CN115027422A - Battery replacement device and method - Google Patents

Abstract

The invention discloses a battery replacing device and a battery replacing method, wherein the device comprises a controller and at least one battery hoisting device in communication connection with the controller, and the battery hoisting device comprises a speed transmission mechanism: the controller is used for controlling the battery hoisting device to move to the battery compartment position and controlling the battery hoisting device to grab or unload the battery; controlling the battery hoisting device to move above the vehicle-mounted battery, and controlling the battery hoisting device to grab or put down the battery; the controller is also used to control the speed drive mechanism to adjust the speed at which the battery hoist is moved to the battery compartment or the vehicle battery. The invention can reduce the battery replacement time of the electric heavy truck in the battery replacement process.

Description

A power exchange device and method

technical field

The present invention relates to the technical field of power exchange, and in particular, to a power exchange device and method.

Background technique

The development of new energy has always been accompanied by the competition of charging and refueling rates. This problem directly affects the willingness of ordinary people to buy in the future. With the continuous breakthrough of business models and technical solutions, the time for battery swapping in the passenger car field can be directly compared to the time for refueling. It even saves time and effort than refueling. In recent years, the battery swap of commercial vehicles has also developed rapidly. The battery swap of this type of vehicle often directly determines whether some operators and drivers are willing to buy electric heavy truck models.

SUMMARY OF THE INVENTION

The present invention provides a power exchange device to reduce the power exchange time in the process of power exchange for an electric heavy truck.

According to an aspect of the present invention, a power exchange device is provided, comprising: a controller and at least one battery hoisting device communicatively connected to the controller, the battery hoisting device comprising a speed transmission mechanism:

The controller is used to control the battery hoisting device to move to the position of the battery compartment, control the battery hoisting device to grab or unload the battery; control the battery hoisting device to move above the vehicle battery, control the battery hoisting device Pick up the device to grab or put down the battery;

The controller is also used for controlling the speed transmission mechanism to adjust the speed of the battery lifting device moving to the battery compartment or the vehicle battery.

Optionally, it also includes a distance measuring device communicatively connected to the controller;

The distance measuring device is used to measure the distance from the battery on the vehicle to the distance measuring device, and send the distance information to the controller;

The controller is also used to control the battery lifting device to move to the battery chamber position according to the preset battery chamber coordinates, and control the battery lifting device to grab or unload the battery; The coordinates of the distance measuring device and the distance information are used to calculate the coordinates of the battery on the vehicle; and according to the coordinates of the battery on the vehicle, the battery lifting device is controlled to move above the vehicle battery, and the battery lifting device is controlled to grab or put down Battery.

Optionally, the battery hoisting device includes a first mobile device movably connected to the beam of the swap station, a second mobile device movably connected to the first mobile device, and a second mobile device movably connected to the second mobile device. There is a preset angular difference between the direction in which the first mobile device moves on the swap station and the direction in which the second mobile device moves on the first mobile device; the controllers communicate respectively connecting the first mobile device, the second mobile device and the lifting sling; the cross beam of the power exchange station extends from the battery placement area to the vehicle parking area;

The first moving device is used to move on the cross beam of the swap station at a first controlled speed and a first controlled direction after receiving the first control signal;

the second mobile device is configured to move on the first mobile device at a second controlled speed and a second controlled direction after receiving the second control signal;

The lift spreader is used to grab or put down the battery at a third controlled speed after receiving the third control signal.

Optionally, the speed transmission mechanism includes a first frequency converter arranged on the first moving device, a second frequency converter arranged on the second moving device, and a a hoisting inverter; the controller is respectively connected to the first inverter, the second inverter and the hoisting inverter;

The first frequency converter is configured to adjust the moving speed of the first mobile device after receiving the fourth control signal sent by the controller;

The second frequency converter is configured to adjust the moving speed of the second mobile device after receiving the fifth control signal sent by the controller;

The hoisting frequency converter is used to adjust the speed at which the hoisting tool grabs or puts down the battery after receiving the sixth control signal sent by the controller.

Optionally, the first mobile device is provided with a first reading dock, the second mobile device is provided with a second reading dock, and a cross beam of the swap station is provided along the extending direction of the cross beam with the first reading dock. The corresponding first label, the first mobile device is provided with a second label corresponding to the second reading dock along the moving direction of the second mobile device, and the controller is respectively connected to the first reading terminal. pier and the second reading pier;

The first reading dock is used to measure the position of the first mobile device on the cross-beam of the power-changing station by scanning the first marking code on the cross-beam of the power-changing power station;

The second reading dock is used to measure the position of the second mobile device on the first mobile device by scanning the second marking code on the first mobile device.

Optionally, the lifting sling further includes a hoisting encoder, the hoisting encoder is connected in communication with the controller, and is used for detecting the moving distance of the lifting sling.

According to another aspect of the present invention, there is provided a power exchange method, comprising:

controlling the first battery lifting device to move above the vehicle battery, and controlling the first battery lifting device to grab the vehicle battery;

controlling the first battery lifting device for grabbing the vehicle battery to move above the vacant battery compartment, and controlling the first battery lifting device to put down the vehicle battery;

controlling the first battery lifting device to move above the battery compartment where the fully charged battery is placed, and controlling the first battery lifting device to grab the fully charged battery;

The first battery lifting device that controls the fully charged battery is moved to a vehicle battery placement position, and the first battery lifting device is controlled to put down the fully charged battery.

Optionally, the battery swapping device further includes a ranging device, and when the first battery lifting device is controlled to move above the vehicle battery, and the first battery lifting device is controlled to grab the vehicle battery, Also included before:

receiving distance information from the vehicle battery to the distance measuring device measured by the distance measuring device;

The coordinates of the vehicle battery are calculated according to the distance information and the preset coordinates of the distance measuring device.

Optionally, the first battery hoisting device includes a first mobile device movably connected to the crossbeam of the swap station, a second mobile device movably connected to the first mobile device, and a second mobile device movably connected to the second mobile device. A lifting hoist on the device; there is a preset angular difference between the direction in which the first mobile device moves on the swap station and the direction in which the second mobile device moves on the first mobile device;

Controlling the first battery lifting device to move above the vehicle battery, and controlling the first battery lifting device to grab the vehicle battery, includes:

Adjust the moving direction and speed of the first moving device, the second moving device and the lifting sling, respectively, so that the first battery lifting device moves above the vehicle battery to control the lifting sling Put down, and move the lift spreader to the position of the on-board battery to grab the on-board battery.

According to a third aspect of the present invention, there is provided a method for exchanging electricity, comprising:

The battery replacement device includes a first battery lifting device and a second battery lifting device;

controlling the first battery lifting device to move above the vehicle battery, and controlling the first battery lifting device to grab the vehicle battery;

Controlling the second battery lifting device to move above the battery compartment where the fully charged battery is placed, and controlling the second battery lifting device to grab the fully charged battery;

Controlling the first battery hoisting device to move out of the vehicle battery, and controlling the second battery hoisting device that grabs the fully charged battery to move to the place where the vehicle battery is placed, and controlling the second battery hoisting device Put down the fully charged battery.

In the present application, the controller can control the battery hoisting device to realize the handling and pick-and-place of the battery. By adjusting the speed of the speed transmission mechanism, the battery hoisting device can select different moving speeds according to different path characteristics, so as to reduce the movement of the battery hoisting device in the whole process. The movement time in the path, thus saving the time of changing the power of the heavy truck.

It should be understood that the content described in this section is not intended to identify key or critical features of the embodiments of the invention, nor is it intended to limit the scope of the invention. Other features of the present invention will become readily understood from the following description.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

1 is a schematic structural diagram of a power exchange device according to Embodiment 1 of the present invention;

FIG. 2 is an architecture diagram of a control system in a power exchange device to which Embodiment 2 of the present invention is applicable;

FIG. 3 is a schematic diagram of the distribution of each area of a power exchange station to which Embodiment 2 of the present invention is applicable;

4 is a schematic structural diagram of a battery hoisting device and a beam of a power exchange station in a power exchange device to which Embodiment 2 of the present invention is applied;

FIG. 5 is a flowchart of a method for implementing a power swap according to Embodiment 3 of the present invention;

FIG. 6 is a flowchart of a method for implementing a power exchange according to Embodiment 4 of the present invention;

Reference numerals: first mobile device-1; second mobile device-2; first reading dock-3; second reading dock-4; -7; beam -8.

Detailed ways

In order to make those skilled in the art better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only Embodiments are part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that the terms "first", "second" and the like in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used may be interchanged under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

Example 1

FIG. 1 is a device structure of a power exchange device provided in Embodiment 1 of the present invention. As shown in Figure 1, the device includes:

A controller and at least one battery lifting device communicatively connected to the controller, the battery lifting device comprising a speed transmission mechanism:

The controller is used to control the battery lifting device to move to the position of the battery compartment, control the battery lifting device to grab or unload the battery; control the battery lifting device to move above the vehicle battery, control the battery lifting device to grab or put down the battery;

The controller is also used to control the speed transmission mechanism to adjust the speed at which the battery lifting device moves to the battery compartment or the vehicle-mounted battery.

The controller is the control core, which can be connected in communication with the battery hoisting device or with the speed transmission mechanism on the battery hoisting device, for controlling the battery hoisting device and the speed transmission mechanism.

Specifically, the controller can be used to control the battery lifting device to grab or unload the battery after the battery lifting device is moved to the position of the battery compartment; it can also control the battery lifting device to move above the vehicle battery and control the battery lifting device Grab or drop the battery. The battery lifting device can grab or put down the battery and move under the control of the controller.

In addition, the controller can also be used to control the speed transmission mechanism to adjust the speed at which the battery lifter moves to the battery compartment or vehicle battery. In the process of controlling the battery hoisting device to move to the battery compartment or vehicle battery, the controller adjusts the moving speed of the battery hoisting device on different paths according to the path characteristics of the battery hoisting device. For example, when the battery is in the path When there is no obstacle within the preset range, the battery lifting device can be moved faster; when the battery lifting device is about to reach the path node (such as the position above the battery compartment or the position above the vehicle battery), it can slow down until the battery is lifted. The device reaches the path node.

In the present application, the controller can control the battery hoisting device to realize the handling and pick-and-place of the battery. By adjusting the speed of the speed transmission mechanism, the battery hoisting device can select different moving speeds according to different path characteristics, so as to reduce the movement of the battery hoisting device in the whole process. The movement time in the path, thus saving the time of changing the power of the heavy truck.

Embodiment 2

FIG. 2 is an architecture of a control system in a power exchange device according to Embodiment 2 of the present invention. As shown in Figure 2, the device further includes a distance measuring device connected in communication with the controller;

The distance measuring device is used to measure the distance from the battery on the vehicle to the distance measuring device, and send the distance information to the controller;

The controller is also used to control the battery hoisting device to move to the position of the battery compartment according to the preset battery compartment coordinates, and control the battery hoisting device to grab or unload the battery; The coordinates of the battery on the vehicle; and according to the coordinates of the battery on the vehicle, the battery lifting device is controlled to move above the vehicle battery, and the battery lifting device is controlled to grab or put down the battery.

Among them, the distance measuring device can be set on one side of the vehicle parking area, specifically, it can be set at the position facing the battery box on the heavy truck, that is, after the heavy truck is parked in the vehicle parking area, the distance measuring device is facing the battery box at this time. The distance device can measure the distance from the battery box to the distance measuring device. In addition, the distance measuring device is connected in communication with the controller, and the distance measuring device can upload the measured distance information from the battery box to the distance measuring device to the controller. As shown in Figure 3, the regional distribution of the swap station includes the vehicle parking area and the battery storage area. The distance measuring device is set on one side of the vehicle parking area, facing the position of the battery box of the heavy truck; the battery storage area includes multiple battery compartments, such as The 1# compartment, 2# compartment, ... 8# compartment in Fig. 3; the battery lifting device in Fig. 3 is used to grab, put down or move the battery, including lifting the battery from the battery box position on the vehicle to the battery compartment position, or move the battery lift from the battery compartment to the battery box on the vehicle.

In addition, since the position of the distance measuring device is fixed, the coordinates of the distance measuring device have been set and written into the controller, so the control can be calculated according to the coordinates of the distance measuring device and the distance information uploaded by the distance measuring device. The specific coordinates of the battery on the heavy truck. Specifically, the distance-measuring device is specifically a distance-measuring sensor, which can communicate with the controller through the TCP protocol after being communicatively connected through the switch.

In a specific embodiment, the battery hoisting device includes a first mobile device movably connected to the cross beam of the swap station, a second mobile device movably connected to the first mobile device, and a mobile device disposed on the second mobile device Lifting spreader; there is a preset angular difference between the direction in which the first mobile device moves on the power exchange station and the direction in which the second mobile device moves on the first mobile device; the controller communicates with the first mobile device respectively, and the second mobile device device and lifting sling; the beam of the swap station extends from the battery placement area to the vehicle parking area;

The first moving device is used to move on the cross beam of the swap station at a first controlled speed and a first controlled direction after receiving the first control signal;

The second mobile device is configured to move on the first mobile device at a second controlled speed and a second controlled direction after receiving the second control signal;

The lift spreader is used to grab or put down the battery at a third controlled speed after receiving the third control signal.

The battery placement area is arranged on one side of the vehicle parking area, and steel beams are arranged above the battery placement area and the vehicle parking area, wherein the beams can be two parallel structures; the first mobile device arranged on the beam It can be moved on the beam, so that the first mobile device can move back and forth in the battery placement area and the vehicle parking area. Both ends of the first mobile device can be provided with rollers that are rollingly connected to the beam; the first mobile device can be Type II The structure includes a first steel frame and a second steel frame connecting both ends of the first moving device, the first steel frame and the second steel frame are arranged in parallel, so that the second moving device can be arranged between the first steel frame and the second steel frame and move back and forth on the first mobile device, the two ends of the second mobile device can be respectively provided with rollers that are connected to the first steel frame and the second steel frame in a rolling connection, and the second mobile device can also be a II-shaped structure, including The third steel frame and the fourth steel frame at both ends of the second mobile device are connected; the second mobile device is also provided with a lifting sling, the bottom of the lifting sling may include a claw hook for grabbing the battery, and the lifting sling can It is located between the first steel frame and the second steel frame, and can control the lifting device to move up and down under the second moving device, so as to grab or put down the battery. The connection structure diagram, wherein the moving direction of the first moving device is the X-axis direction in FIG. 3 , and the moving direction of the second moving device is the Y-axis direction.

Specifically, the first mobile device can be directly controlled by the controller. After the controller sends the first control signal to the first mobile device, the first mobile device can move on the cross beam of the swap station according to the first control signal. The speed can be changed in real time according to the control speed and control direction corresponding to the first control signal. Likewise, the second mobile device can be directly controlled by the controller. After the controller sends a second control signal to the second mobile device, the second mobile device can move on the first mobile device according to the second control signal, and its moving direction is the same as the The speed can be changed in real time according to the control speed and control direction corresponding to the second control signal. The lift spreader can also be directly controlled by the controller. When the controller sends the third control signal to the lift spreader, the lift spreader can move up and down according to the third control signal. The control speed and control direction corresponding to the three control signals are changed in real time.

In a specific embodiment, the speed transmission mechanism includes a first frequency converter arranged on the first mobile device, a second frequency converter arranged on the second mobile device, and a hoisting frequency converter arranged on the lifting sling The controller is respectively connected to the first frequency converter, the second frequency converter and the hoisting frequency converter in communication;

The first frequency converter is used to adjust the moving speed of the first mobile device after receiving the fourth control signal sent by the controller;

The second frequency converter is used to adjust the moving speed of the second mobile device after receiving the fifth control signal sent by the controller;

After receiving the sixth control signal sent by the controller, the hoisting frequency converter is used to adjust the speed at which the hoisting tool grabs or puts down the battery.

The speed transmission mechanism includes a hoisting frequency converter for controlling the hoisting speed of the lifting hoist, a first frequency converter for controlling the moving speed of the first mobile device, and a second frequency converter for controlling the moving speed of the second mobile device. Wherein, the first frequency converter is arranged on the first mobile device, the second frequency converter is arranged on the second mobile device, and the hoisting frequency converter is arranged on the lifting hoist.

The controller is respectively connected to the first frequency converter, the second frequency converter and the hoisting frequency converter. When the controller detects that the vehicle has been parked in the vehicle parking area, the distance measuring device sends the distance information from the battery on the vehicle to the distance measuring device. Uploaded to the controller, the controller can calculate the coordinates of the battery on the vehicle according to the coordinates of the distance measuring device and the distance information; according to the coordinates of the battery on the vehicle, the controller can control the battery lifting device to move above the battery on the vehicle, and By controlling the first inverter, the second inverter and the hoisting inverter, the speed of the first moving device, the second moving device and the lifting hoist can be controlled, so that the movement process of the battery hoisting device can be controlled as much as possible. The shortest time. Specifically, the first frequency converter can control the speed of the first mobile device when it moves along the extension direction of the cross beam of the swap station; the second frequency converter can control the speed of the second mobile device when it moves along the extension direction of the first mobile device; The frequency converter can control the speed when the lifting spreader moves up and down.

When the controller controls the movement of the battery hoisting device, the controller can send a fourth control signal to the first inverter, a fifth control signal to the second inverter, and a sixth control signal to the hoisting inverter at the same time. , thereby simultaneously controlling the movement speed of the battery hoisting device in the direction along the beam of the swap station, along the extending direction and the vertical direction of the first moving device. Specifically, the first inverter, the second inverter and the hoisting inverter can all communicate with the serial port server through the RS485 protocol, the serial port server communicates with the switch through the TCP protocol, and the switch communicates with the controller through the TCP protocol.

In a specific embodiment, the first mobile device is provided with a first reading dock, the second mobile device is provided with a second reading dock, and a cross beam of the swap station is provided along the extending direction of the cross beam with the first reading dock. The first marking code corresponding to the dock, the first mobile device is provided with a second marking code corresponding to the second reading dock along the moving direction of the second mobile device, and the controller communicates and connects the first reading dock and the second reading dock respectively;

The first reading dock is used to measure the position of the first mobile device on the beam of the battery swap station by scanning the first marking code on the beam of the battery swap station;

The second reading dock is used to measure the position of the second mobile device on the first mobile device by scanning the second marking code on the first mobile device.

Wherein, the first mobile device is provided with a first reading pier, the first reading pier can be arranged on both ends of the first mobile device, and the code reader on the first reading pier is set corresponding to the first label along the beam . The first marking code can be arranged on the outside of the beam or on the inner side of the beam, and the position of the first reading dock should correspond to the position of the first marking code, so that when the first moving device moves along the beam along the extending direction on the beam, When the first mobile device moves to a certain position on the beam, the first reading dock can read the code word corresponding to the first label of the beam at the position, and the read code word can be uploaded to the controller, and the controller can read the code word according to the code Measure and calculate the position of the first mobile device on the beam of the swap station.

Similarly, the second mobile device is provided with a second reading dock, the second reading dock can be arranged on both ends of the second mobile device, and the code reader on the second reading dock is set corresponding to the second label along the beam . Specifically, the second marking code can be set on the outer side of the first steel frame and the second steel frame on the first mobile device, or can be set on the inner side of the first steel frame and the second steel frame, and the position of the second reading dock should be the same as The positions of the second labels correspond to each other, so that when the second mobile device moves along the extending direction of the first mobile device on the first mobile device, when the second mobile device moves to a certain position on the first mobile device, the second reading The terminal can read the code word corresponding to the second label at the position, and the read code word can be uploaded to the controller, and the controller can calculate the position of the second mobile device on the first mobile device according to the code word. Specifically, both the first reading terminal and the second reading terminal can communicate with the controller through the switch using the TCP protocol.

In a specific embodiment, the lifting hoist further includes a hoisting encoder, and the hoisting encoder is connected in communication with the controller for detecting the moving distance of the lifting hoist.

Among them, the lifting hoist can use the hoisting encoder to measure the upward or downward moving distance of the lifting hoist, the hoisting encoder is connected to the controller in communication, and the hoisting encoder can upload the detected moving distance of the lifting hoist. to the controller, so that the controller can monitor the position of the hoisting spreader. In this application, a high-precision absolute encoder can be used to detect the moving distance of the lifting spreader, so as to ensure that the battery spreader device can accurately place the battery into the battery placement place on the vehicle, or from the battery placement place on the vehicle. Remove the battery. Specifically, the hoisting encoder can communicate with the controller through the switch using the TCP protocol.

In this embodiment, the controller controls the first mobile device, the second mobile device and the lifting hoist respectively, so as to control the three directions of grabbing the battery; the controller controls the first frequency converter, the second frequency converter and the The hoisting frequency converter realizes the adjustment of the moving speed of the first mobile device, the second mobile device and the lifting hoisting device; through the above-mentioned control of the moving direction and speed of the battery hoisting device, it is possible to control the battery after hoisting the battery. There are different moving paths and the moving speed on each path, so that the moving time of the battery lifting device in the entire moving path is reduced, thereby reducing the battery replacement time of the heavy truck.

Embodiment 3

FIG. 5 is a method flow chart of a battery swapping method according to Embodiment 3 of the present invention. As shown in Figure 3, the method includes:

301. Control the first battery lifting device to move above the vehicle battery, and control the first battery lifting device to grab the vehicle battery;

302. Control the first battery lifting device for grabbing the vehicle battery to move above the vacant battery compartment, and control the first battery lifting device to put down the vehicle battery;

303. Control the first battery lifting device to move above the battery compartment where the fully charged battery is placed, and control the first battery lifting device to grab the fully charged battery;

304. Control the first battery lifting device that grabs the fully charged battery to move to the place where the vehicle battery is placed, and control the first battery lifting device to put down the fully charged battery.

Wherein, the battery swapping device includes a first battery hoisting device, and the controller can perform battery replacement of the battery swapping vehicle by controlling the first battery hoisting device. Specifically, when the first battery hoisting device is controlled to remove the empty battery on the battery-changing vehicle, the first battery hoisting device does not hoist the battery at this time, so the first battery hoisting device can be controlled to hoist the inverter at the same time. The first frequency converter and the second frequency converter speed up the operation, so that the first battery lifting device can quickly move to the top of the vehicle battery; after reaching the vehicle battery, the lifting frequency converter can be controlled to control the lifting spreader to quickly descend. The battery lifting device moves to the vehicle-mounted battery and stops. When the lifting claw of the lifting hoist grasps the battery, the battery is lifted to a high position, and then the first battery lifting device is controlled to move to the top of the empty battery compartment to control the first battery lifting device. The device puts down the vehicle battery into the battery compartment, and controls the lifting claw to release the battery.

When the first battery hoisting device is controlled to place the fully charged battery on the battery-changing vehicle, the hoisting inverter of the first battery hoisting device can be controlled, and the first inverter and the second inverter are accelerated to run, so that the first battery hoisting device can be hoisted. The pick-up device quickly reaches the top of the fully charged battery. After controlling the hook to grab the fully charged battery, control the first battery pick-up device to move to the top of the battery box of the battery swapping vehicle, and then put the fully charged battery on the battery box of the vehicle. , After controlling the hanging claw to release the battery, it quickly returns to the initial position to complete the battery replacement process of the vehicle.

In a specific embodiment, before controlling the first battery lifting device to move above the vehicle-mounted battery, and controlling the first battery lifting device to grasp the vehicle-mounted battery, the method further includes:

Receive the distance information from the vehicle battery measured by the ranging device to the ranging device;

Calculate the coordinates of the vehicle battery according to the distance information and the preset coordinates of the distance measuring device.

Specifically, the power exchange device also includes a distance measuring device. The distance measuring device can be set at a position facing the battery box on the heavy truck, that is, after the heavy truck is parked in the vehicle parking area, the distance measuring device is facing the battery box at this time. The distance from the battery box to the distance measuring device can be measured. In addition, since the position of the distance measuring device is fixed, the coordinates of the distance measuring device have been set and written into the controller, so the controller can calculate the heavy truck according to the coordinates of the distance measuring device and the distance information uploaded by the distance measuring device. The specific coordinates of the upper battery. When the controller detects that the vehicle has been parked in the vehicle parking area, the distance measuring device can upload the measured distance information from the vehicle battery to the distance measuring device to the controller, and the controller can use the distance information and the preset coordinates of the distance measuring device to upload Calculate the coordinates of the on-board battery.

In a specific embodiment, controlling the first battery lifting device to move above the vehicle battery, and controlling the first battery lifting device to grab the vehicle battery, includes:

Adjust the moving direction and speed of the first mobile device, the second mobile device and the lifting spreader respectively, so that the first battery lifting device moves above the vehicle battery, control the lifting spreader to lower, so that the lifting spreader moves to the vehicle battery position to grab Take the car battery.

Wherein, the first battery hoisting device includes a first mobile device movably connected to the cross beam of the swap station, a second mobile device movably connected to the first mobile device, and a lifting hoist provided on the second mobile device; There is a preset angular difference between the direction in which a mobile device moves on the power exchange station and the direction in which the second mobile device moves on the first mobile device.

Specifically, when the first battery hoisting device does not hoist the battery, the controller can control the hoisting hoisting device, the first moving device and the second hoisting device by controlling the hoisting inverter, the first inverter and the second inverter respectively. The speed of the mobile device is accelerated, so that the first battery lifting device can quickly reach the top of the vehicle battery, and the lifting and lifting device can be quickly lowered by controlling the lifting inverter, so that the first battery lifting device can spend less time grabbing car battery.

Embodiment 4

FIG. 6 is a method flowchart of a battery swapping method according to Embodiment 4 of the present invention. As shown in Figure 4, the method includes:

controlling the first battery lifting device to move above the vehicle battery, and controlling the first battery lifting device to grab the vehicle battery;

Controlling the second battery lifting device to move above the battery compartment where the fully charged battery is placed, and controlling the second battery lifting device to grab the fully charged battery;

The first battery lifting device is controlled to move out of the vehicle battery, and the second battery lifting device that grabs the fully charged battery is controlled to move to the vehicle battery placement position, and the second battery lifting device is controlled to put down the fully charged battery.

Wherein, the power exchange device includes a first battery hoisting device and a second battery hoisting device,

This embodiment can be executed simultaneously by using two battery lifting devices, controlling the first battery lifting device to remove the empty battery on the battery-changing vehicle, and controlling the second battery lifting device to discharge the fully charged battery on the battery-changing vehicle .

Specifically, when the first battery hoisting device is controlled to remove the empty battery on the battery-swap vehicle, the first battery hoisting device does not hoist the battery at this time, so the hoisting inverter of the first battery hoisting device can be controlled at the same time , the first frequency converter and the second frequency converter accelerate operation, so that the first battery lifting device can quickly move to the top of the vehicle battery. A battery hoisting device moves to the vehicle-mounted battery and stops. When the lifting claw of the lifting hoist grasps the battery, the battery is lifted to a high position; at the same time, it controls the hoisting inverter, the first inverter and the second battery hoisting device. The second frequency converter accelerates operation, so that the first battery lifting device quickly reaches the top of the fully charged battery, and controls the lifting claw to grasp the fully charged battery.

Control the first battery lifting device that grabs the empty vehicle battery to move out of the vehicle battery, control the second battery lifting device that grabs the fully charged battery to move to the place where the vehicle battery is placed, and controls the second battery lifting device to put down the fully charged The battery, the second battery lifting device puts down the fully charged battery and quickly returns to the top of the battery box of the battery-changing vehicle to complete the battery-changing process of the vehicle.

In this embodiment, the first battery hoisting device is controlled to remove the empty battery on the battery-changing vehicle, and the second battery hoisting device is controlled to place the fully charged battery on the battery-changing vehicle, so that the empty battery is removed during the battery-changing process. The steps of charging the battery and putting in a fully charged battery are performed synchronously, so that the entire vehicle battery swap time is greatly reduced.

It should be understood that steps may be reordered, added or deleted using the various forms of flow shown above. For example, the steps described in the present invention can be performed in parallel, sequentially or in different orders, and as long as the desired results of the technical solutions of the present invention can be achieved, no limitation is imposed herein.

The above-mentioned specific embodiments do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. A power exchange device, comprising: a controller and at least one battery hoisting device communicatively connected to the controller, the battery hoisting device comprising a speed transmission mechanism: The controller is used to control the battery hoisting device to move to the position of the battery compartment, control the battery hoisting device to grab or unload the battery; control the battery hoisting device to move above the vehicle battery, control the battery hoisting device Pick up the device to grab or put down the battery; The controller is also used for controlling the speed transmission mechanism to adjust the speed of the battery lifting device moving to the battery compartment or the vehicle battery. 2 . The power exchange device according to claim 1 , further comprising a distance measuring device communicatively connected to the controller; 2 . The distance measuring device is used to measure the distance from the battery on the vehicle to the distance measuring device, and send the distance information to the controller; The controller is also used to control the battery lifting device to move to the battery chamber position according to the preset battery chamber coordinates, and control the battery lifting device to grab or unload the battery; The coordinates of the distance measuring device and the distance information are used to calculate the coordinates of the battery on the vehicle; and according to the coordinates of the battery on the vehicle, the battery lifting device is controlled to move above the vehicle battery, and the battery lifting device is controlled to grab or put down Battery. 3 . The power exchange device according to any one of claims 1 to 2 , wherein the battery hoisting device comprises a first mobile device movably connected to the cross beam of the power exchange station, and movably connected to the first mobile device. 4 . A second mobile device that is mobile connected, and a lifting hoist provided on the second mobile device; the direction in which the first mobile device moves on the swap station There is a preset angle difference in the direction of upward movement; the controller is respectively connected to the first mobile device, the second mobile device and the lifting sling; the cross beam of the swap station extends along the battery placement area to the vehicle parking area; The first moving device is used to move on the cross beam of the swap station at a first controlled speed and a first controlled direction after receiving the first control signal; the second mobile device is configured to move on the first mobile device at a second controlled speed and a second controlled direction after receiving the second control signal; The lift spreader is used to grab or put down the battery at a third controlled speed after receiving the third control signal. 4 . The power exchange device according to claim 3 , wherein the speed transmission mechanism comprises a first frequency converter arranged on the first moving device, and a second frequency converter arranged on the second moving device. 5 . a frequency converter, and a hoisting frequency converter arranged on the lifting sling; the controller is respectively connected to the first frequency converter, the second frequency converter and the hoisting frequency converter; The first frequency converter is configured to adjust the moving speed of the first mobile device after receiving the fourth control signal sent by the controller; The second frequency converter is configured to adjust the moving speed of the second mobile device after receiving the fifth control signal sent by the controller; The hoisting frequency converter is used to adjust the speed at which the hoisting tool grabs or puts down the battery after receiving the sixth control signal sent by the controller. 5 . The power exchange device according to claim 3 , wherein a first reading dock is provided on the first mobile device, a second reading dock is provided on the second mobile device, and the upper edge of the beam of the power exchange station The beam is provided with a first marking code corresponding to the first reading dock along the extending direction, and a second marking code corresponding to the second reading dock is set on the first mobile device along the moving direction of the second mobile device , the controller communicates with the first reading terminal and the second reading terminal respectively; The first reading dock is used to measure the position of the first mobile device on the cross-beam of the power-changing station by scanning the first marking code on the cross-beam of the power-changing power station; The second reading dock is used to measure the position of the second mobile device on the first mobile device by scanning the second marking code on the first mobile device. 6 . The power exchange device according to claim 3 , wherein the lifting sling further comprises a hoisting encoder, the hoisting encoder is communicatively connected with the controller, and is used to detect the Moving distance. 7 . A method for exchanging a battery, implemented based on the device for exchanging power according to any one of claims 1 to 6 , wherein the device for exchanging power comprises a first battery hoisting device; controlling the first battery lifting device to move above the vehicle battery, and controlling the first battery lifting device to grab the vehicle battery; controlling the first battery lifting device that grabs the vehicle battery to move above the vacant battery compartment, and controlling the first battery lifting device to put down the vehicle battery; controlling the first battery lifting device to move above the battery compartment where the fully charged battery is placed, and controlling the first battery lifting device to grab the fully charged battery; The first battery lifting device that controls the fully charged battery is moved to a vehicle battery placement position, and the first battery lifting device is controlled to put down the fully charged battery. 8 . The battery swapping method according to claim 7 , wherein the battery swapping device further comprises a distance measuring device, which controls the first battery lifting device to move above the vehicle battery and controls the The first battery hoisting device grabs the vehicle battery, and further includes: receiving distance information from the vehicle battery to the distance measuring device measured by the distance measuring device; The coordinates of the vehicle battery are calculated according to the distance information and the preset coordinates of the distance measuring device. 9 . The battery swapping method according to claim 8 , wherein the first battery hoisting device comprises a first moving device movably connected to a crossbeam of the swapping station, and a first moving device movably connected to the first moving device. 10 . A second mobile device, and a lifting hoist provided on the second mobile device; the direction in which the first mobile device moves on the swap station is the same as the direction in which the second mobile device moves on the first mobile device There is a preset angle difference in the direction; Controlling the first battery lifting device to move above the vehicle battery, and controlling the first battery lifting device to grab the vehicle battery, includes: Adjust the moving direction and speed of the first moving device, the second moving device and the lifting sling, respectively, so that the first battery lifting device moves above the vehicle battery to control the lifting sling Put down, and move the lift spreader to the position of the on-board battery to grab the on-board battery. 10. A method for battery swapping, implemented based on the battery swapping device according to any one of claims 1-6, wherein the battery swapping device comprises a first battery hoisting device and a second battery hoisting device; controlling the first battery lifting device to move above the vehicle battery, and controlling the first battery lifting device to grab the vehicle battery; Controlling the second battery lifting device to move above the battery compartment where the fully charged battery is placed, and controlling the second battery lifting device to grab the fully charged battery; Controlling the first battery hoisting device to move out of the vehicle battery, and controlling the second battery hoisting device that grabs the fully charged battery to move to the place where the vehicle battery is placed, and controlling the second battery hoisting device Put down the fully charged battery.

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