WO2018218990A1

WO2018218990A1 - Automatic locking and unlocking device, battery replacement robot, battery charging and replacement station, and locking and unlocking method

Info

Publication number: WO2018218990A1
Application number: PCT/CN2018/075686
Authority: WO
Inventors: 朱浩; 侯文洁; 赵志凌; 戚文刚; 林海岩; 李楠; 田小涛; 丁习坤; 刘立敬; 马永跃
Original assignee: 上海蔚来汽车有限公司
Priority date: 2017-06-02
Filing date: 2018-02-07
Publication date: 2018-12-06
Also published as: CN107097067A; TW201902610A; TWI657886B; CN107097067B

Abstract

An automatic locking and unlocking device, a battery replacement robot, a battery charging and replacement station, and a locking and unlocking method. The present invention aims to solve the problems that stability of a semi-automatic or manual fastening manner existing in the fastening process of an energy storage unit is poor, etc. The automatic locking and unlocking device (10) comprises a housing (11), a tooling part (12) and a drive part (13), wherein the housing (11) has a first bottom plate (111) and a second bottom plate (112); a first end of the tooling part (12) extends out of the first bottom plate (111) and can be in a fitting connection with a fastener to be operated, and the tooling part (12) can move along an axial direction thereof relative to the drive part (13); the drive part (13) is accommodated in the housing (11), and the drive part (13) is connected to a second end of the tooling part (12); and the drive part (13) can enable the tooling part (12) to rotate, and the rotation can drive the fastener to be fastened to/detached from a vehicle, the battery of which needs to be replaced. By means of the arrangement of the tooling part (12) and the drive part (13), a fastener being fastened to/detached from a vehicle, the battery of which needs to be replaced, can be completed automatically, so that an energy storage unit can be locked or unlocked automatically, and the precision and stability of the locking and unlocking process can be improved.

Description

Automatic unlocking device, power changing robot, charging and replacing power station and unlocking method

Technical field

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

Background technique

As an emerging means of transportation, new energy vehicles are favored by the owners of major manufacturers due to their advantages of energy saving, low environmental noise and low noise. The fastening and disassembly of the energy storage unit is an indispensable step in the process of replacing the energy storage unit for a new energy vehicle. Taking electric vehicles as an example, the use of bolts as fasteners for power batteries and electric vehicle bodies is a common connection method used by major manufacturers. In the fastening process, the tightening gun is semi-automatic or manual, or the customized non-standard automatic fastening device is used to integrate the tightening gun into the automation device, and the way to tighten/disassemble multiple bolts is One of the means by which manufacturers improve service quality.

But the above means also brought the corresponding problems. First of all, for the semi-automatic or manual fastening method, the worker uses the tightening gun for fastening work for a long time, the labor intensity of the worker is large, and the fastening precision and stability of the bolt cannot be guaranteed. Secondly, for the customized automatic fastening device, the high cost of the automatic fastening device directly leads to a large investment in the initial construction of the charging and replacing power station, and accordingly, the service cost for replacing the power battery of the electric vehicle is also followed. Higher, this is not conducive to the service provider to provide a good service experience for the owner.

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

Summary of the invention

In order to solve the above problems in the prior art, in order to solve the problem of poor stability of the semi-automatic or manual fastening manner existing in the fastening process of the energy storage unit and high cost of the automatic fastening device, the present invention provides an automatic unlocking method. The 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 the first end of the tooling portion protrudes from the first bottom plate and is capable of An operating fastener is matedly coupled, and the tooling portion is movable relative to the driving portion along an axial direction thereof; wherein the driving portion is housed in the housing, and the driving portion and the tooling portion are The second end is connected; and the driving portion is capable of rotating the tooling portion, the rotation being capable of driving the fastener to be fastened/detached from the vehicle to be replaced.

In a preferred embodiment of the automatic unlocking device described above, the tooling portion includes a tooling body, and the first end of the tool body has a first docking structure that can be mated with the fastener.

In a preferred embodiment of the automatic unlocking device, the automatic 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 embodiment of the automatic unlocking device, the connecting portion includes a first connecting member and a first elastic member, wherein the first connecting member is coupled to the tooling main body; wherein the first elastic member And disposed between the first connecting member and the tool body.

In a preferred embodiment of the automatic unlocking device, the connecting portion further includes a first pin, the tool body has a first pin hole corresponding to the first pin, and the first connector has a first a long hole, the tool body is coupled to the first connecting member through the first pin shaft, and the first pin shaft is movable along a hole length direction of the first elongated hole.

In a preferred embodiment of the automatic 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 embodiment of the automatic unlocking device, the automatic unlocking device further includes a support portion, and the driving portion is fixedly coupled to the support portion.

In a preferred embodiment of the automatic unlocking device, the support portion includes a force transmission bottom 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 The two ends of the support shaft are fixedly connected to the first bottom plate and the second bottom plate respectively; wherein the force transmitting sleeve is fixedly connected to the driving portion and the force transmission bottom plate respectively.

In a preferred embodiment of the automatic unlocking device, 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 disposed on the force transmission. Between the bottom plate and the second bottom plate.

In a preferred embodiment of the automatic unlocking device, the automatic unlocking device further includes a pressure sensor, and the pressure sensor is disposed at a position such that the pressure sensor collects an axial force of the driving portion.

In a preferred embodiment of the automatic unlocking device, the automatic unlocking device further includes a sensor base, the sensor base is fixed to the second bottom plate, and the pressure sensor is disposed on the sensor base away from the second One side of the bottom plate.

In a preferred embodiment of the automatic unlocking device, the driving portion includes a servo motor and a speed reducer fixedly coupled to the servo motor, wherein the speed reducer passes through the connecting portion and the second portion of the tooling portion End connection.

In a preferred embodiment of the automatic unlocking device, the fastener includes a central pull shaft, an adjustment block, and a limit sealing plate; wherein: the central pull shaft has a locking portion and an adjustment portion, and the adjustment portion can Engaged with the adjustment block, and in the assembled state, the adjustment block is axially movable relative to the central pull axis, the adjustment block is relatively rotatable relative to the central pull shaft; The first end of the adjusting block has a circumferential locking groove, the second end of the adjusting block is provided with a second docking structure that can be mated with the first docking structure, and the adjusting block is further formed with The adjusting section is matched with the connecting through hole; the limiting sealing plate can be fixedly connected with the energy storage unit, and the limiting sealing plate has a circumferential anti-loose groove that is coupled with the locking groove, and In a state in which the locking groove is connected to the anti-loose groove, the adjusting block has no relative rotation with respect to the limiting sealing plate.

The present invention also provides a power-changing robot comprising the automatic unlocking device of any of the preceding claims.

The present invention also provides a charging and replacing power station, wherein the power changing robot described in any one of the foregoing is disposed.

The invention also provides an automatic unlocking method, the automatic unlocking method comprising the following steps:

Bringing the tooling part close to the fastener to be operated;

Aligning the first docking structure of the tooling portion with the second docking structure of the fastener;

The tooling portion is caused to drive the fastener to be fastened/detached from the vehicle to be replaced.

In a preferred embodiment of the automatic unlocking method, the step of "matching the first docking structure of the tooling portion to the second docking structure of the fastener" further includes:

Causing the first elastic member in a pressed state;

Rotating the first docking structure, and rotating the second docking structure to the first docking structure.

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

The parameters of the automatic unlocking device during the automatic unlocking process are collected.

In a preferred embodiment of the automatic unlocking method described above, the parameter is one or more of a torque of the driving motor, a number of revolutions of the fastener, or a pressure that the driving motor receives in the axial direction thereof.

In a preferred embodiment of the automatic unlocking method described above, when the fastener is the aforementioned fastener, "the said tooling portion is caused to drive the fastener to be fastened/detached from the vehicle to be replaced" Before the step, the method further includes:

Disengage the locking groove from the lock groove.

In a preferred embodiment of the above-described automatic unlocking method, after the step of "make the tooling portion drive the fastener to be fastened/detached from the vehicle to be replaced", the method further includes:

The tooling portion is moved away from the fastener to be operated, and the distance can cause the locking groove to fall into the locking groove.

It can be understood by those skilled in the art that in the preferred technical solution of the present invention, the automatic unlocking device comprises a housing, a tooling portion and a driving portion. Wherein the housing has a first bottom plate and a second bottom plate. The first end of the tooling portion extends out of the first bottom plate and is engageable with the fastener to be operated, and the tooling portion is movable relative to the driving portion along its axial direction. The driving portion is housed in the housing, and the driving portion is coupled to the second end of the tooling portion, and the driving portion is configured to rotate the tooling portion, and the rotation can drive the fastener to be fastened/detached from the vehicle to be replaced. Through the setting of the tooling part and the driving part, the action of fastening the fastener to/off the vehicle to be replaced can be automatically completed, realizing the automatic unlocking of the power battery, and improving the connection of the fastener during the unlocking process. Precision and stability.

DRAWINGS

1 is a schematic structural view of an automatic unlocking device of the present invention;

2 is a cross-sectional view showing the automatic unlocking device of the present invention;

3A is a schematic structural view of a lock bolt of an automatic unlocking device of the present invention in a preferred application scenario;

Figure 3B is a schematic exploded view of Figure 3A;

Figure 4 is an exploded view showing the structure of the tooling portion of the present invention;

5 is a schematic flow chart of an automatic unlocking method of an automatic unlocking device according to the present invention;

6A is a schematic view showing a state in which a convex structure and a groove structure are in a pressed state in the automatic unlocking method of the present invention;

FIG. 6B is a schematic view showing the state in which the convex structure and the groove structure are in a mating connection state in the automatic unlocking method of the present invention.

List of reference signs

10, automatic unlocking device; 11, housing; 111, first bottom plate; 112, second bottom plate; 12, tooling portion; 121, tooling body; 1211, first docking structure; 1212, first pin hole; 1213, Second pin hole; 122, top post; 1221, second long hole; 123, third elastic member; 124, second pin shaft; 13, driving portion; 131, servo motor; 132, reducer; a first pin; 142, a first elastic member; 143, a first connecting member; 1431, a first elongated hole; 144, a second connecting member; 15, a support portion; 151, a force transmission bottom plate; Supporting shaft; 153, force transmission sleeve; 154, second elastic member; 16, pressure sensor; 17, sensor base; 20, anti-loose bolt; 21, casing; 211, first through hole; Shaft; 221, locking section; 222, adjusting section; 223, flange; 23, adjusting block; 231, locking groove; 232, second docking structure; 233, second through hole; 24, limiting sealing plate; 241, anti-loose groove; 242, third through hole; 25, return spring.

detailed description

Preferred embodiments of the present invention are described below 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 scope of the present invention. For example, although the first docking structure in the drawing is four convex structures disposed on the inner wall of the cylindrical tool body, the arrangement form, the setting position and the number are not constant, and those skilled in the art can Make adjustments to suit specific applications.

It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. The terminology of the orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, which is merely for convenience of description, and does not indicate or imply that the device or component must have a specific orientation, constructed and operated in a specific orientation. Therefore, it should not be construed as limiting the invention. Moreover, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In addition, it should be noted that in the description of the present invention, the terms "installation", "connected", and "connected" are to be understood broadly, and may be fixed connections, for example, or It is a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be internal communication between the two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

1 and 2, and 3A and 3B, wherein FIG. 1 is a schematic structural view of an automatic unlocking device of the present invention, and FIG. 2 is a cross-sectional view of the automatic unlocking device of the present invention, and FIG. 3A is a view of the present invention. FIG. 3B is a schematic view showing the structure of the automatic locking device in a preferred application scenario. FIG. The automatic unlocking device of the present invention will be described below by taking the power battery for the electric vehicle to be replaced, and the fastener for fastening the power battery as an example of the lock bolt shown in FIGS. 3A and 3B.

3A and 3B show a lock bolt 20 with a lock structure, the lock bolt 20 mainly comprising a sleeve 21, a central pull shaft 22, an adjustment block 23, a limit sealing plate 24 and a return spring 25 . The casing 21 is a cylindrical structure having a bottom end open, and a first through hole 211 is formed at a top end of the casing 21. The central pull shaft 22 has a locking section 221, an adjustment section 222, and a flange 223 between the locking section 221 and the adjustment section 222. The first end of the adjusting block 23 has a circumferentially concave and convex locking groove 231, the second end of the adjusting block 23 has a second abutting structure 232, and the adjusting block 23 is further formed with a second through hole 233. The limiting sealing plate 24 has a circumferentially concave and convex locking groove 241 that is coupled to the locking groove 231, and the limiting sealing plate 24 is further formed with a third through hole 242. The adjustment section 222 can be connected to the adjustment block 23 through the second through hole 233. And in the connected state, the adjustment block 23 is movable in the axial direction relative to the central pull shaft 22, and the adjustment block 23 is relatively non-rotatative with respect to the central pull shaft 22 (e.g., a spline connection with a spline groove). The second end of the adjusting block 23 protrudes from the third through hole 242 of the limiting sealing plate 24, and the locking groove 231 of the first end of the adjusting block 23 can be mated with the locking groove 241 of the limiting sealing plate 24, and In a state where the locking groove 231 is connected to the lock preventing groove 241, the adjusting block 23 is not rotated relative to the limit sealing plate 24. Wherein, the limiting sealing plate 24 is fixedly connected with the power battery, and in the connected state, the limiting sealing plate 24 is not rotated relative to the power battery. The return spring 25 is sleeved on the adjustment section 222 of the central pull shaft 22, and its two ends are respectively connected to the flange 223 and the first end of the adjustment block 23. The sleeve 21 is fixedly coupled to the limit sealing plate 24, and in the connected state, the locking portion 221 of the center pull shaft 22 projects from the first through hole 211. That is, in the case where the lock groove 231 is disengaged from the lock groove 241, the rotation of the center pull shaft 22 can be caused by rotating the adjustment block 23, which can fasten the lock bolt 20 to the electric vehicle. Since the center pull shaft 22 is not rotated relative to the limit sealing plate 24 when the locking groove 231 is connected to the lock groove 241, the lock function of the lock bolt 20 is realized.

It can be seen that the structure of the anti-loose bolt 20 makes the anti-loosening bolt 20 eliminate the safety hazard caused by the loosening of the bolt and the like after being fastened to the electric vehicle, and greatly reduces the probability of even a safety accident. Moreover, the special anti-loose structure of the lock bolt 20 also makes the power battery fastened by the lock bolt 20 more reliable than other methods.

As shown in FIGS. 1 and 2, the present invention provides an automatic unlocking device 10 for the aforementioned lock bolt 20, which mainly includes a housing 11, a tooling portion 12, a driving portion 13, and a connecting portion 14. The housing 11 has a first bottom plate 111 and a second bottom plate 112. The first end of the tooling portion 12 extends from the first bottom plate 111 to be engaged with the locking bolt 20 to be operated, and the tooling portion 12 is movable relative to the driving portion 13 along the axial direction thereof; the driving portion 13 is received in the housing 11 and The drive unit 13 and the second end of the tooling unit 12 are connected by a connection portion 14. And in the connected state, the driving portion 13 can rotate the tooling portion 12, and the rotation can drive the locking bolt 20 to be fastened/detached from the electric vehicle to be replaced, that is, the power battery is fastened/detached. Electric vehicle to be replaced.

It can be seen that the installation of the tooling part 12, the driving part 13 and the connecting part 14 can automatically complete the action of the locking bolt 20 fastening/disengaging the vehicle to be replaced, compared with the semi-automatic or manual fastening method. This arrangement reduces the labor intensity of the workers and realizes the automation and unlocking of the power battery. Compared with non-standard automatic fastening devices, this arrangement has the advantages of simple structure, low cost and convenient maintenance.

In 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 tool body 121, and the upper end of the tool body 121 has a first butt joint. The structure 1211 has a second abutting structure 232 (refer to FIG. 3B). The first docking structure 1211 can extend and match the first bottom plate 111 and the second mating structure 232, thereby enabling the tooling portion 12 to be driven. The piece is fixed/disengaged from the electric vehicle to be replaced. Preferably, the first docking structure 1211 is four convex structures disposed on the inner wall of the cylindrical tool body 121, and the second docking structure 232 is a four-groove structure disposed at the lower end of the adjusting block 23, and the convex structure is adopted. In conjunction with the groove structure, the lock bolt 20 can fasten/disengage the electric vehicle to be replaced under the driving of 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, and those skilled in the art can make adjustments according to specific application scenarios, as long as the adjustment meets the requirements of the first docking structure 1211 and the second docking structure 232. The conditions of the connection are matched, such as the form of the first docking structure 1211 and the second docking structure 232, or other structural forms such as rectangular columns and rectangular holes like "plug" and "socket".

With continued reference to FIG. 2, the driving portion 13 includes a servo motor 131 and a speed reducer 132 disposed between the first bottom plate 111 and the second bottom 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 speed reducer 132. The speed 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 a positioning pin (not shown). The lower end of the first connecting member 143 is connected to the first connecting member 143 via a first pin 141. The two ends of the first elastic member 142 are respectively sleeved at the lower end of the tool body 121 and the upper end of the first connecting member 143. In the connected state, the tooling portion 12 is movable in the vertical direction relative to the first link member 143 under the elastic force of the first elastic member 142, that is, relative to the drive motor. Preferably, the lower end of the tool body 121 is coupled to the first connecting member 143 by the first pin 141, and the first pin hole 1212 and the first length are respectively disposed at the connecting position of the tool body 121 and the first connecting member 143. Strip hole 1431 (refer to FIG. 4). In this way, the first pin 141 can move the tool body 121 in the vertical direction relative to the first connector 143 by moving in the hole length direction of the first elongated hole 1431 (ie, the vertical direction in FIG. 2). Simultaneously, the first pin 141 can be rotated by the first connecting piece 143 to drive the tool body 121 through the first pin 141 through the first pin hole 1431 and the first pin hole 1212. Preferably, the first elastic member 142 may be a spring or other elastic member such as an elastic rubber block or the like. Similarly, the specific arrangement and connection manner of the servo motor 131, the speed reducer 132, the first connecting member 143, the second connecting member 144, and the tooling body 121 are not intended to limit the scope of protection of the present invention, and those skilled in the art also It can be flexibly adjusted according to a specific application scenario. For example, the speed reducer 132 and the second connecting member 144 are connected by a positioning pin, and the second connecting member 144 is connected to the first connecting member 143 by bolting or the like.

Preferably, the above automatic unlocking device 10 can be applied to the charging and replacing station. If a plurality of power-changing robots for carrying and loading and unloading the power battery are disposed in the charging and replacing power station, the automatic unlocking device 10 may be disposed 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-changing robot realizes automatic control of the unlocking device. In other words, when the lifting platform of the power-changing robot drives the automatic unlocking device 10 to rise to a power-changing position capable of performing the loading and unloading operation of the power battery with respect to the electric vehicle to be replaced, the control unit of the power-changing robot can control The automatic unlocking device 10 performs an unlocking action on the lock bolt 20, thereby fastening/disengaging the power battery to the electric vehicle to be replaced.

It should be noted that the power-changing position may be a position where the unlocking device 10 is automatically added when the tool body 121 disengages the locking groove 231 from the locking groove 241. That is to say, when in this position, the automatic unlocking can unlock and unlock the lock bolt 20, thereby fastening the power battery to/off the electric vehicle.

It can be seen that the automatic unlocking device 10 of the present invention is not only simple in structure, low in cost, and simple in maintenance, but also has a stable structure of the automatic unlocking device 10 due to the arrangement of the driving portion 13 and the tooling portion 12 being fixedly connected through the connecting portion 14. , durability is improved. By combining the automatic unlocking device 10 of the present invention with an industrial servo control system, such as combining with a power-changing robot and arranging it in a charging and replacing power station, a fully automatic power-changing of the electric vehicle can be realized by the power-changing robot, compared with the current The non-standard automatic fastening device significantly saves manufacturing costs.

Referring to Fig. 4, Fig. 4 is an exploded view showing the structure of the tooling portion 12 of the automatic unlocking device 10 of the present invention. As shown in FIG. 4, in order to further improve the stability of the unlocking process, a top post 122 having a third elastic member 123 may be disposed in the tool body 121, and a top end of the top post 122 is provided with a third elastic member 123. A second elongated hole 1221 is formed at a lower end of the 122, and a second pin hole 1213 is further defined at a central portion of the tool body 121. The top post 122 and the tool body 121 are connected by a second pin 124. And after being connected, the top post 122 can also move axially relative to the tool body 121 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 or the like. In the above setting manner, the top pillar 122 can exert a certain pressure on the lock bolt 20 during the unlocking process, and the third elastic member 123 is disposed such that the top pillar 122 can move up and down relative to the tool body 121, and the movement makes During the unlocking process, the loosening bolt is not allowed to die due to the excessive pressing force between the tool body 121 and the lock bolt 20, thereby avoiding the problem of difficulty in adding and unlocking, thereby effectively improving the automatic unlocking device 10. Operational reliability and stability.

With reference to FIG. 1 and FIG. 2, in order to monitor the state of the unlocking process of the automatic unlocking device 10, in a preferred embodiment, the support portion 15 and the sensor base 17 may be disposed on the automatic unlocking device 10. The pressure sensor 16 and the motion parameters of the servo motor 131 are collected as needed. The driving portion 13 is fixedly connected to the supporting portion 15 , the sensor base 17 is fixed to the second bottom plate 112 , the pressure sensor 16 is disposed at one end of the sensor base 17 away from the second bottom plate 112 , and the pressure sensor 16 can collect the shaft of the driving portion 13 . To force. For example, the motion parameters such as the torque and the rotational speed of the servo motor 131 can be collected, and the corresponding number of revolutions of the tool body 121 can be calculated by the ratio of the rotational speeds of the servo motor 131 and the speed reducer 132. Specifically, the control unit of the power-changing robot collects parameters such as the torque and the rotational speed of the servo motor 131, and the manner in which the axial force of the servo motor 131 is collected by the pressure sensor 16, so that the automatic unlocking device 10 can be added and unlocked. The above parameters are fed back in real time, and/or the above parameters are uploaded to the physical server or the cloud for recording, thereby realizing the state monitoring of the automatic unlocking device 10 and the lock bolt 20 during the unlocking process, and the automatic unlocking device 10 is improved. The running stability and the stability of the connection of the lock bolts 20.

Moreover, by monitoring the state of the lock bolt 20, the current state of the lock bolt 20 is visible during each power change of the electric vehicle. By comparing the current state with the historical state data of the physical server or the cloud storage, the current degree of wear and the service life of the lock bolt 20 can be estimated, and the lock bolt 20 can be replaced by, for example, at an appropriate timing. It is avoided that after the electric vehicle is driven for a long time, there is a safety hazard caused by excessive wear or failure of the anti-loosening bolt 20, thereby improving the driving safety of the electric vehicle.

In the orientation shown in FIG. 2, the support portion 15 includes a force transmission bottom plate 151 and at least one support unit, each of which further includes a support shaft 152 and a force transmission sleeve 153. The upper and lower ends of the support shaft 152 are fixedly connected to the first bottom plate 111 and the second bottom plate 112 respectively, the force transmitting sleeve 153 is sleeved on the support shaft 152, and the force transmitting sleeve 153 is respectively coupled with the driving portion 13 and the force transmission bottom plate. 151 fixed connection. The sensor base 17 is disposed between the force transmitting bottom plate 151 and the second bottom plate 112. The sensor base 17 is fixedly connected to the second bottom plate 112 by bolts, and the pressure sensor 16 is disposed at the upper end of the sensor base 17. Preferably, the support units are provided in two sets and are symmetrically arranged on the left and right sides of the drive motor. Preferably, the upper portion of the sensor base 17 has a recess for preventing the pressure sensor 16, in which the sensor is disposed. In this way, during the unlocking process, the pressure of the tool body 121 received by the lock bolt 20 can be transmitted to the first connecting member 143 by the elastic force of the first elastic member 142, and the pressure is passed through the second connecting member 144 and the speed reducer. And the servo motor 131 is transmitted to the force transmitting sleeve 153, and the force transmitting sleeve 153 drives the pressure sensor 16 to collect the pressure and feedback to the pressure sensor 16 by sliding the force in the axial direction of the support rod. Control department. As described above, by collecting the motion parameters of the automatic unlocking device 10 and the pressure of the lock bolt 20 during the unlocking process, the state of the automatic unlocking 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 is disposed at one 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 are The 151 connection and the second bottom plate 112 are fixedly connected to ensure that the pressure sensor 16 only receives the force from the feedback of 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-changing robot including a body, a lifting platform, and the aforementioned automatic unlocking device 10. Preferably, the automatic unlocking device 10 is disposed on the lifting platform of the power-changing robot, that is, the automatic locking device 10 can reach the above-mentioned power-changing position by the lifting of the lifting platform. Preferably, the automatic unlocking device 10 can be matched and connected with the control portion of the power-changing robot, and is uniformly controlled by the power-changing robot. Under the control of the control unit, the power-changing robot can fasten/disconnect the power battery to the vehicle body of the electric vehicle by the automatic unlocking device 10. Of course, the automatic unlocking device 10 can also be disposed at other positions of the power-changing robot, as long as the position can raise the automatic unlocking device 10 to the power-changing position, for example, the automatic unlocking device 10 can also be disposed on the power-changing robot body. a certain position, and the position has a lifting device capable of lifting the automatic unlocking device 10 to the power changing position, such as setting the automatic unlocking device 10 to the hydraulic rod or hydraulic cylinder capable of lifting the automatic unlocking device 10. Wait.

The invention also provides a charging and replacing power station, wherein the charging and replacing power station is provided with a power changing robot as described above, and the power changing robot can be used in the charging and replacing power station by using the automatic unlocking device 10 disposed thereon The electric vehicle that has been replaced has completed the action of replacing the power battery.

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

S100. The tooling portion 12 is brought close to the lock bolt 20 to be operated. As in the lifting of the lifting platform of the power-changing robot, the tooling portion 12 of the automatic unlocking device 10 is moved up to the lower side of the lock bolt 20.

S200, the first docking structure 1211 of the tooling portion 12 is mated with the second docking structure 232 of the locking bolt 20. For example, the convex structure of the tool body 121 is matched with the groove structure of the adjusting block 23.

S300, the locking groove 231 is disengaged from the locking groove 241. If the automatic unlocking device 10 is continuously lifted, the tool body 121 is lifted up by the adjusting block 23, so that the locking groove 231 of the adjusting block 23 is disengaged from the locking groove 241 of the limiting sealing plate 24.

S400, causing the tooling part 12 to drive the loosening bolt 20 to fasten/disengage the electric vehicle to be replaced, and collect parameters of the automatic unlocking process. If the driving motor drives the tool body 121 through the speed reducer 132, the second connecting member 144 and the first connecting member 143, the tool body 121 drives the locking bolt 20 to fasten/disconnect the electric vehicle to be replaced. And during the fastening process, the torque of the drive motor, the number of revolutions of the fastener, and the pressure of the drive motor in its axial direction are collected.

S500, moving the tooling portion 12 away from the locking bolt 20 to be operated. For example, the lifting platform drives the automatic unlocking device 10 to move down.

The step S200 may further include the following steps:

S210: The first elastic member 142 is pressed. If the protruding structure of the tool body 121 is in contact with the second docking structure 232 of the lock bolt 20 but is not mated, the automatic unlocking device 10 is continuously lifted to bring the first elastic member 142 into a pressed state.

S220, rotating the protruding structure, and the second docking structure 232 is matched with the protruding structure. If the driving motor drives the tool body 121 to rotate, the second docking structure 232 falls into the convex structure to complete the matching connection.

Referring to FIG. 5, FIG. 6A and FIG. 6B, the method for applying the unlocking device 10 of the present invention to the locking bolt 20 is illustrated. FIG. 6A is a convex structure and a groove structure in the automatic unlocking method of the present invention. FIG. 6B is a schematic view showing the state in which the convex structure and the groove structure are in a mating connection state in the automatic unlocking method of the present invention.

As shown in FIG. 6A and FIG. 6B, the process of locking the lock bolt 20 by the automatic unlocking device 10 of the present invention may include:

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

S2, the automatic unlocking device 10 is raised by the lifting platform by a first set distance (for example, the rising distance is substantially the depth of the groove structure, etc.), and the first elastic member 142 is in a pressed state, the convex structure and the groove The structure is compacted. (as shown in Figure 6A).

S3. The servo motor 131 drives the tool main body 121 to rotate the set angle by the first set torque (for example, the tool body 121 is rotated once by the torque of the tool body 121 against the rotation of the lock bolt 20). Under the elastic force of the elastic member 142, the groove structure falls into the convex structure (as shown in Fig. 6B). At this time, the servo motor 131 feeds back the cap torque and records the current position as the working zero point (ie, the angle zero point).

S4, the automatic unlocking device 10 continues to rise by the lifting platform by a second set distance (such as the distance of the rising distance to completely remove the locking groove 231 from the locking groove 241), and the raised structure jacking groove structure further enables The lock groove 231 is separated from the lock groove 241.

S5. The servo motor 131 locks the lock bolt 20 according to the second set torque, and records the torque in real time. If there is an abnormality, timely feedback and alarm.

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

S7, the automatic unlocking device 10 is moved downward by the lifting platform, the protruding structure is separated from the groove structure, and the locking groove 231 falls into the locking 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 locking process may be specifically set according to a specific application scenario, but The premise is that the corresponding functions in the above corresponding steps can be completed.

It is conceivable by those skilled in the art that in the above locking process, the first set distance may be set in S2 so that the locking groove 231 can be disengaged from the locking groove 241 at the same time after the bottom groove falls into the tooling head. The distance of time. That is to say, the automatic locking device 10 is driven by the lifting platform, and the first elastic member 142 is pressed in accordance with the increase of the distance, and the servo motor 131 drives the tooling head to rotate at the first set torque. The angle, after the groove structure falls into the convex structure, the locking groove 231 is already in a state of being separated from the locking groove 241.

The unlocking process and the locking process of the locking bolt 20 using the fastening device of the present invention are similar in principle and process, and are not described herein again.

Of course, the above embodiment of applying the automatic unlocking device 10 to the lock bolt 20 is not intended to limit the scope of protection of the present invention, and those skilled in the art can also think that the automatic unlocking device 10 can also be applied to other defenses. The fasteners 20 are similarly unlocked as long as the fastener has a second docking structure 232 that is adapted to the first docking structure 1211 of the tooling body 121. The present invention can also be applied to other fasteners, such as an ordinary bolt having a second docking structure 232 but having no locking groove 231 and a locking groove 241, when the automatic unlocking device 10 is applied to a common bolt, The steps of the locking process mainly include: (1) bringing the tooling portion 12 close to the bolt to be operated; (2) matching the first butt structure 1211 of the tool body 121 with the second butting structure 232 of the bolt; (3) making the tooling The part 12 drives the bolt to fasten/disengage the vehicle to be exchanged.

Further, in order to increase the universality of the automatic unlocking device 10 of the present invention, the automatic unlocking device 10 can also be modularized, such as enclosing a casing between the first bottom plate 111 and the second bottom plate 112 for modularization. The package and the tooling portion 12 are arranged in a replaceable manner, that is, one tooling portion 12 corresponding to each type of fastener (that is, the second docking structure 232 for each type of fastener corresponds to one tooling body 121) The first docking structure 1211). In this way, when the automatic unlocking device 10 of the present invention is applied in different application scenarios, it is only necessary to replace the tooling portion 12 as an integral module to achieve fastening/detachment of different fasteners relative to the electric vehicle. The opening, thereby greatly increasing the range of application of the automatic unlocking device 10 of the present invention.

Heretofore, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the drawings, but it is obvious to those skilled in the art that the scope of the present invention is obviously not limited to the specific embodiments. Those skilled in the art can make equivalent changes or substitutions to the related technical features without departing from the principles of the present invention, and the technical solutions after the modifications or replacements fall within the scope of the present invention.

Claims

An automatic unlocking device, comprising: a housing, a tooling part and a driving part,

Wherein the housing has a first bottom plate and a second bottom plate;

Wherein the first end of the tooling portion protrudes from the first bottom plate and is capable of being mated with a fastener to be operated, and the tooling portion is movable relative to the driving portion along an axial direction thereof;

Wherein the driving portion is housed in the housing, and the driving portion is connected to the second end of the tooling portion;

The driving portion is capable of rotating the tooling portion, and the rotation can drive the fastener to be fastened/detached from the vehicle to be replaced.
The automatic unlocking device according to claim 1, wherein the tooling portion includes a tooling body, and the first end of the tooling body has a first docking structure that can be mated with the fastener.
The automatic unlocking device according to claim 2, wherein the automatic unlocking device further includes a connecting portion, and the driving portion and the second end of the tooling body are connected by the connecting portion.
The automatic unlocking device according to claim 3, wherein the connecting portion comprises a first connecting member and a first elastic member,

Wherein the first connecting member is connected to the tooling body;

The first elastic member is disposed between the first connecting member and the tool body.
The automatic unlocking device according to claim 4, wherein the connecting portion further comprises a first pin, the tool body has a first pin hole corresponding to the first pin, the first connecting member Having a first elongated hole, the tool body being coupled to the first connector by the first pin, and

The first pin shaft is movable along a length of a hole of the first elongated hole.
The automatic unlocking device according to claim 5, wherein the connecting portion further comprises a second connecting member, and the second connecting member is fixedly coupled to the first connecting member and the driving portion, respectively.
The automatic unlocking device according to claim 3, wherein the automatic unlocking device further includes a support portion, and the driving portion is fixedly coupled to the support portion.
The automatic unlocking device according to claim 7, wherein the support portion comprises a force transmission bottom plate and at least one support unit, and the support unit comprises a support shaft and a force transmission sleeve sleeved outside the support shaft cylinder,

The two ends of the support shaft are respectively fixedly connected to the first bottom plate and the second bottom plate;

The force transmitting sleeve is fixedly connected to the driving portion and the force transmission bottom plate, respectively.
The automatic unlocking device according to claim 8, wherein the support portion further comprises a second elastic member, the second elastic member is sleeved on the support shaft, and the second elastic member is disposed on Between the force transmission bottom plate and the second bottom plate.
The automatic unlocking device according to claim 7, wherein the automatic unlocking device further comprises a pressure sensor, wherein the pressure sensor is disposed at a position such that the pressure sensor collects an axial force of the driving portion.
The automatic unlocking device according to claim 10, wherein the automatic unlocking device further comprises a sensor base, and the sensor base is fixed to the second bottom plate.

The pressure sensor is disposed on a side of the sensor base away from the second bottom plate.
The automatic unlocking device according to any one of claims 3 to 11, wherein the driving portion includes a servo motor and a speed reducer fixedly coupled to the servo motor,

The speed reducer is connected to the second end of the tooling portion through the connecting portion.
The automatic unlocking device according to any one of claims 2 to 11, wherein the fastener comprises a central pull shaft, an adjustment block, and a limit sealing plate; wherein:

The central pull shaft has a locking section and an adjustment section, and the adjustment section is insertably coupled to the adjustment block, and

In the assembled state, the adjusting block is axially movable relative to the central pulling shaft, and the adjusting block is not relatively rotated with respect to the central pulling shaft;

The first end of the adjusting block has a circumferential locking groove, and the second end of the adjusting block is provided with a second docking structure that can be mated with the first docking structure, and

The adjustment block is further formed with a through hole that is coupled with the adjustment section;

The limiting sealing plate can be fixedly connected to the energy storage unit, and the limiting sealing plate has a circumferential anti-loose groove that is coupled with the locking groove, and

In a state in which the locking groove is connected to the anti-loose groove, the adjusting block has no relative rotation with respect to the limiting sealing plate.
A power-changing robot, characterized in that the power-changing robot comprises the automatic unlocking device according to any one of claims 1 to 13.
A charging and replacing power station, characterized in that the power changing robot according to claim 14 is disposed in the charging and replacing power station.
An automatic unlocking method, characterized in that the method comprises the following steps:

Bringing the tooling part close to the fastener to be operated;

Aligning the first docking structure of the tooling portion with the second docking structure of the fastener;

The tooling portion is caused to drive the fastener to be fastened/detached from the vehicle to be replaced.
The automatic unlocking method according to claim 16, wherein the step of "matching the first docking structure of the tooling portion to the second docking structure of the fastener" further comprises:

Causing the first elastic member in a pressed state;

Rotating the first docking structure, and rotating the second docking structure to the first docking structure.
The automatic unlocking method according to claim 16, wherein the method further comprises the following steps:

The parameters of the automatic unlocking device during the automatic unlocking process are collected.
The automatic unlocking method according to claim 18, wherein the parameter is one or more of a torque of a driving motor, a number of revolutions of the fastener, or a pressure of the driving motor in the axial direction thereof. .
The automatic unlocking method according to claim 16, wherein when said fastener is the fastener according to claim 13, "the said tooling portion is driven to fasten said fastener Before the step of disengaging/removing the vehicle to be replaced, the method further includes:

Disengage the locking groove from the lock groove.
The automatic unlocking method according to claim 20, wherein after the step of "carrying the tooling portion to drive the fastener to be fastened/detached from the vehicle to be replaced", the method further comprises:

The tooling portion is moved away from the fastener to be operated, and the distance can cause the locking groove to fall into the locking groove.