TWI657886B - Automatic locking-unlocking device, battery swapping robot, battery charging and swapping station and locking-unlocking method - Google Patents

Abstract

The invention relates to an automatic locking and unlocking device, a power exchange robot, a charging and replacing power station, and a locking and unlocking method. The automatic locking and unlocking device of the present invention includes a casing, a tooling portion, and a driving portion, wherein the casing has a first bottom plate and a second bottom plate; a first end of the tooling portion protrudes from the first bottom plate and can cooperate with a fastener to be operated And the tooling part can move relative to the driving part along its axial direction; the driving part is housed in the housing, and the driving part is connected to the second end of the tooling part; and the driving part can rotate the tooling part, and the rotation can drive the fastener tight Attach / disengage the vehicle to be replaced. Through the installation of the tooling unit and the driving unit, the action of fastening / unfastening the fastener to the vehicle to be replaced can be completed automatically, the automatic unlocking of the energy storage unit can be realized, and the accuracy and stability of the unlocking process can be improved.

Description

Automatic locking and unlocking device, power exchange robot, charging and replacing power station, and automatic locking and unlocking method

The invention relates to the field of power exchange, in particular to an automatic locking and unlocking device, a power exchange robot, a charging and replacing power station, and a locking and unlocking method.

New energy vehicles, as a new type of transportation, are favored by major manufacturers and car owners due to their advantages such as energy saving, environmental protection, and low work noise. In the process of replacing the energy storage unit for new energy vehicles, fastening and disassembly of the energy storage unit are essential steps. Taking electric vehicles as an example, the use of bolts as fasteners for power batteries and electric vehicle bodies is a common connection method adopted by major manufacturers. In the tightening process, the tightening gun is semi-automatic or manual, or a customized non-standard automated fastening device is used to integrate the tightening gun into the automation device to achieve the fastening / removal of multiple bolts. One of the means for manufacturers to improve service quality.

But the above-mentioned methods also brought corresponding problems. First of all, for the semi-automatic or manual tightening method, the worker uses the tightening gun for a long time to perform the tightening work. The worker's labor intensity is large, and the tightening accuracy and stability of the bolt cannot be guaranteed. Secondly, for the customized automatic fastening device, due to the high cost of the automatic fastening device, it directly led to a large investment in the initial construction of the charging and replacing power station, and the corresponding service cost for replacing the power battery of the electric vehicle also followed. Higher, this is not conducive to service providers to provide car owners with a good service experience.

Accordingly, there is a need in the art for a new unlocking device to solve the above problems.

In order to solve the above-mentioned problems in the prior art, that is, to solve the problems of semi-automatic or manual fastening methods in the process of fastening the energy storage unit with poor stability and high costs of the automatic fastening device, the present invention provides an automatic locking and unlocking method. A device comprising a casing, a tooling portion, and a driving portion, wherein the casing has a first bottom plate and a second bottom plate; wherein a first end of the tooling portion protrudes from the first bottom plate and can communicate with a The operating fasteners are cooperatively connected, and the tooling portion can move relative to the driving portion along its axial direction; wherein the driving portion is housed in the housing, and the driving portion and the first portion of the tooling portion are The two ends are connected; and the driving part can rotate the tooling part, and the rotation can drive the fastener to be fastened / detached from the vehicle to be replaced.

In a preferred technical solution of the automatic locking and unlocking device described above, the tooling part includes a tooling body, and a first end of the tooling body has a first docking structure capable of matching and connecting with the fastener.

In a preferred technical solution of the automatic locking and unlocking device described above, the automatic locking and unlocking device further includes a connecting portion, and the driving portion is connected to the second end of the tooling body through the connecting portion.

In a preferred technical solution of the automatic locking and unlocking device described above, the connecting portion includes a first connecting member and a first elastic member, wherein the first connecting member is connected to the tooling body; wherein the first elastic member It is arranged between the first connecting member and the tooling body.

In a preferred technical solution of the automatic locking and unlocking device, the connecting portion further includes a first pin, the tooling body has a first pin hole corresponding to the first pin, and the first connecting member has a first pin. An elongated hole, the tooling body and the first connecting member are connected through the first pin, and the first pin can move along the hole length direction of the first elongated hole.

In a preferred technical solution of the automatic locking and unlocking device, the connecting portion further includes a second connecting member, and the second connecting member is fixedly connected to the first connecting member and the driving portion, respectively.

In a preferred technical solution of the automatic unlocking device, the automatic unlocking device further includes a support portion, and the driving portion is fixedly connected to the support portion.

In a preferred technical solution of the automatic locking and unlocking device described above, the support portion includes a force transmission base plate and at least one support unit, and the support unit includes a support shaft and a force transmission sleeve sleeved outside the support shaft, wherein, Both ends of the support shaft are fixedly connected to the first base plate and the second base plate, respectively; wherein the force transmission sleeve is fixedly connected to the driving portion and the force transmission base plate, respectively.

In a preferred technical solution of the automatic locking and unlocking device described above, the support portion further includes a second elastic member, the second elastic member is sleeved on the support shaft, and the second elastic member is provided on the force transmission Between the bottom plate and the second bottom plate.

In a preferred technical solution of the automatic locking and unlocking device described above, the automatic locking and unlocking device further includes a pressure sensor, and the pressure sensor is disposed at a position that enables the pressure sensor to collect the axial direction of the driving portion. force.

In a preferred technical solution of the automatic locking and unlocking device, the automatic locking and unlocking device further includes a sensor base, the sensor base is fixed to the second base plate, and the pressure sensor is disposed on the sensor. The side of the tester base far from the second bottom plate.

In a preferred technical solution of the automatic locking and unlocking device described above, the driving unit includes a servo motor and a speed reducer fixedly connected to the servo motor, wherein the speed reducer is connected to the second portion of the tooling portion through the connection portion and the tooling portion.端 连接。 End connection.

In a preferred technical solution of the automatic locking and unlocking device described above, the fastener includes a central pulling shaft, an adjusting block, and a limit sealing plate; wherein: the central pulling shaft has a locking section and an adjusting section, and the adjusting section can communicate with The adjustment block is plug-in connected, and in an assembled state, the adjustment block can move in the axial direction relative to the central pull shaft, and the adjustment block has no relative rotation with respect to the central pull shaft; The first end of the adjustment block has a circumferential locking groove, the second end of the adjustment block is provided with a second docking structure capable of matching and connecting with the first docking structure, and the adjustment block is further formed with The through hole of the regulating section is cooperatively connected; the limiting element sealing plate can be fixedly connected to the energy storage unit, and the limiting sealing plate has a circumferential anti-loose groove that is cooperatively connected with the locking groove, and In a state where the locking groove is connected to the anti-loosening groove, the adjusting block has no relative rotation with respect to the limit sealing plate.

The invention also provides a power exchange robot, which includes the automatic locking and unlocking device according to any one of the foregoing.

The present invention also provides a charging and replacing station, and the charging and replacing station is configured with any one of the foregoing electric changing robots.

The invention also provides an automatic adding and unlocking method, which includes the following steps:

Keep the tooling department close to the fastener to be operated;

Matchingly connecting the first docking structure of the tooling part with the second docking structure of the fastener;

The tooling part drives the fastener to fasten / detach the vehicle to be replaced.

In a preferred technical solution of the automatic locking and unlocking method described above, the step of "matching and connecting the first docking structure of the tooling part with the second docking structure of the fastener" further includes:

Placing the first elastic member in a compressed state;

The first docking structure is rotated, and the second docking structure is matched and connected with the first docking structure by rotating.

In a preferred technical solution of the above automatic adding and unlocking method, the method further includes the following steps:

Collect the parameters of the automatic unlocking device during the automatic unlocking process.

In a preferred technical solution of the automatic locking and unlocking method, the parameter is one or more of a torque of a driving motor, a number of rotations of a fastener, or a pressure that the driving motor receives in an axial direction thereof.

In a preferred technical solution of the automatic locking and unlocking method described above, when the fastener is the aforementioned fastener, before the step of "fastening / detaching the fastener to the vehicle to be replaced by the tooling unit" , The method further includes:

Disengage the lock groove from the lock groove.

In a preferred technical solution of the above-mentioned automatic locking and unlocking method, after the step of "making the tooling part drive the fastener to fasten / detach the electric vehicle to be replaced", the method further includes:

Keep the tooling part away from the fastener to be operated, and this distance can cause the locking groove to fall into the anti-loosening groove.

Those skilled in the art can understand that, in a preferred technical solution of the present invention, the automatic unlocking device includes a housing, a tooling portion, and a driving portion. The casing has a first bottom plate and a second bottom plate. The first end of the tooling portion protrudes from the first bottom plate and can be cooperatively connected with the fastener to be operated, and the tooling portion can move relative to the driving portion along its axial direction. The driving part is accommodated in the housing, the driving part is connected to the second end of the tooling part, and the driving part can rotate the tooling part, and the rotation can drive the fastener to be fastened / detached to the vehicle to be replaced. Through the installation of the tooling unit and the driving unit, the action of fastening / unfastening the fastener to the vehicle to be replaced can be completed automatically, and the automatic unlocking of the power battery is realized, and the accuracy of the fastener connection during the unlocking process is improved. stability.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention. For example, although the first docking structure in the drawing is a four-bump structure provided on the inner wall of the cylindrical tooling body, this setting form, setting position, and number are not static, and those skilled in the art can It is adjusted to suit specific applications.

It should be noted that in the description of the present invention, the terms "center", "upper", "down", "left", "right", "vertical", "level", "inside", "outside", etc. The term of the indicated direction or positional relationship is based on the direction or positional relationship shown in the drawings, which is only for convenience of description, and does not indicate or imply that the device or element must have a specific orientation, structure and operation in a specific orientation Therefore, it cannot be understood as a limitation to the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only, and should not be construed to indicate or imply relative importance.

In addition, it should be noted that in the description of the present invention, unless otherwise specified and limited, the terms "installation", "connected", and "connected" should be understood in a broad sense. For example, they may be fixed connections or It is a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

First, refer to FIG. 1, FIG. 2, and FIG. 3A and FIG. 3B, wherein FIG. 1 is a schematic structural diagram of an automatic unlocking device according to the present invention, FIG. 2 is a schematic sectional view of an automatic unlocking device according to the present invention, and FIG. The structural schematic diagram of the anti-loosening bolt of the automatic locking and unlocking device in a preferred application scenario, FIG. 3B is an exploded schematic diagram of FIG. 3A. The automatic locking and unlocking device of the present invention will be described below by taking as an example the replacement of a power battery for an electric vehicle to be replaced, and a fastener used to fasten the power battery as the lock bolt shown in FIGS. 3A and 3B.

As shown in FIGS. 3A and 3B, an anti-loosening bolt 20 with an anti-loosening structure is shown. The anti-loosening bolt 20 mainly includes a casing 21, a central tension shaft 22, an adjusting block 23, a limit sealing plate 24, and a return spring 25. The casing 21 is a cylindrical structure with an open bottom end, and a first through hole 211 is formed at the top of the casing 21. The central pulling shaft 22 has a locking section 221, an adjusting section 222, and a flange 223 between the locking section 221 and the adjusting section 222. A first end of the adjusting block 23 has a locking groove 231 in a circumferential direction, a second end of the adjusting block 23 has a second docking structure 232, and a second through hole 233 is also formed in the adjusting block 23. The limiting sealing plate 24 has a locking groove 241 intersecting with the circumferential concave-convex grooves in a cooperative connection with the locking groove 231, and the limiting sealing plate 24 is further formed with a third through hole 242. Wherein, the adjusting section 222 can be plugged and connected with the adjusting block 23 through the second through hole 233. And in the connected state, the adjusting block 23 can move relative to the central pulling shaft 22 in the axial direction, and the adjusting block 23 has no relative rotation with respect to the central pulling shaft 22 (for example, the spline is connected with the spline groove). The second end of the adjusting block 23 protrudes from the third through hole 242 of the limit sealing plate 24. The locking groove 231 of the first end of the adjusting block 23 can be cooperatively connected with the anti-loosening groove 241 of the limit sealing plate 24, and When the locking groove 231 and the anti-loosening groove 241 are connected, the adjusting block 23 does not rotate relative to the limit sealing plate 24. Wherein, the limit seal plate 24 is fixedly connected to the power battery, and in a connected state, the limit element seal plate 24 and the power battery have no relative rotation. Wherein, the return spring 25 is sleeved on the adjusting section 222 of the central pulling shaft 22, and two ends thereof are respectively connected to the flange 223 and the first end of the adjusting block 23. Wherein, the casing 21 is fixedly connected to the limit sealing plate 24, and in a connected state, the locking section 221 of the central pulling shaft 22 protrudes from the first through hole 211. That is, when the locking groove 231 is detached from the anti-loosening groove 241, the central pulling shaft 22 can be driven to rotate by rotating the adjusting block 23. This rotation can fasten the anti-loosening bolt 20 to the electric vehicle. As the locking groove 231 and the anti-loosing groove 241 are connected well, the central pulling shaft 22 does not rotate relative to the limit sealing plate 24, thereby achieving the anti-loosening function of the anti-loosening bolt 20.

It can be seen that the structure of the anti-loosening bolt 20 enables the anti-loosening bolt 20 to be fastened to an electric vehicle, eliminating hidden safety hazards caused by loose bolts and the like, and greatly reducing the probability of even a safety accident. In addition, the special anti-loosening structure of the anti-loosening bolt 20 also makes the power battery fastened by the anti-loosening bolt 20 more reliable than other methods.

As shown in FIGS. 1 and 2, the present invention provides an automatic locking and unlocking device 10 for the aforementioned anti-loosening bolt 20. The device mainly includes a housing 11, a tooling portion 12, a driving portion 13, and a connecting portion 14. The casing 11 includes a first bottom plate 111 and a second bottom plate 112. The first end of the tooling portion 12 protrudes from the first bottom plate 111 and is connected to the lock bolt 20 to be operated, and the tooling portion 12 can move along the axial direction relative to the driving portion 13; the driving portion 13 is housed in the housing 11, and The second end of the driving portion 13 and the tooling portion 12 are connected by a connecting portion 14. And in the connected state, the driving portion 13 can rotate the tooling portion 12, and the rotation can drive the anti-loosening bolt 20 to / from the electric vehicle to be exchanged, that is, the power battery is fastened / detached. Electric car to be replaced.

It can be seen that through the setting of the tooling part 12, the driving part 13, and the connecting part 14, the action of fastening / disengaging the anti-loosening bolt 20 can be automatically completed, compared to the semi-automatic or manual fastening method. This setting mode reduces the labor intensity of workers, and realizes automatic unlocking of power batteries. And compared with non-standard automatic fastening devices, this setting method has the advantages of simple structure, low cost and convenient maintenance.

According to the orientation shown in FIG. 2, the top and bottom of the housing 11 are provided with a first bottom plate 111 and a second bottom plate 112. The tooling portion 12 includes a substantially cylindrical tooling body 121, and an upper end of the tooling body 121 has a first butt joint. Structure 1211. The lower end of the adjusting block 23 has a second docking structure 232 (refer to FIG. 3B). The first docking structure 1211 can extend from the first base plate 111 to the second docking structure 232 to match and connect, so that the tooling portion 12 can drive the fastener. Attach / disengage the electric vehicle to be replaced. Preferably, the first docking structure 1211 is a four raised structure provided on the inner wall of the cylindrical tooling body 121, and the second docking structure 232 is a four groove structure provided on the lower end of the adjusting block 23. The mating connection between the structure and the groove structure allows the anti-loosening bolt 20 to be fastened / detached from the electric vehicle to be replaced by the tool body 121. Of course, the form and number of the first docking structure 1211 and the second docking structure 232 are not unique. Those skilled in the art can make adjustments according to specific application scenarios, as long as the adjustment satisfies the first docking structure 1211 and the second docking structure 232. Match the connection conditions, such as reversing the form of the first docking structure 1211 and the second docking structure 232, or setting it to other structural forms such as rectangular posts and rectangular holes such as "plugs" and "sockets."

With continued reference to FIG. 2, the driving section 13 includes a servo motor 131 and a speed reducer 132 disposed between the first base plate 111 and the second base plate 112. The connecting portion 14 includes a first pin 141, a first elastic member 142, a first connecting member 143, and a second connecting member 144. The servo motor 131 is fixedly connected to the reducer 132. The reducer 132 and the second connecting member 144 are fixedly connected by bolts. The second connecting member 144 and the first connecting member 143 are fixedly connected by positioning pins (not shown). The lower end of 121 is connected to the first connecting member 143 through the first pin 141, and the two ends of the first elastic member 142 are respectively sleeved on the lower end of the tooling body 121 and the upper end of the first connecting member 143. In the connected state, the tooling portion 12 can move in a vertical direction relative to the first connecting member 143 under the action of the elastic force of the first elastic member 142, that is, relative to the driving motor. Preferably, the lower end of the tool body 121 and the first connecting member 143 are plugged and connected through a first pin 141, and a first pin hole 1212 and a first length are respectively provided at the connection positions of the tool body 121 and the first connecting member 143. Strip holes 1431 (see FIG. 4). In this way, the first pin shaft 141 can move the tooling body 121 relative to the first connection member 143 in the vertical direction by moving the hole length direction of the first long hole 1431 (that is, the vertical direction in FIG. 2). While moving, the first pin 141 can also be inserted through the first elongated hole 1431 and the first pin hole 1212 to make the first connection member 143 drive the tooling body 121 to rotate. Preferably, the first elastic member 142 may be a spring or other elastic member, such as an elastic rubber block. Similarly, the specific setting methods and connection methods of the servo motor 131, the reducer 132, the first connection member 143, the second connection member 144, and the tool body 121 are not intended to limit the protection scope of the present invention. It can be flexibly adjusted according to specific application scenarios, for example, the speed reducer 132 is connected with the second connection member 144 by a positioning pin, and the second connection member 144 and the first connection member 143 are connected by bolts.

Preferably, the automatic locking and unlocking device 10 described above can be applied in a charging station. If a number of power-changing robots for carrying and loading and unloading power batteries are configured in the charging and replacing station, the automatic unlocking device 10 may be set on the lifting platform of the power-changing robot, and the control of the automatic unlocking device 10 is incorporated The control unit of the power exchange robot realizes automatic control of the unlocking device. That is, when the lifting platform of the power exchange robot drives the automatic locking and unlocking device 10 to rise to the power exchange position where the power battery can be loaded and unloaded relative to the electric vehicle to be replaced, the control unit of the power exchange robot can control The automatic locking and unlocking device 10 performs a locking and unlocking action on the anti-loosening bolt 20, thereby tightening / detaching the power battery of the electric vehicle to be replaced.

It should be noted that the power exchange position may be a position where the automatic locking and unlocking device 10 is located when the tooling main body 121 disengages the locking groove 231 from the anti-loosening groove 241. That is, when in this position, the automatic unlocking can perform the unlocking action on the anti-loosening bolt 20, and then the power battery can be fastened / detached to the electric vehicle.

It can be seen that the automatic locking and unlocking device 10 of the present invention is not only simple in structure, low in cost, and easy to maintain, but also because the driving portion 13 and the tooling portion 12 are fixedly connected through the connecting portion 14, the structure of the automatic locking and unlocking device 10 is stable. , Durability is improved. By combining the automatic locking and unlocking device 10 of the present invention with an industrialized servo control system, such as combining with a power exchange robot and disposing it in a charging and replacing station, a fully automatic power exchange of the electric vehicle by the power exchange robot can be realized, compared with the current Non-standard automatic fastening device, which significantly saves manufacturing costs.

Referring to FIG. 4, FIG. 4 is an exploded view of the structure of the tooling portion 12 of the automatic locking and unlocking device 10 of the present invention. As shown in FIG. 4, in order to further improve the stability of the locking and unlocking process, a top post 122 with a third elastic member 123 can also be provided in the tool body 121, and a third elastic member 123 and a top post are provided at the upper end of the top post 122. A second long hole 1221 is formed at the lower end of 122, and a second pin hole 1213 is also provided at the middle position of the tool body 121. The top post 122 and the tool body 121 are connected by a second pin 124. After being connected, the top post 122 can also move relative to the tooling body 121 in the axial direction under the elastic force of the third elastic member 123. Preferably, the third elastic member 123 is a spring or other member having a spring property, such as an elastic rubber block. In the above setting mode, the top post 122 can exert a certain pressure on the anti-loosening bolt 20 during the unlocking process. The setting of the third elastic member 123 enables the top post 122 to move up and down relative to the tool body 121. This movement makes During the unlocking process, the loosening bolt will not be ejected due to the excessive pressing force between the tooling body 121 and the anti-loosening bolt 20, thereby avoiding the problem of difficulty in unlocking, thereby effectively improving the operation of the automatic unlocking device 10. Reliability and stability.

Continuing to refer to FIG. 1 and FIG. 2, in order to monitor the unlocking process of the automatic unlocking device 10, in a preferred embodiment, a support portion 15 and a sensor base 17 may also be provided on the automatic unlocking device 10. And the pressure sensor 16, and the motion parameters of the servo motor 131 are collected as required. Wherein, the driving portion 13 is fixedly connected to the supporting portion 15, the sensor base 17 is fixed to the second base plate 112, the pressure sensor 16 is disposed at an end of the sensor base 17 away from the second base plate 112, and the pressure sensor 16 is capable of capturing the axial force of the driving portion 13. For example, motion parameters such as torque and rotation speed of the servo motor 131 can be collected, and the corresponding number of rotations of the tooling body 121 can be calculated from the rotation speed ratio of the servo motor 131 and the speed reducer 132. Specifically, the torque and speed of the servo motor 131 are collected by the control unit of the power exchange robot, and the axial force of the servo motor 131 is collected by the pressure sensor 16 so that the automatic unlocking device 10 can During the unlocking process, the above parameters are immediately fed back, and / or the above parameters are uploaded to a physical server or the cloud for recording, thereby realizing the status monitoring of the automatic unlocking device 10 and the anti-loosening bolt 20 during the unlocking process, and improving the automatic adding The operating stability of the unlocking device 10 and the connection stability of the anti-loosening bolt 20.

In addition, by monitoring the state of the anti-loosening bolt 20, the current state of the anti-loosening bolt 20 can be seen during each power exchange process of the electric vehicle. By comparing the current state with the historical state data stored on the physical server or in the cloud, the current wear level and service life of the lock bolt 20 can be estimated, and then, for example, the lock bolt 20 can be replaced at an appropriate time. In order to avoid safety hazards caused by excessive wear or failure of the anti-loosening bolt 20 after the electric vehicle is driven for a long time, the driving safety of the electric vehicle is improved.

According to the orientation shown in FIG. 2, the supporting portion 15 includes a force transmitting bottom plate 151 and at least one supporting unit, and each supporting unit further includes a supporting shaft 152 and a force transmitting sleeve 153. Among them, the upper and lower ends of the support shaft 152 are fixedly connected to the first base plate 111 and the second base plate 112, respectively, and the force transmission sleeve 153 is sleeved on the support shaft 152, and the force transmission sleeve 153 is respectively connected to the driving portion 13 and the force transmission bottom plate. 151 fixed connection. The sensor base 17 is disposed between the force transmission base plate 151 and the second base plate 112. The sensor base 17 is fixedly connected to the second base plate 112 by bolts. The pressure sensor 16 is disposed at the upper end of the sensor base 17. . Preferably, the supporting units are provided in two sets, and are arranged symmetrically on the left and right sides of the driving motor. Preferably, the upper portion of the sensor base 17 has a groove for preventing the pressure sensor 16, and the sensor is disposed in the groove. In this way, during the locking and unlocking process, the pressure of the tool body 121 received by the anti-loosening bolt 20 can be transmitted to the first connecting member 143 through the elastic force of the first elastic member 142, and then the pressure is transmitted through the second connecting member 144 and the reducer. And the servo motor 131 is transmitted to the force transmission sleeve 153, and the force transmission sleeve 153 moves the force transmission downward and squeezes the pressure sensor 16 through the axial sliding of the support rod, so that the pressure sensor 16 collects The pressure is fed back to the control. As described above, by collecting the movement parameters of the automatic unlocking device 10 and the pressure of the lock bolt 20 during the unlocking process, the states of the automatic lock and unlock device 10 and the lock bolt 20 can be monitored. Further preferably, a second elastic member 154 (such as a spring) sleeved on the support shaft 152 may be provided on an end of the support shaft 152 near the second bottom plate 112, and both ends of the second elastic member 154 and the force transmission bottom plate may be provided. The 151 connection and the second bottom plate 112 are fixedly connected to ensure that the pressure sensor 16 only withstands the feedback force from the lock bolt 20 as a fastener, thereby improving the accuracy and stability of the monitoring process.

In addition, the present invention also provides a power exchange robot. The power exchange robot includes a body, a lifting platform, and the foregoing automatic locking and unlocking device 10. Preferably, the automatic locking and unlocking device 10 is disposed on a lifting platform of the power exchange robot, that is, the automatic locking and unlocking device 10 can reach the above-mentioned power exchange position through the lifting of the lifting platform. Preferably, the automatic locking and unlocking device 10 can be matched and connected with the control part of the power exchange robot, and can be uniformly controlled by the power exchange robot. Under the control of this control unit, the power exchange robot can fasten / detach the power battery to / from the body of the electric vehicle by the automatic locking and unlocking device 10. Of course, the automatic locking and unlocking device 10 can also be installed at other positions of the power exchange robot, as long as the position can raise the automatic locking and unlocking device 10 to the power exchange position. A certain position, and the position has a lifting device capable of lifting the automatic unlocking device 10 to a power exchange position, such as setting the automatic unlocking device 10 to a hydraulic rod or a hydraulic cylinder capable of lifting the automatic unlocking device 10 Wait.

The present invention also provides a charging and replacing station. The charging and replacing station is configured with a power-changing robot as described above, and the power-changing robot can use the automatic locking and unlocking device 10 provided thereon to be replaced in the charging-and-power station. The electric electric car completes the action of replacing the power battery.

Referring to FIG. 5, FIG. 5 is a schematic flowchart of an automatic adding and unlocking method of an automatic adding and unlocking device according to the present invention. As shown in FIG. 5, the present invention also provides an automatic unlocking method of the automatic unlocking device 10. It is still considered that the power battery of the electric vehicle to be replaced is replaced with a fastener for fastening the power battery as shown in FIGS. 3A and 3B. The illustrated anti-loosening bolt 20 is taken as an example. The method for locking and unlocking the anti-loosening bolt 20 mainly includes the following steps:

S100. The tooling part 12 is brought close to the anti-loosening bolt 20 to be operated. For example, under the lifting of the lifting platform of the power exchange robot, the tooling portion 12 of the automatic locking and unlocking device 10 is moved up to below the lock bolt 20.

S200. Match and connect the first docking structure 1211 of the tooling portion 12 with the second docking structure 232 of the anti-loosening bolt 20. For example, the convex structure of the tool body 121 and the groove structure of the adjusting block 23 are matched and connected.

S300. Disengage the locking groove 231 from the anti-loosening groove 241. If the automatic locking and unlocking device 10 is continuously lifted, the tool body 121 lifts the adjustment block 23, so that the locking groove 231 of the adjustment block 23 is separated from the anti-loosening groove 241 of the limit sealing plate 24.

S400. The tooling unit 12 drives the anti-loosening bolt 20 to fasten / disengage the electric vehicle to be replaced, and collects parameters of the automatic adding and unlocking process. For example, the driving motor drives the tool body 121 to rotate through the speed reducer 132, the second connecting member 144 and the first connecting member 143, and then the tool body 121 drives the anti-loosening bolt 20 to fasten / detach the electric vehicle to be replaced. During the tightening process, parameters such as the torque of the drive motor, the number of rotations of the fastener, and the pressure on the drive motor in the axial direction are collected.

S500. Keep the tooling part 12 away from the anti-loosening bolt 20 to be operated. For example, the lifting platform drives the automatic locking and unlocking device 10 to move downward.

Step S200 may further include the following steps:

S210. Make the first elastic member 142 in a compressed state. For example, when the protruding structure of the tooling body 121 is in contact with the second docking structure 232 of the anti-loosening bolt 20 but is not mated, the automatic locking and unlocking device 10 is continuously lifted, so that the first elastic member 142 is in a compressed state.

S220. Rotate the convex structure, and then the second docking structure 232 is matched and connected with the convex structure. For example, by driving the motor 121 to rotate the tooling body 121, the second docking structure 232 is dropped into the convex structure to complete the matching connection.

Next, referring to FIG. 5, FIG. 6A and FIG. 6B, the method for applying the automatic locking and unlocking device 10 of the present invention to the locking and unlocking of the locking bolt 20 will be described. FIG. 6A is a projection structure and a groove structure in the automatic locking and unlocking method of the present invention. FIG. 6B is a schematic view of the convex structure and the groove structure in a state of mating connection in the automatic locking and unlocking method of the present invention.

As shown in FIG. 6A and FIG. 6B, taking the locking process of the automatic locking and unlocking device 10 as an example, the process of locking the anti-loosening bolt 20 by the automatic locking and unlocking device 10 of the present invention may include:

S1. The automatic locking and unlocking device 10 is moved upward by the lifting platform of the power exchange robot, and the convex structure of the tool body 121 contacts the groove structure of the anti-loosening bolt 20.

S2. The automatic locking and unlocking device 10 is driven by the lifting platform to rise for a first set distance (such as the rising distance is approximately the depth of the groove structure), the first elastic member 142 is in a compressed state, and the convex structure and the groove structure Tighten. (As shown in Figure 6A).

S3. The servo motor 131 drives the tooling body 121 to rotate at a set angle with a first set torque (for example, the tooling body 121 rotates once with a torque that just makes the tooling body 121 overcome friction relative to the rotation of the anti-loosening bolt 20). Under the elastic force of 142, the groove structure falls into the convex structure (as shown in FIG. 6B). At this time, the servo motor 131 returns the torque of the recognition cap and records the current position as the working zero point (that is, the angle zero point).

S4. The automatic locking and unlocking device 10 continues to rise a second set distance (such as the distance that the locking groove 231 completely disengages from the anti-loosening groove 241) driven by the lifting platform. The raised structure lifts the groove structure to make the lock The stop groove 231 is separated from the anti-loosening groove 241.

S5. The servo motor 131 locks the anti-loosening bolt 20 according to the second set torque, and records the torque immediately. If there is any abnormality, give feedback in time and give an alarm.

S6. The servo motor 131 controls the tool body 121 to complete the locking process, records the torque and the number of rotations of the tool body 121 and uploads it to the control unit of the power exchange robot.

S7. The automatic locking and unlocking device 10 moves downwards under the driving of the lifting platform, the convex structure is separated from the groove structure, and the locking groove 231 falls into the anti-loosening groove 241.

It should be noted that the first set distance, the second set distance, the first set torque, the second set torque, and the set angle in the above locking process can be specifically set according to specific application scenarios, but the premise of the setting is that the above can be completed The corresponding function in the corresponding step.

Those skilled in the art can think that in the above locking process, the first set distance can also be set in S2 so that when the bottom groove falls into the tool head, the locking groove 231 can be released from the anti-loosening groove 241 at the same time. distance. That is, the automatic locking and unlocking device 10 is driven by the lifting platform to rise according to this distance to put the first elastic member 142 in a compressed state, and the servo motor 131 drives the tool head to rotate at a set angle with a first set torque. After the groove structure is dropped into the convex structure, the locking groove 231 is already in a state of being separated from the anti-loosening groove 241.

The unlocking process of the anti-loosening bolt 20 using the fastening device of the present invention is similar to the locking process in principle and process, and is not repeated here.

Of course, the above-mentioned implementation manner of applying the automatic unlocking device 10 to the anti-loosening bolt 20 is not intended to limit the protection scope of the present invention. Those skilled in the art can also think that the automatic unlocking device 10 can also be applied to other security devices. The loosening bolt 20 is similar to the fastener, as long as the fastener has a second docking structure 232 adapted to the first docking structure 1211 of the tool body 121. For example, the present invention can also be applied to other fasteners, such as ordinary bolts having the second docking structure 232 but not the lock groove 231 and the lock groove 241. When the automatic locking and unlocking device 10 is applied to ordinary bolts, The steps of the locking process mainly include: (1) bringing the tooling part 12 close to the bolt to be operated; (2) matchingly connecting the first docking structure 1211 of the tooling body 121 with the second docking structure 232 of the bolt; (3) bringing the tooling part 12 Drive the bolts on / off the vehicle to be replaced.

Further, in order to increase the universality of the automatic locking and unlocking device 10 of the present invention, the automatic locking and unlocking device 10 may also be modularized, such as enclosing a shell between the first base plate 111 and the second base plate 112 for module Package, and set the tooling unit 12 in a replaceable manner, that is, one tooling unit 12 for each fastener (that is, the second docking structure 232 for each fastener corresponds to the first docking of a tooling body 121 Structure 1211). In this way, when the automatic locking and unlocking device 10 of the present invention is applied in different application scenarios, only the tooling unit 12 needs to be replaced as a whole module to realize the fastening / detachment of different fasteners relative to the electric vehicle. ON, thereby greatly increasing the application range of the automatic locking and unlocking device 10 of the present invention.

So far, the technical solution of the present invention has been described with reference to the preferred embodiments shown in the accompanying drawings. However, those skilled in the art can easily understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or replacements to related technical features, and the technical solutions after these changes or replacements will fall into the protection scope of the present invention.

10 Automatic locking and unlocking device 11 Housing 111 First base plate 112 Second base plate 12 Tooling unit 121 Tooling body 1211 First docking structure 1212 First pin hole 1213 Second pin hole 122 Top post 1221 Second long hole 123 Third elasticity Piece 124 second pin 13 drive portion 131 servo motor 132 and reducer 14 connection portion 141 first pin 142 first elastic piece 143 first connection piece 1431 first elongated hole 144 second connection piece 15 support portion 151 transmission Force base plate 152 Support shaft 153 Force transmission sleeve 154 Second elastic member 16 Pressure sensor 17 Sensor base 20 Lock bolt 21 Sleeve 211 First through hole 22 Center pull shaft 221 Locking section 222 Adjusting section 223 Convex Edge 23 adjusting block 231 locking groove 232 second abutment structure 233 second through hole 24 limit sealing plate 241 anti-loosening groove 242 third through hole 25 The return spring S100 brings the tooling part closer to the anti-loosening bolt S200, matches the first butt structure with the second butt structure, and connects S300 to disengage the locking groove from the anti-loosening groove S400 to fasten / unlock the anti-loosening bolt to the electric vehicle, and collect and unlock Parameter S500 keeps tooling away from lock bolts

[FIG. 1] is a schematic structural diagram of an automatic unlocking device according to the present invention; [FIG. 2] is a cross-sectional schematic diagram of an automatic adding and unlocking device according to the present invention; [FIG. 3A] is an automatic application unlocking device of the present invention in a preferred application scenario [Figure 3B] is an exploded schematic view of FIG. 3A; [FIG. 4] is an exploded view of the structure of the tooling part of the present invention; [FIG. 5] is an automatic addition of the automatic unlocking device of the present invention Schematic diagram of the unlocking method; [Fig. 6A] is a schematic view of the convex structure and the groove structure in a compressed state in the automatic unlocking method of the present invention; and [Fig. 6B] is a convex structure of the automatic unlocking method of the present invention Schematic diagram of mating connection with the groove structure.

Claims (21)

An automatic locking and unlocking device includes a housing, a tooling portion, and a driving portion, wherein the housing has a first bottom plate and a second bottom plate; wherein a first end of the tooling portion protrudes from the first bottom plate. And can be cooperatively connected with the fastener to be operated, and the tooling part can move relative to the driving part along its axial direction; wherein the driving part is accommodated in the housing, and the driving part and the second end of the tooling part And the driving part can rotate the tooling part, and the rotation can drive the fastener to be fastened / detached from the vehicle to be replaced. As described in claim 1, the tooling unit includes a tooling body, and the first end of the tooling body has a first docking structure capable of mating with the fastener. The automatic locking and unlocking device according to claim 2, the automatic locking and unlocking device further includes a connecting portion, and the driving portion is connected to the second end of the tooling body through the connecting portion. The automatic locking and unlocking device according to claim 3, the connecting portion includes a first connecting member and a first elastic member, wherein the first connecting member is connected to the tool body; wherein the first elastic member is disposed on the first A connecting piece is connected with the main body of the tooling. The automatic locking and unlocking device according to claim 4, the connecting portion further includes a first pin, the tool body has a first pin hole corresponding to the first pin, and the first connecting member has a first elongated hole. , The tool body and the first connecting member are connected through the first pin shaft, and the first pin shaft can move along the hole length direction of the first long hole. According to the automatic locking and unlocking device described in claim 5, the connecting portion further includes a second connecting member, and the second connecting member is fixedly connected to the first connecting member and the driving portion, respectively. The automatic unlocking device according to claim 3, further comprising a support portion, and the driving portion is fixedly connected to the support portion. The automatic locking and unlocking device according to claim 7, the support portion includes a force transmission bottom plate and at least one support unit, the support unit includes a support shaft and a force transmission sleeve sleeved on the outside of the support shaft, wherein the support shaft The two ends are fixedly connected to the first base plate and the second base plate, respectively; wherein the force transmitting sleeve is fixedly connected to the driving portion and the force transmitting base plate, respectively. The automatic locking and unlocking device according to claim 8, the support portion further includes a second elastic member, the second elastic member is sleeved on the support shaft, and the second elastic member is provided on the force transmission base plate and the second Between the bottom plates. According to the automatic locking and unlocking device described in claim 7, the automatic locking and unlocking device further includes a pressure sensor, and the pressure sensor is disposed so that the pressure sensor can collect the axial force of the driving portion. The automatic unlocking device according to claim 10, further comprising a sensor base, the sensor base is fixed to the second base plate, and the pressure sensor is disposed on the sensor base away from the sensor base. One side of the second floor. According to the automatic locking and unlocking device according to any one of claims 3 to 11, the driving unit includes a servo motor and a speed reducer fixedly connected to the servo motor, wherein the speed reducer is connected to the first portion of the tooling unit through the connection portion. Connected at both ends. The automatic locking and unlocking device according to any one of claims 2 to 11, the fastener comprises a central pulling shaft, an adjusting block and a limit sealing plate; wherein: the central pulling shaft has a locking section and an adjusting section, and the adjustment The segment can be plug-in connected to the adjusting block, and in the assembled state, the adjusting block can move in the axial direction relative to the central pulling shaft, and the adjusting block has no relative rotation with respect to the central pulling shaft; The first end has a circumferential locking groove, the second end of the adjustment block is provided with a second docking structure that can be matched and connected with the first docking structure, and the adjustment block is further formed with a through-fitting connection with the adjustment section. Hole; the limiting element sealing plate can be fixedly connected to the energy storage unit, and the limiting sealing plate has a circumferential anti-loosening groove that is cooperatively connected with the locking groove, and is connected with the anti-loosening groove at the locking groove In a good state, the adjusting block has no relative rotation with respect to the limit sealing plate. A power exchange robot includes the automatic locking and unlocking device according to any one of claims 1 to 13. A charging and replacing station, wherein the charging and replacing station is provided with the electricity-changing robot according to claim 14. An automatic locking and unlocking method based on the automatic locking and unlocking device according to any one of claims 1 to 13, the method includes the steps of: bringing a tooling part close to a fastener to be operated; and bringing a first docking structure of the tooling part to the fastener The second docking structure of the fastener is matched and connected; the tooling part drives the fastener to fasten / disengage the vehicle to be replaced. According to the automatic adding and unlocking method described in claim 16, the step of "matching and connecting the first docking structure of the tooling part with the second docking structure of the fastener" further includes: putting the first elastic member in a compressed state; and The first docking structure is rotated, and the second docking structure is matched and connected with the first docking structure by rotating. As described in claim 16, the method further includes the steps of: collecting parameters of the automatic unlocking device during the automatic unlocking process. As described in claim 18, the parameter is one or more of the torque of the drive motor, the number of rotations of the fastener, or the pressure the drive motor receives in its axial direction. According to the automatic adding and unlocking method described in claim 16, when the fastener is the fastener described in claim 13, when "the tooling part drives the fastener to fasten / unfasten the electric vehicle to be replaced" Before the step, the method further includes disengaging the locking groove from the anti-loosening groove. According to the automatic adding and unlocking method described in claim 20, after the step of "causing the tooling part to fasten / unfasten the electric vehicle to be replaced", the method further includes: moving the tooling part away from the pending operation. The distance of the fastener can make the locking groove fall into the anti-loosening groove.