CN115963867A - New energy automobile battery replacement station-based bolt locking and unlocking electrical control method - Google Patents
New energy automobile battery replacement station-based bolt locking and unlocking electrical control method Download PDFInfo
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- CN115963867A CN115963867A CN202210958575.9A CN202210958575A CN115963867A CN 115963867 A CN115963867 A CN 115963867A CN 202210958575 A CN202210958575 A CN 202210958575A CN 115963867 A CN115963867 A CN 115963867A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
The invention discloses an electrical control method for locking and unlocking bolts based on a new energy automobile battery replacement station, which comprises the following steps of: step 1, calculating a motor load shaft moment required by a gun head and a bolt when a power station is changed according to a battery locking and unlocking moment given by an automobile manufacturer and mechanical design; step 2, unlocking or locking the power exchange station gun head and the bolt according to the torque in the step 1; step 3, if a fault occurs in the unlocking or locking process in the step 2, switching to step 4; and 4, stopping locking and unlocking the equipment. By the method, multiple unlocking and locking processes of the bolts can be realized, and the stability of the locking and unlocking process is ensured.
Description
Technical Field
The invention relates to the field of new energy automobile battery replacement stations, in particular to an electrical control method for a locking and unlocking bolt based on a new energy automobile battery replacement station.
Background
The screw assembling is a very common process in industrial production, the screw automatic assembling technology is widely developed in recent years, and the production efficiency and the assembling precision are improved.
The existing screw locking mechanism generally adopts a control system taking a small PLC as a core, speed and moment control is carried out on a load through an input terminal of a servo driver or a 485 communication mode, and human-computer interaction and data analysis are realized by matching with an HMI (human machine interface), so that the aim of automatic production is fulfilled.
However, most automatic assembling equipment only needs to consider single, single and locking processes of the bolt, and the power exchanging station needs to consider multiple, unlocking and locking processes, and the latter has higher requirements on mechanical characteristics and electrical control stability of the bolt and the nut. Therefore, an electrical control method for locking and unlocking bolts based on a new energy automobile battery replacement station is needed.
Disclosure of Invention
In order to solve the technical problems, the invention provides an electrical control method for locking and unlocking bolts based on a new energy automobile battery replacement station, which can lock or unlock a plurality of bolts simultaneously, and improves the stability, timeliness and accuracy of the process flow.
The technical scheme of the invention is as follows: a locking and unlocking bolt electrical control method based on a new energy automobile battery replacement station comprises the following steps:
and 4, stopping locking and unlocking the equipment.
Further, the motor load shaft torque in the step 1 comprises an unlocking and cap-unlocking torque, an unlocking torque and a locking torque; the moment is calculated as follows: t is a unit of Motor% =T Bolt /i*T Rated value
T bolt: the actual moment of the bolt when the bolt is tightened is expressed in the unit of N.m;
i: the accelerating servo motor is connected with a bolt through a speed reducer and corresponds to the speed ratio of the speed reducer;
and T is rated: the rated torque of the servo motor is expressed in the unit of N.m;
t Motor%: and the percentage of rated torque which is actually required by the motor is represented and is transmitted to the servo driver by the PLC.
The system further comprises an HMI in communication connection with the PLC through a ModbusTCP, and a network port of the HMI is connected with an LANA port of the PLC through a double-end super 5-type RJ45 twisted pair shielding wire; the PLC and the servo driver adopt an EtherCAT bus control mode.
Further, the step 2 includes processes of unlocking and cap-identifying, cap-identifying completion waiting, unlocking and locking.
Further, the unlocking cap comprises: according to the fact that cap recognizing operation is needed before unlocking of the gun head structure and the bolt structure, in the cap recognizing action process, the motor rotates in the locking direction at the speed of 0.2r/s through a torque mode, and stops when the torque reaches the cap recognizing set torque; if the torque is not reached after the cap-identifying time is exceeded in the process of unlocking and identifying the cap, the cap-identifying overtime alarm is generated.
Further, the cap attaching completion waiting comprises: after the unlocking and cap-identifying are finished, waiting for finishing the unlocking and cap-identifying in 200 scanning periods, and marking the unlocking and cap-identifying process as a false cap if the motor torque can not be kept as the unlocking and cap-identifying torque in the process; if the cap-identifying moment is stable all the time in the process, the process of unlocking and identifying the cap is marked to be correct.
Further, the unlocking includes: the gun head runs at the speed of 1r/s in the unlocking process, the real-time position of a servo motor encoder is read when the unlocking process is started, and the rotating number of turns of the gun head is required to reach the set number of turns when the unlocking is finished; and if the set time limit is exceeded in the unlocking process, an unlocking failure alarm is reported.
Further, the locking includes: the locking process is a bolt tightening process; when the locking is started, the number of turns is calculated in an accumulated mode, when the torque of the motor reaches a set torque, the number of turns of the locking is simultaneously counted, and if the torque of the motor and the set torque reach the set torque, the locking is finished; if the locking turns are not reached when the torque is reached or the locking turns or the torque is not reached within the appointed time, the failure of locking is alarmed.
Further, the device also comprises a microswitch for detecting the battery, wherein the microswitch can detect the battery before unlocking or locking; when unlocking is completed, the microswitch can detect the battery; after the locking is completed, the micro switch cannot detect the battery.
Further, the failure in step 3 includes a servo axis failure.
The beneficial technical effects of the invention are as follows:
according to the design process, bolts are simultaneously locked or unlocked through No. 1-8 locking and unlocking guns according to the bolt distribution characteristics of the battery, the locking process is judged by combining locking torque and the number of turns, and the unlocking process is completed in a motion control mode by combining a cap recognizing process, an unlocking process and the number of unlocking turns and the like.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to make the technical solutions of the present invention practical in accordance with the contents of the specification, the following detailed description is given of preferred embodiments of the present invention with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of an apparatus configuration of the present invention;
FIG. 2 is a diagram of the architecture in software according to the present invention;
FIG. 3 is a schematic diagram of servo axis parameters of the present invention;
FIG. 4 is a schematic diagram of the communication protocol of HMI communication parameters according to the present invention;
FIG. 5 is a diagram illustrating communication time and slave station equipment of PLC communication parameters according to the present invention;
FIG. 6 is a schematic diagram illustrating torque and rotational speed settings during the locking and unlocking process of the present invention;
FIG. 7 is a schematic process flow diagram of the present invention;
FIG. 8 is a diagram of a hardware connection framework of the present invention;
FIG. 9 is a schematic view of an unlocking process flow of the present invention;
FIG. 10 is a schematic view of a locking process of the present invention;
FIG. 11 is a schematic view of a locking torque curve according to the present invention.
Detailed description of the preferred embodiments
In order to make the technical means of the present invention clearer and to make the technical means of the present invention capable of being implemented according to the content of the specification, the following detailed description of the embodiments of the present invention is made with reference to the accompanying drawings and examples, which are provided for illustrating the present invention and are not intended to limit the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships described based on embodiments and shown in the drawings, or orientations or positional relationships that the present invention is usually placed in when the product is used, and are only for convenience of describing and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 8, the invention specifically relates to an electrical control method for a locking and unlocking bolt based on a new energy automobile power changing station, and the electrical control method comprises the following steps of firstly establishing a control frame diagram of a locking and unlocking gun part: the main body adopts a confluent AC801-0221-U0R0 intelligent mechanical programmable controller (PLC for short), an IT7150E human-computer interface (HMI for short) and an InoSV660N series servo for control.
The method comprises the steps of building a hardware connection frame according to the type selection of the electrical elements, converting an architecture diagram into a system architecture in software, configuring related parameters, processing details, torque conversion and programming according to processing requirements (PLC and HMI).
And (3) constructing a hardware connection frame according to the type selection of the electrical elements:
wherein, PLC and HMI adopt modbusTCP communication mode: in hardware, the HMI with a network port is connected with the LANA port of the PLC through a double-end super 5-class RJ45 twisted-pair shielded wire; in terms of software, the HMI is used as a master station, the PLC is used as a slave station, and the HMI and the PLC are set to be in the same network segment through an AM600 Modbus TCP protocol and then associated variables are added to realize data interaction.
PLC and servo driver adopt EtherCAT bus control mode: etherCAT is a real-time ethernet network developed by befu, which is based on CANOPEN protocol and ethernet, but is different from ethernet communication or network communication in that it is optimized specifically for industrial automation system control, and is a very flexible real-time industrial ethernet protocol. IN the control system, a network cable is connected to an IN port of the InoSV660N from an LANC port of a PLC, and all drivers are connected IN an end-to-end manner from an OUT port of a previous driver to an IN port of a next driver. The PLC is used as an EtherCAT master station, and the driver is used as an EtherCAT slave station.
As shown in fig. 1, the method for converting the architecture diagram into a system architecture in software includes the following steps:
1. the InoProshop software is used for building a new project, the PLC model is selected to be AC801-0221-U0R0, and after the name is modified, the 'confirmation' is clicked. And opening Network Configuration in a left menu bar, clicking the right equipment tree PLC, selecting an Ethernet (net port A/net port B) ModbusTCP slave station, and selecting an EtherCAT (net port C) EtherCAT master station.
As shown in fig. 2, click on the right network device list, and double click on "SV660_1axis_0091" can add the InoSV660N servo driver as the slave device, and considering that we have 8 lock/unlock guns in total, add the drivers 8 times in the same manner. At this point the device tree addition of the PLC and driver is complete.
3. After the completion of the step 1, the left Device menu of the software automatically generates MODBUS _ TCP (ModbusTCP Device), which is HMI (human machine interface) as the master Device, and after the IP address is set to be the same network segment, the data interaction between the HMI and the IP Device can be realized.
As shown in fig. 3, the setting and configuring of the related parameters according to the above system architecture includes the following steps:
1. configuring servo axis related parameters: double-clicking the left equipment column "ethernet _ C (ETHERCAT master software)" below "Axis" selects the arrangement reduction ratio. The motor load shaft belt 80 is a harmonic reducer of 1, so we select "use the speed change device" on the right side, the gear ratio denominator is set to 80, and the gear ratio denominator is set to 1; the user unit selects degree; the pulse number of the motor rotating for one circle is set to be 16#20000, after the actual driver is electrified, the parameter H05-07 of the servo driver is set to be 64, and the one-to-one data proportion of software and hardware can be realized.
As shown in fig. 4 and 5, 2, HMI-related parameters are configured. After an HMI project is newly built in the InoTouchShop, a communication protocol of AM600 Modbus TCP is selected from a left menu bar communication-connection, and the slave station equipment IP address is set as the IP address of the PLC.
As shown in fig. 7, according to the construction of the above-mentioned architecture, the specific implementation steps are as follows:
as shown in fig. 6, step 1, according to the battery locking and unlocking torque given by the automobile manufacturer and the mechanical design, the motor load shaft torque required when the battery is replaced in the battery selection and replacement station; and (3) torque conversion: the mechanical structure of the locking and unlocking gun is a servo motor → a speed reducer → a gun head, and the moment is expressed in a linear relation, and the specific formula is as follows. In the actual control process, the locking and unlocking torque required by the bolt needs to be converted into data which needs to be issued to a servo driver by a PLC (programmable logic controller), so that torque control is realized.
T Motor% =T Bolt /i*T Rated value
Wherein, T bolt: the actual moment of the bolt when the bolt is tightened is expressed in the unit of N.m;
i: the acceleration servo motor is connected with a bolt through a speed reducer and corresponds to the speed ratio of the speed reducer;
and T is rated: the rated torque of the servo motor is expressed in the unit of N.m;
t Motor%: and the percentage of rated torque which is actually required by the motor is represented and is transmitted to the servo driver by the PLC.
and 2, unlocking the cap, waiting for the cap, unlocking and locking the cap.
As shown in fig. 8, the unlocking recognition cap includes: according to the gun head structure and the bolt structure, cap recognition operation is required before unlocking, in the cap recognition action process, the motor rotates in the locking direction at the speed of 0.2r/s through a torque mode, and stops when the set torque of the cap recognition is reached, so that the gun head and the bolt are ensured to be completely engaged before unlocking, the unlocking abnormity caused by the position deviation of the gun head and the bolt is avoided, meanwhile, the actual number of unlocking turns can be effectively counted, and the idling calculation of the gun head before touching the bolt is avoided in the middle of the number of unlocking turns. If the torque is not reached after the cap-identifying time is exceeded in the process of unlocking and identifying the cap, the cap-identifying overtime alarm is generated.
The cap-identifying completion waiting comprises: after the unlocking and the cap recognizing are completed, the unlocking and the cap recognizing are performed within 200 scanning periods, and the waiting is completed, if the motor torque cannot be kept as the unlocking and cap recognizing torque in the process, namely the cap recognizing process is a mistaken cap recognizing process, the gun head may slide a gun or a bolt is provided with a foreign matter, and the cap recognizing overtime alarm can be generated. If the cap-identifying moment is stable all the time in the process, the process of unlocking and identifying the cap is correct, and the next operation can be carried out.
The unlocking comprises the following steps: in the unlocking process, the gun head runs at the speed of 1r/s, reading is carried out on the real-time position of a servo motor encoder when the unlocking process is started, and the rotating number of turns of the gun head is required to reach the set number of turns when the unlocking is finished. And if the set time limit is exceeded in the unlocking process, an unlocking failure alarm is reported.
When the vehicle unblock position, there are 3 micro-gap switches to carry out battery detection on the contact platform is separated to the battery bottom. Before unlocking, the micro switch may detect the battery; after the unlocking is completed, the vehicle is lifted, the battery still remains on the platform, and the battery can still be detected by the microswitch, so that the battery protection function is comprehensively increased.
As shown in fig. 9, the locking includes: the locking process is a bolt tightening process. And when the torque reaches the moment, the locking turn number does not reach or the locking turn number or the torque does not reach within the appointed time, the alarm of the locking failure can be given.
When the vehicle was in the locking position, there was 3 micro-gap switches to carry out battery detection on the battery bottom was separated and is contacted the platform. Before locking, the micro switch can detect the battery; after the locking is completed, the vehicle is lifted, the battery is lifted along with the vehicle, the battery cannot be detected by the microswitch, and the battery protection function is comprehensively increased.
In addition, the bolt is subjected to locking and unlocking debugging according to the locking and unlocking logic, a torque curve of the locking and unlocking gun corresponding to the servo motor is monitored through the tracking function of InoProShop software, as shown in FIG. 10, the abscissa represents the monitored time axis, the ordinate represents the real-time torque of the current servo axis, and the number of the locking and unlocking guns is 1-8 from top to bottom in sequence, as can be seen from the torque shown in the figure, the monitoring process comprises a complete locking process, and when the bolt is not screwed, the idling torque of the motor is about 20%; when the bolt is tightened, the motor shaft torque is about 75%.
The gun head and the bolt can be subjected to multi-group processing through the locking and unlocking technological process and the tracking and monitoring of InoProShop software, and the processing process is more stable and accurate.
Meanwhile, the gun head and the bolt can be subjected to locking and unlocking treatment more normatively through the method, and timeliness and accuracy in the treatment process are guaranteed.
when the equipment has a servo shaft fault or other alarms in the locking or unlocking process, the equipment stops locking or unlocking.
And 4, stopping locking and unlocking the equipment.
Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (10)
1. A locking and unlocking bolt electrical control method based on a new energy automobile battery replacement station is characterized by comprising the following steps:
step 1, calculating a motor load shaft moment required by a gun head and a bolt when a power station is changed according to a battery locking and unlocking moment given by an automobile manufacturer and mechanical design;
step 2, unlocking or locking the converter station gun head and the bolt according to the torque in the step 1;
step 3, if a fault occurs in the unlocking or locking process in the step 2, the step 4 is switched to;
and 4, stopping locking and unlocking the equipment.
2. The electric control method for the locking and unlocking bolt based on the new energy automobile battery replacement station is characterized in that in the step 1, the motor load shaft torque comprises an unlocking cap torque, an unlocking torque and a locking torque; the moment is calculated as follows: t is Motor% =T Bolt /i*T Rated value
T bolt: the actual moment of the bolt when the bolt is tightened is expressed in the unit of N.m;
i: the acceleration servo motor is connected with a bolt through a speed reducer and corresponds to the speed ratio of the speed reducer;
and T is rated: the rated torque of the servo motor is expressed in the unit of N.m;
t Motor%: and the percentage of rated torque which is actually required by the motor is represented and is transmitted to the servo driver by the PLC.
3. The electric control method for the locking and unlocking bolt based on the new energy automobile battery replacement station is characterized by further comprising an HMI (human machine interface) in communication connection with the PLC through ModbusTCP, wherein a network port of the HMI is connected with an LANA port of the PLC through a double-end super 5-class RJ45 twisted-pair shielded wire; the PLC and the servo driver adopt an EtherCAT bus control mode.
4. The new energy automobile battery replacement station-based locking and unlocking bolt electrical control method according to claim 1, wherein the step 2 comprises unlocking and cap-unlocking, cap-unlocking completion waiting, unlocking and locking processes.
5. The new energy automobile battery replacement station-based locking and unlocking bolt electrical control method according to claim 4, wherein the unlocking confirmation cap comprises: according to the fact that cap recognizing operation is needed before unlocking of the gun head structure and the bolt structure, in the cap recognizing action process, the motor rotates in the locking direction at the speed of 0.2r/s through a torque mode, and stops when the torque reaches the cap recognizing set torque; if the torque is not reached after the cap-recognizing time is exceeded in the process of unlocking and recognizing the cap, the cap-recognizing overtime alarm can be given out.
6. The new energy automobile battery replacement station-based locking and unlocking bolt electrical control method according to claim 4, wherein the cap recognizing and waiting completion comprises: after unlocking and cap-identifying are completed, waiting for unlocking and cap-identifying completion in 200 scanning periods, and marking the unlocking and cap-identifying process as a false cap if the motor torque cannot be kept as the unlocking and cap-identifying torque in the process; if the cap-identifying moment is stable all the time in the process, the process of unlocking and identifying the cap is marked to be correct.
7. The new energy automobile battery replacement station-based locking and unlocking bolt electrical control method according to claim 4, wherein the unlocking comprises the following steps: the gun head runs at the speed of 1r/s in the unlocking process, the real-time position of a servo motor encoder is read when the unlocking process is started, and the rotating number of turns of the gun head is required to reach the set number of turns when the unlocking is finished; if the set time limit is exceeded in the unlocking process, an unlocking failure alarm is reported.
8. The electric control method for the locking and unlocking bolt based on the new energy automobile battery replacement station is characterized by comprising the following steps: the locking process is a bolt tightening process; when the locking is started, the number of turns is calculated in an accumulated mode, when the torque of the motor reaches a set torque, the number of turns of the locking is simultaneously counted, and if the torque of the motor and the set torque reach the set torque, the locking is finished; and if the locking turns do not reach when the torque reaches or the locking turns or the torque does not reach within the appointed time, the failure of locking is alarmed.
9. The electric control method for the locking and unlocking bolt based on the new energy automobile battery replacement station as claimed in claim 7 or 8, characterized by further comprising a micro switch for detecting a battery, wherein the micro switch can detect the battery before unlocking or locking; when unlocking is completed, the microswitch can detect the battery; after the locking is completed, the battery cannot be detected by the microswitch.
10. The new energy vehicle battery replacement station-based bolt locking and unlocking electrical control method as claimed in claim 1, wherein the fault in the step 3 comprises a servo shaft fault.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210958575.9A CN115963867A (en) | 2022-08-11 | 2022-08-11 | New energy automobile battery replacement station-based bolt locking and unlocking electrical control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210958575.9A CN115963867A (en) | 2022-08-11 | 2022-08-11 | New energy automobile battery replacement station-based bolt locking and unlocking electrical control method |
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| CN115963867A true CN115963867A (en) | 2023-04-14 |
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| CN202210958575.9A Pending CN115963867A (en) | 2022-08-11 | 2022-08-11 | New energy automobile battery replacement station-based bolt locking and unlocking electrical control method |
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| CN107775324A (en) * | 2017-10-26 | 2018-03-09 | 蔚来汽车有限公司 | Bolt locking method, bolt unlocking method, bolt add unlocking method and Vehicular battery replacing options |
| CN109501754A (en) * | 2017-12-12 | 2019-03-22 | 蔚来汽车有限公司 | Fastener adds unlocking mechanism and system and the electrically operated platform of replacing vehicle |
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| CN111959338A (en) * | 2020-07-15 | 2020-11-20 | 浙江吉智新能源汽车科技有限公司 | Battery replacement method for electric vehicle |
| CN111959337A (en) * | 2020-07-07 | 2020-11-20 | 浙江吉智新能源汽车科技有限公司 | Locking and unlocking control method and system |
| CN113895287A (en) * | 2020-07-06 | 2022-01-07 | 奥动新能源汽车科技有限公司 | Unlocking device and battery replacing equipment comprising same |
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- 2022-08-11 CN CN202210958575.9A patent/CN115963867A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200317081A1 (en) * | 2017-04-01 | 2020-10-08 | Shanghai Dianba New Energy Technology Co., Ltd. | Battery Locking/Unlocking System, Electric Vehicle Battery Swapping Control System and Control Method Thereof |
| CN107775324A (en) * | 2017-10-26 | 2018-03-09 | 蔚来汽车有限公司 | Bolt locking method, bolt unlocking method, bolt add unlocking method and Vehicular battery replacing options |
| CN109501754A (en) * | 2017-12-12 | 2019-03-22 | 蔚来汽车有限公司 | Fastener adds unlocking mechanism and system and the electrically operated platform of replacing vehicle |
| CN210652754U (en) * | 2019-09-06 | 2020-06-02 | 杭州海康机器人技术有限公司 | Battery picking and placing device suitable for AGV |
| CN113895287A (en) * | 2020-07-06 | 2022-01-07 | 奥动新能源汽车科技有限公司 | Unlocking device and battery replacing equipment comprising same |
| CN111959337A (en) * | 2020-07-07 | 2020-11-20 | 浙江吉智新能源汽车科技有限公司 | Locking and unlocking control method and system |
| CN111959338A (en) * | 2020-07-15 | 2020-11-20 | 浙江吉智新能源汽车科技有限公司 | Battery replacement method for electric vehicle |
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