiting is realized by the rack connecting seat which is caught in a limiting groove connected with the top plate.

As shown in fig. 7, the lift transmission portion 400B: the motor drives the reducer, drives the double-output shaft commutator through the connecting shaft, transmits in two ways, and transmits power to the ball screw of the corresponding single-side lifter through the respective one-way output shaft commutator; (this application to the ingenious structural design of lifting drive division, through adopting a lifting drive division to drive, reduced the complexity of equipment, the cost is reduced can ensure 2 unilateral lifting machine simultaneous movement simultaneously, has promoted the stability of lifting system)

Lifting tray part 400C comprises two Z-shaped supporting plates and a bracket 4001 which are respectively arranged on the left side and the right side, wherein the upper ends of the left Z-shaped supporting plate and the right Z-shaped supporting plate are respectively connected with a top plate of a single-side lifting machine, the lower ends of the left Z-shaped supporting plate and the right Z-shaped supporting plate jointly hold the bracket 4001 to form a concave supporting plate (the upper surface of the concave supporting plate is provided with a holder 200 with an unlocking device 600), the Z-shaped supporting plate is made of manganese steel, and the integral rigidity and strength of the intelligent battery-.

As shown in fig. 8, the movable conveying platform 500 is used for enabling the intelligent battery replacement robot J to travel horizontally and linearly as a whole and conveying a power battery to a designated position. The lifting device is a carrier of a lifting system 400 and other accessories (other accessories refer to a cradle head 200 with an unlocking device 600), and power batteries are conveyed between a pre-storage rack and an electric passenger car in a reciprocating mode through traction motion of a synchronous pulley box 5001 and a strip-shaped synchronous belt; the movable conveying platform 500 is pulled by the strip-shaped synchronous belt, the structure is simple, the cost is reduced, and the stability and the applicability of the movable conveying platform are improved.

As shown in fig. 9, a specific process of applying the intelligent battery replacement robot of the present application is as follows:

step 910, lifting the unlocking device 600 by the intelligent battery replacement robot J right below the electric coach KC;

step 920, as shown in fig. 1, the taper pin on the unlocking device 600 is gradually inserted into the tapered locating sleeve of the battery locking and locating unit T on the locking mechanism as the unlocking device 600 rises, the position of the unlocking device 600 is gradually adjusted by a taper automatic centering method, when the unlocking device 600 rises to a certain height, the taper pin completely enters the tapered locating sleeve of the battery locking and locating unit T, and at this time, the unlocking device 600 completes the location before the battery replacement and maintains the alignment state with the locking mechanism;

step 930, the unlocking device 600 continues to rise, the taper pin always keeps an accurate positioning state, at the moment, a return spring in the taper pin is compressed, and a shifting fork part of the unlocking device 600 enters the locking mechanism;

and 940, the unlocking device 600 takes down the insufficient-voltage battery and then falls back, and the taper pin is separated from the taper positioning sleeve. After the unlocking device 600 falls back to a certain height, the unlocking device gradually returns to the initial position under the action of the returning device 300;

and step 950, replacing the insufficient-voltage battery with a full-voltage battery by the intelligent battery replacement robot J, and installing the full-voltage battery for the KC after repeating the intelligent mechanical positioning to complete the battery replacement operation.

As shown in fig. 10, the locking mechanism for replacing the battery of the electric motor car for different vehicle types (i.e., the electric motor car applicable to different vehicle types with different wheel tracks and different wheel bases) according to the present invention includes:

the locking mechanism comprises a main body frame 1; the side surface of the front part of the main body frame is provided with a socket unit C which is used for being coupled with a plug of a power battery; two groups of connecting rod locking devices 2 are symmetrically arranged on the inner walls of the cross beams 11 on the two sides of the main body frame 1; the connecting rod locking device 2 can comprise a plurality of locking assemblies 3 and a battery locking and positioning unit T (the battery locking and positioning unit T comprises a conical positioning sleeve 17 respectively arranged on the cross beams 11 at the two sides of the main body frame 1); the locking combination comprises a locking block 31 fixed on the inner wall of the beam, a rack plate, a connecting rod 4, a toggle plate 5, a connecting rod resetting unit F, a connecting rod safety unit B and a locking sector gear 32 matched with the locking block 31.

The number of the locking assemblies 3 arranged on each group of connecting rod locking devices 2 is at least 2, and if the number of the locking assemblies 3 arranged on each group of connecting rod locking devices 2 is large, the stability of the locking mechanism is better when the locking mechanism is coupled with a power battery, but the production cost is higher; if the number of the locking combination bodies 3 arranged on each group of connecting rod locking devices 2 is 1, the stability is poor when the locking mechanism is coupled with a power battery; through practical use tests, when each group of connecting rod locking devices comprises 3 locking assemblies, good stability when the locking mechanism is coupled with a power battery can be ensured, and the production cost is controlled better, so that the locking mechanism is a preferred embodiment.

The main body frame 1 of the locking mechanism is a rectangular structure frame, and the main body frame 1 is used for fixedly mounting the main body frame 1 at the bottoms of the electric coaches of different vehicle types at corresponding mounting positions set at the bottoms of the electric coaches according to the bottom structures of the electric coaches of different wheel pitches/different wheel pitches.

The size of the main body frame 1 can be suitable for the bottoms of the electric motor coaches of different vehicle types (namely the bottoms of the electric motor coaches of different vehicle types with different wheel bases/different wheel bases), namely, the corresponding mounting positions can be set at the bottoms of the electric motor coaches according to different vehicle types (namely the electric motor coaches of different vehicle types with different wheel bases/different wheel bases), and the main body frame 1 is fixedly mounted at the bottoms of the electric motor coaches of different vehicle types. The size of main body frame 1 is not injectd to this application, as long as main body frame 1's size can all be installed in the bottom of the [ electric ] motor coach of different motorcycle types, and can install the power battery of different models in the bottom of the [ electric ] motor coach who corresponds through main body frame 1, and the bottom that all is applicable to the [ electric ] motor coach of different motorcycle types all is this application and uses. Need not change main body frame 1's structure like this, through installing main body frame 1 in the [ electric ] motor coach bottom, just can be applicable to not unidimensional power battery and can be safe, convenient quick completion change, formed locking mechanism's standardization, can use same kind of locking mechanism at the [ electric ] motor coach of multiple motorcycle type for locking mechanism has reduced the cost in manufacturing, and the large-scale commercial popularization and application of [ electric ] motor coach of being convenient for.

The power battery is fixedly installed on the chassis of the electric motor coach by the locking mechanism, the electric motor coach drives into the battery replacing station, and the power battery can be reliably replaced in a short time under the matching of the locking mechanism and a battery replacing system (with lifting and translation functions) in the battery replacing station.

The main body frame 1 has two side beams 11 installed at the bottom of the electric motor car, and the axis direction of the beams is the same as the axis direction of the electric motor car body (wherein, the axis direction of the electric motor car body is set as the direction in which the electric motor car can keep running straight on a horizontal ground).

As shown in fig. 11, the power battery 20 is a plate-shaped cube (where the power battery 20 may be a flat plate-shaped cube, and a plate-shaped cube provided with a convex or concave structure is also applicable to the present application, and is not limited to this application), and a plurality of positioning pins P of the power battery are provided on end faces of left and right sides of the plate-shaped cube, and the positioning pins P are in a shape of a cylinder. The locking block in the locking assembly is of a non-closed hollow structure, the shape of the hollow structure of the locking block is matched with the shape of the cylinder of the positioning pin, and the positioning pin P is locked in the locking block when the locking mechanism and the power battery are in a joint state (the positioning pin P corresponds to the locking block in the locking assembly of the main body frame, so that the power battery is locked and fixed on the vehicle body just through the tight coupling of the positioning pin P and the locking block, and the power battery is separated from the bottom of the vehicle through the separation of the positioning pin P and the locking block, so that the replacement of the power battery is completed). The plug of the power battery is in plug-in fit with the socket unit C in the locking mechanism, and the power energy and battery information of the power battery are provided for the electric motor coach, so that the normal running of the normal electric motor coach and the safety of personnel on the vehicle are ensured.

As shown in fig. 12, a battery locking and positioning unit T of the present application is used for positioning an intelligent battery replacing robot and a locking mechanism in a docking process in a battery replacing station, wherein one or more tapered positioning sleeves 17 are respectively disposed on two lateral beams 11 of a main body frame 1 (as shown in fig. 8, one tapered positioning sleeve 17 is respectively disposed on two lateral beams 11 of the main body frame 1, wherein a plurality of tapered positioning sleeves 17 are respectively disposed on two lateral beams 11 of the main body frame 1, since one tapered positioning sleeve 17 is respectively disposed on two lateral beams 11, a power battery and a locking mechanism can be positioned by two-point positioning, and certainly, more than two points can be positioned, since normal wear is generated by physical contact between a positioning taper pin 1001 and the tapered positioning sleeve 17, and a plurality of tapered positioning sleeves 17 are respectively disposed on two lateral beams 11 of the main body frame 1, the corresponding intelligent battery replacement robot also increases the number of the positioning taper pins 1001 correspondingly, so that the system is high in complexity and high in cost, and therefore, the optimal implementation mode of the application is to arrange a taper positioning sleeve 17 on each of the two side beams 11); the opening angle a of the conical positioning sleeve 17 is greater than 35 degrees and smaller than 90 degrees (i.e., a conical angle a formed by an extension line of a generatrix of a cone of the conical positioning sleeve 17 in fig. 8, which is shown by a dotted line in fig. 8), the set opening angle ensures that the conical positioning taper pin 1001 can be inserted into the conical positioning sleeve 17, and the conical positioning taper pin 1001 can be smoothly inserted into the conical positioning sleeve 17 within a tolerance range of 20 mm, thereby improving the success rate of positioning.

The specific working process is as follows: the intelligent battery replacing robot in the battery replacing station is butted with the locking mechanism through mechanical positioning, and the cross beams 11 on two sides of the main body frame 1 of the locking mechanism are respectively provided with a conical positioning sleeve 17. The upper portion of intelligence trades electric robot has the location taper pin 1001 that corresponds the complex with the shape of toper position sleeve 17, through the rising of intelligence trades electric robot, makes the top of location taper pin 1001 and the edge of toper position sleeve 17 contact earlier, then promotes location taper pin 1001 to get into toper position sleeve 17 through the ascending slowly, accomplishes the location automatically through the automatic just-guiding characteristic of conical surface.

As shown in fig. 13, the intelligent battery replacement control method for the electric cars of different models in the invention comprises the following steps:

step 1310, after the electric car drives into the battery replacement station to complete vehicle positioning on the vehicle positioning platform, after the intelligent battery replacement robot receives information of successful vehicle positioning sent by a control center of the battery replacement station, the intelligent battery replacement robot controls the lifting system to move upwards along the Z direction, simultaneously drives a cradle head arranged on the lifting system to move synchronously, and controls a plane formed by the cradle head in the X direction and the Y direction to move freely, so that a positioning unit arranged on an unlocking device on the cradle head is inserted into a conical positioning sleeve at the bottom of the electric car, the positioning unit is driven to move in a conical automatic centering mode, position errors generated in the process of replacing a power battery are compensated, and after the positioning unit and the conical positioning sleeve at the bottom of the electric car reach a preset joint position, the intelligent battery replacement robot sends information of successful positioning to the control center of the battery replacement station; the positioning unit comprises 2 groups of telescopic taper pins, and the 2 groups of telescopic taper pins are respectively and relatively fixedly arranged on two sides of an unlocking bottom plate of the unlocking device according to the positions of 2 corresponding conical positioning sleeves in a locking mechanism at the bottom of the electric motor coach; the conical pin comprises a positioning conical pin, a conical tip of the positioning conical pin faces upwards, and the angle of the conical tip of the positioning conical pin is matched with the opening angle of the conical positioning sleeve;

step 1320, after the intelligent battery replacement robot receives the information of starting battery replacement sent by the control center, controlling an unlocking shifting fork of a shifting fork part of an unlocking device, after unlocking operation is completed on the power battery and a locking mechanism at the bottom of the electric passenger car, controlling a battery plugging shifting fork of the shifting fork part of the unlocking device, enabling the power battery to be separated from a car body of the electric passenger car, controlling a mobile conveying platform to convey a replaced insufficient battery to a specified position, and controlling the mobile conveying platform to convey a full-charge battery to the bottom of the electric passenger car; after the positioning operation is repeated, the intelligent battery replacement robot controls the battery plugging shifting fork of the shifting fork part of the unlocking device to push a fully charged battery, and after the plugging and electrifying operation is carried out, the information of successful battery replacement is sent to the control center of the battery replacement station, so that the operation of replacing the battery of the electric motor coach by the battery replacement robot is completed.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

Claims

1. An intelligent battery replacement control method for electric cars of different models is characterized by comprising the following steps:

2. The method of claim 1,

further comprising: the 2 conical positioning sleeves are arranged in 2 corresponding battery locking and positioning units on a locking mechanism of the electric motor coach; the locking mechanism is used for being coupled with a power battery and comprises a main body frame with a rectangular structure, and the main body frame is used for fixedly mounting the main body frame at the bottoms of the electric coaches of different vehicle types at corresponding mounting positions set at the bottoms of the electric coaches according to the bottom structures of the electric coaches with different wheel tracks and different wheel bases; the battery locking and positioning unit of the locking mechanism is used for positioning operation in the butt joint process with the positioning unit, and the opening angle of the conical positioning sleeve is more than or equal to 35 degrees and less than or equal to 90 degrees; the range of the conical angle of the conical pointed end of the positioning taper pin is more than 35 degrees and less than 90 degrees, and the angle of the conical pointed end of the positioning taper pin is less than the opening angle of the conical positioning sleeve.

3. The method of claim 2,

further comprising: each group of taper pins further comprises a middle sleeve, a positioning taper pin base and a return spring, wherein the positioning taper pins can vertically reciprocate in the positioning pin bases in a linear mode; the taper pin is arranged into a three-stage telescopic taper pin; the middle sleeve comprises a plurality of cylinders which are uniformly arranged around the positioning taper pin, the cylinders are arranged on the positioning taper pin base through return springs, the positioning taper pin is arranged on the positioning taper pin base, and the number of the cylinders of the middle sleeve is the same as that of the return springs; the middle sleeve is used for guiding the taper pin, after the positioning taper pin is inserted into the tapered positioning sleeve at the bottom of the electric motor coach, the end face of the middle sleeve is contacted with the main body frame, and the positioning taper pin is determined to reach a preset positioning position through the compression degree of the return spring.

4. The method of claim 3,

the intelligent battery replacement robot controls the shifting fork part of the unlocking device, and after unlocking operation is completed on the locking mechanism at the bottom of the electric motor coach and the power battery, the battery plugging shifting fork of the shifting fork part of the unlocking device is controlled, so that the power battery is separated from the step of operation of the coach body of the electric motor coach, and the intelligent battery replacement robot comprises the following steps:

the intelligent battery replacement robot controls the unlocking shifting fork to push a connecting rod of a locking mechanism at the bottom of the electric passenger car, so that the power battery and the locking mechanism at the bottom of the electric passenger car are unlocked after a locking sector gear of the locking mechanism rotates;

the intelligent battery replacement robot controls the battery plug shifting forks to push the power batteries on the horizontal plane, and the battery plug shifting forks arranged on the two sides of the unlocking bottom plate simultaneously push the guide blocks arranged on the two sides of the power batteries to perform linear motion along the horizontal direction, so that the operation that the power batteries are separated from the vehicle body is completed.

5. The method of claim 4,

further comprising: the intelligent battery replacement robot controls a width adjustment transmission part, and adjusts 2 shifting fork parts in the width direction of the power battery according to the width size of the power battery, wherein the width adjustment transmission part is arranged in a mode that two racks are respectively coupled with a gear, a speed reducer is driven by a motor, the gear is driven to rotate, the gear drives the racks on two sides, the racks are connected with the shifting fork parts on two sides to perform adjustment action, and therefore the adjustment operation of the 2 shifting fork parts in the width direction of the power battery is completed;

the unlocking shifting fork and the battery plugging shifting fork move to directly push the connecting plate through the arranged electric pushing cylinder to drive each shifting fork to move, wherein 2 shifting fork parts are arranged on two sides of the unlocking bottom plate relatively, a width adjustment transmission part is arranged in the middle of the unlocking bottom plate, the 2 shifting fork parts are connected through the width adjustment transmission part, and 2 shifting fork driving parts are respectively connected with the 2 shifting fork parts.

6. The method of claim 5,

the holder comprises an upper top plate, a lower bottom plate, a universal bearing, a prestressed cylindrical spring and a holder limit sleeve, wherein the upper top plate and the lower bottom plate are connected through the prestressed cylindrical compression spring, and the universal bearing is fixedly arranged on the lower bottom plate; the holder limiting sleeve is fixedly arranged on the upper top plate and used for limiting the movement range of the holder within a preset movement range; the cloud platform upwards moves along the Z direction, so that the top end of the conical tip of the positioning taper pin is in contact with the edge of the conical positioning sleeve firstly, the conical tip of the positioning taper pin is pushed to enter the conical positioning sleeve through slow rising, the positioning unit is driven to move in a conical automatic centering mode, position errors in the power battery replacement process are compensated, and the positioning operation before the power replacement of the electric motor coach is completed.

7. The method of claim 6,

still include 2 layers of structures on the last roof of cloud platform, 2 layers of structures down are in proper order from last: a moving frame along the X direction and a moving frame along the Y direction; wherein, a Y-direction electric pushing cylinder is arranged along the Y-direction moving frame to push the multi-direction intelligent moving system to move along the Y direction; an X-direction electric pushing cylinder is arranged along the X-direction moving frame to push the multi-direction intelligent moving system along the X direction.

8. The method of claim 7,

further comprising: when the unlocking device is behind the position deviation that trades the electricity in-process and produce, intelligence trades electric robot control return means and returns unlocking device to the initial set position, wherein, return means includes 2 tertiary telescopic return taper pins of group and 2 return taper holes that correspond, and the return taper pin is fixed to be set up on trading electric robot's mobile conveyor platform, and the conical head of return taper pin is up, and the return taper hole is fixed to be set up in the cloud platform bottom, and the taper hole of taper hole is down. When the unlocking device falls back to a preset height, the return taper pin is inserted into the return taper hole to drive the unlocking device to return to an initial set state in a taper automatic positioning center mode;

9. The method of claim 8,

the lifting system comprises two single-side lifting machines, a lifting transmission part and a lifting tray part, wherein the two single-side lifting machines realize synchronous lifting through the same lifting transmission part, the single-side lifting machines are used for lifting and descending the unlocking device, and the lifting system enables the unlocking device to be lifted and descended to reach the height of dismounting and mounting the power battery in a double-side synchronous lifting mode; wherein,

the single-side lifter is of a single-stage hinge plate lifting structure, a bottom plate of the single-side lifter is fixedly arranged on the movable conveying platform, a top plate is connected with the supporting plate, and the angles among hinge plate groups are changed to realize the lifting of the single-side lifter by driving a left-handed ball screw and a right-handed ball screw to drive nuts to move in opposite directions or relative directions, so that an unlocking device on the supporting plate is lifted;

the lifting transmission part drives the speed reducer through the motor, so that the connecting shaft drives the double-output-shaft commutator to perform transmission in two ways, and then the power is transmitted to the ball screw of the corresponding single-side lifter through the respective one-way output-shaft commutator;

the lifting tray part comprises two Z-shaped supporting plates and brackets which are respectively arranged on the left side and the right side, wherein the upper end of each Z-shaped supporting plate is respectively connected with a top plate of the unilateral lifting machine, the lower end of each Z-shaped supporting plate jointly holds the brackets to form a concave supporting plate, and a holder with an unlocking device is arranged on the concave supporting plate.

10. The method of claim 9,

the single-side lifter comprises a top plate, a bottom plate and a middle movable hinge plate group, wherein rollers are arranged at the upper end and the lower end of each hinge plate, the rollers at the upper end are in contact with a track on the top plate, the rollers at the lower end are in contact with a track on the bottom plate, the rollers at the lower end are connected with a lead screw nut, the middle transmission is left-handed and right-handed ball screw transmission, and the left-handed and right-handed ball screws are driven to drive the respective nuts to move oppositely or relatively, so that the lifting of the single-side lifter is realized;

wherein, the X direction of the roof of unilateral machine of lifting removes spacing and Y direction's removal spacing through two racks respectively with a gear coupling's mode, the gear is fixed on the roof, two racks are connected respectively on the hinge plate upper end roller shaft of both sides, when the hinge plate contracts or opens, the rack meshes the gear rotation all the time, it is spacing to remove the roof in X direction and Y direction through the length of rack, the Z direction of the roof of unilateral machine of lifting removes spacing trough of accomodating the rack connecting seat through the roof and realizes.