CN113895295A - Unlocking control method - Google Patents

Unlocking control method Download PDF

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Publication number
CN113895295A
CN113895295A CN202010643298.3A CN202010643298A CN113895295A CN 113895295 A CN113895295 A CN 113895295A CN 202010643298 A CN202010643298 A CN 202010643298A CN 113895295 A CN113895295 A CN 113895295A
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CN
China
Prior art keywords
unlocking
piece
battery
unlock
matching
Prior art date
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Granted
Application number
CN202010643298.3A
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Chinese (zh)
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CN113895295B (en
Inventor
张建平
吉毅
文超
周英富
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Aulton New Energy Automotive Technology Co Ltd
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Aulton New Energy Automotive Technology Co Ltd
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Application filed by Aulton New Energy Automotive Technology Co Ltd filed Critical Aulton New Energy Automotive Technology Co Ltd
Priority to CN202311185560.4A priority Critical patent/CN117465281A/en
Priority to CN202010643298.3A priority patent/CN113895295B/en
Priority to PCT/CN2021/104837 priority patent/WO2022007812A1/en
Priority to US18/014,478 priority patent/US20240042892A1/en
Publication of CN113895295A publication Critical patent/CN113895295A/en
Application granted granted Critical
Publication of CN113895295B publication Critical patent/CN113895295B/en
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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
    • 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)
  • Battery Mounting, Suspending (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

The invention discloses an unlocking control method, which is characterized in that an unlocking piece on a battery replacing device is used for unlocking or locking a battery box in a battery bracket on an electric automobile, a locking mechanism and an unlocking matching piece are arranged on the battery bracket, the locking mechanism is used for locking the battery box in the battery bracket, the unlocking matching piece is connected with the locking mechanism and is used for driving the locking mechanism to switch between an unlocking state and a locking state, and the unlocking control method comprises the following steps: controlling an unlocking piece to move along the unlocking matching piece close to the battery bracket; and controlling the unlocking piece to rotate so as to drive the unlocking matching piece to rotate to realize the unlocking or locking of the battery box. The unlocking matching piece is driven to rotate through the rotation of the unlocking piece to realize the unlocking or locking of the battery box, the unlocking or locking precision is very high, and the battery changing efficiency is improved; the occurrence of misoperation is effectively avoided, and the safety and stability of the battery replacement equipment in the unlocking or locking process are greatly improved. The service life of the battery box is prolonged.

Description

Unlocking control method
Technical Field
The invention relates to an unlocking control method.
Background
Due to the shortage of petroleum resources and the increasing awareness of environmental protection, electric vehicles are increasingly widely used and have become a trend. In order to be matched with the electric vehicle, a battery replacing station is generated, and the battery box of the electric vehicle is replaced quickly through a battery replacing robot in the battery replacing station.
In the prior art, an unlocking device used for detaching and separating a battery box on an electric vehicle from the electric vehicle in a battery replacing robot adopts a structure integrating a sucker and an unlocking mechanism, namely, the unlocking device is directly arranged in the sucker, one side of a battery box shell opposite to the unlocking device is provided with a corresponding unlocking piece, when the battery box is unlocked from the electric vehicle, after the sucker is connected with the battery box in an adsorption manner, the unlocking mechanism acts on the unlocking piece on the battery box shell body to drive the unlocking piece to move so as to complete the detaching action of the battery box, the unlocking piece is required to be directly arranged on the shell body of the battery box in the unlocking manner, the strength and the sealing property of the shell body are influenced, the shell body is easily deformed when the unlocking piece is driven to move, the service life of the battery box is influenced, a point-to-point contact manner is formed between the unlocking device and the unlocking piece, and poor alignment precision is easily caused in the actual unlocking process, The unlocking is failed, and the battery replacement efficiency is low.
Disclosure of Invention
The invention aims to overcome the defects that the existing unlocking device and the unlocking piece are in a point-to-point contact mode, and the alignment precision is poor, the unlocking fails and the battery replacement efficiency is low in the actual unlocking process, and provides an unlocking control method.
The invention solves the technical problems through the following technical scheme:
an unlocking control method is characterized in that a battery box in a battery bracket on an electric automobile is unlocked or locked through an unlocking piece on a battery replacing device, a locking mechanism and an unlocking matching piece are arranged on the battery bracket, the locking mechanism is used for locking the battery box in the battery bracket, the unlocking matching piece is connected with the locking mechanism and is used for driving the locking mechanism to switch between an unlocking state and a locking state, and the unlocking control method comprises the following steps:
controlling an unlocking piece to move along the unlocking matching piece close to the battery bracket;
and controlling the unlocking piece to rotate so as to drive the unlocking matching piece to rotate to realize the unlocking or locking of the battery box.
In the scheme, the unlocking piece is rotated to drive the unlocking matching piece to rotate, so that the battery box is unlocked or locked, the unlocking or locking precision is very high, and the battery replacement efficiency is improved; the occurrence of misoperation is effectively avoided, and the safety and stability of the battery replacement equipment in the unlocking or locking process are greatly improved. Simultaneously, avoid knowing the latch fitting direct action in the battery box shell body, can not cause the influence to the shell intensity of battery box, improved the life of battery box.
Preferably, before controlling the unlocking member to rotate, the method comprises the following steps:
judging whether the unlocking piece moves in place to the unlocking matching piece or not;
if yes, the unlocking piece is controlled to rotate.
In this scheme, effectively avoided taking place the maloperation, improved the safety and stability of unlocking device at unblock or locking battery box in-process greatly.
Preferably, the step of judging whether the unlocking piece moves to the unlocking matching piece in place specifically comprises:
detecting whether the unlocking piece moves to the target position.
In this scheme, whether move the target location through detecting the deblocking spare and judge whether the deblocking spare moves to the unblock matching spare and targets in place, it is very convenient to realize detecting, and detects the precision height, has effectively avoided taking place the maloperation, has improved safety and stability greatly.
Preferably, the unlocking piece is a first direction along the moving direction close to the unlocking matching piece on the battery bracket, and the target position comprises a first target position and/or a second target position;
detecting whether the unlocking piece moves to the target position includes:
detecting whether the unlocking member moves to the first target position along the first direction, and/or;
detecting whether the unlocking member moves to the second target position in a second direction opposite to the first direction.
In this scheme, through the detection mode of multiple difference to realized that unblock or locking precision are very high, effectively avoided taking place the maloperation, improved safety and stability greatly.
Preferably, the unlocking member includes a compression portion, and the detecting whether the unlocking member moves to the second target position in the second direction opposite to the first direction specifically includes:
detecting whether the compression part moves to the second target position in the second direction during the unlocking member moves in the first direction.
In this scheme, whether move to the second target location through detecting the compression part along the second direction and judge that the unblock piece inserts to unblock matching in, it is very convenient to detect, and realizes the accurate operation of unblock device, has improved the safety and stability of trading electrical equipment at the electricity changing in-process greatly.
Preferably, the unlocking member is controlled to detect whether the compression part moves to the second target position in the second direction during the process of moving along the unlocking matching member on the battery bracket;
if yes, controlling the unlocking piece to rotate;
if not, the unlocking piece is controlled to retract along the second direction, and the unlocking piece is controlled to move along the unlocking matching piece close to the battery bracket again.
In the scheme, the battery replacing device is very convenient to use, and the safety and stability of the battery replacing device in the battery replacing process are greatly improved.
Preferably, the detecting of whether the unlocking member moves to the first target position and the detecting of whether the compressing part moves to the second target position are in the process;
if the compression part is detected to move to the second target position, the unlocking piece is controlled to retract along the second direction, and the unlocking piece is controlled to move along the unlocking matching piece close to the battery bracket again;
if it detects unlocking piece moves to target in place to first target location, but does not detect behind preset time or the stroke compression portion moves to target in place to second target location, then control unlocking piece follows the second direction retracts, and the control is again unlocking piece is along being close to on the battery bracket unlocking matching piece removes.
In the scheme, the unlocking or locking precision is further improved, and the safety and stability of the battery replacement device in the battery replacement process are greatly improved.
Preferably, after controlling the unlocking member to rotate, the method comprises the following steps:
and judging whether the locking mechanism is locked or unlocked in place.
In this scheme, whether locking or unblock target in place through judging locking mechanism for locking mechanism has effectively avoided taking place battery box obscission when not having the locking target in place, and locking mechanism has effectively avoided the battery box to take place the maloperation at the in-process that takes out when not having the unblock target in place, has improved the safety and stability who trades the electrical equipment at the electricity changing in-process greatly.
Preferably, the step of judging whether the locking mechanism is locked or unlocked in place specifically comprises:
whether the rotation torque of the rotation unit falls within a preset torque range is detected.
In this scheme, whether unlocking piece does not insert in the unblock matching piece is judged through the rotation moment that detects rotary unit, has further improved and has traded the safety and stability of electric equipment at the electric in-process of trading.
Preferably, the step of judging whether the locking mechanism is locked or unlocked in place specifically comprises:
whether the rotation amount of the rotating unit falls within a preset rotation amount range is detected.
In this scheme, whether unlocking piece does not insert in the unblock matching piece is judged through detecting the rotation volume of rotary unit, has further improved and has traded the safety and stability of electric equipment at the electric in-process of trading.
Preferably, after controlling the unlocking piece to rotate, the method further comprises:
detecting whether the unlocking piece moves an initial position along the unlocking matching piece far away from the battery bracket.
In the scheme, the unlocking device is convenient for executing the next battery replacement operation, and is convenient to repeat and suitable.
Preferably, before controlling the unlocking member to move along the unlocking matching member close to the battery bracket, the method further comprises:
and controlling the unlocking piece to be aligned with the unlocking matching piece.
In this scheme, the unblocking piece just aims at with unblock matching before the removal earlier, further improves the precision of unblock device in unblock or locking in-process, has effectively avoided taking place the maloperation, has improved safety and stability greatly.
Preferably, controlling the unlocking piece to be aligned with the unlocking matching piece specifically comprises:
acquiring a first image and a second image of at least two positions on the battery bracket of the electric automobile;
acquiring an angle rotation amount according to the first image and the second image;
and controlling the unlocking piece to carry out angle adjustment according to the angle rotation amount until the unlocking piece and the unlocking matching piece reach a preset angle.
In the scheme, the position adjusting process of the battery replacing equipment is simplified, and the positioning efficiency of the battery replacing equipment is improved.
Preferably, when the unlocking piece and the unlocking matching piece reach a preset angle, a third image and a fourth image of at least two positions on the battery bracket are obtained;
acquiring a horizontal displacement and a vertical displacement according to the third image and the fourth image;
according to horizontal displacement control the deblocking piece carries out horizontal adjustment, and/or, according to vertical displacement control the deblocking piece carries out vertical adjustment, until the deblocking piece with unblock matching spare reaches and predetermines relative position.
In the scheme, the position adjusting process of the battery replacing equipment is simplified, and the positioning efficiency of the battery replacing equipment is improved.
Preferably, the unlocking piece is arranged on the battery tray and controls the battery tray to be aligned with the battery bracket.
In this scheme, realize that unblock spare and unblock matching spare aim at through the alignment between battery tray and the battery bracket, also realized the unblock or the locking to locking mechanism at the in-process of accurate getting and putting the battery box, improved and trade electric efficiency, and improved the safety and stability of trading the electric equipment at the electricity changing in-process greatly.
Preferably, after controlling the alignment of the battery tray and the battery bracket, the method further comprises:
and controlling the battery tray to extend out along the direction close to the battery bracket so as to drive the unlocking piece to horizontally move along the direction close to the unlocking matching piece.
In this scheme for the interval is closer to between unblock piece and the unblock matching piece, and further the in-process of improving unlocking device at unblock or locking is reliable and more stable, has improved the safety and stability who trades the electrical equipment greatly.
Preferably, after the battery tray is controlled to extend in a direction close to the battery bracket, before the unlocking member moves in a direction close to the unlocking matching member on the battery bracket, the method further includes:
the push box is controlled to move in a direction close to the battery box.
In this scheme, draw through pushing away the dish box and get or the propelling movement battery box, effectively improved the stability of getting to put the battery box.
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:
according to the unlocking control method, the unlocking matching piece is driven to rotate through the rotation of the unlocking piece, so that the battery box is unlocked or locked, the unlocking or locking precision is very high, and the battery replacement efficiency is improved; the occurrence of misoperation is effectively avoided, and the safety and stability of the battery replacement equipment in the unlocking or locking process are greatly improved. Simultaneously, avoid knowing the latch fitting direct action in the battery box shell body, can not cause the influence to the shell intensity of battery box, improved the life of battery box.
Drawings
Fig. 1 is a flowchart of an unlocking control method according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a part of a battery swapping device according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an unlocking device according to an embodiment of the present invention.
Fig. 4 is a schematic internal structural diagram of an unlocking device according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of an unlocking matching member according to an embodiment of the present invention.
Fig. 6 is an exploded structural schematic view of an unlocking device and an unlocking matching member having an angular deviation according to an embodiment of the present invention.
Fig. 7 is a schematic structural view of an unlocking device inserted into an unlocking matching member according to an embodiment of the present invention.
Fig. 8 is a schematic structural view of the unlocking device and the unlocking matching member having an axis deviation therebetween according to the embodiment of the present invention.
Detailed Description
The present invention will be more clearly and completely described below by way of examples and with reference to the accompanying drawings, but the present invention is not limited thereto.
As shown in fig. 2 to 8, an embodiment of the present invention provides a battery replacement device, which is used for replacing a battery of an electric vehicle from the side, a battery box is installed in an installation space at two sides of the bottom of the electric vehicle through a battery bracket, and the battery replacement device unlocks an old battery box on the battery bracket and takes the old battery box out of the battery bracket, or a new battery box is installed in the battery bracket and locks the new battery box.
The battery replacing device comprises a frame 100, a lifting mechanism 200, an unlocking device, a battery tray 300 and a tray pushing box 400, wherein the lifting mechanism 200 moves in the frame 100 in a lifting mode, the battery tray 300 is arranged on the lifting mechanism 200, the battery tray 300 can move in a telescopic mode relative to the lifting mechanism 200, the battery tray 300 can be connected to the lifting mechanism 200 in a rotatable or turnable mode, the tray pushing box 400 can move in a telescopic mode on the battery tray 300 and is used for being connected with a battery box, and the unlocking device is arranged at the bottom of the battery tray 300. In which only the lower part of the frame 100 is shown in figure 3 and the upper part is omitted.
The lifting mechanism 200 includes a car that moves up and down along the frame 100 by a chain wheel and a chain, the car includes side plates disposed opposite to each other, and the limit buffer unit 3 is disposed at a position near the bottom or top of the side plates.
The unlocking device is arranged at the bottom of the battery tray 300, and when the battery replacing device performs the battery replacing operation, the battery tray 300 can move in a telescopic direction when extending out to take and place the battery box, and the telescopic direction is along the width direction of the electric automobile. The top of battery tray 300 is used for placing the battery box, can realize being connected or breaking off between pushing away set box 400 and the battery box, and unlocking device installs and sets up on the bottom surface of battery tray 300, and unlocking device is used for carrying out unblock or locking to the battery box in the battery bracket on the electric automobile.
The unlocking device comprises a driving mechanism 1, an unlocking component 3 and a transmission piece 2, wherein the driving mechanism 1 drives the unlocking component 3 to move through the transmission piece 2, so that the unlocking component 3 drives a locking mechanism on the battery bracket to move to unlock or lock the battery box; the unlocking assembly 3 is axially rotatable relative to the transmission member 2 to adapt to the angular deviation of the unlocking assembly 3 from a standard unlocking position on the battery carrier. In the present embodiment, the battery box on the battery bracket is locked, unlocked and driven in a rotating manner, and in other embodiments, the battery box on the battery bracket can be locked, unlocked and driven in other movement manners, such as axial expansion and contraction, radial displacement, and the like.
The driving mechanism 1 is installed and connected on the battery tray 300, the driving mechanism 1 drives the transmission piece 2 and the unlocking piece 3 to rotate, and the unlocking piece 3 and the unlocking matching piece 500 of the locking mechanism are connected in a matched mode and rotate together, so that the battery box is unlocked or locked. Drive the locking mechanism motion on the battery tray with unblock or locking battery box through unblock subassembly 3, avoid the unlocking subassembly 3 direct action in the battery box shell body, can not cause the influence to the shell intensity of battery box, improved the life of battery box. Meanwhile, the unlocking assembly 3 can rotate axially relative to the transmission part 2 to adapt to the angle deviation between the unlocking assembly 3 and the standard unlocking position on the battery bracket, so that the unlocking assembly 3 can be rotationally adjusted along the circumferential direction when being connected, namely when the position deviation between the unlocking assembly 3 and the unlocking matching piece 500 is within a preset error range, the unlocking assembly 3 rotates axially to realize the connection matching with the unlocking matching piece 500, the position of the unlocking assembly 3 does not need to be adjusted again through external force, and the connection matching between the unlocking assembly 3 and the unlocking matching piece 500 can be ensured even if the circumferential position deviation exists. Then, the driving mechanism 1 drives the transmission piece 2 and the unlocking component 3 to move so as to drive the locking mechanism to move, so that the battery box is unlocked or locked, the unlocking or locking precision is very high, and the battery replacement efficiency is improved; the misoperation is effectively avoided, and the safety and stability of the battery replacement equipment are greatly improved.
Wherein, the battery box can be provided with a locking groove, the locking mechanism comprises a rotary plug-in which is arranged on the battery bracket and is connected with the unlocking matching piece 500. The motion of unblock subassembly 3 will drive the motion of unblock matching piece 500, and the motion of unblock matching piece 500 will drive rotatory plug-in components and rotate, according to the difference of direction of rotation for rotatory plug-in components can insert in the locked groove on the battery box or retract outside the locked groove, thereby realize the locking or the unblock to the battery box. The specific structure of the locking mechanism is not limited in this embodiment.
As shown in fig. 3, one end of the transmission member 2 is connected to the driving mechanism 1, and the other end of the transmission member 2 is rotatably connected to the unlocking assembly 3. The transmission part 2 and the unlocking assembly 3 can be rotatably connected, so that the unlocking assembly 3 can rotate relative to the transmission part 2 when being connected with the unlocking matching piece 500, the unlocking assembly 3 can adapt to the angle deviation between the unlocking assembly 3 and the unlocking matching piece 500 through the rotation of the unlocking assembly 3, the unlocking assembly 3 is inserted into the unlocking matching piece 500, and the stability of the unlocking device in the unlocking or locking process is higher.
The unlocking assembly 3 can be moved on the transmission element 2 in the axial direction of the unlocking assembly 3. The unlocking component 3 can axially rotate and axially move relative to the transmission piece 2, so that the flexibility of movement of the unlocking component 3 is improved, and connection and matching with the unlocking matching piece 500 are realized.
As shown in fig. 4, the transmission member 2 has a guide hole 21, the guide hole 21 is recessed inward in the axial direction of the transmission member 2 from the end of the transmission member 2 toward the unlocking member 3, and the unlocking member 3 is inserted into the guide hole 21 and is movable within the guide hole 21. The guiding hole 21 has a guiding effect, so that the unlocking assembly 3 moves in the guiding hole 21 along the axial direction of the transmission part 2, the phenomenon of offset and dislocation of the unlocking assembly 3 in the moving process is effectively avoided, and the safety and stability of the battery replacement equipment are greatly improved.
The unlocking device further comprises a first elastic piece 4, the first elastic piece 4 is located in the guide hole 21, and two ends of the first elastic piece 4 are respectively abutted against the transmission piece 2 and the unlocking component 3. When the unlocking assembly 3 enters a preset position in the unlocking matching piece 500 on the battery bracket, the unlocking assembly 3 is subjected to the acting force from the unlocking matching piece 500 and moves in the guide hole 21 in the direction close to the driving mechanism 1, and the first elastic piece 4 is compressed during the movement of the unlocking assembly 3 to the driving mechanism by the fact that the first elastic piece 4 abuts against the unlocking assembly 3 and applies acting force to the unlocking assembly 3 in the direction close to the locking mechanism; when the unlocking assembly 3 is separated from the unlocking matching member 500, the first elastic member 4 will bring the unlocking assembly 3 back to the initial position state. Exert the effort and have certain displacement volume through first elastic component 4 to unblock subassembly 3 for unblock subassembly 3 when taking place the error touching, can not cause unblock subassembly 3 along the displacement volume that is close to actuating mechanism 1 too big because of the effort of first elastic component 4, effectively avoid unlocking device to take place the maloperation, and effectively avoid colliding firmly between unlocking device 3 and the driving medium 2, improve unlocking device's safety and stability greatly. Meanwhile, the first elastic piece 4 is arranged in the guide hole 21, and stability is higher. Wherein the first elastic member 4 may be a spring.
One end of the transmission piece 2 facing the unlocking component 3 is connected with the unlocking component 3 in a clamping way. Adopt the block connected mode between driving medium 2 and the unblock subassembly 3, avoided driving medium 2 and unblock subassembly 3 to take place to break away from the phenomenon, safety and stability is high.
In this embodiment, the end of the transmission part 2 facing the unlocking component 3 has a limiting portion, the unlocking component 3 is provided with a matching portion, and the matching portion is connected in the limiting portion and can rotate along the axis of the unlocking component 3 relative to the limiting portion. The driving medium 2 is connected with the matching part on the unlocking component 3 through the limiting part in a clamping manner, the limiting part has a limiting effect, the matching part rotates along the axis of the unlocking component 3 in the limiting part, the unlocking component 3 can be rotationally adjusted, the unlocking component 3 is inserted into the unlocking matching part 500, and the unlocking device is higher in stability in the unlocking or locking process.
The limiting part is an opening 22 arranged on the outer wall of the transmission piece 2, and the opening 22 is communicated with the guide hole 21. The end part of the transmission part 2 is provided with a guide hole 21, and the outer wall of the transmission part 2 is provided with an opening 22, so that the movement of the unlocking component 3 is limited conveniently.
The matching part is a slider 31 arranged on the unlocking assembly 3. The slider 31 will rotate along the axis of unblock subassembly 3 in opening 22, connect at opening 22 block through slider 31, the axial turned angle and the displacement distance of restriction unblock subassembly 3, can enough self-adaptation adjustment unblock subassembly 3 and the angular deviation between the unblock matching piece 500, can drive unblock subassembly 3 simultaneously and rotate and predetermine the locking or the unblock of angle in order to realize the battery box, avoid unblock subassembly 3 and driving medium 2 to break away from mutually, the efficiency and the stability of unblock or locking process have been improved.
As shown in fig. 6 and 7, the length of the opening 22 in the axial direction of the transmission member 2 is greater than the extension of the slider 31 in the axial direction of the transmission member 2. Thereby realize slider 31 can remove along the axial direction of driving medium 2 in opening 22, and effectively avoid when taking place the maloperation unlocking device hard collision between slider 31 and the driving medium 2, improve unlocking device's safety and stability greatly.
The length of the opening 22 in the radial direction of the transmission member 2 is greater than the extension of the slider 31 in the radial direction of the transmission member 2. Through the above arrangement, the opening 22 reserves a rotation space for self-adaptation of the unlocking assembly 3, so that when the unlocking assembly 3 and the unlocking matching piece 500 have slight angular deviation, the unlocking assembly 3 can rotate to adjust the angular deviation between the unlocking assembly 3 and the unlocking matching piece 500 through the interaction between the unlocking assembly 3 and the unlocking matching piece 500, radial position alignment is performed, and connection matching between the unlocking assembly 3 and the unlocking matching piece 500 is realized.
In fig. 6, before the unlocking member 3 is inserted into the unlocking match member 500, there is an angular deviation between the unlocking member 3 and the unlocking match member 500, and the slider 31 is located at a circumferentially intermediate position in the opening 22. In fig. 7, the unlocking assembly 3 is moved in a direction close to the unlocking matching member 500 and inserted into the unlocking matching member 500, the unlocking assembly 3 is axially rotatable with respect to the transmission member 2, and the slider 31 is rotated in the circumferential direction in the opening 22 and is located at one end of the opening 22.
Of course, in other embodiments, the end of the transmission member 2 facing the unlocking component 3 has a matching portion, and the unlocking component 3 is provided with a limiting portion, and the limiting portion is connected in the matching portion and can move along the axis of the unlocking component 3 relative to the matching portion. That is, an opening is arranged on the unlocking component 3, and a slide block is arranged on the transmission component 2. As long as the unlocking member 3 and the transmission member 2 can rotate in the circumferential direction and move in the axial direction, the specific structure may not be limited.
Not only does the unlocking assembly 3 and the transmission piece 2 need to be rotationally adjusted in the circumferential direction of the unlocking assembly 3, but also the situation that the axis of the unlocking assembly 3 and the axis of the unlocking matching piece 500 are not aligned accurately exists between the unlocking assembly 3 and the unlocking matching piece 500, namely, a small position deviation exists and the axes are not on the same straight line. In order to achieve the purpose that the unlocking device can adapt to the condition of inaccurate alignment. As shown in fig. 8, the unlocking assembly 3 itself can be radially displaceable to enable radial movement of the unlocking assembly 3 relative to the drive mechanism 1. Under the condition that the driving mechanism 1 is fixed, the unlocking assembly 3 can displace in the radial direction, so that the unlocking assembly 3 can be inserted into the unlocking matching piece 500 in a matching mode, and the unlocking device is higher in stability in the unlocking or locking process.
The unlocking assembly 3 comprises a second elastic member 32 and an unlocking member 33 which can be twisted radially, two ends of the second elastic member 32 are respectively connected to the transmission member 2 and the unlocking member 33, and the second elastic member 32 is adapted to the radial displacement of the unlocking member 33. The second spring element 32 can be radially twistable, so that the unlocking element 33 can be moved radially relative to the transmission element 2. Simultaneously, through driving medium 2, second elastic component 32 and unblock piece 33 series connection each other in proper order, guarantee that unlocking device connects and revolves its axis rotation in the axial, stability is higher, and simple structure, erection joint is convenient.
The end of the unlocking element 33 facing away from the driver element 2 has an insertion end for the connection of an unlocking partner 500 on a locking mechanism on a mating battery carrier. The battery tray 300 can drive the unlocking device to synchronously extend out in the extending process, the inserting end of the unlocking piece 33 can be connected and matched with the unlocking matching piece 500 in an inserting mode, the unlocking piece 33 can be driven to rotate to drive the unlocking matching piece 500 to rotate, and then unlocking or locking of the locking mechanism is achieved. After the operation is completed, the insertion end and the release fitting 500 are disconnected from each other by the retraction of the battery tray 300, thereby achieving the separation. The connection and disconnection are very convenient, the stability is high, and simultaneously, the structure is simple.
The outer surface of the insertion end is provided with at least one abutting surface 331, the battery bracket is provided with an unlocking matching piece 500, the unlocking matching piece 500 is connected with the locking mechanism, the insertion end is used for being inserted into the unlocking matching piece 500, and the abutting surface 331 is matched with the inner wall surface of the unlocking matching piece 500 so as to drive the unlocking matching piece 500 to rotate. When the unlocking piece 33 rotates, the abutting surface 331 is matched with the inner wall surface of the unlocking matching piece 500, so that the abutting surface 331 applies acting force to the unlocking matching piece 500 and drives the unlocking matching piece 500 to rotate, and the locking mechanism is driven to rotate so as to unlock or lock the battery box. The acting force is applied to the inner wall surface of the unlocking matching piece 500 through the abutting surface 331 so as to drive the unlocking matching piece 500 to rotate, and the rotation stability is high. In this implementation, the number of abutting against the face 331 is a plurality of, and the shape that encloses each other between a plurality of abutting against the face 331 as long as non-circular all can drive the rotation of unblock matching piece 500, encloses into square structure each other through between a plurality of abutting against the face 331 for unlocking piece 33 even if there is the deviation in the circumferential direction position also just can realize that unblock subassembly 3 is accurate counterpointed and is connected as long as rotate less angle. Of course, in other embodiments, the number of abutment surfaces 331 may not be limited.
The end of the insertion end facing away from the driver 2 has a sliding guide surface 332, and the sliding guide surface 332 is connected to the abutting surface 331 and is used for guiding the unlocking element 33 to be inserted into the unlocking matching element 500. The sliding guide surface 332 has a sliding guide function, and the sliding guide surface 332 can adapt to small position deviation between the unlocking piece 33 and the unlocking matching piece 500; when the insertion end is inserted into the unlocking matching piece 500, the sliding guide surface 332 plays a role in sliding guide and is inserted into the unlocking matching piece 500, so that even if the insertion end has slight position deviation, the abutting surface 331 can be ensured to stably enter the unlocking matching piece 500. In this embodiment, one end of the slide guiding surface 332 is connected to the abutting surface 331, and the other end of the slide guiding surface is inclined and extends toward a direction close to the axis of the unlocking member 33 and away from the abutting surface 331 relative to the abutting surface 331.
As shown in fig. 3, 4, 5, 6, 7 and 8, when there is an angular deviation between the unlocking member 33 and the unlocking member 500 during the insertion of the unlocking assembly 3 into the unlocking member 500, the slider 31 is located in the opening 22 and can rotate in the opening 22, so that the unlocking assembly 3 can rotate axially relative to the transmission member 2, thereby solving the problem of the angular deviation and achieving the angular alignment. When there is the axis deviation between unlocking piece 33 and the unlocking matching piece 500, unlocking piece 33 contacts each other between unlocking matching pieces 500, unlocking piece 33 will slide into unlocking matching piece 500 through leading the sliding surface 332, and, because the second elastic piece 32 can radially twist, even if there is the axis deviation between unlocking subassembly 3 and unlocking matching piece 500 can guarantee unlocking piece 33 to stably enter unlocking matching piece 500. After the unlocking member 33 is inserted into the unlocking member 500 to the bottom, the driving mechanism 1 continues to drive the unlocking member 3 to move in the direction close to the unlocking member 500, so that the slider 31 moves in the direction close to the driving mechanism 1 in the opening 22.
The unlocking member 33 has a coupling groove 333 extending in the axial direction of the unlocking member 33 at an end thereof facing the second elastic member 32, and the unlocking member 33 is coupled to the second elastic member 32 through the coupling groove 333. The second elastic member 32 is inserted into the connection groove 333 through the connection groove 333, so that the unlocking member 33 and the second elastic member 32 can be connected, and the installation and the connection are convenient. Simultaneously, unblock subassembly 3 is along its axial setting, guarantees that unblock subassembly 3 is rotatory along its axis, realizes that unlocking means is higher at the in-process stability of unblock or locking.
The unlocking assembly 3 further comprises a connecting sleeve 34, one end of the connecting sleeve 34 is connected with the second elastic member 32, and the other end of the connecting sleeve 34 is connected with the transmission member 2. The transmission part 2 and the second elastic part 32 are sequentially connected in series through the connecting sleeve 34, so that the unlocking device is ensured to be connected in the axial direction and radially twisted around the axis of the unlocking device, the stability is higher, and the installation and the connection are convenient. The first elastic member 31 may be a flexible shaft, and the connecting sleeve 34 and the unlocking member 33 may be made of metal.
The end of the connecting sleeve 34 facing the transmission element 2 is rotatably connected to the transmission element 2. In this embodiment, the end of the connecting sleeve 34 is inserted into the guiding hole 21, the sliding block 31 is connected to the outer wall of the connecting sleeve 34 and located in the opening 22, and the length of the opening 22 in the radial direction of the transmission member 2 is greater than the extension length of the sliding block 31 in the radial direction of the transmission member 2, so that the connecting sleeve 34 is rotatably connected to the transmission member 2. Meanwhile, the connecting sleeve 34 is connected with the opening 22 of the transmission piece 2 in a clamping manner through the sliding block 31, and the connection stability is high.
The unlocking device further comprises a first detection unit 5, and the first detection unit 5 is used for detecting whether the unlocking assembly 3 moves in the direction close to the driving mechanism 1. In the unlocking or locking process of the unlocking device, the insertion end of the unlocking assembly 3 needs to be accurately aligned and inserted into the unlocking matching piece 500, the unlocking assembly 3 can move in the direction close to the driving mechanism 1 due to the abutting action force of the unlocking matching piece 500, the first detection unit 5 detects that the unlocking assembly 3 moves into the detection area of the first detection unit 5, the insertion end is inserted into the unlocking matching piece 500, the next operation of driving the unlocking assembly 3 to rotate can be continued, if the first detection unit 5 does not detect the unlocking assembly 3 all the time, the fact that the unlocking assembly 3 and the unlocking matching piece 500 are staggered and not inserted into the unlocking matching piece 500 is indicated, and at the moment, the unlocking assembly 3 can be controlled to stop moving in the direction close to the unlocking matching piece 500.
Whether the unlocking component 3 is located in the unlocking position of the unlocking matching piece 500 or not can be detected out through the first detection unit 5, the safety stability of the battery replacing device in the battery replacing process is greatly improved, the accurate control of the unlocking process is realized, namely, the unlocking or locking operation is carried out after the unlocking piece 33 reaches the unlocking position, the full-automatic accurate control is realized, manual adjustment is not needed, the unlocking efficiency is improved, and meanwhile, the collision misoperation caused by the fact that the unlocking piece 33 continuously moves towards the direction close to the battery bracket when the unlocking piece 33 is staggered with the unlocking matching piece 500 is avoided.
The unlocking assembly 3 is further provided with a compression portion 341, and the first detection unit 5 is used for detecting the position of the compression portion 341. When the unlocking member 3 is aligned and inserted into the unlocking matching member 500, the compression portion 341 is moved in a direction close to the driving mechanism 1. In the present embodiment, the compression portion 341 is located on the outer surface of the connection sleeve 34 and protrudes outward, and the first detection unit 5 detects whether the unlocking member 3 moves in the direction approaching the driving mechanism 1 by detecting the distance from the connection sleeve 34. In the initial state, the compressing portion 341 is not located in the detection area of the first detecting unit 5. When the unlocking member 33 is inserted into the unlocking matching member 500, the compression portion 341 will move to the detection area of the first detection unit 5 in the direction approaching the driving mechanism, and the first detection unit 5 can detect the compression portion 341, which indicates that the unlocking member 33 enters the unlocking matching member 500 and reaches the unlocking position; when the first detecting unit 5 does not detect that the compressing portion 341 moves to the detection area, it indicates that the unlocking member 33 is not aligned with the unlocking matching member 500, and the unlocking member 33 can be timely controlled to stop moving continuously. The first detection unit 5 is used for detecting the position of the compression part 341, so that the detection is accurate, the misoperation is avoided, and the safety and stability of the battery replacement equipment are greatly improved. Wherein, the first detecting unit 5 may be a sensor. Preferably, the first detection unit 5 may be a proximity sensor.
The driving mechanism 1 comprises a rotating unit 11, and the rotating unit 11 is connected to the transmission member 2 through a coupling sleeve 111 and is used for driving the unlocking assembly 3 to rotate along the axis of the unlocking assembly 3. The rotating unit 11 is connected with the transmission piece 2 through the connecting shaft sleeve 111, so that the transmission piece 2 is convenient to match, assemble and connect, the transmission piece 2 is guaranteed to rotate along the axis of the transmission piece, and the unlocking device is higher in stability in the unlocking or locking process. Wherein the rotating unit 11 may be a nailing machine.
The drive mechanism 1 further comprises a detection module (not shown in the figures) electrically connected to the rotary unit 11 and adapted to detect the rotation torque of the rotary unit 11. When the rotating unit 11 rotates, the detection module detects whether the torque of the rotating unit 11 is within the standard torque range, and if the detected torque is within the standard torque range, the unlocking piece 33 drives the unlocking matching piece 500 to unlock or lock the locking mechanism on the battery bracket in place; if the detected torque is not within the standard torque range, it is indicated that the locking mechanism is not unlocked or locked in place, and at this time, the battery box can not be taken in the next step or the battery box is disconnected, so that the battery replacement fault caused by the fact that the battery box is not safely unlocked or locked is avoided, and the safety and stability of the battery replacement device in the battery replacement process are further improved. Of course, the detection of whether the unlocking piece 33 is inserted into the unlocking matching piece 500 may also be determined by detecting whether the rotation amount of the rotating unit 11 when driving the unlocking piece 33 to rotate falls within a preset rotation amount range. The standard torque range comprises a locking standard torque range and an unlocking standard torque range, the locking standard torque range refers to the rotating torque of the unlocking piece 33 inserted into the unlocking matching piece 500 to drive the locking mechanism to lock the battery box, and the unlocking standard torque range refers to the rotating torque of the unlocking piece 33 inserted into the unlocking matching piece 500 to drive the locking mechanism to unlock the battery box.
The unlocking device further comprises a mounting seat 6, and the rotating unit 11 is arranged on the mounting seat 6 in a penetrating mode. The rotating unit 11 is fixedly installed on the installation seat 6, so that the unlocking assembly 3 can be conveniently moved integrally, the installation and the setting are convenient, and the connection stability is high.
The mounting seat 6 is provided with a limiting hole 61, and the transmission piece 2 is inserted into the limiting hole 61 and connected with the rotating unit 11. Spacing hole 61 will play the limited action, has effectively avoided driving medium 2 to produce skew dislocation phenomenon at rotatory in-process, has improved the safety and stability who trades electrical equipment greatly. Preferably, the limiting hole 61 has a bearing 62 therein, and the bearing 62 is sleeved on the transmission member 2. A more stable rotation of the transmission element 2 is ensured by the bearing 62.
The driving mechanism 1 further comprises a driving unit 12 and a first mounting plate 13, the mounting base 6 is connected to the first mounting plate 13, and the driving unit 12 is connected to the first mounting plate 13 and is used for driving the first mounting plate 13 to move along the axial direction of the unlocking assembly 3. The driving unit 12 and the first mounting plate 13 can be installed on the battery tray 300 and can move along with the battery tray 300 to the direction close to the battery bracket, the first mounting plate 13 is driven by the driving unit 12, so that the first mounting plate 13 moves along the axial direction of the unlocking assembly 3 relative to the battery tray 300, namely moves along the direction close to the unlocking matching piece 500 on the battery bracket, the accurate matching of the unlocking assembly 3 and the unlocking matching piece 500 is further ensured, and the stability of the battery replacing device is greatly improved.
The unlocking device further comprises a second mounting plate 7, a driving unit 12 is arranged on the second mounting plate 7, and the driving unit 12 drives the first mounting plate 13 to slide relative to the second mounting plate 7. In this embodiment, the driving unit 12 and the first mounting plate 13 are not directly mounted on the battery tray 300, the driving unit 12 and the first mounting plate 13 are mounted on the second mounting plate 7, and the second mounting plate 7 is mounted on the battery tray 300, so that the unlocking device is convenient to assemble and set, modularization of the unlocking device is realized, and the unlocking device is more convenient to use.
Between the first mounting plate 13 and the second mounting plate 7 there is at least one guide member by which the first mounting plate 13 is moved in the axial direction of the unlocking assembly 3. The guide component has the guide effect, makes first mounting panel 13 higher along the axial displacement stability of unblock subassembly 3 on second mounting panel 7 through the guide component, improves the precision of unblock device greatly. In the present embodiment, the first mounting plate 13 and the second mounting plate 7 are connected to each other by a rail and a slider.
The unlocking device further comprises a second detection unit 8, the second detection unit 8 is arranged at one end, close to the unlocking assembly 3, of the second mounting plate 7, and the second detection unit 8 is used for detecting whether the first mounting plate 13 moves in place in the direction of the unlocking matching piece 500. When the unlocking assembly is used, the driving unit 12 drives the first mounting plate 13 to move forwards along the direction close to the unlocking matching piece 500, and the second detection unit 8 detects whether the first mounting plate 13 horizontally moves in place, so that the subsequent control of the rotation of the unlocking assembly 3 is facilitated, and the stability of the unlocking or locking process is improved.
In the present embodiment, the driving unit 12 is connected to the first mounting plate 13 through the detecting portion 131, and the second detecting unit 8 is used for detecting the position of the detecting portion 131. When the driving unit 12 drives the first mounting plate 13 to move forward in a direction approaching the unlocking matching member 500, the detecting part 131 also moves forward, and the second detecting unit 8 can detect that the distance between the detecting part 131 and the unlocking member 33 becomes smaller, which indicates that the unlocking member 33 enters the unlocking matching member 500 and reaches the unlocking position; when the second detecting unit 8 does not detect that the detecting part 131 moves to the detecting area, that is, the detecting part 131 does not move to the front of the second detecting unit 8 and the detecting distance of the second detecting unit 8 does not become small, it indicates that the unlocking part 33 is not aligned with the unlocking matching member 500, and the unlocking part 33 can be timely controlled to stop moving continuously. The detection unit 131 is L-shaped.
The unlocking device further comprises a third detection unit 9, the third detection unit 9 is arranged at one end, far away from the unlocking matching piece 500, of the second mounting plate 7, and the third detection unit 9 is used for detecting whether the first mounting plate 13 returns to the initial position or not. When the unlocking device is used, the driving unit 12 drives the first mounting plate 13 to move backwards along the direction far away from the unlocking matching piece 500, and the third detection unit 9 detects the limit position at which the first mounting plate 13 is far away backwards, so that the first mounting plate 13 is effectively prevented from continuously moving backwards, and the safety and stability of the unlocking device are further improved; and the first mounting plate 13 is ensured to return to the initial position, so that the subsequent continuous operation is facilitated.
As shown in fig. 1 to 8, this embodiment further discloses an unlocking control method, in which an unlocking piece 33 on the battery swapping device is used to unlock or lock a battery box in a battery bracket of an electric vehicle, the battery bracket is provided with a locking mechanism and an unlocking matching piece 500, the locking mechanism is used to lock the battery box in the battery bracket, and the unlocking matching piece 500 is connected with the locking mechanism and is used to drive the locking mechanism to switch between an unlocking state and a locking state.
The unlocking control method comprises the following steps: controlling the unlocking member 33 to move along the unlocking matching member 500 adjacent to the battery bracket; the unlocking piece 33 is controlled to rotate to drive the unlocking matching piece 500 to rotate so as to realize the unlocking or locking of the battery box. In this step, the driving unit 12 will drive the first mounting plate 13 to move along the unlocking matching member 500 adjacent to the battery bracket, thereby driving the unlocking member 33 to protrude forward, so that the unlocking member 33 is inserted into the unlocking matching member 500; the rotating unit 11 rotates the driving transmission member 2 and the unlocking member 33, and the unlocking member 33 rotates to drive the unlocking matching member 500 to rotate together, so that the battery box is unlocked or locked.
The unlocking piece 33 rotates to drive the unlocking matching piece 500 to rotate, so that the battery box is unlocked or locked, the unlocking or locking precision is very high, and the battery replacement efficiency is improved; the occurrence of misoperation is effectively avoided, and the safety and stability of the battery replacement equipment in the unlocking or locking process are greatly improved. Meanwhile, the unlocking piece 33 is prevented from directly acting on the outer shell of the battery box, the strength of the outer shell of the battery box is not affected, and the service life of the battery box is prolonged.
Before controlling the unlocking member 33 to rotate, the following are included: judging whether the unlocking piece 33 moves to the unlocking matching piece 500 in place or not; if yes, the unlocking member 33 is controlled to rotate. In this step, the battery replacement device detects and judges whether the unlocking piece 33 moves in place to the unlocking matching piece 500; if unlocking piece 33 is not removing when targetting in place, unlocking piece 33 does not insert and connect in unlocking matching piece 500 promptly, rotating unit 11 will not drive driving medium 2 and unlocking piece 33 rotatory, has effectively avoided taking place the maloperation, improves the safety and stability of unlocking device at unblock or locking battery box in-process greatly. If the unlocking member 33 is moved to the unlocking matching member 500 in place, the rotating unit 11 rotates the driving transmission member 2 and the unlocking member 33, thereby ensuring the efficiency and stability of unlocking or locking the battery box.
Judging whether the unlocking piece 33 moves to the unlocking matching piece 500 in place specifically includes: it is detected whether the unlocking member 33 is moved to the target position. The driving unit 12 drives the unlocking piece 33 to move along the direction close to the unlocking matching piece 500, and a certain point, a plurality of points, a moving part or a plurality of moving parts in the unlocking device can be used as a detection object, when the detection object moves in place, the unlocking piece 33 moves to a target position at the moment, which indicates that the unlocking piece 33 is inserted into the unlocking matching piece 500; when the detection object is not moved to the target position, the unlocking member 33 will not move to the target position, which indicates that the unlocking member 33 is not inserted into the unlocking matching member 500. Whether move target location through detecting unlocking piece 33 and judge that unlocking piece 33 whether targets in place to the removal of unlocking matching piece 500, it is very convenient to detect, and detects the precision height, has effectively avoided taking place the maloperation, has improved safety and stability greatly. Of course, it is also possible to detect whether or not the unlocking piece 33 is inserted into the unlocking matching piece 500 by directly detecting the unlocking piece 33 and using the unlocking piece 33 as a detection target.
The unlocking piece 33 is a first direction along the moving direction close to the unlocking matching piece 500 on the battery bracket, and the target position comprises a first target position and/or a second target position; detecting whether the unlocking member 33 moves to the target position includes: detecting whether the unlocking member 33 moves to the first target position in the first direction, and/or; it is detected whether the unlocking member 33 is moved to the second target position in a second direction opposite to the first direction.
The driving unit 12 drives the first mounting plate 13, the transmission piece 2 and the unlocking piece 3 to move along a first direction, a contact part and a non-contact part exist on the unlocking device in the moving process, the non-contact part cannot contact and abut against other parts in the moving process, and therefore the non-contact part is moved to a first target position along the first direction, the contact part can contact and abut against other parts and cannot move along the first direction continuously, and the contact part is moved to a second target position along a second direction opposite to the first direction relative to the non-contact part.
In this embodiment, the detecting portion 131, the first mounting plate 13 and the driver 2 will be non-contact members, and will not contact against other members during the movement in the first direction, and the second detecting unit 8 will be used to detect the detecting portion 131. The unlocking member 33 is a contact member, and the unlocking member 33 is inserted into the unlocking matching member 500 to generate a mutual abutting force with the unlocking matching member 500, and moves to a second target position in a second direction opposite to the first direction with respect to the detecting portion 131, the first mounting plate 13, and the driving medium 2, and the first detecting unit 5 is used to detect the compression portion 341. Through the detection to the target position of the removal of different parts, improve unlocking device and the efficiency and the accuracy that the matching piece 500 is connected to counterpoint of unblock to improve the precision of unblock or locking, effectively avoided taking place the maloperation, improved safety and stability greatly.
The unlocking member 33 includes a compression portion 341, and detecting whether the unlocking member 33 moves to the second target position in a second direction opposite to the first direction specifically includes: it is detected whether the compressing portion 341 moves to the second target position in the second direction during the movement of the unlocking member 33 in the first direction. The unlocking piece 33 needs to be inserted into the unlocking counterpart 500 during the movement of the unlocking piece 33 in the first direction. If unlocking piece 33 inserts in the unlocking matching piece 500, unlocking piece 33 will not move any more relative to unlocking matching piece 500, and first mounting panel 13, the rotating unit 11 and the driving medium 2 of installation setting on first mounting panel 13 will all continue to move along the first direction, make unlocking piece 33 for first mounting panel 13, the rotating unit 11 and the driving medium 2 of installation setting on first mounting panel 13 move along the second direction, whether judge whether unlocking piece 33 inserts in unlocking matching piece 500 through detecting whether compression portion 341 moves to the second target location along the second direction, it is very convenient to detect, and realize unlocking device's accurate operation, the safety and stability of the equipment in the electricity changing process has been improved greatly.
Controlling the unlocking member 33 to move along the unlocking matching member 500 adjacent to the battery holder, and detecting whether the compressing portion 341 moves to a second target position in a second direction; if yes, the unlocking piece 33 is controlled to rotate; if not, the unlocking member 33 is controlled to retract in the second direction, and the unlocking member 33 is controlled to move again close to the unlocking counterpart 500 on the battery cradle.
In the present embodiment, the first detecting unit 5 is connected to the first mounting plate 13 and moves in the first direction, and the unlocking member 33 will move in the second direction relative to the first detecting unit 5 during the insertion of the unlocking member 33 into the unlocking matching member 500. Specifically, when the first detecting unit 5 detects the compressing portion 341, it indicates that the compressing portion 341 moves to the second target position in the second direction, and the unlocking member 33 moves to the unlocking matching member 500, and the rotating unit 11 rotates the driving transmission member 2 and the unlocking member 33. If the first detecting unit 5 does not detect the compressing portion 341, indicating that the compressing portion 341 is not in abutting contact during the movement, that is, indicating that the unlocking piece 33 is not inserted into the unlocking matching member 500, the battery replacement device will control the driving unit 12 to retract the unlocking piece 33 in the second direction, that is, backward in a direction away from the unlocking matching member 500, and then will control the driving unit 12 again to drive the first mounting plate 13, the transmission piece 2 and the unlocking piece 3 to move in the first direction. The battery replacing device is very convenient to use, and the safety and stability of the battery replacing device in the battery replacing process are greatly improved.
Detecting whether the unlocking member 33 is moved to the first target position and detecting whether the compressing member 341 is moved to the second target position; if it is detected that the compressing part 341 moves to the second target position, the unlocking member 33 is controlled to retract in the second direction, and the unlocking member 33 is controlled to move closer to the unlocking matching member 500 on the battery holder again; if it is detected that the unlocking member 33 moves to the first target position but it is not detected that the compressing portion 341 moves to the second target position after a predetermined time or stroke, the unlocking member 33 is controlled to retract in the second direction and the unlocking member 33 is controlled to move closer to the unlocking matching member 500 on the battery cradle again.
In the present embodiment, the unlocking or locking accuracy is further improved by the first detection unit 5 and the second detection unit 8 for detecting whether the detection object is moved to the second target position and the first target position, respectively. First detecting element 5 and second detecting element 8 can't be accurate to detecting simultaneously at the in-process that detects, judge through the precedence whether unblock piece 33 moves to unblock matching piece 500 and targets in place, and stability is higher.
Specifically, if the first detecting unit 5 detects the compressing portion 341 first and the second detecting unit 8 does not detect or detects the detecting portion 131 later, it indicates that the unlocking piece 33 is abutted against the other components instead of the unlocking matching piece 500, the unlocking piece 33 moves in the second direction in advance, and also indicates that the unlocking piece 33 is not inserted into the unlocking matching piece 500, because the distance that the unlocking piece 33 moves is insufficient, the battery changer will control the driving unit 12 so that the unlocking piece 33 retracts in the second direction, i.e., retracts in the direction away from the unlocking matching piece 500, and then will control the driving unit 12 again to drive the first mounting plate 13, the transmission piece 2, and the unlocking piece 3 to move in the first direction. If the second detecting unit 8 detects the detecting portion 131 first, but the first detecting unit 5 does not detect the compressing portion 341 within the preset time or stroke of the battery replacement setting, it indicates that the unlocking piece 33 is not abutted against the unlocking matching piece 500, and also indicates that the unlocking piece 33 is not inserted into the unlocking matching piece 500, so the battery replacement device will control the driving unit 12 to retract the unlocking piece 33 in the second direction, that is, to retreat in the direction away from the unlocking matching piece 500, and then will control the driving unit 12 again to drive the first mounting plate 13, the transmission piece 2 and the unlocking piece 3 to move in the first direction. If the second detecting unit 8 detects the detecting part 131 first and then the first detecting unit 5 also detects the compressing part 341 within a preset time or a stroke, it is determined that the unlocking member 33 moves to the unlocking matching member 500 in place, so that the rotating unit 11 can be controlled to rotate, thereby unlocking or locking the battery box. The unlocking or locking precision is further improved, and the safety and stability of the battery replacement equipment in the battery replacement process are greatly improved.
After controlling unlocking member 33 to rotate, it includes: and judging whether the locking mechanism is locked or unlocked in place. In this step, the rotating unit 11 rotates the driving member 2 and the unlocking member 33, the unlocking member 33 drives the unlocking matching member 500 to rotate together, the unlocking matching member 500 drives the locking mechanism to move together, the locking mechanism includes a rotating plug-in, and the rotating plug-in is driven by the unlocking matching member 500 to be inserted into the locking groove or retracted out of the locking groove, so as to lock or unlock the battery box. Whether the locking mechanism is locked or unlocked in place is judged, so that the phenomenon that the battery box falls off is effectively avoided when the locking mechanism is not locked in place, misoperation of the battery box in the taking-out process is effectively avoided when the locking mechanism is not unlocked in place, and the safety stability of the battery replacing equipment in the battery replacing process is greatly improved.
Judging whether the locking mechanism is locked or unlocked in place specifically comprises: it is detected whether the rotation torque of the rotation unit 11 falls within a preset torque range. In this step, when the rotating unit 11 rotates, the detection module can be used to detect the rotating torque of the rotating unit 11, the detection module sends a rotating torque value to the battery replacement control unit, the battery replacement control unit performs a comparison analysis on the received rotating torque value and a preset torque range, and when the rotating torque value is within the preset torque range, it indicates that the unlocking member 33 is inserted into the unlocking matching member 500 and rotates in the unlocking matching member 500; when the rotating torque value is not within the preset torque range, it indicates that the unlocking piece 33 is not inserted into the unlocking matching piece 500, and the safety and stability of the battery replacing equipment in the battery replacing process are further improved.
Specifically, in the present embodiment, the locking mechanism needs to be inserted into the locking groove during locking, and will pull the battery box into the battery bracket to achieve tight arrangement of the battery box on the battery bracket, and the rotation torque value during locking will be within the preset torque range. The locking mechanism needs to be separated out of the locking groove when unlocking, the battery box can be pushed out of the battery bracket, and the rotating torque value required in the unlocking process can be within the preset torque range.
Judging whether the locking mechanism is locked or unlocked in place specifically comprises: it is detected whether the rotation amount of the rotation unit 11 falls within a preset rotation amount range. In this step, the battery replacement control unit controls the rotation of the rotating unit 11 and controls the rotation amount of the rotating unit 11, and if the rotation amount of the rotating unit 11 falls within a preset rotation amount range, it indicates that the unlocking device unlocks or locks the battery box; if the rotation amount of the rotating unit 11 is less than the preset rotation amount range, the rotation amount of the rotating unit 11 is not enough and the rotating unit cannot rotate any more, unlocking or locking the battery box is disabled due to jamming; if the rotation amount of the rotating unit 11 is greater than the preset rotation amount range, and the rotating unit 11 can continue to rotate under the condition of being greater than the preset rotation amount, it indicates that the locking mechanism is not separated from the lock groove or inserted into the lock groove, and the battery box is unlocked or locked inefficiently.
After controlling the unlocking member 33 to rotate, the following are included: it is detected whether the unlocking member 33 moves the initial position in the second direction. After the unlocking or locking is in place, the battery replacing device controls the driving unit 12, so that the first mounting plate 13, the transmission part 2 and the unlocking component 3 move backwards to the initial position along the second direction, and the unlocking device is convenient for executing the next battery replacing operation and is convenient to repeatedly apply.
Before controlling the unlocking member 33 to move along the unlocking matching member 500 on the battery bracket, the method further comprises the following steps: the unlocking member 33 is controlled to be aligned with the unlocking mating member 500. Trade the electrical equipment before control drive unit 12 operation, trade electrical equipment and control unlocking piece 33 earlier and unlock matching piece 500 and aim at, unlocking piece 33 just aims at with unlock matching piece 500 earlier before removing, further improves the precision of unlocking device at unblock or locking in-process, has effectively avoided taking place the maloperation, has improved safety and stability greatly.
Specifically, the unlocking member 33 is provided on the battery tray 300, and controls the alignment of the battery tray 300 with the battery bracket. Before the battery replacing device controls the driving unit 12, the battery tray 300 is firstly controlled to be aligned with the battery bracket, the unlocking piece 33 is aligned with the unlocking matching piece 500 through alignment between the battery tray 300 and the battery bracket, unlocking or locking of the locking mechanism is realized in the process of accurately taking and placing the battery box, the battery replacing efficiency is improved, and the safety and stability of the battery replacing device in the battery replacing process are greatly improved.
Controlling the unlocking piece 33 to align with the unlocking matching piece 500 specifically includes: acquiring a first image and a second image of at least two positions on a battery bracket of an electric automobile; acquiring an angle rotation amount according to the first image and the second image; the unlocking piece 33 is controlled according to the angular rotation amount to perform angular adjustment until the unlocking piece 33 and the unlocking matching piece 500 reach a preset angle. In this step, the battery swapping device obtains the amount of angular rotation through the first image and the second image, so that the angular adjustment is performed according to the current relative position of the battery bracket, and the unlocking member 33 and the unlocking matching member 500 reach the preset angle.
When the unlocking piece 33 and the unlocking matching piece 500 reach a preset angle, acquiring a third image and a fourth image of at least two positions on the battery bracket; acquiring a horizontal displacement and a vertical displacement according to the third image and the fourth image; the unlocking piece 33 is controlled to perform horizontal adjustment according to the horizontal displacement amount, and/or the unlocking piece 33 is controlled to perform vertical adjustment according to the vertical displacement amount until the unlocking piece 33 and the unlocking matching piece 500 reach the preset relative position. After the angle is adjusted in place, the adjustment in the horizontal direction and the vertical direction is carried out according to the current relative position of the battery bracket, so that the battery replacement equipment and the battery bracket are positioned. After the angle of the battery replacing device is adjusted in place, that is, after the battery replacing device is parallel to the battery bracket, the change of the relative angle between the battery replacing device and the battery bracket due to the displacement of the battery replacing device in the horizontal direction or the vertical direction is avoided, so that the unlocking piece 33 and the unlocking matching piece 500 reach the preset relative position, the position adjusting process of the battery replacing device is simplified, and the positioning efficiency of the battery replacing device is improved.
Controlling the alignment of the battery tray 300 with the battery carrier further includes: the battery tray 300 is controlled to be protruded in a direction close to the battery bracket to drive the unlocking member 33 to be horizontally moved in a direction close to the unlocking matching member 500. In this step, after the battery replacing device aligns with the battery bracket by controlling the battery tray 300, the battery replacing device will control the battery tray 300 to extend out along the direction close to the battery bracket, so that the battery tray 300 is closer to the battery box on the battery bracket, the process of taking and placing the battery box is more stable and reliable, and the safety and stability of the battery replacing device are greatly improved. Simultaneously, unlocking device sets up in battery tray 300's bottom, and battery tray 300 will drive unlocking piece 33 along the direction horizontal migration who is close to unlocking matching piece 500 when stretching out along the direction that is close to battery tray for the interval is closer to between unlocking piece 33 and the unlocking matching piece 500, further improves unlocking device at the in-process of unblock or locking more reliable and more stable, has improved the safety and stability who trades electrical equipment greatly.
After controlling the battery tray 300 to protrude in the direction close to the battery bracket, before the unlocking member 33 moves close to the unlocking matching member 500 on the battery bracket, the following steps are included: the cartridge 400 is controlled to move in a direction close to the battery box. The battery replacing device controls the tray pushing box 400 to move on the battery tray 300 in a direction close to the battery box, the tray pushing box 400 is connected with the battery box when the battery box is taken out of the tray pushing box 400, and after the subsequent locking mechanism is unlocked, the tray pushing box 400 moves in a direction far away from the battery bracket, so that the battery box is dragged into the battery tray 300. When the pushing tray box 400 is used for placing the battery box, the pushing tray box 400 pushes the battery box to the battery bracket in the moving process, and after the subsequent locking mechanism is locked, the pushing tray box 400 moves along the direction far away from the battery bracket, so that the battery box is connected to the battery bracket. The battery box is pulled or pushed through the push box 400, so that the stability of taking and placing the battery box is effectively improved.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims (17)

1. An unlocking control method is characterized in that an unlocking piece on a battery replacing device is used for unlocking or locking a battery box in a battery bracket on an electric automobile, a locking mechanism and an unlocking matching piece are arranged on the battery bracket, the locking mechanism is used for locking the battery box in the battery bracket, the unlocking matching piece is connected with the locking mechanism and is used for driving the locking mechanism to switch between an unlocking state and a locking state, and the unlocking control method comprises the following steps:
controlling an unlocking piece to move along the unlocking matching piece close to the battery bracket;
and controlling the unlocking piece to rotate so as to drive the unlocking matching piece to rotate to realize the unlocking or locking of the battery box.
2. The unlock control method of claim 1, prior to controlling the unlock member to rotate, comprising:
judging whether the unlocking piece moves in place to the unlocking matching piece or not;
if yes, the unlocking piece is controlled to rotate.
3. The unlock control method of claim 2, wherein the determining whether the unlock member moves to the unlock mating member in place specifically includes:
detecting whether the unlocking piece moves to the target position.
4. The unlock control method according to claim 3, wherein the unlock member is a first direction in a direction close to a moving direction of the unlock mating member on the battery holder, and the target position includes a first target position and/or a second target position;
detecting whether the unlocking piece moves to the target position includes:
detecting whether the unlocking member moves to the first target position along the first direction, and/or;
detecting whether the unlocking member moves to the second target position in a second direction opposite to the first direction.
5. The unlock control method of claim 4, wherein the unlock member includes a compression portion, and the detecting whether the unlock member moves to the second target position in the second direction opposite to the first direction includes:
detecting whether the compression part moves to the second target position in the second direction during the unlocking member moves in the first direction.
6. The unlock control method according to claim 5, wherein the unlock member is controlled to detect whether the compression portion is moved to the second target position in the second direction during the movement of the unlock mating member closer to the battery holder;
if yes, controlling the unlocking piece to rotate;
if not, the unlocking piece is controlled to retract along the second direction, and the unlocking piece is controlled to move along the unlocking matching piece close to the battery bracket again.
7. The unlock control method according to claim 5, wherein in the process of detecting whether the unlock member moves to the first target position and detecting whether the compression portion moves to the second target position;
if the compression part is detected to move to the second target position, the unlocking piece is controlled to retract along the second direction, and the unlocking piece is controlled to move along the unlocking matching piece close to the battery bracket again;
if it detects unlocking piece moves to target in place to first target location, but does not detect behind preset time or the stroke compression portion moves to target in place to second target location, then control unlocking piece follows the second direction retracts, and the control is again unlocking piece is along being close to on the battery bracket unlocking matching piece removes.
8. The unlock control method of claim 1, wherein controlling the unlock member to rotate comprises:
and judging whether the locking mechanism is locked or unlocked in place.
9. The unlock control method according to claim 8, wherein the determining whether the locking mechanism is locked or unlocked in place specifically includes:
whether the rotation torque of the rotation unit falls within a preset torque range is detected.
10. The unlock control method according to claim 8, wherein the determining whether the locking mechanism is locked or unlocked in place specifically includes:
whether the rotation amount of the rotating unit falls within a preset rotation amount range is detected.
11. The unlock control method of claim 1, further comprising, after controlling the unlock member to rotate:
detecting whether the unlocking piece moves an initial position along the unlocking matching piece far away from the battery bracket.
12. The unlock control method of claim 1, wherein before controlling the unlock member to move along the unlock mating member adjacent to the battery cradle, further comprising:
and controlling the unlocking piece to be aligned with the unlocking matching piece.
13. The unlock control method of claim 12, wherein controlling the unlocking member to align with the unlocking mating member specifically comprises:
acquiring a first image and a second image of at least two positions on the battery bracket of the electric automobile;
acquiring an angle rotation amount according to the first image and the second image;
and controlling the unlocking piece to carry out angle adjustment according to the angle rotation amount until the unlocking piece and the unlocking matching piece reach a preset angle.
14. The unlock control method of claim 13, wherein a third image and a fourth image of at least two positions on the battery tray are acquired when the unlocking member and the unlocking matching member reach a preset angle;
acquiring a horizontal displacement and a vertical displacement according to the third image and the fourth image;
according to horizontal displacement control the deblocking piece carries out horizontal adjustment, and/or, according to vertical displacement control the deblocking piece carries out vertical adjustment, until the deblocking piece with unblock matching spare reaches and predetermines relative position.
15. The unlock control method of claim 12 wherein the unlock member is provided on a battery tray that controls alignment of the battery tray with the battery carrier.
16. The unlock control method of claim 15, further comprising, after controlling the alignment of the battery tray with the battery carriage:
and controlling the battery tray to extend out along the direction close to the battery bracket so as to drive the unlocking piece to horizontally move along the direction close to the unlocking matching piece.
17. The unlock control method of claim 16, wherein after controlling the battery tray to be extended in the direction close to the battery holder and before the unlocking member is moved in the direction close to the unlock mating member on the battery holder, further comprising:
the push box is controlled to move in a direction close to the battery box.
CN202010643298.3A 2020-07-06 2020-07-06 Unlocking control method Active CN113895295B (en)

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CN202311185560.4A CN117465281A (en) 2020-07-06 2020-07-06 Unlocking control method
CN202010643298.3A CN113895295B (en) 2020-07-06 2020-07-06 Unlocking control method
PCT/CN2021/104837 WO2022007812A1 (en) 2020-07-06 2021-07-06 Unlocking apparatus, swapping device comprising same, and unlocking control method
US18/014,478 US20240042892A1 (en) 2020-07-06 2021-07-06 Unlocking apparatus, swapping device comprising same, and unlocking control method

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EP3336929A1 (en) * 2016-08-10 2018-06-20 Nio Nextev Limited Battery locking device, new energy source transportation tool, and method for assembling and disassembling power battery
CN110356212A (en) * 2019-06-27 2019-10-22 博众精工科技股份有限公司 A kind of rotate adds tripper
CN210325890U (en) * 2019-06-11 2020-04-14 浙江吉智新能源汽车科技有限公司 Locking means and battery mounting structure with prevent moving back mechanism
CN111231754A (en) * 2020-01-23 2020-06-05 奥动新能源汽车科技有限公司 Battery replacement equipment
JP2020517228A (en) * 2016-12-30 2020-06-11 シャンハイ ディェンバー ニュー エナジー テクノロジー カンパニー リミテッド Unlock device, lock device, battery exchange mobile platform and high speed battery exchange system

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3336929A1 (en) * 2016-08-10 2018-06-20 Nio Nextev Limited Battery locking device, new energy source transportation tool, and method for assembling and disassembling power battery
JP2020517228A (en) * 2016-12-30 2020-06-11 シャンハイ ディェンバー ニュー エナジー テクノロジー カンパニー リミテッド Unlock device, lock device, battery exchange mobile platform and high speed battery exchange system
CN210325890U (en) * 2019-06-11 2020-04-14 浙江吉智新能源汽车科技有限公司 Locking means and battery mounting structure with prevent moving back mechanism
CN110356212A (en) * 2019-06-27 2019-10-22 博众精工科技股份有限公司 A kind of rotate adds tripper
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