WO2019080385A1 - 螺栓加锁方法、螺栓解锁方法、螺栓加解锁方法及车用电池更换方法 - Google Patents

螺栓加锁方法、螺栓解锁方法、螺栓加解锁方法及车用电池更换方法

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Publication number
WO2019080385A1
WO2019080385A1 PCT/CN2018/073807 CN2018073807W WO2019080385A1 WO 2019080385 A1 WO2019080385 A1 WO 2019080385A1 CN 2018073807 W CN2018073807 W CN 2018073807W WO 2019080385 A1 WO2019080385 A1 WO 2019080385A1
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WO
WIPO (PCT)
Prior art keywords
bolt
unlocking
locking
screwing
torque
Prior art date
Application number
PCT/CN2018/073807
Other languages
English (en)
French (fr)
Inventor
夹磊
Original Assignee
蔚来汽车有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 蔚来汽车有限公司 filed Critical 蔚来汽车有限公司
Priority to EP18870924.0A priority Critical patent/EP3702096A4/en
Publication of WO2019080385A1 publication Critical patent/WO2019080385A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
    • 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
    • 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
    • B23P19/065—Arrangements for torque limiters or torque indicators in screw or nut setting machines
    • B23P19/066—Arrangements for torque limiters or torque indicators in screw or nut setting machines by electrical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
    • B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the present invention relates to the field of battery loading and unloading, and more particularly to a method of bolting and unlocking a battery replacement for an electric vehicle.
  • the chassis battery installation and replacement technology has become the mainstream of the power exchange setting.
  • the conventional installation method is a screw rotation tightening structure and has a plurality of tightening points. How to realize the automatic unlocking operation of the bolt during the battery replacement process has become a technical problem to be solved urgently.
  • Another object of the present invention is to provide a bolt unlocking method capable of flexibly controlling an unlocking process.
  • a bolt locking method for a bolt locking device, the bolt locking device comprising a screw bolt member and a locking auxiliary stopper, the adding The lock assisting block is configured to provide a reaction force to adjust the screwing torque of the screwing bolt component; wherein the bolt locking method comprises: a docking step S110, driving the screwing bolt component in the first setting butt screwing circle number interval Centering and engaging the end of the bolt at the first speed, at which time the screwing bolt member abuts the locking auxiliary stopper; and the locking step S120, driving the screwing bolt component within the interval of setting the locking twisting loop The bolt is screwed at the second speed until the screwing torque is increased to the set locking torque, at which time it is determined that the bolt is locked successfully; and the screwing bolt member simultaneously cancels the reaction force of the locking auxiliary stopper.
  • the method further includes an abnormality determining step S130: when the tightening torque is increased to the set locking torque, if the number of locking twisting turns of the screwing bolt component is less than the set locking twisting loop interval, the bolt is determined Locking abnormality; and/or when the number of locking screwing turns of the screwing bolt component is greater than the interval of setting the locking screwing circle, if the tightening torque is not increased to the set locking torque, it is determined that the bolt locking abnormality .
  • the setting of the docking twisting circle interval is 1-2 turns.
  • the first speed is set to a uniform deceleration state.
  • the second speed is set to a constant speed state.
  • the first speed is greater than or equal to the second speed.
  • a bolt unlocking method for a bolt unlocking device comprising a screwing bolt element; wherein the bolt unlocking method comprises: a docking step S210, in a second setting In the interval of the butt screwing circle, the driving screw bolt component is centered and engaged with the bolt end at the third speed until the screwing torque of the screwing bolt component is increased to the set centering moment, and the screwing component is determined at this time.
  • the bolt alignment succeeds; and the unlocking step S220, in the interval of setting the unlocking twisting circle, driving the screwing bolt component to screw the bolt at the fourth speed until the screwing torque is reduced to the set unlocking torque, and the bolt is unlocked at this time. success.
  • the method further includes an abnormality determining step S230: when the number of the twisting turns of the screwing bolt component is within the second set docking twisting loop interval, if the tightening torque is not increased to the set centering torque, then It is determined that the bolt alignment is abnormal; and/or when the unlocking screwing number of the screwing bolt element is greater than the set unlocking twisting number interval, if the screwing torque is not reduced to the set unlocking torque, it is determined that the bolt unlocking is abnormal.
  • the unlocking step S220 further includes: driving the screwing bolt component to screw the bolt at a fourth speed in the interval of setting the unlocking twisting loop until the screwing torque reaches the set unlocking torque, and maintaining the preset unlocking period, It is determined that the bolt is unlocked successfully.
  • set the unlocking twisting number interval to 8 to 12 turns.
  • the number of docking twisting turns is set to 1-2 turns.
  • a bolt plus unlocking control method for a bolting and unlocking device comprising a screwing bolt member for locking and unlocking a bolt, and a locking auxiliary stopper.
  • the locking auxiliary stopper is configured to provide a reaction force to adjust the screwing torque of the screwing bolt component
  • the bolting and unlocking control method comprises: starting step S310, powering up the bolt adding and unlocking device; mode switching step S320 The bolting and unlocking device will be switched to the manual unlocking mode or the automatic unlocking mode; the unlocking step S330 includes an automatic mode S331: performing bolt locking based on the bolt locking method as described above; and / Or performing bolt unlocking based on the bolt unlocking method as described above; stopping step S340, powering off the bolting and unlocking device.
  • the unlocking step S330 further includes a manual mode S332: performing manual unlocking and/or parameter setting and/or locking auxiliary blocking.
  • the mode is switched to the manual mode S332.
  • the mode is switched to the mode switching step S320 or the shutdown step S340.
  • a battery replacement method for a vehicle comprising the bolt unlocking control method as claimed in the preceding claims.
  • an electric vehicle comprising the frame assembly as described above.
  • the vehicle is also more lightweight, and has higher structural strength to cope with collisions and improve safety performance.
  • a bolt locking method, a bolt unlocking method, a bolt unlocking control method, and a vehicle battery replacing method according to the present invention.
  • 1 is a schematic view showing the trend of changes of various parameters under the influence of the locking auxiliary stopper during the bolt locking process of the present invention.
  • FIG. 2 is a schematic view showing the trend of changes of various parameters in the bolt locking process of the present invention.
  • Fig. 3 is a schematic view showing the change trend of each parameter in the bolt unlocking process of the present invention.
  • FIG. 4 is a schematic flow chart of a bolt unlocking control method of the present invention.
  • a bolt locking method is provided.
  • the bolt locking method is applied to a type of bolt locking device, and such bolt locking device should at least include a screw bolt component and a locking auxiliary stopper.
  • the locking auxiliary stopper is used to provide a reaction force to adjust the screwing torque of the screwing bolt component.
  • the bolt locking method includes: a docking step S110, in which the driving screw bolt component is centered and engaged with the bolt end portion at a first speed in the first set butt screwing number interval, at this time, the bolt component is screwed Abut the lock auxiliary stop.
  • a docking step S110 the identification and engagement of the bolt end member to the screw end nut to be screwed can be achieved.
  • This step is a pre-step of screwing the bolt and should not require too much effort, so it is usually required to be completed in a shorter time.
  • the first setting butt screwing interval is set to 1-2 turns.
  • the first speed is optionally set to a uniform deceleration state.
  • the bolt locking method further includes: a locking step S120, in the interval of setting the locking screwing circle, driving the screwing bolt component to screw the bolt at the second speed until the screwing torque is increased Up to the setting of the locking torque, at this time, it is determined that the bolt is locked successfully; and the screwing bolt member simultaneously cancels the reaction force of the locking auxiliary stopper.
  • the locking step S120 it is possible to screw the bolt element to the target position. If the vehicle battery is taken as an example, the bolt is screwed to the battery chassis to fix the battery to the chassis of the vehicle.
  • the locking auxiliary stopper since the locking auxiliary stopper is used for the control, by adjusting the resistance provided by the locking auxiliary stopper, the screwing bolt element is subjected to the sturdy and rapid response following the blocking reaction force. Adjustment. For example, optionally, during this process, the second speed of the bolting element is adjusted to maintain a constant speed at all times to achieve a smooth control of the torque. Compared with the traditional torque control, a fast PID response following is adopted, and as the external torque feedback changes, the real-time torque is smoothly followed.
  • the first speed should be set to be greater than or equal to the second speed. That is, in the docking step S110, the bolting element can be moved at a relatively faster speed and gradually reduced until it completes the nut docking and abuts the locking auxiliary stopper, at which point it is considered that the locking will be subsequently entered. In step S120, the locking step S120 is performed at the reduced speed to ensure the smoothness and reliability of the screwing.
  • the bolt locking method further includes an abnormality determining step S130: when the screwing torque is increased to the set locking torque, if the bolting component is added If the number of lock twisting turns is less than the set lock and the number of twisting turns, it is determined that the bolt is locked abnormally, and the abnormal condition may be that the bolt is stuck; and/or when the number of twisted turns of the screw bolt component is greater than the set plus When the screwing torque is not increased to the set locking torque, it is determined that the bolt is locked abnormally, and the abnormal condition may be the bolt slip.
  • the abnormality determining step S130 when the bolt locking is unsuccessful, it is possible to further determine whether an abnormality or a possible abnormality type occurs based on the feedback returned parameter.
  • FIG. 1 and FIG. 2 a plurality of schematic diagrams of the variation trend of each parameter are shown, which specifically illustrates the entire locking process of an embodiment of applying the bolt locking method, and shows that the locking auxiliary stopper is used therein.
  • the role Specifically, the screwing torque is almost zero before the screwing bolt member is engaged with the bolt end portion; and as the bolting bolt member comes closer to the bolt end portion, its traveling speed is uniformly reduced. During this process, the number of turns of the screwing element is also increased evenly. After the bolting element and the end of the bolt are successfully engaged, the locking process will begin. At this time, under the assist adjustment of the locking auxiliary stopper, the bolting element is kept to rotate the bolt at a constant speed, and the bolt is screwed deeper.
  • the dynamic pre-tightening force is gradually increased, so the locking torque that needs to be applied is also quickly adjusted according to the set value and gradually increased until the set value is reached, thereby completing the bolt locking process.
  • the above set parameters can be set to a reasonable range, rather than being specific to a specific value.
  • the real-time screwing torque can be calculated by combining the current loop feedback; and the real-time spinning loop number can be obtained based on the encoder position feedback.
  • a bolt unlocking method is also provided.
  • the bolt unlocking method is applied to a type of bolt unlocking device, and such bolt unlocking device should at least include a bolting element.
  • the bolt unlocking method includes: a docking step S210, in which the driving screw bolt component is centered and engaged with the bolt end portion at a third speed in the second set butt screwing number interval until the screwing member is screwed The tightening torque is increased to the set centering moment, and it is determined that the screwing bolt component and the bolt are successfully aligned. Compared with the bolt locking butt joint, since the bolts to be docked need to be fastened at this time, it is necessary to additionally refer to the screwing torque in the engaged state to determine whether the docking is successful.
  • the docking step S210 the identification and engagement of the bolt end member to the screw end nut to be screwed can be achieved.
  • This step is a pre-step of screwing the bolt and should not require too much effort, so it is usually required to be completed in a shorter time.
  • the second setting butt screwing interval is set to 1-2 turns.
  • the bolt unlocking method further includes: unlocking step S220, driving the screwing bolt component to screw the bolt at the fourth speed in the interval of setting the unlocking twisting circle until the screwing torque is reduced to The unlocking torque is determined, and it is determined that the bolt is unlocked successfully.
  • unlocking step S220 it is possible to screw the bolt element to the release state. If the vehicle battery is taken as an example, the bolts are loosened from the battery and the chassis of the vehicle by screwing the bolt elements to release the fixing of the two.
  • the set of unlocking turns is 8 to 12 turns.
  • the unlocking step S220 further includes: driving the screwing bolt component to screw the bolt at the fourth speed in the interval of setting the unlocking screwing loop until the screwing torque reaches the set unlocking torque, and maintaining the preset unlocking period, and determining at this time The bolt was unlocked successfully.
  • the bolt unlocking method further includes an abnormality determining step S230: when the number of twisting turns of the screwing bolt component is within the second set docking twisting number interval If the tightening torque does not increase to the set centering moment, it is determined that the bolt is abnormal in the center; and/or when the number of unlocking turns of the screwing bolt component is greater than the interval of setting the unlocking twisting circle, if screwing If the torque is not reduced to the set unlocking torque, it is determined that the bolt is unlocked abnormally.
  • FIG. 3 a plurality of schematic trends of various parameters are shown, which specifically illustrates the entire unlocking process of one embodiment of applying the bolt unlocking method.
  • the screwing torque is almost zero before the screwing bolt member is engaged with the bolt end.
  • the number of turns of the screwing element is also increased evenly.
  • the static preload force experienced by the screwing bolt element increases sharply. The unlocking process will then begin. After a period of tightening torque is applied, the bolts begin to loosen.
  • the static pre-tightening force of the screwing bolt components begins to change into a dynamic pre-tightening force, and begins to decrease greatly until the screwing of the bolt components
  • the tightening torque is reduced to the set unlocking torque to complete the bolt unlocking process.
  • the above set parameters can also be set to a reasonable range, rather than being constrained to a specific value.
  • a bolt plus unlocking control method for a bolt plus unlocking device includes a bolt for unlocking
  • the bolt element and the locking auxiliary stop are screwed, wherein the locking auxiliary stop is used to provide a reaction force to adjust the screwing torque of the screwing element.
  • the bolting and unlocking control method includes: starting step S310, powering on the bolt adding and unlocking device; mode switching step S320, switching the bolting and unlocking device to the manual unlocking mode or the automatic unlocking mode; adding the unlocking step S330 Included in the automatic mode S331: performing bolt locking based on the bolt locking method in any of the foregoing embodiments; and/or performing bolt unlocking based on the bolt unlocking method in any of the foregoing embodiments; stopping step S340, unlocking the bolt The device is powered off.
  • the unlocking step S330 further includes a manual mode S332: performing manual plus unlocking and/or parameter setting and/or locking auxiliary stops.
  • This manual mode S332 is mainly to provide an alternate method and adjustment space for real-time adjustment of the setting parameters or locking of the auxiliary block to meet the needs of the actual application situation. In the event of equipment failure or bolts in complex conditions, manual addition and unlocking can also be used directly as an alternative.
  • the foregoing method adopts a system design of a bolt-and-unlock based on a servo motor, and the bolt-and-unlock mechanism control state machine realizes a master-slave response and corresponding control in automatic for manual unlocking, automatic unlocking, and abnormal state shutdown.
  • the bolt-to-unlock process may be started after switching to the automatic mode S331 after completing the corresponding maintenance or debugging; and if it is executed in the manual mode S332
  • the manual addition and unlocking action, or the need for manual suspension for a specific situation, or the occurrence of an emergency stop or overtravel trigger, can be switched to the shutdown step S340 after solving the corresponding problem.
  • the mode is switched to the manual mode S332.
  • the equipment can be routinely maintained.
  • the mode is switched to the mode switching step S320 or the shutdown step S340.
  • the unlocking action is normally completed in the automatic mode S331, and it is then possible to repeatedly perform the action, it may be switched to the mode switching step S320 to wait for the next command to be executed. If there is no need to repeatedly perform the unlocking action or the emergency stop or overtravel triggering, then the process can be switched to the stopping step S340.
  • the aforementioned step switching also achieves the tightening and loosening of the bolts to interact with the control state of the primary station.
  • a battery replacement method for a vehicle which comprises the bolt unlocking control method mentioned in any of the foregoing embodiments, and also has a corresponding technology. effect.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)

Abstract

一种螺栓加锁方法、螺栓解锁方法、螺栓加解锁控制方法及车用电池更换方法。该螺栓加锁方法用于螺栓加锁装置，螺栓加锁装置包括拧螺栓元件及加锁辅助挡块，加锁辅助挡块用于提供反作用力来调节拧螺栓元件的旋拧力矩；其中螺栓加锁方法包括：对接步骤S110，在第一设定对接旋拧圈数区间内，驱动拧螺栓元件以第一速度与螺栓端部对中并接合，此时拧螺栓元件抵接加锁辅助挡块；以及加锁步骤S120，在设定加锁旋拧圈数区间内，驱动拧螺栓元件以第二速度旋拧螺栓，直至旋拧力矩增大至设定加锁力矩，此时判定螺栓加锁成功；且拧螺栓元件同时抵消加锁辅助挡块的反作用力。该螺栓加解锁方法实现对螺栓加解锁过程的有效保护及对螺栓加解锁的柔性控制。

Description

螺栓加锁方法、螺栓解锁方法、螺栓加解锁方法及车用电池更换方法 技术领域
本发明涉及电池装卸领域，更具体而言，其涉及一种电动汽车车用电池更换中的螺栓加解锁方法。
背景技术
随着传统化石能源消耗所带来的供应压力以及尾气污染，传统燃油汽车的发展进入了迟滞期。针对于此，出于对绿色能源前景的看好，节能环保的电动汽车在近几年呈现出井喷式发展。目前，在电动汽车开发过程中，由于受到当前电池技术的限制，电池容量不足及充电时间较长是现阶段不可回避的问题。为解决此类技术技术问题，一方面，加大了对电池技术自身的研发投入；另一方面，也解答了对电池周边技术的开发。例如，电池更换即为一种极速、方便、安全的办法。
在电池更换的技术发展方向中，考虑到使动力电池与驾乘人员隔开更具有安全性和空间充足性，因此底盘式电池安装及更换技术成为了换电设置的主流。其中，为保证底盘电池的安装紧固性和安全性，常规采用的安装方式为螺纹旋转拧紧结构，并具有多个拧紧点。如何实现在电池更换过程中的螺栓自动加解锁操作，成为了亟待解决的技术问题。
发明内容
本发明的目的在于提供一种能够柔性控制加锁过程的螺栓加锁方法。
本发明的另一目的在于提供一种能够柔性控制解锁过程的螺栓解锁方法。
本发明的又一目的在于提供一种能够柔性控制加解锁过程的螺栓加解锁方法。
本发明的再一目的在于提供一种能够柔性控制加解锁过程的车用电池更换方法。
为实现本发明的目的，根据本发明的一个方面，提供一种螺栓加锁方法，其用于螺栓加锁装置，所述螺栓加锁装置包括拧螺栓元件及加锁辅助挡块，所述加锁辅助挡块用于提供反作用力来调节拧螺栓元件的旋拧力矩；其中，所述螺栓加锁 方法包括：对接步骤S110，在第一设定对接旋拧圈数区间内，驱动拧螺栓元件以第一速度与螺栓端部对中并接合，此时所述拧螺栓元件抵接加锁辅助挡块；以及加锁步骤S120，在设定加锁旋拧圈数区间内，驱动拧螺栓元件以第二速度旋拧螺栓，直至旋拧力矩增大至设定加锁力矩，此时判定螺栓加锁成功；且所述拧螺栓元件同时抵消所述加锁辅助挡块的反作用力。
可选地，还包括异常判定步骤S130：当旋拧力矩增大至设定加锁力矩时，若拧螺栓元件的加锁旋拧圈数小于设定加锁旋拧圈数区间，则判定螺栓加锁异常；和/或当拧螺栓元件的加锁旋拧圈数大于设定加锁旋拧圈数区间时，若旋拧力矩未增大至设定加锁力矩，则判定螺栓加锁异常。
可选地，所述设定对接旋拧圈数区间为1-2圈。
可选地，在对接步骤S110中，第一速度设置成匀减速状态。
可选地，在加锁步骤S120中，第二速度设置成匀速状态。
可选地，第一速度大于或等于第二速度。
根据本发明的另一个方面，还提供一种螺栓解锁方法，其用于螺栓解锁装置，所述螺栓解锁装置包括拧螺栓元件；其中，所述螺栓解锁方法包括：对接步骤S210，在第二设定对接旋拧圈数区间内，驱动拧螺栓元件以第三速度与螺栓端部对中并接合，直至拧螺栓元件的旋拧力矩增大至设定对中力矩，此时判定拧螺栓元件与螺栓对中成功；以及解锁步骤S220，在设定解锁旋拧圈数区间内，驱动拧螺栓元件以第四速度旋拧螺栓，直至旋拧力矩减小至设定解锁力矩，此时判定螺栓解锁成功。
可选地，还包括异常判定步骤S230：当拧螺栓元件的对接旋拧圈数在第二设定对接旋拧圈数区间内时，若旋拧力矩未增大至设定对中力矩，则判定螺栓对中异常；和/或当拧螺栓元件的解锁旋拧圈数大于设定解锁旋拧圈数区间时，若旋拧力矩未减小至设定解锁力矩，则判定螺栓解锁异常。
可选地，解锁步骤S220还包括：在设定解锁旋拧圈数区间内，驱动拧螺栓元件以第四速度旋拧螺栓直至旋拧力矩达到设定解锁力矩，并维持预设解锁时段，此时判定螺栓解锁成功。
可选地，设定解锁旋拧圈数区间为8到12圈。
可选地，设定对接旋拧圈数区间为1-2圈。
根据本发明的又一个方面，还提供一种螺栓加解锁控制方法，其用于螺栓 加解锁装置，所述螺栓加解锁装置包括用于螺栓加解锁的拧螺栓元件及加锁辅助挡块，所述加锁辅助挡块用于提供反作用力来调节拧螺栓元件的旋拧力矩，其中，所述螺栓加解锁控制方法包括:启动步骤S310，为所述螺栓加解锁装置上电；模式切换步骤S320，将将所述螺栓加解锁装置切换为手动加解锁模式或自动加解锁模式；加解锁步骤S330，其包括自动模式S331：基于如前所述的螺栓加锁方法来执行螺栓加锁；和/或基于如前所述的螺栓解锁方法来执行螺栓解锁；停机步骤S340，将所述螺栓加解锁装置断电。
可选地，所述加解锁步骤S330还包括手动模式S332：执行手动加解锁和/或参数设定和/或加锁辅助挡块。
可选地，在所述手动模式S332执行完成后，切换至所述自动模式S331或停机步骤S340。
可选地，在停机步骤S340执行完成后，切换至手动模式S332。
可选地，在自动模式S331执行完成后，切换至模式切换步骤S320或停机步骤S340。
根据本发明的再一个方面，还提供一种车用电池更换方法，其包括如权利要求前所述的螺栓加解锁控制方法。
根据本发明的再一方面，还提供一种电动汽车，其包括如前所述的车架组件。通过采用此种各零件之间具有紧密连接的车架组件，使得整车也更为轻量化，并具有更高的结构强度来应对碰撞，改善安全性能。
根据本发明的螺栓加锁方法、螺栓解锁方法、螺栓加解锁控制方法及车用电池更换方法。通过对旋拧力矩及旋拧圈数的合理设置，再配合上在加锁过程中应用到的加锁辅助挡块的反向作用力调节作用，实现了对螺栓在加解锁过程中的有效保护，并实现对螺栓拧紧和拧松柔性控制。
附图说明
图1是本发明的螺栓加锁过程中，在加锁辅助挡块影响下的各参数的变化趋势示意图。
图2是本发明的螺栓加锁过程中各参数的变化趋势示意图。
图3是本发明的螺栓解锁过程中各参数的变化趋势示意图。
图4是本发明的螺栓加解锁控制方法的流程示意图。
具体实施方式
根据本发明的一个实施例，提供一种螺栓加锁方法。该螺栓加锁方法应用于一类螺栓加锁装置，且此类螺栓加锁装置至少应包括拧螺栓元件及加锁辅助挡块。其中，加锁辅助挡块用于提供反作用力来调节拧螺栓元件的旋拧力矩。
具体而言，该螺栓加锁方法包括：对接步骤S110，在第一设定对接旋拧圈数区间内，驱动拧螺栓元件以第一速度与螺栓端部对中并接合，此时拧螺栓元件抵接加锁辅助挡块。通过对接步骤S110，可以实现拧螺栓元件对待旋拧螺栓端部螺帽的识别与接合。
此步骤为旋拧螺栓的前置步骤，不应耗费过多精力，因此通常要求在较短的时间内完成。此时，可选地，将第一设定对接旋拧圈数区间设定为1-2圈。
另外，在拧螺栓元件朝向待旋拧螺栓的运动过程中，其越靠近待旋拧螺栓，则越要求其与待旋拧螺栓具有更高的对准度。因此，在该过程中，可选地，将第一速度设置成匀减速状态。在此种布置下，在拧螺栓元件逐步靠近待旋拧螺栓时，则具有相对更充足的时间来实现认帽与对接。
在对接步骤S110执行完成后，该螺栓加锁方法还包括：加锁步骤S120，在设定加锁旋拧圈数区间内，驱动拧螺栓元件以第二速度旋拧螺栓，直至旋拧力矩增大至设定加锁力矩，此时判定螺栓加锁成功；且所述拧螺栓元件同时抵消所述加锁辅助挡块的反作用力。通过加锁步骤S120，可以实现拧螺栓元件将待旋拧螺栓旋拧至目标位置。若以车用电池为例说明，也即通过拧螺栓元件将螺栓旋拧至把电池固定于汽车底盘上。此外，还可以根据对旋拧力矩及旋拧圈数的数据反馈，来识别前述加锁过程是否成功。例如，当在设定加锁旋拧圈数区间内将拧螺栓元件拧至其旋拧力矩增大至设定加锁力矩时，方才判定螺栓加锁成功。
此外，在该加锁方法中，由于采用了加锁辅助挡块来进行控制，通过调节加锁辅助挡块所提供的阻力，在拧螺栓元件经受到阻挡反作用力时，进行柔顺快速响应跟随地调节。例如，可选地，在此过程中，将拧螺栓元件的第二速度调节成始终保持匀速状态，来达到柔滑地控制力矩的目的。相比较传统的力矩控制，在此采用了快速PID响应跟随，随着外部力矩反馈的变化，进行实时力矩平滑地跟随。
可选地，在前述过程中，应将第一速度设置大于或等于第二速度。也即，在对接步骤S110中，拧螺栓元件能够以相对更快的速度运动，并逐渐减小，直至其完成螺帽对接并与加锁辅助挡块抵接，此时认为随后将进入加锁步骤S120，并以减小后的速度来执行加锁步骤S120，确保螺栓旋拧的平稳与可靠性。
可选地，为保护螺栓结构并提高螺栓加锁过程的可靠性，该螺栓加锁方法还包括异常判定步骤S130：当旋拧力矩增大至设定加锁力矩时，若拧螺栓元件的加锁旋拧圈数小于设定加锁旋拧圈数区间，则判定螺栓加锁异常，且异常情况可能是螺栓卡滞；和/或当拧螺栓元件的加锁旋拧圈数大于设定加锁旋拧圈数区间时，若旋拧力矩未增大至设定加锁力矩，则判定螺栓加锁异常，且异常情况可能是螺栓滑丝。通过异常判定步骤S130，可以在螺栓加锁未成功时，基于反馈回来的参数进一步判断是否发生异常情况及可能存在的异常类型。
参见图1及图2，其示出了多幅各参数的变化趋势示意图，具体体现出应用螺栓加锁方法的一个实施例的整个加锁过程，并展示出加锁辅助挡块在其中所起的作用。具体而言，在拧螺栓元件与螺栓端部接合之前，旋拧扭矩几乎为0；且随着拧螺栓元件愈发靠近螺栓端部，其行进速度匀减速降低。在此过程中，拧螺栓元件的旋拧圈数也是均匀增加。在拧螺栓元件与螺栓端部成功接合后，将开始加锁过程，此时，在加锁辅助挡块的协助调整下，拧螺栓元件保持匀速旋拧螺栓，随着螺栓旋拧的深入，受到的动预紧力逐步增大，因此需要施加的加锁力矩也跟随设定值进行快速调整而逐步增大，直至到达设定值，从而完成螺栓加锁过程。考虑到实验误差及实际应用中可能出现的影响因素，前述设定参数均可以设置合理的范围，而非拘泥于某一特定值。
其中，关于实时旋拧扭矩，能够结合电流环反馈来进行计算；而实时旋拧圈数则能够基于编码器位置反馈来获取。
根据本发明的另一个实施例，还提供一种螺栓解锁方法。该螺栓解锁方法应用于一类螺栓解锁装置，且此类螺栓解锁装置至少应包括拧螺栓元件。
具体而言，该螺栓解锁方法包括：对接步骤S210，在第二设定对接旋拧圈数区间内，驱动拧螺栓元件以第三速度与螺栓端部对中并接合，直至拧螺栓元件的旋拧力矩增大至设定对中力矩，此时判定拧螺栓元件与螺栓对中成功。相对于螺栓加锁对接而言，由于此时需要对接的螺栓处于被紧固状态，因此还需要额外参考接合状态下的旋拧力矩来判定是否对接成功。通过对接步骤S210，可以实现拧螺栓元件对待旋拧螺栓端部螺帽的识别与接合。
此步骤为旋拧螺栓的前置步骤，不应耗费过多精力，因此通常要求在较短的时间内完成。此时，可选地，将第二设定对接旋拧圈数区间设定为1-2圈。
在对接步骤S210执行完成后，该螺栓解锁方法还包括：解锁步骤S220， 在设定解锁旋拧圈数区间内，驱动拧螺栓元件以第四速度旋拧螺栓，直至旋拧力矩减小至设定解锁力矩，此时判定螺栓解锁成功。通过解锁步骤S220，可以实现拧螺栓元件将待旋拧螺栓旋拧至处于释放状态。若以车用电池为例说明，也即通过拧螺栓元件将螺栓从电池与汽车底盘上拧松，解除对二者的固定。此外，还可以根据对旋拧力矩及旋拧圈数的数据反馈，来识别前述解锁过程是否成功。例如，当在设定解锁旋拧圈数区间内将拧螺栓元件拧至其旋拧力矩减小至设定解锁力矩时，方才判定螺栓解锁成功。作为一个示例，可选地，设定解锁旋拧圈数区间为8到12圈。
另外，为确保解锁可靠性，还可额外引入时间判定因素。此时解锁步骤S220还包括：在设定解锁旋拧圈数区间内，驱动拧螺栓元件以第四速度旋拧螺栓直至旋拧力矩达到设定解锁力矩，并维持预设解锁时段，此时判定螺栓解锁成功。
可选地，为保护螺栓结构并提高螺栓解锁过程的可靠性，该螺栓解锁方法还包括异常判定步骤S230：当拧螺栓元件的对接旋拧圈数在第二设定对接旋拧圈数区间内时，若旋拧力矩未增大至设定对中力矩，则判定螺栓对中异常；和/或当拧螺栓元件的解锁旋拧圈数大于设定解锁旋拧圈数区间时，若旋拧力矩未减小至设定解锁力矩，则判定螺栓解锁异常。
参见图3，其示出了多幅各参数的变化趋势示意图，具体体现出应用螺栓解锁方法的一个实施例的整个解锁过程。具体而言，在拧螺栓元件与螺栓端部接合之前，旋拧扭矩几乎为0。在此过程中，拧螺栓元件的旋拧圈数也是均匀增加。在拧螺栓元件与螺栓端部成功接合后，拧螺栓元件受到的静预紧力急剧增大。随后将开始解锁过程，经过施加一段时间的旋拧力矩后，螺栓开始松动，此时拧螺栓元件受到的静预紧力开始转变成动预紧力，且开始大幅降低，直至拧螺栓元件的旋拧力矩减小至设定解锁力矩，从而完成螺栓解锁过程。考虑到实验误差及实际应用中可能出现的影响因素，前述设定参数同样可以设置合理的范围，而非拘泥于某一特定值。
参见图4，根据本发明的又一个实施例，还提供一种螺栓加解锁控制方法，该螺栓加解锁控制方法用于螺栓加解锁装置，且此类螺栓加解锁装置包括用于螺栓加解锁的拧螺栓元件及加锁辅助挡块，其中，加锁辅助挡块用于提供反作用力来调节拧螺栓元件的旋拧力矩。
具体而言，该螺栓加解锁控制方法包括：启动步骤S310，为螺栓加解锁装置上电；模式切换步骤S320，将螺栓加解锁装置切换为手动加解锁模式或自动加解锁模式；加解锁步骤S330，其包括自动模式S331：基于前述任意实施例中的螺栓 加锁方法来执行螺栓加锁；和/或基于前述任意实施例中的螺栓解锁方法来执行螺栓解锁；停机步骤S340，将螺栓加解锁装置断电。
此处的核心步骤之一为加解锁步骤S330。其中，其自动模式S331已在前文实施例中详细介绍，故在此不再赘述。该加解锁步骤S330还包括手动模式S332：执行手动加解锁和/或参数设定和/或加锁辅助挡块。此手动模式S332主要在于提供一种备用方法及调整空间，以用于实时调整设定参数或加锁辅助挡块来满足应用实际情形的需要。在出现设备故障或螺栓处于复杂工况时，也可以直接采用手动加解锁来作为备选方案。前述方法采用基于伺服电机的螺栓加解锁的系统设计，螺栓加解锁机构控制状态机针对手动加解锁、自动加解锁及异常状态停机，在自动中实现了主从应答及相应控制。
此外，各步骤之间还存在若干种执行顺序。如下将列出部分示例来予以说明。
例如，在手动模式S332执行完成后，切换至自动模式S331或停机步骤S340。其中，如果在手动模式S332下所执行的是检修维护或参数设定工作，则可以在完成相应的维护或调试后切换至自动模式S331开始螺栓加解锁过程；而如果在手动模式S332下所执行的是手动加解锁动作，或者出于特定情形需要手动暂停，抑或出现急停或超程触发等问题，则在解决相应问题后可以切换至停机步骤S340。
再如，在停机步骤S340执行完成后，切换至手动模式S332。此时，可以对设备进行常规的维护检修。
又如，在自动模式S331执行完成后，切换至模式切换步骤S320或停机步骤S340。其中，如果在自动模式S331正常完成了加解锁动作，且随后还有可能重复执行该动作，则可以将其切换至模式切换步骤S320，以等待执行下一次命令。而若暂时无需再重复执行加解锁动作或者出现急停或超程触发等问题，则此后可以切换至停机步骤S340。
前述步骤切换也实现了螺栓的拧紧和拧松与主站的控制状态交互。
此外，虽然图中未示出，根据本发明的再一方面，还提供一种车用电池更换方法，其包括前述任一实施例中提及的螺栓加解锁控制方法，且同样具有对应的技术效果。
以上例子主要说明了本发明的螺栓加锁方法、螺栓解锁方法、螺栓加解锁方法及车用电池更换方法。尽管只对其中一些本发明的实施方式进行了描述，但是 本领域普通技术人员应当了解，本发明可以在不偏离其主旨与范围内以许多其他的形式实施。因此，所展示的例子与实施方式被视为示意性的而非限制性的，在不脱离如所附各权利要求所定义的本发明精神及范围的情况下，本发明可能涵盖各种的修改与替换。

Claims (17)

  1. 一种螺栓加锁方法，其用于螺栓加锁装置，所述螺栓加锁装置包括拧螺栓元件及加锁辅助挡块，所述加锁辅助挡块用于提供反作用力来调节拧螺栓元件的旋拧力矩；其特征在于，所述螺栓加锁方法包括：
    对接步骤S110，在第一设定对接旋拧圈数区间内，驱动拧螺栓元件以第一速度与螺栓端部对中并接合，此时所述拧螺栓元件抵接加锁辅助挡块；以及
    加锁步骤S120，在设定加锁旋拧圈数区间内，驱动拧螺栓元件以第二速度旋拧螺栓，直至旋拧力矩增大至设定加锁力矩，此时判定螺栓加锁成功；且所述拧螺栓元件同时抵消所述加锁辅助挡块的反作用力。
  2. 根据权利要求1所述的螺栓加锁方法，其特征在于，还包括异常判定步骤S130：
    当旋拧力矩增大至设定加锁力矩时，若拧螺栓元件的加锁旋拧圈数小于设定加锁旋拧圈数区间，则判定螺栓加锁异常；和/或
    当拧螺栓元件的加锁旋拧圈数大于设定加锁旋拧圈数区间时，若旋拧力矩未增大至设定加锁力矩，则判定螺栓加锁异常。
  3. 根据权利要求1或2所述的螺栓加锁方法，其特征在于，所述设定对接旋拧圈数区间为1-2圈。
  4. 根据权利要求1或2所述的螺栓加锁方法，其特征在于：在对接步骤S110中，第一速度设置成匀减速状态。
  5. 根据权利要求1或2所述的螺栓加锁方法，其特征在于：在加锁步骤S120中，第二速度设置成匀速状态。
  6. 根据权利要求1或2所述的螺栓加锁方法，其特征在于：第一速度大于或等于第二速度。
  7. 一种螺栓解锁方法，其用于螺栓解锁装置，所述螺栓解锁装置包括拧螺栓元件；其特征在于，所述螺栓解锁方法包括：
    对接步骤S210，在第二设定对接旋拧圈数区间内，驱动拧螺栓元件以第三速度与螺栓端部对中并接合，直至拧螺栓元件的旋拧力矩增大至设定对中力矩，此时判定拧螺栓元件与螺栓对中成功；以及
    解锁步骤S220，在设定解锁旋拧圈数区间内，驱动拧螺栓元件以第四速度旋拧螺栓，直至旋拧力矩减小至设定解锁力矩，此时判定螺栓解锁成功。
  8. 根据权利要求7所述的螺栓解锁方法，其特征在于，还包括异常判定步骤S230：
    当拧螺栓元件的对接旋拧圈数在第二设定对接旋拧圈数区间内时，若旋拧力矩未增大至设定对中力矩，则判定螺栓对中异常；和/或
    当拧螺栓元件的解锁旋拧圈数大于设定解锁旋拧圈数区间时，若旋拧力矩未减小至设定解锁力矩，则判定螺栓解锁异常。
  9. 根据权利要求7所述的螺栓解锁方法，其特征在于，解锁步骤S220还包括：
    在设定解锁旋拧圈数区间内，驱动拧螺栓元件以第四速度旋拧螺栓直至旋拧力矩达到设定解锁力矩，并维持预设解锁时段，此时判定螺栓解锁成功。
  10. 根据权利要求7至9任意一项所述的螺栓解锁方法，其特征在于，设定解锁旋拧圈数区间为8到12圈。
  11. 根据权利要求7至9任意一项所述的螺栓解锁方法，其特征在于，设定对接旋拧圈数区间为1-2圈。
  12. 一种螺栓加解锁控制方法，其用于螺栓加解锁装置，所述螺栓加解锁装置包括用于螺栓加解锁的拧螺栓元件及加锁辅助挡块，所述加锁辅助挡块用于提供反作用力来调节拧螺栓元件的旋拧力矩，其特征在于，所述螺栓加解锁控制方法包括:
    启动步骤S310，为所述螺栓加解锁装置上电；
    模式切换步骤S320，将将所述螺栓加解锁装置切换为手动加解锁模式或自动加解锁模式；
    加解锁步骤S330，其包括自动模式S331：基于如权利要求1至6任意一项所述的螺栓加锁方法来执行螺栓加锁；和/或基于如权利要求7至11任意一项所述的螺栓解锁方法来执行螺栓解锁；
    停机步骤S340，将所述螺栓加解锁装置断电。
  13. 根据权利要求12所述的螺栓加解锁控制方法，其特征在于，所述加解锁步骤S330还包括手动模式S332：执行手动加解锁和/或参数设定和/或加锁辅助挡块。
  14. 根据权利要求13所述的螺栓加解锁控制方法，其特征在于，在所述手动模式S332执行完成后，切换至所述自动模式S331或停机步骤S340。
  15. 根据权利要求13所述的螺栓加解锁控制方法，其特征在于，在停机步骤S340执行完成后，切换至手动模式S332。
  16. 根据权利要求12所述的螺栓加解锁控制方法，其特征在于，在自动模式S331执行完成后，切换至模式切换步骤S320或停机步骤S340。
  17. 一种车用电池更换方法，其特征在于，包括如权利要求12至16任意一项所述的螺栓加解锁控制方法。
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