CN114056176B - Battery replacement device, battery replacement station and battery replacement method - Google Patents
Battery replacement device, battery replacement station and battery replacement method Download PDFInfo
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- CN114056176B CN114056176B CN202111400192.1A CN202111400192A CN114056176B CN 114056176 B CN114056176 B CN 114056176B CN 202111400192 A CN202111400192 A CN 202111400192A CN 114056176 B CN114056176 B CN 114056176B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000007667 floating Methods 0.000 claims abstract description 127
- 230000007246 mechanism Effects 0.000 claims abstract description 110
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000003466 welding Methods 0.000 claims description 5
- 230000002441 reversible effect Effects 0.000 claims description 4
- 210000002105 tongue Anatomy 0.000 claims 5
- 238000004804 winding Methods 0.000 description 42
- 238000006243 chemical reaction Methods 0.000 description 33
- 230000008569 process Effects 0.000 description 9
- 230000008859 change Effects 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000033999 Device damage Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
本发明提供一种换电装置、换电站及换电方法，换电装置包括：第一座体；第一抓手装置和第二抓手装置，第一抓手装置和第二抓手装置并排设置在第一座体上；第一驱动机构和第二驱动机构；回转机构，用于驱动第一座体进行回转运动；第二座体，回转机构设置在第二座体上；行走机构，设置于第二座体的下部；第一抓手装置和第二抓手装置都包括：悬臂座，包括座体部和与座体部相连接的悬臂部；浮动吊架，与悬臂部相对应设置；连接组件，设置在浮动吊架上；挠性件，第一端与浮动吊架连接；卷扬机构，设置在座体部上，卷扬机构与挠性件的第二端相连接。本发明提供的换电装置、换电站及换电方法，能够在实现快速换电的基础上，有效减小换电站的占地面积。
The present invention provides a power exchange device, a power exchange station and a power exchange method, wherein the power exchange device comprises: a first seat body; a first gripping device and a second gripping device, wherein the first gripping device and the second gripping device are arranged side by side on the first seat body; a first driving mechanism and a second driving mechanism; a slewing mechanism for driving the first seat body to perform slewing motion; a second seat body, wherein the slewing mechanism is arranged on the second seat body; a walking mechanism, which is arranged at the lower part of the second seat body; the first gripping device and the second gripping device both comprise: a cantilever seat, comprising a seat body portion and a cantilever portion connected to the seat body portion; a floating hanger, which is arranged corresponding to the cantilever portion; a connecting assembly, which is arranged on the floating hanger; a flexible member, wherein the first end is connected to the floating hanger; a hoisting mechanism, which is arranged on the seat body portion, and the hoisting mechanism is connected to the second end of the flexible member. The power exchange device, the power exchange station and the power exchange method provided by the present invention can effectively reduce the floor space of the power exchange station on the basis of realizing rapid power exchange.
Description
Technical Field
The present invention relates to the field of power conversion technologies, and in particular, to a power conversion device, a power conversion station, and a power conversion method.
Background
Along with the continuous popularization of new energy automobiles, an electric automobile power change link is an important problem to be solved by the electric automobile industry, and the electric automobile power change link is a technical development direction of an electric automobile charging and changing station by utilizing special battery change equipment to realize automatic power change.
Currently, most of the commercial power stations change power from a traveling crane type or a single-station RGV (Rail Guided Vehicle ). Charging bin is arranged side by side in the both sides of driving, and the bin increases, causes truss car, RGV dolly driving stroke extension, has prolonged the time of changing the electricity, and the power station area of changing is great.
Disclosure of Invention
The invention provides a power exchanging device, a power exchanging station and a power exchanging method, which can effectively reduce the occupied area of the power exchanging station on the basis of realizing quick power exchanging.
A first aspect of the present invention provides a power conversion apparatus, including:
A first base;
The first gripper device and the second gripper device are arranged on the first seat body side by side;
The first driving mechanism and the second driving mechanism are respectively used for driving the first gripper device and the second gripper device to move along a first track and a second track, and the first track is parallel to the second track;
The rotary mechanism is used for driving the first seat body to perform rotary motion;
the rotary mechanism is arranged on the second seat body;
the travelling mechanism is arranged at the lower part of the second seat body;
wherein the first and second gripper devices each comprise:
the cantilever seat comprises a seat body and a cantilever part connected with the seat body;
The floating hanging bracket is arranged corresponding to the cantilever part;
the connecting component is arranged on the floating hanger and is used for being connected with the battery frame;
a flexible member having a first end connected to the floating hanger;
the hoisting mechanism is arranged on the base body and connected with the second end of the flexible piece, and the hoisting mechanism is used for winding and unwinding the flexible piece so as to drive the floating hanger to be close to or far away from the cantilever part.
According to the power exchanging device provided by the invention, the hoisting mechanism comprises:
A winding drum rotatably arranged on the base body, and a second end of the flexible piece is connected with the winding drum;
The guide wheel is arranged on the cantilever seat, and the flexible piece bypasses the guide wheel;
the first driving device is in transmission connection with the winding drum.
According to the power exchanging device provided by the invention, the seat body is a steel structure frame, and the winding drum and the first driving device are arranged in the steel structure frame.
The power exchanging device provided by the invention further comprises a positioning pin, wherein the positioning pin is arranged on one of the cantilever part and the floating hanging bracket, and the other one of the cantilever part and the floating hanging bracket is provided with a positioning hole into which the positioning pin extends.
According to the power exchanging device provided by the invention, at least one of the positioning pin and the positioning hole is provided with a conical structure at one end close to the positioning pin.
According to the power exchanging device provided by the invention, the side, opposite to the cantilever part, of the floating hanger is provided with the guide block, and the surface, in contact with the battery frame, of the guide block is provided with the guide inclined surface.
According to the power conversion device provided by the invention, the connecting component comprises:
The spring bolt is arranged on the floating hanger in a telescopic manner;
the second driving device is connected with the lock tongue through a transmission piece and is used for driving the lock tongue to stretch out and draw back.
According to the power exchanging device provided by the invention, the number of the lock bolts is multiple, and the lock bolts are distributed along the circumferential direction of the floating hanger.
According to the power exchanging device provided by the invention, the grabbing directions of the first gripper device and the second gripper device are opposite, or the grabbing directions of the first gripper device and the second gripper device are the same.
A second aspect of the present invention provides a power exchange station, including a plurality of battery bins and a power exchange device as set forth in any one of the above, wherein the plurality of battery bins are distributed in a ring-shaped space formed by the battery bins, the power exchange device is disposed in the ring-shaped space, a parking position for stopping a vehicle is disposed outside the ring-shaped space, and the ring-shaped space is provided with an opening corresponding to the parking position.
The power exchange station provided by the invention further comprises:
The positioning module is used for positioning the position of the vehicle;
And the prompt module is used for sending prompt information according to the positioned vehicle position and the parking position, wherein the prompt information comprises information for guiding the vehicle to enter the parking position.
A third aspect of the present invention provides a power conversion method, based on the power conversion device as set forth in any one of the above, or the power conversion station as set forth above, and the grabbing directions of the first and second gripper devices are opposite, including:
controlling the first gripper device to displace along a first track, so that a floating hanger of the first gripper device is positioned above a full-power battery in a battery compartment;
Controlling a winding mechanism of the first handle device to release the flexible piece, so that the connection position of the connection assembly on the floating hanger and the full-charge battery are aligned;
the connecting component of the first handle device is controlled to be connected with the full-charge battery;
controlling a winding mechanism of the first handle device to wind up the flexible piece, so that the floating hanger lifts up the full-charge battery;
controlling a first driving mechanism to drive the first hand-grabbing device to reversely displace along a first track;
after the vehicle enters a station, the second gripper device is controlled to move along a second track towards the battery to be replaced in the vehicle, so that a floating hanger of the second gripper device is positioned above the battery to be replaced;
controlling a winding mechanism of a second gripper to release a flexible piece, so that a connecting component on a floating hanger of the second gripper is aligned with a connecting position of the battery to be replaced;
controlling a connecting component of the second gripper device to be connected with the battery to be replaced;
Controlling a winding mechanism of the second handle device to wind up the flexible piece, so that the floating hanging frame lifts the battery to be replaced;
Controlling a second driving mechanism to drive a second gripper device to reversely displace along a second track;
The first seat body is driven to rotate 180 degrees through the slewing mechanism, so that the first gripper device and the second gripper device exchange positions;
controlling the first grip device to place the full battery on the vehicle;
the first driving mechanism drives the first hand grasping device to reversely displace;
the rotary mechanism drives the first seat body to rotate, so that the second gripper device corresponds to the battery compartment in the empty compartment state;
And controlling the second handle device to place the battery to be replaced in the battery compartment in the empty compartment state.
A fourth aspect of the present invention provides a power exchanging method based on the power exchanging device as set forth in any one of the above, or the power exchanging station as set forth above, and the gripping directions of the first gripper device and the second gripper device are the same, comprising:
controlling the first gripper device to displace along a first track, so that a floating hanger of the first gripper device is positioned above a full-power battery in a battery compartment;
Controlling a winding mechanism of the first handle device to release the flexible piece, so that the connection position of the connection assembly on the floating hanger and the full-charge battery are aligned;
the connecting component of the first handle device is controlled to be connected with the full-charge battery;
controlling a winding mechanism of the first handle device to wind up the flexible piece, so that the floating hanger lifts up the full-charge battery;
controlling a first driving mechanism to drive the first hand-grabbing device to reversely displace along a first track;
the first seat body is driven to rotate 180 degrees through the slewing mechanism;
after the vehicle enters a station, the second gripper device is controlled to move along a second track towards the battery to be replaced in the vehicle, so that a floating hanger of the second gripper device is positioned above the battery to be replaced;
controlling a winding mechanism of a second gripper to release a flexible piece, so that a connecting component on a floating hanger of the second gripper is aligned with a connecting position of the battery to be replaced;
controlling a connecting component of the second gripper device to be connected with the battery to be replaced;
Controlling a winding mechanism of the second handle device to wind up the flexible piece, so that the floating hanging frame lifts the battery to be replaced;
Controlling a second driving mechanism to drive a second gripper device to reversely displace along a second track;
Controlling the displacement of the vehicle or the displacement of the battery changing device to align the first hand-grabbing device with the battery placement position of the vehicle;
controlling the first grip device to place the full battery on the vehicle;
The first seat body is driven to rotate through the slewing mechanism, so that the second gripper device corresponds to the battery compartment in the empty compartment state;
And controlling the second handle device to place the battery to be replaced in the battery compartment in the empty compartment state.
The beneficial effects are that:
1. According to the battery replacement device provided by the invention, before a vehicle enters a battery replacement station, the full-charge battery can be firstly grabbed from the battery compartment through the first grabbing device, then the battery to be replaced of the vehicle is grabbed through the second grabbing device, and finally the full-charge battery grabbed by the first grabbing device is placed in a battery installation position of the vehicle, so that the battery replacement of the vehicle is completed.
Compared with the prior art that the battery to be replaced is required to be taken out from the vehicle, then the full-charge battery is taken out from the battery bin, and then the full-charge battery is placed in the vehicle, the power exchanging method provided by the invention can be used for grabbing the full-charge battery to wait before the vehicle enters the power exchanging station, and placing the full-charge battery in the battery mounting position after taking out the full-charge battery can be performed quickly, so that the power exchanging time is effectively shortened, and the power exchanging efficiency is improved.
And the battery compartment can be arranged on the periphery of the battery replacement device in an annular mode, so that the area of the occupied space of the battery compartment is effectively reduced. In addition, it is important to note that the first hand grip device and the second hand grip device provided by the invention are arranged side by side, when the slewing mechanism is in a slewing state, the first hand grip device and the second hand grip device can be in a retracted state, so that the slewing radius is effectively shortened, and the battery compartment can be arranged around the power conversion device in a shorter distance, and further the occupied field area of the power conversion station is obviously reduced.
The grabbing process of the grabbing device provided by the invention is as follows when grabbing the battery: firstly, the winding mechanism gradually releases the flexible piece, and the floating hanger gradually moves downwards to the top of a battery frame of the battery under the action of gravity; then, the battery frame is connected to the floating hanger through the connecting component; then, the flexible member is gradually wound up by the winding mechanism, and the battery is lifted up.
By the arrangement, the gripper device is in a floating state in the process of contacting with the battery, so that the problem of rigid collision between the gripper device and the battery is avoided.
In addition, the lifting drive of the floating hanger can be realized through the hoisting mechanism, and compared with the lifting drive of the floating hanger realized through lifting the whole gripper, the lifting drive of the floating hanger can be realized through less power.
2. In a further technical scheme provided by the invention, the device further comprises a positioning pin, wherein the positioning pin is arranged on one of the cantilever part and the floating hanging bracket, and a positioning hole into which the positioning pin extends is formed in the other one of the cantilever part and the floating hanging bracket.
So set up, after the battery is in the state of being grabbed, the locating pin can insert in the locating hole to make cantilever portion and floating gallows relative positioning, avoided the problem that floating gallows rocked.
3. In a further aspect of the present invention, the connection assembly includes:
The spring bolt is arranged on the floating hanger in a telescopic manner;
the second driving device is connected with the lock tongue through a transmission piece and is used for driving the lock tongue to stretch out and draw back.
So set up, when the operation floating gallows is connected with the battery frame of battery, the accessible control second drive arrangement drive spring bolt stretches out, and the spring bolt can realize the connection of battery frame and floating gallows after stretching out.
4. The invention also provides a power exchange station which comprises a plurality of battery bins and the power exchange device according to any one of the above, wherein the battery bins are distributed in an annular mode, the power exchange device is arranged in an annular space formed by the battery bins, a parking position for stopping a vehicle is arranged on the outer side of the annular space, and an opening corresponding to the parking position is arranged in the annular space.
The battery bins of the power exchange station provided by the invention are distributed in an annular shape, the power exchange device is arranged in the annular space, and the operation process of the power exchange device is similar to the process, and is not repeated here. By the arrangement, the power exchange station provided by the invention can realize quick power exchange of the vehicle, and the occupied area is small, so that the space utilization rate of the power exchange station is effectively improved.
5. The invention also provides a power exchanging method based on the power exchanging device or the power exchanging station, and the grabbing directions of the first gripper device and the second gripper device are opposite, comprising the following steps:
controlling the first gripper device to displace along a first track, so that a floating hanger of the first gripper device is positioned above a full-power battery in a battery compartment;
Controlling a winding mechanism of the first handle device to release the flexible piece, so that the connection position of the connection assembly on the floating hanger and the full-charge battery are aligned;
the connecting component of the first handle device is controlled to be connected with the full-charge battery;
controlling a winding mechanism of the first handle device to wind up the flexible piece, so that the floating hanger lifts up the full-charge battery;
controlling a first driving mechanism to drive the first hand-grabbing device to reversely displace along a first track;
after the vehicle enters a station, the second gripper device is controlled to move along a second track towards the battery to be replaced in the vehicle, so that a floating hanger of the second gripper device is positioned above the battery to be replaced;
controlling a winding mechanism of a second gripper to release a flexible piece, so that a connecting component on a floating hanger of the second gripper is aligned with a connecting position of the battery to be replaced;
controlling a connecting component of the second gripper device to be connected with the battery to be replaced;
Controlling a winding mechanism of the second handle device to wind up the flexible piece, so that the floating hanging frame lifts the battery to be replaced;
Controlling a second driving mechanism to drive a second gripper device to reversely displace along a second track;
The first seat body is driven to rotate 180 degrees through the slewing mechanism, so that the first gripper device and the second gripper device exchange positions;
controlling the first grip device to place the full battery on the vehicle;
the first driving mechanism drives the first hand grasping device to reversely displace;
the rotary mechanism drives the first seat body to rotate, so that the second gripper device corresponds to the battery compartment in the empty compartment state;
And controlling the second handle device to place the battery to be replaced in the battery compartment in the empty compartment state.
Therefore, the power conversion method provided by the invention can realize quick power conversion of the vehicle, and the occupied area of the power conversion station is smaller, so that the space utilization rate of the power conversion station is effectively improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a gripper apparatus provided in an embodiment of the present invention;
FIG. 2 is a schematic view of a first perspective structure of a floating hanger provided in an embodiment of the present invention;
FIG. 3 is a schematic view of a second perspective structure of a floating hanger provided in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a power conversion device according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a power conversion device and battery compartment arrangement provided in an embodiment of the present invention;
Reference numerals:
11: a seat body part; 12: a cantilever portion; 13: a floating hanger;
14: a reel; 15: a first driving device; 16: a guide block;
17: a positioning pin; 18: a flexible member; 19: a guide wheel;
20: a flexible shaft; 21: a bolt; 22: a spring bolt mounting seat;
23: a second driving device; 24: a first grip device; 25: a second grip device;
26: a slewing mechanism; 27: a first base; 28: a second seat body;
29: a guide structure; 30: a battery compartment; 31: a vehicle.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The following describes a power conversion device, a power conversion station and a power conversion method according to an embodiment of the present invention with reference to fig. 1 to 5.
Referring to fig. 4 and 5, in an embodiment of the present invention, a power conversion device is provided, which includes a first base 27 and a gripper device disposed on the first base 27, the gripper device includes a first gripper device 24 and a second gripper device 25, and the first gripper device 24 and the second gripper device 25 are disposed on the first base 27 side by side.
The power conversion device further includes:
The first driving mechanism and the second driving mechanism are respectively used for driving the first hand grasping device 24 and the second hand grasping device 25 to move along a first track and a second track, and the first track is parallel to the second track; in some embodiments, the first driving mechanism and the second driving mechanism may be configured as linear driving mechanisms such as an electric cylinder, an air cylinder, etc., and the first base 27 may be provided with guide rails respectively matched with the first gripper device 24 and the second gripper device 25;
a turning mechanism 26 for driving the first base 27 to perform a turning motion;
The second base 28, the slewing mechanism 26 is set on the second base 28; the rotary mechanism 26 may specifically include a rotary support, a motor and a speed reducer, where the first base 27 is mounted on the second base 28 through the rotary support, and the motor drives the first base 27 through the speed reducer to implement rotary motion;
the travelling mechanism is arranged at the lower part of the second seat body 28; in some embodiments, the running gear may include a running wheel disposed at the bottom of the second housing 28 and a motor to drive the running wheel; of course, in other embodiments, the second seat 28 may be driven to move by an electric cylinder, an air cylinder, or the like;
The guiding structure 29, the walking mechanism is matched with the guiding structure 29, and the guiding direction of the guiding structure 29 is consistent with the length direction of the parking position. In some embodiments, the guide structure 29 may be configured as a rail, and the road wheels cooperate with the rail to displace the guide wheels 19 along the rail under the restraint of the rail.
It should be noted that the gripping directions of the first gripper device 24 and the second gripper device 25 may be the same or opposite. The following description will be given taking an example in which the grasping directions of the first and second grasping devices 25 are set in reverse.
When the grabbing directions of the first gripper device 24 and the second gripper device 25 are reversely set, the replacement battery can be taken out of the battery compartment 30 in advance through the first gripper device 24, after the vehicle 31 enters the station, the second gripper device 25 takes out the battery to be replaced on the vehicle 31, and the turning device drives the first base 27 to turn 180 degrees, so that the first gripper device 24 and the second gripper device 25 can be shifted, and then the replacement battery in the first gripper device 24 can be replaced in the vehicle 31.
In this way, in the power exchanging device provided in this embodiment, before the vehicle 31 enters the power exchanging station, the first gripper device 24 can grasp the full-charge battery from the battery compartment 30, then grasp the battery to be exchanged of the vehicle 31 through the second gripper device 25, and finally place the full-charge battery grasped by the first gripper device 24 into the battery installation position of the vehicle 31, so as to complete the power exchanging of the vehicle 31.
Compared with the prior art, the battery replacement device provided by the embodiment of the invention has the advantages that the battery to be replaced is required to be taken out from the vehicle, then the full-charge battery is taken out from the battery compartment, and then the full-charge battery is put into the vehicle, so that the full-charge battery can be grabbed to wait before the vehicle 31 enters the power replacement station, and the full-charge battery can be put into the battery installation position quickly after the full-charge battery is taken out, thereby effectively reducing the power replacement time and improving the power replacement efficiency.
And the power conversion device can take power from the circumferential direction and convert the power, and then the battery compartment 30 can be annularly arranged on the periphery of the power conversion device, so that the area of the occupied space of the battery compartment 30 is effectively reduced. In addition, it should be emphasized that, in the first hand-grabbing device 24 and the second hand-grabbing device 25 provided in this embodiment are arranged side by side, when the swing mechanism 26 swings, the first hand-grabbing device 24 and the second hand-grabbing device 25 may be in a retracted state, so as to effectively shorten the swing radius, and the battery compartment 30 may be arranged around the power exchanging device in a shorter distance, so that the occupied area of the power exchanging station is obviously reduced.
In addition, the power conversion device provided in this embodiment is provided with a travelling mechanism, and when the vehicle 31 enters the station and parks into the station, if the stopping position of the vehicle 31 deviates, the gripper device cannot be aligned with the battery to be replaced on the vehicle 31. At this time, the travelling mechanism can be controlled to drive the whole battery replacing device to displace, so that the position of the hand grip device is finely adjusted, and the hand grip device can grasp the battery to be replaced on the vehicle 31.
In addition, referring to fig. 1, the first gripper device and the second gripper device provided in the embodiment of the invention both include:
the cantilever seat comprises a seat body 11 and a cantilever part 12 connected with the seat body 11; in some embodiments, the base 11 may be a three-dimensional frame formed by welding a section bar, the cantilever 12 may be connected to the top end of the base 11 by a connecting piece or a welding manner, and one end of the cantilever 12 is connected to the top end of the base 11, and the other end of the cantilever is suspended, in some embodiments, the cantilever 12 may be a frame structure formed by welding a section bar or may also be a plate structure;
A floating hanger 13 provided in correspondence with the cantilever portion 12; the floating hanger 13 may have a frame structure formed by welding a profile or may have a plate-like structure, and the floating hanger 13 is disposed below the cantilever portion 12;
The connecting component is arranged on the floating hanging bracket 13 and is used for being connected with the battery frame; when the connecting component corresponds to the connecting position of the battery frame, the connecting component can be connected with the battery frame, so that the battery frame is connected to the floating hanging frame 13, and when the connecting component releases the connection relation with the battery frame, the battery frame is separated from the floating hanging frame 13;
A flexible member 18, the first end of which is connected to the floating hanger 13, the flexible member 18 suspending the floating hanger 13 from the cantilever portion 12; in some embodiments, the flexible member 18 may be a wire rope, chain, flexible rope, or the like; in order to keep balance of the floating hanger 13, the number of the flexible members 18 may be plural, and the connection points between the plurality of flexible members 18 and the floating hanger 13 may be uniformly distributed, specifically, the number of the flexible members 18 may be four, and the four flexible members 18 are respectively connected to four angular positions of the floating hanger 13, so as to ensure that the tensile force of the floating hanger 13 borne by each flexible member 18 is uniformly distributed;
The hoisting mechanism is arranged on the seat body 11, is connected with the second end of the flexible piece 18, and is used for winding and unwinding the flexible piece 18 so as to drive the floating hanger 13 to be close to or far from the cantilever part 12. When the winding mechanism releases the flexible member 18, the floating hanger 13 is gradually displaced downward by gravity, and when the winding mechanism winds up the flexible member 18, the floating hanger 13 is gradually displaced upward.
The grabbing process of the grabbing device provided by the embodiment of the invention is as follows when grabbing the battery: firstly, the winding mechanism gradually releases the flexible piece 18, and the floating hanging bracket 13 gradually moves downwards to the top of the battery frame of the battery under the action of gravity; then, the battery frame is connected to the floating hanger 13 through the connection assembly; the flexible member 18 is then gradually wound up by the winding mechanism to lift the battery.
By the arrangement, the gripper device provided by the embodiment of the invention is in a floating state in the process of contacting with the battery, so that the problem of rigid collision between the gripper device and the battery is avoided. Moreover, the lifting drive of the floating hanger 13 can be realized through the hoisting mechanism by the gripper device provided by the embodiment, and compared with the lifting drive of the floating hanger 13 realized through lifting the whole gripper device, the lifting drive of the floating hanger 13 can be realized through less power.
In a further embodiment, the hoisting mechanism comprises:
A spool 14 rotatably provided on the seat 11, the second end of the flexible member 18 being connected to the spool 14; in some embodiments, the seat 11 may be provided with a rotating shaft, the winding drums 14 are installed on the seat 11 of the seat through the rotating shaft, when the number of the flexible members 18 is multiple, the winding drums 14 arranged on the rotating shaft may be multiple, each winding drum 14 may be used for winding one flexible member 18, and as the winding drums 14 are all arranged on the same rotating shaft, the synchronism of the winding drums 14 is ensured, and the problem of unbalance of the floating hanger 13 caused by asynchronous winding of the flexible members 18 is avoided;
The guide wheel 19 is arranged on the cantilever seat, and the flexible piece 18 bypasses the guide wheel 19; in some embodiments, the number of the guide wheels 19 may be multiple, each flexible member 18 is connected to the floating sling through multiple guide wheels 19, and the specific number and arrangement positions of the guide wheels 19 may be specifically set according to the actual situation, which is not described herein;
the first driving device 15 is in transmission connection with the winding drum 14; in some embodiments, the first driving device 15 may include a motor and a speed reducer, where the motor is connected with the winding drum 14 through the speed reducer, and the winding drum 14 is driven by the motor and the speed reducer to wind up the flexible member 18, so as to drive the floating hanger 13 to rise or fall.
For convenience of arrangement, in a further embodiment, the housing 11 is a steel structural frame, and the spool 14 and the first drive means 15 are both arranged within the steel structural frame. By this arrangement, the spool 14 and the first driving device 15 are both mounted inside the seat body 11, which enables a more compact structure and prevents the hoisting mechanism from interfering with external devices.
In further embodiments, the positioning pin 17 and the positioning hole are provided on the cantilever portion 12 and the floating hanger 13, respectively, for example, in some embodiments, the positioning pin 17 may be provided on the cantilever portion 12, the positioning hole provided on the floating hanger 13, and the positioning pin 17 and the positioning hole provided correspondingly. Of course, in other embodiments, the locating pin 17 may be provided on the floating hanger 13 and the locating hole provided on the cantilever portion 12.
The positioning pin 17 can be disengaged from the positioning hole when the floating hanger 13 is displaced downward, and the positioning pin 17 can be inserted into the positioning hole when the floating hanger 13 is displaced upward, and the floating hanger 13 is positioned opposite to the cantilever portion 12 under the mutual constraint of the positioning pin 17 and the positioning hole.
So set up, when the battery is lifted by floating gallows 13, when the battery was shifted, under the effect of locating pin 17 and locating hole mutual constraint, floating gallows 13 can not produce and rock relatively, and then avoided the battery to cause the problem that the device damages or the battery drops because of rocking when shifting.
In order to quickly and accurately realize the positioning of the positioning pin and the positioning hole, at least one of the positioning pin and the positioning hole is provided with a conical structure at one end which is close to the positioning pin. In some embodiments, one end of the positioning pin, which is close to the positioning hole, is set to be in a conical structure, and one end of the positioning hole, which is close to the positioning pin, is also set to be in a conical structure.
In a further embodiment, the side of the floating hanger 13 opposite to the cantilever portion 12 is provided with a guide block 16, and the surface of the guide block 16 contacting the battery frame is provided as a guide slope. In some embodiments, the guide blocks 16 may be provided in plurality, each guide block 16 protruding from the opposite side of the floating hanger 13 from the cantilever portion 12, and the surface of each guide block 16 contacting the battery frame may be provided as a guide slope. Specifically, the guide block 16 may be a wedge structure, the lower end of which is a thinner end, and the wedge surface of the wedge structure constitutes the guide slope.
So set up, when floating gallows 13 decline in-process, even floating gallows 13 is not just with the battery frame of battery completely, still can just the position of floating gallows 13 gradually under the effect of the direction inclined plane of guide block 16, make floating gallows 13 and battery frame align, and then the coupling assembling on the floating gallows 13 can be connected with the battery frame.
In a further embodiment, the connection assembly comprises:
The lock tongue 21 is telescopically arranged on the floating hanger 13; in some embodiments, the floating hanger 13 may be provided with a latch bolt mounting seat 22, the latch bolt mounting seat 22 is provided with a mounting hole, the latch bolt 21 is slidably disposed in the mounting hole, and the latch bolt 21 is partially exposed in the mounting hole in the extended state of the latch bolt 21.
The second driving device 23 is connected with the lock tongue 21 through a transmission piece and is used for driving the lock tongue 21 to stretch and retract.
In the process of grabbing the battery, the latch 21 is retracted first, so that the latch 21 can be placed into the battery frame of the battery. After the lock tongue 21 is put into the battery frame of the battery, the lock tongue 21 extends out and is connected with the battery frame in a clamping way, so that the floating hanging bracket 13 is connected with the battery frame. So set up, under the drive effect of second drive arrangement 23, spring bolt 21 can stretch out, and then realizes the joint with the battery frame, and when second drive arrangement 23 drive spring bolt 21 retracted, the battery frame breaks away from with floating gallows 13.
In order to improve the connection stability between the battery frame and the floating hanger 13, in some embodiments, the number of the locking bolts 21 is multiple, and the locking bolts 21 are distributed along the circumferential direction of the floating hanger 13.
So set up, the battery accessible a plurality of spring bolts 21 are connected on floating gallows 13, have effectively improved connection stability.
In some embodiments, the second driving device 23 may be a telescopic driving device such as an electric cylinder, an air cylinder, a linear motor, etc., and the connection assembly further includes a spring and a flexible shaft 20. Wherein the first end of the spring abuts against the floating hanger 13 and the second end abuts against the first end of the latch 21 to push the latch 21 in the second end direction of the latch 21. The first end of the flexible shaft 20 is connected with the first end of the lock tongue 21, and the second end is connected with the second driving device 23. The second driving device 23 drives the lock tongue 21 to displace through the flexible shaft 20. In use, the second driving device 23 is retracted, the spring bolt 21 can be pulled to retract by driving the flexible shaft 20, and when the second driving device 23 is extended, the spring can enable the spring bolt 21 and the flexible shaft 20 to extend and reset. In order to ensure the telescoping synchronism of the lock bolts 21, the telescoping end of the second driving device 23 may be connected with a plurality of flexible shafts 20, and the plurality of flexible shafts 20 are respectively connected with the plurality of lock bolts 21 in a one-to-one correspondence manner.
The present embodiment also provides a power exchange station, including a plurality of battery bins 30 and a power exchange device as defined in any one of the above, the plurality of battery bins 30 are annularly distributed, the power exchange device is disposed in an annular space formed by the battery bins 30, a parking position for stopping the vehicle 31 is disposed outside the annular space, and the annular space is provided with an opening corresponding to the parking position.
The battery replacing station provided in this embodiment has a plurality of battery bins 30 distributed in a ring shape, and the battery replacing device is disposed in the ring-shaped space, and the operation process of the battery replacing device is similar to the above process, and will not be repeated here. So set up, the quick power conversion of vehicle 31 can be realized to the power conversion station that this embodiment provided, and its occupation area is less moreover, has effectively improved the space utilization of power conversion station.
In a further embodiment, the power exchange station further comprises:
A positioning module for positioning a position of the vehicle 31; in some embodiments, the positioning module may be embodied as a lidar positioning device;
The prompt module sends out prompt information according to the positioned position of the vehicle 31 and the parking position, wherein the prompt information comprises information for guiding the vehicle 31 to enter the parking position.
After the vehicle 31 enters the station, the positioning module of the battery exchange station performs positioning monitoring on the position of the vehicle 31, and sends out prompt information through the prompt module, wherein the prompt information can be voice information or image information, and particularly, a driver of the vehicle 31 can be guided to enter into the parking position of the battery exchange station with full-charge battery through a voice playing device or a display screen device arranged on the battery exchange station.
By means of the arrangement, the power conversion station can automatically guide a driver to drive in to the position of the battery bin 30 with the full-power battery, and power conversion efficiency is effectively improved.
The present embodiment also provides a power exchanging method based on the power exchanging device of any one of the above embodiments, or the power exchanging station of the above embodiment, and the grabbing directions of the first gripper device 24 and the second gripper device 25 are opposite, the power exchanging method includes the steps of:
Controlling the first gripper 24 to displace along the first track, so that the floating hanger 13 of the first gripper 24 is positioned above the full battery in the battery compartment 30;
controlling the winding mechanism of the first handle device 24 to release the flexible piece so as to align the connection assembly on the floating hanger 13 with the connection position of the full-power battery;
The connection assembly controlling the first gripper device 24 is connected with the full battery;
The winding mechanism of the first gripper device 24 is controlled to wind up the flexible piece, so that the floating hanger 13 lifts up the full-charge battery;
controlling the first driving mechanism to drive the first gripper device 24 to reversely displace along the first track;
after the vehicle 31 enters the station, the second gripper device 25 is controlled to move along a second track towards the direction of the battery to be replaced in the vehicle 31, so that the floating hanger 13 of the second gripper device 25 is positioned above the battery to be replaced;
Controlling a winding mechanism of the second gripper device 25 to release the flexible piece, so that a connecting component on the floating hanger 13 of the second gripper device 25 is aligned with a connecting position of a battery to be replaced;
The connection assembly of the second gripper device 25 is controlled to be connected with the battery to be replaced;
The winding mechanism of the second gripper device 25 is controlled to wind up the flexible piece, so that the floating hanger 13 lifts the battery to be replaced;
controlling the second driving mechanism to drive the second gripper device 25 to reversely displace along the second track;
The first base 27 is driven to rotate 180 degrees through the slewing mechanism 26, so that the first gripper device 24 and the second gripper device 25 exchange positions;
controlling the first grip device 24 to place the full battery on the vehicle 31;
The first driving mechanism drives the first gripper device 24 to reversely displace;
The rotary mechanism 26 drives the first base 27 to rotate, so that the second gripper device 25 corresponds to the battery compartment 30 in the empty compartment state;
the second gripper 25 is controlled to place the battery to be replaced in the battery compartment 30 in the empty state.
The above embodiment is an explanation of the development of the power exchanging method taking as an example the case where the grasping directions of the first grasping device 24 and the second grasping device 25 are opposite. The following description will be given of the power exchanging method taking the case where the grasping directions of the first grasping device 24 and the second grasping device 25 are the same as each other as an example.
When the gripping directions of the first gripper device 24 and the second gripper device 25 are the same, the power exchanging method includes the steps of:
Controlling the first gripper 24 to displace along the first track, so that the floating hanger 13 of the first gripper 24 is positioned above the full battery in the battery compartment 30;
controlling the winding mechanism of the first handle device 24 to release the flexible piece so as to align the connection assembly on the floating hanger 13 with the connection position of the full-power battery;
The connection assembly controlling the first gripper device 24 is connected with the full battery;
The winding mechanism of the first gripper device 24 is controlled to wind up the flexible piece, so that the floating hanger 13 lifts up the full-charge battery;
controlling the first driving mechanism to drive the first gripper device 24 to reversely displace along the first track;
the first seat body 27 is driven to rotate 180 degrees through the slewing mechanism 26;
after the vehicle 31 enters the station, the second gripper device 25 is controlled to move along a second track towards the direction of the battery to be replaced in the vehicle 31, so that the floating hanger 13 of the second gripper device 25 is positioned above the battery to be replaced;
Controlling a winding mechanism of the second gripper device 25 to release the flexible piece, so that a connecting component on the floating hanger 13 of the second gripper device 25 is aligned with a connecting position of a battery to be replaced;
The connection assembly of the second gripper device 25 is controlled to be connected with the battery to be replaced;
The winding mechanism of the second gripper device 25 is controlled to wind up the flexible piece, so that the floating hanger 13 lifts the battery to be replaced;
controlling the second driving mechanism to drive the second gripper device 25 to reversely displace along the second track;
controlling the displacement of the vehicle 31 or the displacement of the power exchanging device to align the first gripper device 24 with the battery placement position of the vehicle 31;
controlling the first grip device 24 to place the full battery on the vehicle 31;
the first base 27 is driven to rotate by the slewing mechanism 26, so that the second gripper device 25 corresponds to the battery compartment 30 in the empty compartment state;
the second gripper 25 is controlled to place the battery to be replaced in the battery compartment 30 in the empty state.
In this way, the power exchanging method provided by the embodiment can realize quick power exchanging of the vehicle 31, and the occupied area of the power exchanging station is smaller, so that the space utilization rate of the power exchanging station is effectively improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (13)
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| CN114655065B (en) * | 2022-03-25 | 2024-04-05 | 三一锂能有限公司 | Battery replacement device and battery replacement station |
| CN115384456A (en) * | 2022-08-15 | 2022-11-25 | 三一重工股份有限公司 | Battery replacing equipment and battery replacing station |
| CN115416623A (en) * | 2022-10-20 | 2022-12-02 | 蓝谷智慧(北京)能源科技有限公司 | Transfer mechanism for battery replacement and battery replacement station |
| CN116901779B (en) * | 2023-09-13 | 2023-12-15 | 北京玖行智研交通科技有限公司 | Gantry cantilever robot for new energy vehicle power exchange station |
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| CN216636205U (en) * | 2021-11-19 | 2022-05-31 | 三一重工股份有限公司 | Battery replacing device and battery replacing station |
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| US8373389B2 (en) * | 2010-01-22 | 2013-02-12 | Berkley C. Badger | Battery pack charging system with manually maneuvered charge head |
| JP6004774B2 (en) * | 2011-12-16 | 2016-10-12 | モテックス プロダクツ カンパニー リミテッド | Battery removal device for electric vehicles |
| CN206107206U (en) * | 2016-09-06 | 2017-04-19 | 深圳精智机器有限公司 | Battery changing equipment |
| CN113650521B (en) * | 2021-07-30 | 2023-06-27 | 三一重工股份有限公司 | Battery replacing device and battery replacing station |
| CN113618724A (en) * | 2021-07-30 | 2021-11-09 | 三一重工股份有限公司 | Battery replacing device and battery replacing station |
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