WO2018218990A1 - Automatic locking and unlocking device, battery replacement robot, battery charging and replacement station, and locking and unlocking method - Google Patents
Automatic locking and unlocking device, battery replacement robot, battery charging and replacement station, and locking and unlocking method Download PDFInfo
- Publication number
- WO2018218990A1 WO2018218990A1 PCT/CN2018/075686 CN2018075686W WO2018218990A1 WO 2018218990 A1 WO2018218990 A1 WO 2018218990A1 CN 2018075686 W CN2018075686 W CN 2018075686W WO 2018218990 A1 WO2018218990 A1 WO 2018218990A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- automatic unlocking
- unlocking device
- tooling
- fastener
- bottom plate
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 63
- 230000008569 process Effects 0.000 claims abstract description 25
- 238000004146 energy storage Methods 0.000 claims abstract description 7
- 238000003032 molecular docking Methods 0.000 claims description 42
- 238000007789 sealing Methods 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 230000009471 action Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000013011 mating Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
Definitions
- 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.
- 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.
- the use of bolts as fasteners for power batteries and electric vehicle bodies is a common connection method used by major manufacturers.
- 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.
- 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.
- 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.
- 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.
- 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.
- the connecting portion further includes a first pin
- the tool body has a first pin hole corresponding to the first pin
- the first connector has a first a long hole
- the tool body is coupled to the first connecting member through the first pin shaft
- the first pin shaft is movable along a hole length direction of the first elongated hole.
- 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 further includes a support portion, and the driving portion is fixedly coupled to the support portion.
- 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 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.
- 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.
- 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.
- 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.
- 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.
- 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:
- the tooling portion is caused to drive the fastener to be fastened/detached from the vehicle to be replaced.
- the step of "matching the first docking structure of the tooling portion to the second docking structure of the fastener" further includes:
- the method further includes the following steps:
- the parameters of the automatic unlocking device during the automatic unlocking process are collected.
- 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.
- the method further includes:
- 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.
- the automatic unlocking device comprises a housing, a tooling portion and a driving portion.
- 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.
- 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.
- FIG. 1 is a schematic structural view of an automatic unlocking device of the present invention
- FIG. 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.
- FIG. 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.
- 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.
- 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.
- the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
- FIG. 1 is a schematic structural view of an automatic unlocking device of the present invention
- FIG. 2 is a cross-sectional view of the automatic unlocking device of the present invention
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- the first docking structure 1211 is four convex structures disposed on the inner wall of the cylindrical tool body 121
- 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.
- the lock bolt 20 can fasten/disengage the electric vehicle to be replaced under the driving of the tool body 121.
- 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".
- 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.
- 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.
- 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).
- 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.
- the first elastic member 142 may be a spring or other elastic member such as an elastic rubber block or the like.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- Fig. 4 is an exploded view showing the structure of the tooling portion 12 of the automatic unlocking device 10 of the present invention.
- 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.
- the top post 122 can also move axially relative to the tool body 121 under the elastic force of the third elastic member 123.
- the third elastic member 123 is a spring or other member having a spring property such as an elastic rubber block or the like.
- 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.
- 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
- the pressure sensor 16 can collect the shaft of the driving portion 13 .
- 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.
- 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 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 current state of the lock bolt 20 is visible during each power change of the electric vehicle.
- 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.
- 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.
- the support units are provided in two sets and are symmetrically arranged on the left and right sides of the drive motor.
- 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.
- 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.
- 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.
- the present invention also provides a power-changing robot including a body, a lifting platform, and the aforementioned automatic unlocking device 10.
- 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.
- 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.
- 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.
- FIG. 5 is a schematic flowchart of a method for automatically adding and unlocking an automatic unlocking device according to the present invention.
- 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.
- 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:
- 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.
- the first docking structure 1211 of the tooling portion 12 is mated with the second docking structure 232 of the locking bolt 20.
- the convex structure of the tool body 121 is matched with the groove structure of the adjusting block 23.
- 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.
- the step S200 may further include the following steps:
- 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.
- the process of locking the lock bolt 20 by the automatic unlocking device 10 of the present invention may include:
- 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.
- 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).
- a first set distance for example, the rising distance is substantially the depth of the groove structure, etc.
- 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).
- 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.
- 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.
- 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.
- 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.
- 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.
- 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 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.
- 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).
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Straightening Metal Sheet-Like Bodies (AREA)
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
本发明涉及换电领域,具体涉及一种自动加解锁装置、换电机器人、充换电站及加解锁方法。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.
新能源汽车作为一种新兴的交通工具,由于其节能环保、工作噪声低等优点,而受到各大厂商各车主的青睐。在为新能源汽车进行更换储能单元的过程中,储能单元的紧固与拆卸是必不可少的步骤。以电动汽车为例,采用螺栓作为动力电池与电动汽车车身的紧固件是各大厂商普遍采用的连接方式。而在紧固过程中,使用拧紧枪通过半自动或手动,或者采用定制非标的自动化紧固装置,将拧紧枪集成到自动化装置上,实现对多个螺栓进行紧固/拆卸的方式,是各大厂商提高服务质量的手段之一。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.
但上述手段也带来了相应的问题。首先,对于半自动或手动的紧固方式来说,工作人员长时间使用拧紧枪进行紧固工作,工作人员的劳动强度大,而且螺栓的紧固精度和稳定性也无法保证。其次,对于定制的自动化紧固装置来说,由于自动化紧固装置的成本较高,直接导致了充换电站的初期建设的投入较大,相应的为电动汽车更换动力电池的服务费用也随之较高,这就不利于服务商给车主提供良好的服务体验。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.
相应地,本领域需要一种新的加解锁装置来解决上述问题。Accordingly, there is a need in the art for a new unlocking device to address the above problems.
发明内容Summary of the invention
为了解决现有技术中的上述问题,即为了解决储能单元紧固过程中存在的半自动或手动的紧固方式稳定性差、自动化紧固装置成本高的问题,本发明提供了一种自动加解锁装置,该装置包括壳体、工装部以及驱动部,其中,所述壳体具有第一底板和第二底板;其中,所述工装部的第一端伸出所述第一底板并能够与待操作的紧固件配合连接,且所述工装部能够沿其轴向相对于所述驱动部移动;其中,所述驱动部容纳于所述壳体,且所述驱动部与所述工装部的第二端连接;并且所述 驱动部能够使所述工装部转动,该转动能够带动所述紧固件紧固于/脱开待换电车辆。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.
在上述自动加解锁装置的优选技术方案中,所述工装部包括工装主体,所述工装主体的第一端具有能够与所述紧固件匹配连接的第一对接结构。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.
在上述自动加解锁装置的优选技术方案中,所述自动加解锁装置还包括连接部,所述驱动部与所述工装主体的第二端通过所述连接部连接。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.
在上述自动加解锁装置的优选技术方案中,所述连接部包括第一连接件和第一弹性件,其中,所述第一连接件与所述工装主体连接;其中,所述第一弹性件设置于所述第一连接件与所述工装主体之间。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.
在上述自动加解锁装置的优选技术方案中,所述连接部还包括第一销轴,所述工装主体具有与第一销轴对应的第一销孔,所述第一连接件上具有第一长条孔,所述工装主体与所述第一连接件通过所述第一销轴连接,并且所述第一销轴能够沿所述第一长条孔的孔长方向移动。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.
在上述自动加解锁装置的优选技术方案中,所述连接部还包括第二连接件,所述第二连接件与所述第一连接件和所述驱动部分别固定连接。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.
在上述自动加解锁装置的优选技术方案中,所述自动加解锁装置还包括支撑部,所述驱动部固定连接于所述支撑部。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.
在上述自动加解锁装置的优选技术方案中,所述支撑部包括传力底板以及至少一个支撑单元,所述支撑单元包括支撑轴以及套设于所述支撑轴外侧的传力套筒,其中,所述支撑轴的两端分别与所述第一底板和所述第二底板固定连接;其中,所述传力套筒与所述驱动部和所述传力底板分别固定连接。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.
在上述自动加解锁装置的优选技术方案中,所述支撑部还包括第二弹性件,所述第二弹性件套设于所述支撑轴,并且所述第二弹性件设置于所述传力底板和所述第二底板之间。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.
在上述自动加解锁装置的优选技术方案中,所述自动加解锁装置还包括压力传感器,所述压力传感器的设置位置能够使该压力传感器采集所述驱动部的轴向受力。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.
在上述自动加解锁装置的优选技术方案中,所述自动加解锁装置还包括传感器底座,所述传感器底座固定于所述第二底板,所述压力传感器设置于所述传感器底座远离所述第二底板的一侧。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.
在上述自动加解锁装置的优选技术方案中,所述驱动部包括伺服电机以及与所述伺服电机固定连接的减速器,其中,所述减速器通过所述连接部与所述工装部的第二端连接。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.
在上述自动加解锁装置的优选技术方案中,所述紧固件包括中心拉轴、调节块以及限位封板;其中:所述中心拉轴具有锁紧段和调节段,所述调节段能够与所述调节块插合连接,并且在组装好的状态下,所述调节块能够沿轴向相对于所述中心拉轴移动,所述调节块相对于所述中心拉轴无相对转动;所述调节块的第一端具有周向的锁止槽,所述调节块的第二端设置有能够与所述第一对接结构匹配连接的第二对接结构,以及所述调节块还形成有与所述调节段配合连接的通孔;所述限位封板能够与储能单元固定连接,且所述限位封板具有与所述锁止槽配合连接的周向的防松槽,并且在所述锁止槽与所述防松槽连接好的状态下,所述调节块相对于所述限位封板无相对转动。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.
本发明还提供了一种换电机器人,该换电机器人包括前述任一项所述的自动加解锁装置。The present invention also provides a power-changing robot comprising the automatic unlocking device of any of the preceding claims.
本发明还提供了一种充换电站,该充换电站内配置有前述任一项所述的换电机器人。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.
本发明还提供了一种自动加解锁方法,所述自动加解锁方法包括如下步骤:The invention also provides an automatic unlocking method, the automatic unlocking method comprising the following steps:
使工装部靠近待操作的紧固件;Bringing the tooling part close to the fastener to be operated;
使工装部的第一对接结构与所述紧固件的第二对接结构匹配连接;Aligning the first docking structure of the tooling portion with the second docking structure of the fastener;
使所述工装部带动所述紧固件紧固于/脱开待换电车辆。The tooling portion is caused to drive the fastener to be fastened/detached from the vehicle to be replaced.
在上述自动加解锁方法的优选技术方案中,“使工装部的第一对接结构与所述紧固件的第二对接结构匹配连接”的步骤进一步包括: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:
使第一弹性件处于压紧状态;Causing the first elastic member in a pressed state;
使所述第一对接结构转动,通过转动使所述第二对接结构与所述第一对接结构匹配连接。Rotating the first docking structure, and rotating the second docking structure to the first docking structure.
在上述自动加解锁方法的优选技术方案中,所述方法还包括如下步骤:In a preferred technical solution of the automatic unlocking method, the method further includes the following steps:
采集自动加解锁过程中所述自动加解锁装置的参数。The parameters of the automatic unlocking device during the automatic unlocking process are collected.
在上述自动加解锁方法的优选技术方案中,所述参数为驱动电机的扭矩、紧固件的旋转圈数或驱动电机在其轴向上受到的压力中的一种或者几种。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.
在上述自动加解锁方法的优选技术方案中,在所述紧固件为前述的紧固件时,在“使所述工装部带动所述紧固件紧固于/脱开待换电车辆”的步骤之前,所述方法还包括: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:
使锁止槽脱离防松槽。Disengage the locking groove from the lock groove.
在上述自动加解锁方法的优选技术方案中,在“使所述工装部带动所述紧固件紧固于/脱开待换电车辆”的步骤之后,所述方法还包括: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:
使所述工装部远离所述待操作的紧固件,该远离能够使锁止槽落入防松槽。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.
本领域技术人员能够理解的是,在本发明的优选技术方案中,自动加解锁装置包括壳体、工装部以及驱动部。其中,壳体具有第一底板和第二底板。工装部的第一端伸出第一底板并能够与待操作的紧固件配合连接,且工装部能够沿其轴向相对于驱动部移动。驱动部容纳于壳体,驱动部与工装部的第二端连接,且驱动部能够使工装部转动,该转动能够带动紧固件紧固于/脱开待换电车辆。通过工装部与驱动部的设置,使得紧固件紧固于/脱开待换电车辆的动作能够自动完成,实现了对动力电池的自动化加解锁,提高了加解锁过程中紧固件的连接精度与稳定性。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.
图1为本发明的自动加解锁装置的结构示意图;1 is a schematic structural view of an automatic unlocking device of the present invention;
图2为本发明的自动加解锁装置的剖视示意图;2 is a cross-sectional view showing the automatic unlocking device of the present invention;
图3A为本发明的自动加解锁装置在一种优选应用场景中的防松螺栓的结构示意图;3A is a schematic structural view of a lock bolt of an automatic unlocking device of the present invention in a preferred application scenario;
图3B为图3A的爆炸示意图;Figure 3B is a schematic exploded view of Figure 3A;
图4为本发明的工装部的结构爆炸图;Figure 4 is an exploded view showing the structure of the tooling portion of the present invention;
图5为本发明的自动加解锁装置的自动加解锁方法的流程示意图;5 is a schematic flow chart of an automatic unlocking method of an automatic unlocking device according to the present invention;
图6A为本发明的自动加解锁方法中凸起结构与凹槽结构处于压紧状态的示意图;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;
图6B为本发明的自动加解锁方法中凸起结构与凹槽结构处于配合连接状态的示意图。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.
附图标记列表List of reference signs
10、自动加解锁装置;11、壳体;111、第一底板;112、第二底板;12、工装部;121、工装主体;1211、第一对接结构;1212、第一销孔;1213、第二销孔;122、顶柱;1221、第二长条孔;123、第三弹性件;124、第二销轴;13、驱动部;131、伺服电机;132、减速器;14、连接部;141、第一销轴;142、第一弹性件;143、第一连接件;1431、第一长条孔;144、第二连接件;15、支撑部;151、传力底板;152、支撑轴;153、传力套筒;154、第二弹性件;16、压力传感器;17、传感器底座;20、防松螺栓;21、套壳;211、第一通孔;22、中心拉轴;221、锁紧段;222、调节段;223、凸缘;23、调节块;231、锁止槽;232、第二对接结构;233、第二通孔;24、限位封板;241、防松槽;242、第三通孔;25、复位弹簧。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.
下面参照附图来描述本发明的优选实施方式。本领域技术人员应当理解的是,这些实施方式仅仅用于解释本发明的技术原理,并非旨在限制本发明的保护范围。例如,虽然附图中的第一对接结构为设置于圆筒形工装主体内壁上的四个凸起结构,但是这种设置形式、设置位置和数量非一成不变,本领域技术人员可以根据需要对其作出调整,以便适应具体的应用场合。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.
需要说明的是,在本发明的描述中,术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方向或位置关系的术语是基于附图所示的方向或位置关系,这仅仅是为了便于描述,而不是指示或暗示所述装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。此外, 术语“第一”、“第二”、“第三”仅用于描述目的,而不能理解为指示或暗示相对重要性。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.
此外,还需要说明的是,在本发明的描述中,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通。对于本领域技术人员而言,可根据具体情况理解上述术语在本发明中的具体含义。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.
首先参照图1、图2以及图3A和图3B,其中,图1为本发明的自动加解锁装置的结构示意图,图2为本发明的自动加解锁装置的剖视示意图,图3A为本发明的自动加解锁装置在一种优选应用场景中的防松螺栓的结构示意图,图3B为图3A的爆炸示意图。下面将以为待换电的电动汽车更换动力电池,且用于紧固动力电池的紧固件为图3A和图3B所示的防松螺栓为例,来对本发明的自动加解锁装置进行阐述。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.
如图3A和图3B示出一种带有防松结构的防松螺栓20,该防松螺栓20主要包括套壳21、中心拉轴22、调节块23、限位封板24以及复位弹簧25。套壳21为底端开口的筒型结构,套壳21顶端形成有第一通孔211。中心拉轴22具有锁紧段221、调节段222以及锁紧段221和调节段222之间的凸缘223。调节块23的第一端具有周向凹凸相间的锁止槽231,调节块23的第二端具有第二对接结构232,以及调节块23还形成有第二通孔233。限位封板24具有与锁止槽231配合连接的周向凹凸相间的防松槽241,以及限位封板24还形成有第三通孔242。其中,调节段222能够与调节块23通过第二通孔233插合连接。并且在连接好的状态下,调节块23能够沿轴向相对于中心拉轴22移动,调节块23相对于中心拉轴22无相对转动(如采用花键与花键槽的插合连接)。调节块23的第二端从限位封板24的第三通孔242伸出,调节块23第一端的锁止槽231能够与限位封板24的防松槽241配合连接,并且在锁止槽231与防松槽241连接好的状态下,调节块23相对于限位封板24无相对转动。其中,限位封板24与动力电池固定连接,并且在连接好的状态下,限位封板24与动力电池无相对转动。其中,复位弹簧25套设在所述中心拉轴22的调节段222上,其两端分别与凸缘223和调节块23的第一端连接。其中,套壳21与限位封板24固定连接,并且在连接好的状态 下,中心拉轴22的锁紧段221从第一通孔211伸出。也就是说,在锁止槽231脱离防松槽241的情形下,可以通过转动调节块23的方式带动中心拉轴22转动,该转动能够使防松螺栓20与电动汽车紧固。由于在锁止槽231与防松槽241连接好的情形下中心拉轴22相对于限位封板24无相对转动,从而实现防松螺栓20的防松功能。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.
可以看出,防松螺栓20的结构使得防松螺栓20在紧固于电动汽车后,消除了由于螺栓松动等现象导致的安全隐患,大大减小了甚至安全事故的概率。并且,防松螺栓20的特殊的防松结构还使得由防松螺栓20紧固的动力电池相比其他方式更加可靠。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.
如图1和图2所示,本发明提供了一种用于前述的防松螺栓20的自动加解锁装置10,该装置主要包括壳体11,工装部12、驱动部13以及连接部14。其中,壳体11具有第一底板111和第二底板112。工装部12的第一端伸出第一底板111与待操作的防松螺栓20配合连接,且工装部12能够沿其轴向相对于驱动部13移动;驱动部13容纳于壳体11,且驱动部13与工装部12的第二端通过连接部14连接。并且在连接好的状态下,驱动部13能够使工装部12转动,该转动能够带动防松螺栓20紧固于/脱开待换电的电动汽车,也就是使动力电池紧固于/脱开待换电的电动汽车。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.
可以看出,通过工装部12、驱动部13以及连接部14的设置,可自动完成防松螺栓20紧固/脱开待换电车辆的动作,相较于半自动或手动的紧固方式来说,这种设置方式降低了工人的劳动强度,实现了对动力电池的自动化加解锁。以及相较于非标的自动紧固装置来说,这种设置方式具有结构简单、成本低以及维修方便的优点。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.
按图2所示的方位,壳体11的顶部和底部设置有第一底板111与第二底板112,工装部12包括大致呈圆筒形的工装主体121,工装主体121的上端具有第一对接结构1211,调节块23的下端具有第二对接结构232(参照图3B),第一对接结构1211能够伸出第一底板111与第二对接结构232匹配连接,进而使工装部12能够带动紧固件固于/脱开待换电的电动汽车。优选地,第一对接结构1211为设置于圆筒形工装主体121内壁上的四个凸起结构,第二对接结构232为设置于调节块23第下端的四个凹槽结构,通过凸起结构与凹槽结构的配合连接,防松螺栓20能够在工装主体121的带动下紧固/脱开待换电的电动汽车。当然,第一 对接结构1211与第二对接结构232的形式和数量并不唯一,本领域技术人员可以根据具体应用场景作出调整,只要该调整满足使第一对接结构1211与第二对接结构232能够匹配连接的条件,如将第一对接结构1211与第二对接结构232的形式进行对调,或者将其设置为类似“插头”和“插座”的矩形柱和矩形孔等其他结构形式。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".
继续参照如图2,驱动部13包括设置于第一底板111与第二底板112之间的伺服电机131和减速器132。连接部14包括第一销轴141、第一弹性件142、第一连接件143以及第二连接件144。伺服电机131与减速器132固定连接,减速器132与第二连接件144通过螺栓固定连接,第二连接件144与第一连接件143通过定位销(图中未示出)固定连接,工装主体121的下端与第一连接件143通过第一销轴141连接,第一弹性件142的两端则分别套设在工装主体121的下端以及第一连接件143的上端。在连接好的状态下,工装部12能够在第一弹性件142的弹力作用下沿竖直方向相对于第一连接件143移动,也就是相对驱动电机移动。优选地,工装主体121的下端与第一连接件143通过第一销轴141插合连接,并且在工装主体121以及第一连接件143的连接位置分别设置有第一销孔1212和第一长条孔1431(参照图4)。这样一来,第一销轴141能够通过在第一长条孔1431的孔长方向(即图2中的竖直方向)移动的方式使工装主体121沿竖直方向相对于第一连接件143移动的同时,还能够通过第一销轴141穿过第一长条孔1431与第一销孔1212的插合,使第一连接件143带动工装主体121转动。优选地,第一弹性件142可以是弹簧或其他弹性构件,如弹性胶块等。同样地,上述伺服电机131、减速器132、第一连接件143、第二连接件144以及工装主体121的具体的设置方式和连接方式并非旨在限制本发明的保护范围,本领域技术人员还可以根据具体应用场景对其做出灵活调整,如减速器132与第二连接件144采用定位销连接,第二连接件144与第一连接件143通过螺栓连接等。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.
优选地,上述自动加解锁装置10可以应用于充换电站内。如在充换电站内配置有若干用于运载和装卸动力电池的换电机器人,自动加解锁装置10可以设置于换电机器人的举升平台上,并且将对自动加解锁装置10的控制并入换电机器人的控制部,实现加解锁装置的自动控制。也就是说,在换电机器人的举升平台带动自动加解锁装置10一同上 升至能够相对于待换电的电动汽车进行动力电池的装卸动作的换电位置时,换电机器人的控制部可以控制自动加解锁装置10对防松螺栓20执行加解锁动作,从而使动力电池紧固/脱开待换电的电动汽车。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.
需要说明的是,换电位置可以是在工装主体121使锁止槽231脱离防松槽241的情形下,自动加解锁装置10所在的位置。也就是说,在处于该位置时,自动加解锁可以对防松螺栓20进行加解锁动作,进而使动力电池紧固于/脱开电动汽车。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.
可以看出,本发明的自动加解锁装置10不仅结构简单、成本低、维护简便,而且由于驱动部13与工装部12通过连接部14固定连接的设置方式,还使得自动加解锁装置10结构稳定,耐用性得以提高。通过将本发明的自动加解锁装置10与工业化伺服控制系统结合,如与换电机器人结合并将其配置于充换电站后,可以实现换电机器人对电动汽车的全自动换电,相对于目前的非标自动化紧固装置,明显地节省了制造成本。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.
参照图4,图4为本发明的自动加解锁装置10的工装部12的结构爆炸图。如图4所示,为进一步提高加解锁过程的稳定性,还可以在工装主体121内设置带有第三弹性件123的顶柱122,顶柱122上端设置有第三弹性件123,顶柱122下端形成有第二长条孔1221,在工装主体121的中部位置还开设有第二销孔1213,顶柱122与工装主体121通过第二销轴124连接。并且在连接好后,顶柱122还能在第三弹性件123的弹力作用下沿轴向相对于工装主体121移动。优选地,第三弹性件123为弹簧或具有弹簧性质的其他构件,如弹性胶块等。在上述设置方式下,顶柱122可以在加解锁过程中对防松螺栓20起到一定压力作用,第三弹性件123的设置又使得顶柱122可以相对于工装主体121上下移动,该移动使得在加解锁过程中不会由于工装主体121与防松螺栓20之间的挤压力过大而将放松螺栓顶死,避免出现加解锁困难的问题,从而有效地提高了自动加解锁装置10的操作可靠性和稳定性。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.
继续参照图1和图2,为了对自动加解锁装置10的加解锁过程进行状态监测,在一种优选的实施方式中,还可以在自动加解锁装置10上设置支撑部15、传感器底座17以及压力传感器16,并且对伺服电机131的运动参数按需采集。其中,驱动部13固定连接于支撑部15,传感器底座17固定于第二底板112,压力传感器16设置于传感器底座 17远离第二底板112的一端,并且该压力传感器16能够采集驱动部13的轴向受力。如可以采集伺服电机131的扭矩和转速等运动参数,并通过伺服电机131与减速器132的转速比计算得出工装主体121相应的旋转圈数。具体而言,通过换电机器人的控制部采集伺服电机131的扭矩和转速等参数,以及通过压力传感器16采集伺服电机131的轴向受力的方式,使自动加解锁装置10可以在加解锁过程中将上述参数实时地反馈,并且/或者将上述参数上传至物理服务器或者云端进行记录,进而实现加解锁过程中对自动加解锁装置10和防松螺栓20的状态监测,提高自动加解锁装置10的运行稳定性和防松螺栓20的连接稳定性。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.
并且,通过对防松螺栓20的状态监测,使得电动汽车在每次换电过程中,防松螺栓20的当前状态可见。通过将当前状态与物理服务器或者云端存储的历史状态数据进行对比,可以估算出防松螺栓20当前的磨损程度和使用寿命等,进而通过如在适当的时机对防松螺栓20进行更换的方式,避免在电动汽车在长时间行驶后,存在由于防松螺栓20磨损程度过大或失效等现象而导致的安全隐患,从而提高电动汽车的行车安全。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.
按图2所示方位,支撑部15包括传力底板151以及至少一个支撑单元,每个支撑单元又包括支撑轴152和传力套筒153。其中,支撑轴152的上下两端分别与第一底板111和第二底板112固定连接,传力套筒153套设于支撑轴152,并且传力套筒153分别与驱动部13和传力底板151固定连接。其中,传感器底座17设置于传力底板151与第二底板112之间,传感器底座17通过螺栓与第二底板112固定连接,压力传感器16设置于传感器底座17的上端。优选地,支撑单元设置为两套,并且对称地布置于驱动电机的左右两侧。优选地,传感器底座17的上部具有防止压力传感器16的凹槽,传感器设置于该凹槽中。这样一来,在加解锁过程中,防松螺栓20受到的工装主体121的压力可以通过第一弹性件142的弹力传递给第一连接件143,进而此压力通过第二连接件144、减速机与伺服电机131传递给传力套筒153,传力套筒153通过在支撑杆的轴向滑动的方式带动传力底下移并挤压压力传感器16的方式,使压力传感器16采集压力并反馈给控制部。如前所述,通过在加解锁过程中对自动加解锁装置10的运动参数和防松螺栓20的压力进行采集,使得自动加解锁装置10和防松螺栓20的状态可以得到监测。进一步优选地, 还可以在支撑轴152靠近第二底板112的一端设置有套设于该支撑轴152的第二弹性件154(如弹簧),并且第二弹性件154的两端与传力底板151连接和第二底板112固定连接,保证压力传感器16只承受来自作为紧固件的防松螺栓20反馈的力,进而提高了监测过程的精确性与稳定性。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.
此外,本发明还提供了一种换电机器人,该换电机器人包括本体、举升平台以及前述的自动加解锁装置10。优选地,自动加解锁装置10设置于换电机器人的举升平台上,也就是说自动加解锁装置10能够通过举升平台的举升到达上述换电位置。优选地,自动加解锁装置10可以与换电机器人的控制部匹配连接,由换电机器人统一控制。在该控制部的控制下,换电机器人能够通过自动加解锁装置10使动力电池紧固于/脱开电动汽车的车身。当然,自动加解锁装置10也可以设置于换电机器人的其他位置,只要该位置能够使自动加解锁装置10上升至换电位置即可,如自动加解锁装置10还可以设置于换电机器人本体的某一位置,并且该位置具有能够将自动加解锁装置10举升至换电位置的举升装置,如将自动加解锁装置10设置于能够举升自动加解锁装置10的液压杆或液压缸等。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.
本发明还提供了一种充换电站,该充换电站内配置有如前所述的换电机器人,并且该换电机器人可以利用设置在其上的自动加解锁装置10在充换电站内为待换电的电动汽车完成更换动力电池的动作。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.
下面参照图5,图5为本发明的自动加解锁装置的自动加解锁方法的流程示意图。如图5所示,本发明还提供了一种自动加解锁装置10的加解锁方法,仍以为待换电的电动汽车更换动力电池,且用于紧固动力电池的紧固件为图3A和图3B所示的防松螺栓20为例,防松螺栓20的加解锁方法主要包括以下步骤: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、使工装部12靠近待操作的防松螺栓20。如在换电机器人的举升平台的举升下,自动加解锁装置10的工装部12上移至防松螺栓20下方。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、使工装部12的第一对接结构1211与防松螺栓20的第二对接结构232匹配连接。如使工装主体121的凸起结构与调节块23的凹槽结构匹配连接。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、使锁止槽231脱离防松槽241。如继续举升自动加解锁装置10,使工装主体121顶升调节块23,从而使调节块23的锁止槽231脱离限位封板24的防松槽241。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、使工装部12带动防松螺栓20紧固于/脱开待换电的电动汽车,并采集自动加解锁过程的参数。如驱动电机通过减速器132、第二连接件144与第一连接件143带动工装主体121转动,进而工装主体121带动防松螺栓20紧固于/脱开待换电的电动汽车。并且在紧固过程中采集驱动电机的扭矩、紧固件的旋转圈数以及和驱动电机在其轴向上受到的压力等参数。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、使工装部12远离待操作的防松螺栓20。如举升平台带动自动加解锁装置10下移。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.
其中,步骤S200又可以进一步包括如下步骤:The step S200 may further include the following steps:
S210、使第一弹性件142处于压紧状态。如在工装主体121的凸起结构与防松螺栓20的第二对接结构232接触但未配合连接的情形下,继续举升自动加解锁装置10,使第一弹性件142处于压紧状态。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、使所述凸起结构转动,进而所述第二对接结构232与所述凸起结构匹配连接。如通过驱动电机带动工装主体121转动的方式,使第二对接结构232落入凸起结构,完成匹配连接。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.
接下来参照图5、图6A和图6B说明本发明的自动加解锁装置10应用于防松螺栓20的加解锁方法,其中图6A为本发明的自动加解锁方法中凸起结构与凹槽结构处于压紧状态的示意图,图6B为本发明的自动加解锁方法中凸起结构与凹槽结构处于配合连接状态的示意图。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.
如图6A和图6B所示,以自动加解锁装置10的加锁过程为例,本发明的自动加解锁装置10对防松螺栓20进行加锁的流程可以包括: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、自动加解锁装置10在换电机器人的举升平台的带动下上移,工装主体121的凸起结构接触防松螺栓20的凹槽结构。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、自动加解锁装置10在举升平台的带动下上升第一设定距离(如上升距离大致为凹槽结构的深度等),第一弹性件142处于压紧状态,凸起结构与凹槽结构压紧。(如图6A所示)。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、伺服电机131带动工装主体121以第一设定扭矩旋转设定角度(如以刚好使工装主体121克服摩擦相对于防松螺栓20旋转的扭 矩使工装主体121旋转一圈),在第一弹性件142的弹力作用下,凹槽结构落入凸起结构(如图6B所示)。此时伺服电机131反馈认帽力矩并记录当前位置为工作零位点(即角度零点)。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、自动加解锁装置10在举升平台的带动下继续上升第二设定距离(如上升距离使锁止槽231完全脱离防松槽241的距离),凸起结构顶升凹槽结构进而使得锁止槽231脱离防松槽241。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、伺服电机131按第二设定扭矩对防松螺栓20进行加锁,并实时记录扭矩。如有异常,及时反馈并报警。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、伺服电机131控制工装主体121完成加锁过程,记录扭矩及工装主体121的旋转圈数并上传至换电机器人的控制部。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、自动加解锁装置10在举升平台的带动下向下移动,凸起结构脱离凹槽结构,锁止槽231落入防松槽241。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.
需要说明的是,上述加锁流程中的第一设定距离、第二设定距离、第一设定扭矩、第二设定扭矩以及设定角度可以根据具体应用场景进行具体设定,但设定的前提是可以完成上述相应步骤中对应的功能。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.
本领域技术人员可以想到的是,上述加锁流程中,也可以在S2中将第一设定距离设置为在底部凹槽落入工装头后,可以同时使锁止槽231脱离防松槽241时的距离。也就是说,自动加解锁装置10在举升平台的带动下,按照此距离上升使第一弹性件142处于压紧状态,并且在伺服电机131带动工装头以第一设定扭矩旋转设定的角度,使凹槽结构落入凸起结构后,锁止槽231已经处于脱离防松槽241的状态。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.
使用本发明的紧固装置对防松螺栓20进行解锁过程与加锁过程原理和过程均类似,在此不再赘述。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.
当然,上述将自动加解锁装置10应用于防松螺栓20的实施方式并非旨在限制本发明的保护范围,本领域技术人员还能够想到的是,自动加解锁装置10还可以应用于其他与防松螺栓20类似的紧固件的加解锁,只要该紧固件具有与工装主体121的第一对接结构1211相适应的第二对接结构232。如本发明还可以应用于其他紧固件,如应用于具有第二对接结构232但是不具有锁止槽231与防松槽241的普通螺栓,在将自动加解锁装置10应用于普通螺栓时,加锁流程的步骤主要包括:(1)使工装部12靠近待操作的螺栓;(2)使工装主体121的第一对接结构 1211与螺栓的第二对接结构232匹配连接;(3)使工装部12带动螺栓紧固于/脱开待换电车辆。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.
进一步地,为增加本发明的自动加解锁装置10的普适性,自动加解锁装置10还可以以进行模块化设置,如在第一底板111与第二底板112之间围设外壳进行模块化封装,并将工装部12以可更换的方式设置,也就是针对每一种紧固件对应一个工装部12(也就是针对每一种紧固件的第二对接结构232对应一种工装主体121的第一对接结构1211)。这样一来,在不同的应用场景下应用本发明的自动加解锁装置10时,只需将工装部12作为一个整体模块进行更换就可以实现对不同紧固件相对于电动汽车的紧固/脱开,从而大大增加了本发明的自动加解锁装置10的应用范围。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.
至此,已经结合附图所示的优选实施方式描述了本发明的技术方案,但是,本领域技术人员容易理解的是,本发明的保护范围显然不局限于这些具体实施方式。在不偏离本发明的原理的前提下,本领域技术人员可以对相关技术特征作出等同的更改或替换,这些更改或替换之后的技术方案都将落入本发明的保护范围之内。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 (21)
- 一种自动加解锁装置,其特征在于,所述自动加解锁装置包括壳体、工装部以及驱动部,An automatic unlocking device, comprising: a housing, a tooling part and a driving part,其中,所述壳体具有第一底板和第二底板;Wherein the housing has a first bottom plate and a second bottom plate;其中,所述工装部的第一端伸出所述第一底板并能够与待操作的紧固件配合连接,且所述工装部能够沿其轴向相对于所述驱动部移动;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;其中,所述驱动部容纳于所述壳体,且所述驱动部与所述工装部的第二端连接;并且Wherein the driving portion is housed in the housing, and the driving portion is connected to the second end of the tooling portion;所述驱动部能够使所述工装部转动,该转动能够带动所述紧固件紧固于/脱开待换电车辆。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.
- 根据权利要求1所述的自动加解锁装置,其特征在于,所述工装部包括工装主体,所述工装主体的第一端具有能够与所述紧固件匹配连接的第一对接结构。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.
- 根据权利要求2所述的自动加解锁装置,其特征在于,所述自动加解锁装置还包括连接部,所述驱动部与所述工装主体的第二端通过所述连接部连接。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.
- 根据权利要求3所述的自动加解锁装置,其特征在于,所述连接部包括第一连接件和第一弹性件,The automatic unlocking device according to claim 3, wherein the connecting portion comprises a first connecting member and a first elastic member,其中,所述第一连接件与所述工装主体连接;Wherein the first connecting member is connected to the tooling body;其中,所述第一弹性件设置于所述第一连接件与所述工装主体之间。The first elastic member is disposed between the first connecting member and the tool body.
- 根据权利要求4所述的自动加解锁装置,其特征在于,所述连接部还包括第一销轴,所述工装主体具有与第一销轴对应的第一销孔,所述第一连接件上具有第一长条孔,所述工装主体与所述第一连接件通过所述第一销轴连接,并且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所述第一销轴能够沿所述第一长条孔的孔长方向移动。The first pin shaft is movable along a length of a hole of the first elongated hole.
- 根据权利要求5所述的自动加解锁装置,其特征在于,所述连接部 还包括第二连接件,所述第二连接件与所述第一连接件和所述驱动部分别固定连接。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.
- 根据权利要求3所述的自动加解锁装置,其特征在于,所述自动加解锁装置还包括支撑部,所述驱动部固定连接于所述支撑部。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.
- 根据权利要求7所述的自动加解锁装置,其特征在于,所述支撑部包括传力底板以及至少一个支撑单元,所述支撑单元包括支撑轴以及套设于所述支撑轴外侧的传力套筒,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,其中,所述支撑轴的两端分别与所述第一底板和所述第二底板固定连接;The two ends of the support shaft are respectively fixedly connected to the first bottom plate and the second bottom plate;其中,所述传力套筒与所述驱动部和所述传力底板分别固定连接。The force transmitting sleeve is fixedly connected to the driving portion and the force transmission bottom plate, respectively.
- 根据权利要求8所述的自动加解锁装置,其特征在于,所述支撑部还包括第二弹性件,所述第二弹性件套设于所述支撑轴,并且所述第二弹性件设置于所述传力底板和所述第二底板之间。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.
- 根据权利要求7所述的自动加解锁装置,其特征在于,所述自动加解锁装置还包括压力传感器,所述压力传感器的设置位置能够使该压力传感器采集所述驱动部的轴向受力。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.
- 根据权利要求10所述的自动加解锁装置,其特征在于,所述自动加解锁装置还包括传感器底座,所述传感器底座固定于所述第二底板,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.所述压力传感器设置于所述传感器底座远离所述第二底板的一侧。The pressure sensor is disposed on a side of the sensor base away from the second bottom plate.
- 根据权利要求3至11中任一项所述的自动加解锁装置,其特征在于,所述驱动部包括伺服电机以及与所述伺服电机固定连接的减速器,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,其中,所述减速器通过所述连接部与所述工装部的第二端连接。The speed reducer is connected to the second end of the tooling portion through the connecting portion.
- 根据权利要求2至11中任一项所述的自动加解锁装置,其特征在于,所述紧固件包括中心拉轴、调节块以及限位封板;其中: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:所述中心拉轴具有锁紧段和调节段,所述调节段能够与所述调节块插 合连接,并且The central pull shaft has a locking section and an adjustment section, and the adjustment section is insertably coupled to the adjustment block, and在组装好的状态下,所述调节块能够沿轴向相对于所述中心拉轴移动,所述调节块相对于所述中心拉轴无相对转动;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;所述调节块的第一端具有周向的锁止槽,所述调节块的第二端设置有能够与所述第一对接结构匹配连接的第二对接结构,以及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所述调节块还形成有与所述调节段配合连接的通孔;The adjustment block is further formed with a through hole that is coupled with the adjustment section;所述限位封板能够与储能单元固定连接,且所述限位封板具有与所述锁止槽配合连接的周向的防松槽,并且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在所述锁止槽与所述防松槽连接好的状态下,所述调节块相对于所述限位封板无相对转动。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.
- 一种换电机器人,其特征在于,所述换电机器人包括如权利要求1至13中任一项所述的自动加解锁装置。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.
- 一种充换电站,其特征在于,所述充换电站内配置有如权利要求14所述的换电机器人。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.
- 一种自动加解锁方法,其特征在于,所述方法包括如下步骤:An automatic unlocking method, characterized in that the method comprises the following steps:使工装部靠近待操作的紧固件;Bringing the tooling part close to the fastener to be operated;使工装部的第一对接结构与所述紧固件的第二对接结构匹配连接;Aligning the first docking structure of the tooling portion with the second docking structure of the fastener;使所述工装部带动所述紧固件紧固于/脱开待换电车辆。The tooling portion is caused to drive the fastener to be fastened/detached from the vehicle to be replaced.
- 根据权利要求16所述的自动加解锁方法,其特征在于,“使工装部的第一对接结构与所述紧固件的第二对接结构匹配连接”的步骤进一步包括: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:使第一弹性件处于压紧状态;Causing the first elastic member in a pressed state;使所述第一对接结构转动,通过转动使所述第二对接结构与所述第一对接结构匹配连接。Rotating the first docking structure, and rotating the second docking structure to the first docking structure.
- 根据权利要求16所述的自动加解锁方法,其特征在于,所述方法还包括如下步骤:The automatic unlocking method according to claim 16, wherein the method further comprises the following steps:采集自动加解锁过程中所述自动加解锁装置的参数。The parameters of the automatic unlocking device during the automatic unlocking process are collected.
- 根据权利要求18所述的自动加解锁方法,其特征在于,所述参数为驱动电机的扭矩、紧固件的旋转圈数或驱动电机在其轴向上受到的压力中的一种或者几种。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. .
- 根据权利要求16所述的自动加解锁方法,其特征在于,在所述紧固件为如权利要求13所述的紧固件时,在“使所述工装部带动所述紧固件紧固于/脱开待换电车辆”的步骤之前,所述方法还包括: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:使锁止槽脱离防松槽。Disengage the locking groove from the lock groove.
- 根据权利要求20所述的自动加解锁方法,其特征在于,在“使所述工装部带动所述紧固件紧固于/脱开待换电车辆”的步骤之后,所述方法还包括: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:使所述工装部远离所述待操作的紧固件,该远离能够使锁止槽落入防松槽。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.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710408705.0A CN107097067B (en) | 2017-06-02 | 2017-06-02 | Automatic locking and unlocking device, motor replacing robot, charging and replacing station and locking and unlocking method |
CN201710408705.0 | 2017-06-02 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2018218990A1 true WO2018218990A1 (en) | 2018-12-06 |
Family
ID=59659510
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2018/075686 WO2018218990A1 (en) | 2017-06-02 | 2018-02-07 | Automatic locking and unlocking device, battery replacement robot, battery charging and replacement station, and locking and unlocking method |
Country Status (3)
Country | Link |
---|---|
CN (1) | CN107097067B (en) |
TW (1) | TWI657886B (en) |
WO (1) | WO2018218990A1 (en) |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110329215A (en) * | 2019-06-27 | 2019-10-15 | 博众精工科技股份有限公司 | A kind of battery adds unlocking mechanism |
CN110482148A (en) * | 2019-09-04 | 2019-11-22 | 智动时代(北京)科技有限公司 | A kind of numerical control gate-type turntable machinery arm device and method |
CN110722598A (en) * | 2019-10-23 | 2020-01-24 | 徐州才聚智能科技有限公司 | Robot connecting piece |
CN110978980A (en) * | 2019-12-19 | 2020-04-10 | 北自精工机械(常州)有限公司 | Locking mechanism of automobile battery |
CN111746342A (en) * | 2019-03-29 | 2020-10-09 | 中立元(镇江)电动汽车加电科技有限公司 | Locking control method for intelligent quick-release and quick-assembly of vehicle-mounted batteries of different battery replacement vehicle types |
CN111746343A (en) * | 2019-03-29 | 2020-10-09 | 中立元(镇江)电动汽车加电科技有限公司 | Self-adaptive positioning control method for battery replacement of electric buses of different vehicle types |
CN111975704A (en) * | 2020-08-27 | 2020-11-24 | 清华大学 | Disassembling tool |
CN112692501A (en) * | 2021-01-05 | 2021-04-23 | 华工法利莱切焊系统工程有限公司 | Position changing machine |
CN113415207A (en) * | 2021-08-09 | 2021-09-21 | 安徽华菱汽车有限公司 | Hydraulic locking mechanism of battery replacement system of pure electric heavy truck |
CN113459028A (en) * | 2021-07-06 | 2021-10-01 | 深圳市众迈科技有限公司 | Intelligent disassembling equipment for gradient utilization of power battery |
CN113977246A (en) * | 2021-12-17 | 2022-01-28 | 刘双德 | Installation device and installation method of decoration and fitment sealing plate |
CN114952508A (en) * | 2021-02-23 | 2022-08-30 | 上银科技股份有限公司 | Workpiece orientation mechanism |
CN116101229A (en) * | 2023-04-13 | 2023-05-12 | 国网安徽省电力有限公司合肥供电公司 | Battery replacement station battery replacement operation control system based on electric automobile |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107097067B (en) * | 2017-06-02 | 2023-08-08 | 上海蔚来汽车有限公司 | Automatic locking and unlocking device, motor replacing robot, charging and replacing station and locking and unlocking method |
CN107775324B (en) * | 2017-10-26 | 2021-06-11 | 蔚来(安徽)控股有限公司 | Bolt locking method, bolt unlocking method, bolt locking and unlocking method and vehicle battery replacement method |
CN107719331B (en) * | 2017-11-02 | 2021-05-25 | 蔚来(安徽)控股有限公司 | Floating docking device, battery replacement robot, docking method and resetting method |
CN109507913B (en) * | 2017-11-30 | 2022-04-01 | 蔚来(安徽)控股有限公司 | Battery replacement locking and unlocking control system and control method |
CN109501754B (en) * | 2017-12-12 | 2022-11-29 | 蔚来控股有限公司 | Fastener locking and unlocking mechanism and system and vehicle battery replacement operation platform |
CN108340149B (en) * | 2018-04-26 | 2020-03-03 | 蔚来汽车有限公司 | Detection system, screwing tool and method |
CN109506903B (en) * | 2018-05-25 | 2024-01-23 | 蔚来(安徽)控股有限公司 | Tightening test equipment and test method |
CN109501779A (en) * | 2018-12-26 | 2019-03-22 | 昆山斯沃普智能装备有限公司 | The automatic plus unlocking mechanism of new-energy automobile electrical changing station |
CN109830840B (en) * | 2019-01-23 | 2024-02-02 | 上海蔚来汽车有限公司 | Plug mechanism, battery rack and charging and replacing station |
CN111168369B (en) * | 2020-02-11 | 2020-10-30 | 浙江禾川科技股份有限公司 | Control method of electric screwdriver and screw locking device |
CN110979072B (en) * | 2020-02-27 | 2020-06-23 | 常州大连理工大学智能装备研究院 | Hydraulic drive end effector capable of automatically charging electric automobile |
CN111301217A (en) * | 2020-04-02 | 2020-06-19 | 昆山迈征自动化科技有限公司 | Electric battery replacement device for new energy automobile |
CN113665411A (en) * | 2020-05-15 | 2021-11-19 | 奥动新能源汽车科技有限公司 | Battery box tray device, battery replacement equipment and battery replacement control method |
CN113665415A (en) * | 2020-05-15 | 2021-11-19 | 奥动新能源汽车科技有限公司 | Unlocking device, battery replacement equipment and unlocking method |
CN113895287A (en) * | 2020-07-06 | 2022-01-07 | 奥动新能源汽车科技有限公司 | Unlocking device and battery replacing equipment comprising same |
CN111959337B (en) * | 2020-07-07 | 2022-03-08 | 浙江吉智新能源汽车科技有限公司 | Locking and unlocking control method and system |
CN113103852A (en) * | 2021-05-05 | 2021-07-13 | 深圳精智机器有限公司 | Battery lock and locking method |
CN113859033A (en) * | 2021-08-30 | 2021-12-31 | 蔡艳平 | Universal battery replacement system for new energy automobile |
CN115283979A (en) * | 2021-12-02 | 2022-11-04 | 奥动新能源汽车科技有限公司 | Torque gun for applying torque and battery replacement robot comprising same |
CN114029903B (en) * | 2022-01-10 | 2022-04-26 | 奇精机械股份有限公司 | New energy automobile production is with revolving spinner |
CN115000636B (en) * | 2022-06-10 | 2024-06-14 | 中国第一汽车股份有限公司 | Battery connecting device |
CN118237879A (en) * | 2024-05-30 | 2024-06-25 | 中铁一局集团电务工程有限公司 | Electromechanical product installation maintenance auxiliary device |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2916387A1 (en) * | 2007-05-24 | 2008-11-28 | Peugeot Citroen Automobiles Sa | Rapid battery attaching system for motor vehicle, has temporary locking device including screwing unit with flange directly contacting battery to fixedly connect battery to base, and head whose shape is adapted to co-operate with tool |
CN203739851U (en) * | 2014-02-27 | 2014-07-30 | 北京洁天电动汽车加电科技有限公司 | Locking system of power battery of electric car |
CN105584346A (en) * | 2016-03-16 | 2016-05-18 | 杭州莱本科技有限公司 | Battery quick-replacing and automatic-locking device and vehicle with same |
CN107097067A (en) * | 2017-06-02 | 2017-08-29 | 上海蔚来汽车有限公司 | Automatically add tripper, electricity changing robot, electric charging station and add unlocking method |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9248602B2 (en) * | 2009-09-07 | 2016-02-02 | Sidel Participations | Method for changing a mold |
DE102010030091A1 (en) * | 2010-06-15 | 2011-12-15 | Hilti Aktiengesellschaft | driving- |
CN202147119U (en) * | 2011-05-31 | 2012-02-22 | 新昌县本发机电有限公司 | Active bushing unloading device of hose assembling device |
KR101313279B1 (en) * | 2011-06-01 | 2013-09-30 | 국민대학교산학협력단 | Battery Exchanging Method for Electric Vehicle |
CN103318144B (en) * | 2013-05-28 | 2016-08-03 | 杭州红箭电器制造有限公司 | Electric automobile flat plate cell special electric pick-and-place machine and pick and place method |
CN104340185B (en) * | 2013-07-31 | 2017-04-26 | 国家电网公司 | Intensive accumulator charging and replacing station for electric vehicles |
TWM469239U (en) * | 2013-09-27 | 2014-01-01 | Chin-Hsiang Tang | Battery charging exchange system |
CN203712587U (en) * | 2014-03-04 | 2014-07-16 | 广西玉柴机器股份有限公司 | Hanging mechanism for tightening wrench |
CN104842962B (en) * | 2015-04-13 | 2017-02-01 | 深圳精智机器有限公司 | Electricity exchanging equipment |
CN113172616A (en) * | 2015-05-12 | 2021-07-27 | 威尔伯特有限公司 | Autonomous modular robot |
CN205951929U (en) * | 2016-06-22 | 2017-02-15 | 蔚来汽车有限公司 | Small -size automatic battery swapping station |
CN205817248U (en) * | 2016-06-29 | 2016-12-21 | 青岛科莱尔机器人科技有限公司 | A kind of automatic tapping machine is with novel batch of bar assembly |
CN106239113B (en) * | 2016-08-31 | 2019-06-04 | 广州明珞汽车装备有限公司 | A kind of screw-type sleeve quick-changing mechanism and method |
CN206811462U (en) * | 2017-06-02 | 2017-12-29 | 上海蔚来汽车有限公司 | Automatically tripper, electricity changing robot, electric charging station are added |
-
2017
- 2017-06-02 CN CN201710408705.0A patent/CN107097067B/en active Active
-
2018
- 2018-02-07 WO PCT/CN2018/075686 patent/WO2018218990A1/en active Application Filing
- 2018-05-31 TW TW107118827A patent/TWI657886B/en active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2916387A1 (en) * | 2007-05-24 | 2008-11-28 | Peugeot Citroen Automobiles Sa | Rapid battery attaching system for motor vehicle, has temporary locking device including screwing unit with flange directly contacting battery to fixedly connect battery to base, and head whose shape is adapted to co-operate with tool |
CN203739851U (en) * | 2014-02-27 | 2014-07-30 | 北京洁天电动汽车加电科技有限公司 | Locking system of power battery of electric car |
CN105584346A (en) * | 2016-03-16 | 2016-05-18 | 杭州莱本科技有限公司 | Battery quick-replacing and automatic-locking device and vehicle with same |
CN107097067A (en) * | 2017-06-02 | 2017-08-29 | 上海蔚来汽车有限公司 | Automatically add tripper, electricity changing robot, electric charging station and add unlocking method |
Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111746342A (en) * | 2019-03-29 | 2020-10-09 | 中立元(镇江)电动汽车加电科技有限公司 | Locking control method for intelligent quick-release and quick-assembly of vehicle-mounted batteries of different battery replacement vehicle types |
CN111746343A (en) * | 2019-03-29 | 2020-10-09 | 中立元(镇江)电动汽车加电科技有限公司 | Self-adaptive positioning control method for battery replacement of electric buses of different vehicle types |
CN110329215A (en) * | 2019-06-27 | 2019-10-15 | 博众精工科技股份有限公司 | A kind of battery adds unlocking mechanism |
CN110482148A (en) * | 2019-09-04 | 2019-11-22 | 智动时代(北京)科技有限公司 | A kind of numerical control gate-type turntable machinery arm device and method |
CN110482148B (en) * | 2019-09-04 | 2024-04-26 | 智动时代(北京)科技有限公司 | Numerical control door type turntable mechanical arm device and method |
CN110722598A (en) * | 2019-10-23 | 2020-01-24 | 徐州才聚智能科技有限公司 | Robot connecting piece |
CN110978980A (en) * | 2019-12-19 | 2020-04-10 | 北自精工机械(常州)有限公司 | Locking mechanism of automobile battery |
CN111975704A (en) * | 2020-08-27 | 2020-11-24 | 清华大学 | Disassembling tool |
CN112692501A (en) * | 2021-01-05 | 2021-04-23 | 华工法利莱切焊系统工程有限公司 | Position changing machine |
CN112692501B (en) * | 2021-01-05 | 2024-02-20 | 华工法利莱切焊系统工程有限公司 | Displacement machine |
CN114952508B (en) * | 2021-02-23 | 2023-09-29 | 上银科技股份有限公司 | Workpiece orientation mechanism |
CN114952508A (en) * | 2021-02-23 | 2022-08-30 | 上银科技股份有限公司 | Workpiece orientation mechanism |
CN113459028A (en) * | 2021-07-06 | 2021-10-01 | 深圳市众迈科技有限公司 | Intelligent disassembling equipment for gradient utilization of power battery |
CN113415207A (en) * | 2021-08-09 | 2021-09-21 | 安徽华菱汽车有限公司 | Hydraulic locking mechanism of battery replacement system of pure electric heavy truck |
CN113415207B (en) * | 2021-08-09 | 2024-05-03 | 安徽华菱汽车有限公司 | Hydraulic locking mechanism of pure electric heavy-duty truck power-exchanging system |
CN113977246A (en) * | 2021-12-17 | 2022-01-28 | 刘双德 | Installation device and installation method of decoration and fitment sealing plate |
CN116101229B (en) * | 2023-04-13 | 2023-06-09 | 国网安徽省电力有限公司合肥供电公司 | Battery replacement station battery replacement operation control system based on electric automobile |
CN116101229A (en) * | 2023-04-13 | 2023-05-12 | 国网安徽省电力有限公司合肥供电公司 | Battery replacement station battery replacement operation control system based on electric automobile |
Also Published As
Publication number | Publication date |
---|---|
TW201902610A (en) | 2019-01-16 |
CN107097067A (en) | 2017-08-29 |
CN107097067B (en) | 2023-08-08 |
TWI657886B (en) | 2019-05-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2018218990A1 (en) | Automatic locking and unlocking device, battery replacement robot, battery charging and replacement station, and locking and unlocking method | |
CN106627083B (en) | Quick locking and unlocking kit | |
CN110814716A (en) | Nut screwing device and nut screwing mechanism thereof | |
CN110978060B (en) | Robot end tool quick replacing device and replacing method | |
WO2018133694A1 (en) | Automatic locking/unlocking device | |
CN112571417B (en) | Interim fastener and automatic assembly manipulator thereof | |
CN210524382U (en) | Torque transmission device, torque output device and battery replacement robot | |
CN206811462U (en) | Automatically tripper, electricity changing robot, electric charging station are added | |
CN110773992A (en) | Nut screwing device | |
CN212240867U (en) | Locking and unlocking device | |
CN211249062U (en) | Nut screwing device | |
CN105386657A (en) | Bidirectionally-locking device suitable for carrying type optoelectronic equipment | |
CN108527246B (en) | Coupler dismounting device and application method thereof | |
CN114352650B (en) | Male and female stepped shaft, double-shaft mutual-yoke hinged connection device and engineering machinery | |
CN111216098A (en) | Automatic assembly robot device with clamping jaw | |
CN109571341B (en) | Portable bolt dismouting device | |
CN211590100U (en) | Automatic assembly robot device with clamping jaw | |
CN115283980A (en) | Sleeve device, torque gun and battery replacement robot | |
CN219172221U (en) | Battery unlocking device and level changing table | |
CN113118660A (en) | Robot welding quality short-term test frock | |
CN219633067U (en) | Batch head quick change device and bolt tightening system | |
CN217835593U (en) | Driving mechanism for battery replacing equipment and battery replacing equipment | |
CN221232579U (en) | Mechanical arm capable of automatically changing head | |
CN103802603A (en) | Drive axle semi-shaft | |
CN218874370U (en) | Tightening device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 18808646 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 18808646 Country of ref document: EP Kind code of ref document: A1 |