阅读说明：本技术 电池取放方法及系统 (Battery taking and placing method and system ) 是由 *** 陈志浩 陆文成 于 2018-09-10 设计创作，主要内容包括：本发明公开了一种电池取放方法及系统。电池取放方法包括以下步骤：控制推杆相对于托盘运动；和调整托盘高度,以使得托盘的靠近目标物的一端与目标物的高度差在一阈值范围内；其中,托盘和目标物均用于支撑电池,推杆用于作用于电池以使得电池在受托盘支撑和受目标物支撑之间切换。电池取放系统包括：推杆、托盘和控制器；控制器用于控制推杆相对于托盘运动；并且控制器还用于调整托盘高度,以使得托盘的靠近目标物的一端与目标物的高度差在一阈值范围内。以上,实时调整托盘的高度(即理论高度),从而能够电池不会由于托盘与目标物的实际高度差过大而卡住,减小换电失败率。(The invention discloses a battery taking and placing method and system. The battery taking and placing method comprises the following steps: controlling the push rod to move relative to the tray; adjusting the height of the tray so that the height difference between one end of the tray close to the target object and the target object is within a threshold range; the tray and the target are used for supporting the battery, and the push rod is used for acting on the battery to enable the battery to be switched between being supported by the tray and being supported by the target. The battery taking and placing system comprises: a push rod, a tray and a controller; the controller is used for controlling the push rod to move relative to the tray; and the controller is also used for adjusting the height of the tray so that the height difference between one end of the tray close to the target object and the target object is within a threshold range. Therefore, the height (namely the theoretical height) of the tray is adjusted in real time, so that the battery cannot be clamped due to overlarge actual height difference between the tray and the target object, and the failure rate of battery replacement is reduced.)

1. A battery taking and placing method is characterized by comprising the following steps:

controlling the push rod to move relative to the tray; and

adjusting the height of the tray so that the height difference between one end of the tray close to the target object and the target object is within a threshold range;

wherein the tray and the object are both used for supporting a battery, and the push rod is used for acting on the battery so as to switch the battery between being supported by the tray and being supported by the object.

2. The method of claim 1, wherein the adjusting the tray height specifically comprises: the height of the tray is adjusted at a preset speed.

3. The method of claim 1, wherein the adjusting the tray height specifically comprises: adjusting the height of the tray according to the position of the push rod;

preferably, the battery taking and placing method further comprises the following steps:

and determining the position of the push rod according to the parameters of a servo motor for driving the push rod to move.

4. The method of claim 1, wherein the adjusting the tray height specifically comprises:

acquiring an expected movement direction of the tray; and

adjusting the height of the tray in a direction opposite to the direction of intended movement of the tray when a positioning element does not detect a reference element;

wherein the expected moving direction of the tray is downward when the load of the tray becomes large, and upward when the load of the tray becomes small; the positioning element and the reference element are oppositely arranged, one of the positioning element and the reference element is arranged on the tray, and the other of the positioning element and the reference element is arranged on the target object;

preferably, the positioning element is a laser positioning instrument, and the reference element is a reflector.

5. The battery pick-and-place method of claim 1, wherein:

the control push rod moves relative to the tray and comprises the following steps:

controlling the push rod to extend to push the battery to move relative to the tray, so that the battery is switched from being supported by the tray to being supported by the target;

and/or controlling the push rod to retract so as to pull the battery to move relative to the tray, so that the battery is switched from being supported by the target object to being supported by the tray; and is

The adjusting of the height of the tray comprises the following steps:

when the push rod extends out, the height of the tray is adjusted downwards;

and/or, when the push rod retracts, the height of the tray is adjusted upwards.

6. The battery handling method according to claim 5, wherein when the push rod is extended, the end of the tray close to the target is higher than or flush with the target; and/or, when the push rod retracts, the end of the tray close to the target object is lower than the target object or is flush with the target object.

7. The battery pick-and-place method of claim 1, further comprising the steps of:

and pre-adjusting the height of the tray before controlling the push rod to move relative to the tray, so that the height difference between the end of the tray close to the target object and the target object is within the threshold range.

8. The battery handling method of claim 7,

the control push rod moves relative to the tray and comprises the following steps:

controlling the push rod to extend to push the battery to move relative to the tray, so that the battery is switched from being supported by the tray to being supported by the target;

and/or controlling the push rod to retract so as to pull the battery to move relative to the tray, so that the battery is switched from being supported by the target object to being supported by the tray; and is

The pre-adjusting the height of the tray before controlling the push rod to move relative to the tray comprises the following steps:

adjusting the end of the tray near the target to be higher than or level with the target before the push rod is extended;

and/or, before the push rod retracts, adjusting the end of the tray close to the target object to be lower than the target object or level with the target object.

9. The battery handling method of any of claims 1-8, further comprising:

acquiring a positioning detection state of a positioning sensor; the positioning detection state is used for indicating whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used for indicating the distance between the positioning position of the push rod and the battery;

and judging whether the positioning detection state is that the positioning distance signal is not detected, if so, stopping the movement of the push rod and/or indicating abnormal information.

10. The method according to claim 9, wherein the acquiring the positioning detection state of the positioning sensor specifically comprises: acquiring the positioning detection states of at least two positioning sensors, wherein the at least two positioning sensors are arranged at intervals;

the step of determining whether the positioning detection state is that the positioning distance signal is not detected specifically includes: and judging whether the positioning detection state of at least one positioning sensor is that the positioning distance signal is not detected.

11. A battery handling system, comprising: a push rod, a tray and a controller;

the controller is used for controlling the push rod to move relative to the tray; the controller is further used for adjusting the height of the tray, so that the height difference between one end of the tray close to the target object and the target object is within a threshold range;

the tray and the target are used for supporting a battery, and the push rod is used for acting on the battery to enable the battery to be switched between being supported by the tray and being supported by the target.

12. The battery handling system of claim 11, wherein the controller is configured to adjust the height of the tray at a predetermined speed.

13. The battery handling system of claim 11, wherein the controller is configured to adjust a height of the tray based on a position of the pusher;

preferably, the battery taking and placing system further comprises: the servo motor is used for driving the push rod to move, and the controller is further used for determining the position of the push rod according to parameters of the servo motor.

14. The battery handling system of claim 11, wherein the controller is configured to adjust a tray height, comprising:

the controller is used for acquiring the expected movement direction of the tray; and

the controller is used for adjusting the height of the tray in a direction opposite to the expected movement direction of the tray when the reference element is not detected by the positioning element;

wherein the expected moving direction of the tray is downward when the load of the tray becomes large, and upward when the load of the tray becomes small; the positioning element and the reference element are oppositely arranged, one of the positioning element and the reference element is arranged on the tray, and the other of the positioning element and the reference element is arranged on the target object;

preferably, the positioning element is a laser positioning instrument, and the reference element is a reflector.

15. The battery handling system of claim 11, wherein:

the controller is used for controlling the push rod to move relative to the tray, and comprises:

the controller is used for controlling the push rod to extend to push the battery to move relative to the tray, so that the battery is switched from being supported by the tray to being supported by the target object;

and/or the controller is used for controlling the push rod to retract so as to pull the battery to move relative to the tray, so that the battery is switched from being supported by the target object to being supported by the tray; and the controller is used for adjusting the height of the tray, and comprises:

the controller is used for adjusting the height of the tray downwards when the push rod extends out;

and/or the controller is used for adjusting the height of the tray upwards when the push rod retracts.

16. The battery handling system of claim 15, wherein the controller is configured to cause the end of the tray proximate to the target to be higher than or flush with the target when the pushrod is extended; and/or the controller is used for enabling the end of the tray close to the target object to be lower than the target object or level with the target object when the push rod retracts.

17. The battery handling system of claim 11, wherein the controller is further configured to pre-adjust the tray height before controlling the movement of the pusher relative to the tray such that the difference in height between the end of the tray near the target and the target is within the threshold range.

18. The battery handling system of claim 17,

the controller is used for controlling the push rod to move relative to the tray, and comprises:

the controller is used for controlling the push rod to extend to push the battery to move relative to the tray, so that the battery is switched from being supported by the tray to being supported by the target object;

and/or the controller is used for controlling the push rod to retract so as to pull the battery to move relative to the tray, so that the battery is switched from being supported by the target object to being supported by the tray; and is

The controller is used for presetting the height of the tray before controlling the push rod to move relative to the tray, and comprises:

the controller is used for adjusting the end of the tray close to the target object to be higher than or level with the target object before the push rod extends out;

and/or the controller is used for adjusting the end of the tray close to the target object to be lower than or level with the target object before the push rod retracts.

19. The battery handling system of any one of claims 11-18, further comprising: a positioning sensor;

the controller is also used for acquiring the positioning detection state of the positioning sensor; the positioning detection state is used for indicating whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used for indicating the distance between the positioning position of the push rod and the battery;

the controller is further used for judging whether the positioning detection state is that the positioning distance signal is not detected, and if so, stopping the movement of the push rod and/or indicating abnormal information.

20. The battery handling system of claim 19, wherein the battery handling system comprises: at least two positioning sensors which are arranged at intervals; the controller is used for acquiring the positioning detection states of at least two positioning sensors; and is

The controller is configured to determine whether the positioning detection state is that the positioning distance signal is not detected, specifically: the controller is used for judging whether the positioning detection state of at least one positioning sensor is that the positioning distance signal is not detected.

Technical Field

The invention relates to a battery taking and placing method and system.

Background

In the case of a power-change electric vehicle, it is necessary to replace a battery regularly or irregularly. Generally, the battery replacement equipment is fixed at a specified position, and the electric vehicle is controlled to stop near the battery replacement equipment for battery replacement. In addition, the battery replacement also comprises the step that the tray of the battery replacement equipment takes out the battery from the battery compartment, and the battery compartment is also provided with a battery supporting device.

The battery replacing step is that the tray of the battery replacing device extends to align with the battery supporting device on the electric automobile or the battery compartment, the push rod pulls the battery from the battery supporting device to the tray to realize the taking out of the old battery on the electric automobile or the taking out of the new battery on the battery compartment, and the push rod pushes the battery from the tray to the battery supporting device to realize the placing of the new battery on the electric automobile or the placing of the old battery on the battery compartment.

Because the weight of the battery is large, when the battery is positioned on the tray, the battery can press the tray downwards to cause elastic deformation, so that the actual height of the tray can be lower than the theoretical set height; when the battery is positioned on the battery supporting device of the electric automobile, the battery can move downwards to press the battery supporting device, and the elastic deformation of the tire can be changed, so that the height of the battery supporting device is changed.

When the battery is placed, as the battery on the tray gradually moves onto the battery supporting device, the bearing capacity of the tray gradually decreases, the deformation decreases, the pressing amount of the tray decreases, and the pressing amount of the battery supporting device increases; when the battery is taken out, as the battery on the battery supporting device gradually moves to the tray, the bearing capacity of the tray gradually increases, the deformation of the tray increases, the pressing-down capacity of the tray increases, and the pressing-down capacity of the battery supporting device decreases. That is, the actual height of the tray may actually change without adjusting the theoretical height of the tray. In addition, when the battery is taken and placed, the tray is in a cantilever state, and one end of the tray close to the battery supporting device can be further deformed and pressed downwards.

Therefore, the tray and the battery supporting device are not aligned in height in the battery replacement process, so that the battery is clamped, and battery replacement failure can be caused under severe conditions.

Disclosure of Invention

The invention aims to overcome the defect that the height of a tray and a battery supporting device (namely a target object) is possibly not aligned during battery replacement in the prior art, so that a battery is clamped, and provides a battery taking and placing method and a battery taking and placing system.

The invention solves the technical problems through the following technical scheme:

a battery taking and placing method is characterized by comprising the following steps:

controlling the push rod to move relative to the tray; and

adjusting the height of the tray so that the height difference between one end of the tray close to the target object and the target object is within a threshold range;

wherein the tray and the object are both used for supporting a battery, and the push rod is used for acting on the battery so as to switch the battery between being supported by the tray and being supported by the object.

Preferably, the threshold range is ± 2 mm.

Preferably, the target is a battery support device of an electric vehicle or a battery support device of a battery compartment.

Preferably, the height of the adjusting tray is specifically: the height of the tray is adjusted at a preset speed.

In the technical scheme, the preset speed can be determined according to factors such as the structure and the size of the battery, the push-pull speed of the push rod and the like, and the height of the tray can be controlled by a simple method.

Preferably, the height of the adjusting tray is specifically: and adjusting the height of the tray according to the position of the push rod.

In the technical scheme, the position of the battery can be judged according to the position of the push rod, so that the weight borne by the tray can be judged, the expected height of the tray can be determined, and the height of the tray can be adjusted to the expected height.

Preferably, the battery taking and placing method further comprises the following steps:

and determining the position of the push rod according to the parameters of a servo motor for driving the push rod to move.

In the technical scheme, the push rod moves under the driving of the servo motor, and the parameters of the servo motor are easy to obtain, so that the position of the push rod can be conveniently determined.

Preferably, the height of the adjusting tray is specifically:

acquiring an expected movement direction of the tray; and

adjusting the height of the tray in a direction opposite to the direction of intended movement of the tray when a positioning element does not detect a reference element;

wherein the expected moving direction of the tray is downward when the load of the tray becomes large, and upward when the load of the tray becomes small; the positioning element and the reference element are oppositely arranged, one of the positioning element and the reference element is arranged on the tray, and the other of the positioning element and the reference element is arranged on the target object.

In the technical scheme, the height of the tray can be adjusted in real time according to whether the reference element is detected by the positioning element. In the process that the push rod retracts to switch the battery from being supported by the target object to being supported by the tray: initially, the tray is aligned with the target (i.e., the height difference is within a threshold range), and the reference element can be detected by the positioning element; as the load on the pallet becomes greater, the pallet is pressed more (so the intended direction of movement is downward); until the positioning element does not detect the reference element, indicating that the tray and the target are no longer aligned (i.e., the height difference exceeds the threshold range), the tray needs to be adjusted upward. And in the process that the push rod extends out to switch the battery from being supported by the tray to being supported by the target object: initially, the tray is aligned with the target (i.e., the height difference is within a threshold range), and the reference element can be detected by the positioning element; as the load of the pallet becomes smaller, the pallet depression decreases (so the intended direction of movement is upward); until the positioning element does not detect the reference element, indicating that the tray and the target are no longer aligned (i.e., the height difference exceeds the threshold range), the tray needs to be lowered.

Preferably, the positioning element is a laser positioning instrument, and the reference element is a reflector.

In the above technical solution, the positioning element may be installed on the tray side, and the reference element may be installed on the object side; or the positioning element may be mounted on the object side and the reference element may be mounted on the tray side; as long as the reflector can assist the laser positioning instrument to work.

Preferably, said control rod moving relative to the tray comprises the steps of:

controlling the push rod to extend to push the battery to move relative to the tray, so that the battery is switched from being supported by the tray to being supported by the target;

and/or controlling the push rod to retract so as to pull the battery to move relative to the tray, so that the battery is switched from being supported by the target object to being supported by the tray; and is

The adjusting of the height of the tray comprises the following steps:

when the push rod extends out, the height of the tray is adjusted downwards;

and/or, when the push rod retracts, the height of the tray is adjusted upwards.

In the technical scheme, when the push rod extends out, because the bearing of the tray is smaller and smaller, if the height of the tray is not actively adjusted, the height of the tray is increased compared with that of the tray when the tray is initially fully loaded; alignment can be maintained by lowering the height of the tray downward. When the push rod retracts, the tray is reduced in height compared with the initial empty state due to the fact that the tray bears larger and larger load, and the height of the tray is not actively adjusted; alignment can be maintained by adjusting the height of the tray upward.

Preferably, when the push rod is extended, the end of the tray close to the target object is higher than the target object or is flush with the target object; and/or, when the push rod retracts, the end of the tray close to the target object is lower than the target object or is flush with the target object.

In the technical scheme, when the push rod extends out, the battery moves from the tray to the target object, and the target object is flush with the tray or lower than the target object, so that the battery can further conveniently move; when the push rod retracts, the battery moves from the target object to the tray, and the target object is flush with the tray or higher so that the movement of the battery can be further facilitated.

Preferably, the battery taking and placing method further comprises the following steps:

and pre-adjusting the height of the tray before controlling the push rod to move relative to the tray, so that the height difference between the end of the tray close to the target object and the target object is within the threshold range.

By adopting the arrangement, the tray is aligned with the target object in the initial state.

Preferably, said control rod moving relative to the tray comprises the steps of:

controlling the push rod to extend to push the battery to move relative to the tray, so that the battery is switched from being supported by the tray to being supported by the target;

and/or controlling the push rod to retract so as to pull the battery to move relative to the tray, so that the battery is switched from being supported by the target object to being supported by the tray; and is

The pre-adjusting the height of the tray before controlling the push rod to move relative to the tray comprises the following steps:

adjusting the end of the tray near the target to be higher than or level with the target before the push rod is extended;

and/or, before the push rod retracts, adjusting the end of the tray close to the target object to be lower than the target object or level with the target object.

In the technical scheme, when the push rod extends out, the battery moves from the tray to the target object, so that the battery can be further conveniently moved by adjusting the position before the push rod extends out until the target object is flush with the tray or the target object is lower; when the pusher is retracted, the battery moves from the object onto the tray, so adjusting to the object flush with the tray or higher before retraction can further facilitate movement of the battery.

Preferably, the battery taking and placing method further comprises the following steps:

acquiring a positioning detection state of a positioning sensor; the positioning detection state is used for indicating whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used for indicating the distance between the positioning position of the push rod and the battery;

and judging whether the positioning detection state is that the positioning distance signal is not detected, if so, stopping the movement of the push rod and/or indicating abnormal information.

In the technical scheme, the positioning sensor can detect whether the push rod normally acts on the battery, and in an abnormal condition (such as the condition without the battery), the push rod stops moving and/or indicates abnormal information to prevent errors.

Preferably, the acquiring of the positioning detection state of the positioning sensor specifically includes: acquiring the positioning detection states of at least two positioning sensors, wherein the at least two positioning sensors are arranged at intervals;

the step of determining whether the positioning detection state is that the positioning distance signal is not detected specifically includes: and judging whether the positioning detection state of at least one positioning sensor is that the positioning distance signal is not detected.

Among the above-mentioned technical scheme, two positioning sensor make detect more accurate.

A battery handling system, comprising: a push rod, a tray and a controller;

the controller is used for controlling the push rod to move relative to the tray; the controller is further used for adjusting the height of the tray, so that the height difference between one end of the tray close to the target object and the target object is within a threshold range;

the tray and the target are used for supporting a battery, and the push rod is used for acting on the battery to enable the battery to be switched between being supported by the tray and being supported by the target.

Preferably, the threshold range is ± 2 mm.

Preferably, the target is a battery support device of an electric vehicle or a battery support device of a battery compartment.

Preferably, the controller is configured to adjust the height of the tray at a predetermined speed.

In the technical scheme, the preset speed can be determined according to factors such as the structure and the size of the battery, the push-pull speed of the push rod and the like, and the height of the tray can be controlled by a simple method.

Preferably, the controller is configured to adjust the height of the tray according to the position of the push rod.

In the technical scheme, the position of the battery can be judged according to the position of the push rod, so that the weight borne by the tray can be judged, the expected height of the tray can be determined, and the height of the tray can be adjusted to the expected height.

Preferably, the battery taking and placing system further comprises: the servo motor is used for driving the push rod to move, and the controller is further used for determining the position of the push rod according to parameters of the servo motor.

In the technical scheme, the push rod moves under the driving of the servo motor, and the parameters of the servo motor are easy to obtain, so that the position of the push rod can be conveniently determined.

Preferably, the controller is for adjusting a tray height, and includes:

the controller is used for acquiring the expected movement direction of the tray; and

the controller is used for adjusting the height of the tray in a direction opposite to the expected movement direction of the tray when the reference element is not detected by the positioning element;

wherein the expected moving direction of the tray is downward when the load of the tray becomes large, and upward when the load of the tray becomes small; the positioning element and the reference element are oppositely arranged, one of the positioning element and the reference element is arranged on the tray, and the other of the positioning element and the reference element is arranged on the target object.

In the technical scheme, the height of the tray can be adjusted in real time according to whether the reference element is detected by the positioning element. In the process that the push rod retracts to switch the battery from being supported by the target object to being supported by the tray: initially, the tray is aligned with the target (i.e., the height difference is within a threshold range), and the reference element can be detected by the positioning element; as the load on the pallet becomes greater, the pallet is pressed more (so the intended direction of movement is downward); until the positioning element does not detect the reference element, indicating that the tray and the target are no longer aligned (i.e., the height difference exceeds the threshold range), the tray needs to be adjusted upward. And in the process that the push rod extends out to switch the battery from being supported by the tray to being supported by the target object: initially, the tray is aligned with the target (i.e., the height difference is within a threshold range), and the reference element can be detected by the positioning element; as the load of the pallet becomes smaller, the pallet depression decreases (so the intended direction of movement is upward); until the positioning element does not detect the reference element, indicating that the tray and the target are no longer aligned (i.e., the height difference exceeds the threshold range), the tray needs to be lowered.

Preferably, the positioning element is a laser positioning instrument, and the reference element is a reflector.

In the above technical solution, the positioning element may be installed on the tray side, and the reference element may be installed on the object side; or the positioning element may be mounted on the object side and the reference element may be mounted on the tray side; as long as the reflector can assist the laser positioning instrument to work.

Preferably, the controller is used for controlling the push rod to move relative to the tray, and comprises:

the controller is used for controlling the push rod to extend to push the battery to move relative to the tray, so that the battery is switched from being supported by the tray to being supported by the target object;

and/or the controller is used for controlling the push rod to retract so as to pull the battery to move relative to the tray, so that the battery is switched from being supported by the target object to being supported by the tray; and is

The controller is used for adjusting the tray height, includes:

the controller is used for adjusting the height of the tray downwards when the push rod extends out;

and/or the controller is used for adjusting the height of the tray upwards when the push rod retracts.

In the technical scheme, when the push rod extends out, because the bearing of the tray is smaller and smaller, if the height of the tray is not actively adjusted, the height of the tray is increased compared with that of the tray when the tray is initially fully loaded; alignment can be maintained by lowering the height of the tray downward. When the push rod retracts, the tray is reduced in height compared with the initial empty state due to the fact that the tray bears larger and larger load, and the height of the tray is not actively adjusted; alignment can be maintained by adjusting the height of the tray upward.

Preferably, the controller is configured to make the end of the tray close to the target object higher than or flush with the target object when the push rod is extended; and/or the controller is used for enabling the end of the tray close to the target object to be lower than the target object or level with the target object when the push rod retracts.

In the technical scheme, when the push rod extends out, the battery moves from the tray to the target object, and the target object is flush with the tray or lower than the target object, so that the battery can further conveniently move; when the push rod retracts, the battery moves from the target object to the tray, and the target object is flush with the tray or higher so that the movement of the battery can be further facilitated.

Preferably, the controller is further configured to preset the height of the tray before controlling the push rod to move relative to the tray, so that the height difference between the end of the tray close to the target object and the target object is within the threshold range.

By adopting the arrangement, the tray is aligned with the target object in the initial state.

Preferably, the controller is used for controlling the push rod to move relative to the tray, and comprises:

the controller is used for controlling the push rod to extend to push the battery to move relative to the tray, so that the battery is switched from being supported by the tray to being supported by the target object;

and/or the controller is used for controlling the push rod to retract so as to pull the battery to move relative to the tray, so that the battery is switched from being supported by the target object to being supported by the tray; and is

The controller is used for presetting the height of the tray before controlling the push rod to move relative to the tray, and comprises:

the controller is used for adjusting the end of the tray close to the target object to be higher than or level with the target object before the push rod extends out;

and/or the controller is used for adjusting the end of the tray close to the target object to be lower than or level with the target object before the push rod retracts.

In the technical scheme, when the push rod extends out, the battery moves from the tray to the target object, so that the battery can be further conveniently moved by adjusting the position before the push rod extends out until the target object is flush with the tray or the target object is lower; when the pusher is retracted, the battery moves from the object onto the tray, so adjusting to the object flush with the tray or higher before retraction can further facilitate movement of the battery.

Preferably, the battery taking and placing system further comprises: a positioning sensor;

the controller is also used for acquiring the positioning detection state of the positioning sensor; the positioning detection state is used for indicating whether the positioning sensor detects a positioning distance signal, and the positioning distance signal is used for indicating the distance between the positioning position of the push rod and the battery;

the controller is further used for judging whether the positioning detection state is that the positioning distance signal is not detected, and if so, stopping the movement of the push rod and/or indicating abnormal information.

In the technical scheme, the positioning sensor can detect whether the push rod normally acts on the battery, and in an abnormal condition (such as the condition without the battery), the push rod stops moving and/or indicates abnormal information to prevent errors.

Preferably, the battery taking and placing system comprises: at least two positioning sensors which are arranged at intervals; the controller is used for acquiring the positioning detection states of at least two positioning sensors; and is

The controller is configured to determine whether the positioning detection state is that the positioning distance signal is not detected, specifically: the controller is used for judging whether the positioning detection state of at least one positioning sensor is that the positioning distance signal is not detected.

Among the above-mentioned technical scheme, two positioning sensor make detect more accurate.

On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.

The positive progress effects of the invention are as follows:

in the battery taking and placing method and the battery taking and placing system, the height (namely the theoretical height) of the tray is adjusted in real time in the battery replacement process so as to ensure that the height difference between the tail end of the tray (namely the actual height) and a target object (namely a battery supporting device on an electric automobile or a battery cabin) is within a threshold range, thereby ensuring that the battery cannot be clamped due to overlarge actual height difference between the tray and the target object and reducing the failure rate of battery replacement.

Drawings

Fig. 1 is a schematic flow chart of a battery taking and placing method according to embodiment 1 of the present invention.

Fig. 2 is a schematic flow chart illustrating a battery pick-and-place method according to embodiment 2 of the present invention.

Fig. 3 is a schematic flow chart illustrating a battery pick-and-place method according to embodiment 3 of the present invention.

Fig. 4 is a schematic flow chart illustrating a battery pick-and-place method according to embodiment 4 of the present invention.

Fig. 5 is a schematic flow chart illustrating a battery pick-and-place method according to embodiment 5 of the present invention.

Fig. 6 is a schematic frame diagram of a battery taking and placing system according to embodiment 6 of the present invention.

Fig. 7 is a schematic structural diagram of a tray and a push rod of the battery pick-and-place system according to embodiment 6 of the invention.

Description of reference numerals:

s101, S102, S103, S104, S105, S106: step (ii) of

S201, S202, S203, S204, S205, S206: step (ii) of

S301, S302, S303, S304, S305, S306: step (ii) of

S401, S402, S403, S404, S405, S406: step (ii) of

S501, S502, S503, S504, S505, S506: step (ii) of

60: battery taking and placing system

610: push rod

611: battery sucker

612: knock pin

620: tray

630: controller

640: servo motor

650: positioning sensor

Detailed Description

The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.