WO2023098890A1 - 用于施加扭矩的扭矩枪及包含其的换电机器人 - Google Patents

用于施加扭矩的扭矩枪及包含其的换电机器人 Download PDF

Info

Publication number
WO2023098890A1
WO2023098890A1 PCT/CN2022/136299 CN2022136299W WO2023098890A1 WO 2023098890 A1 WO2023098890 A1 WO 2023098890A1 CN 2022136299 W CN2022136299 W CN 2022136299W WO 2023098890 A1 WO2023098890 A1 WO 2023098890A1
Authority
WO
WIPO (PCT)
Prior art keywords
sleeve
torque
shaft
gun
power
Prior art date
Application number
PCT/CN2022/136299
Other languages
English (en)
French (fr)
Inventor
张建平
朱明厚
万里斌
庄智敏
Original Assignee
奥动新能源汽车科技有限公司
上海电巴新能源科技有限公司
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 奥动新能源汽车科技有限公司, 上海电巴新能源科技有限公司 filed Critical 奥动新能源汽车科技有限公司
Publication of WO2023098890A1 publication Critical patent/WO2023098890A1/zh

Links

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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • 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 invention relates to the field of battery swapping, in particular to a torque gun for applying torque and a battery swapping robot comprising the same.
  • the battery boxes of existing electric vehicles are generally divided into fixed type and replaceable type.
  • the fixed type battery is generally fixed on the vehicle, and the vehicle is directly used as the charging object when charging.
  • the replaceable battery pack is generally fixed on the vehicle by means of movable installation. The battery pack can be removed for replacement or charging of the battery pack alone. After the replaced battery pack is fully charged, reinstall it on the vehicle.
  • the battery pack can be mounted to the vehicle through fasteners, and the locking piece on the vehicle can realize the fixing of the battery pack.
  • the power station can use a torque gun to complete the relevant operations.
  • the size of the torque gun is relatively large, which imposes high requirements on the difficulty of manufacture and control.
  • the torque gun when unlocked, it will bear a large dynamic load and the pressure of the battery pack in a short period of time, which changes rapidly, is prone to damage or deformation, and has poor stability.
  • the technical problem to be solved by the present invention is to overcome the defects of low replacement success rate and low replacement efficiency caused by the unstable operation and large structural volume of the vehicle battery pack in the prior art, and to provide a torque converter for applying torque.
  • a torque gun for applying torque to lock or unlock a lock comprising:
  • the upper end of the sleeve device is butted against the locking member, and can be rotated to transmit torque to the locking member;
  • a power device the power device includes a motor assembly and a reducer assembly, the power output end of the motor assembly is connected to the power input end of the reducer assembly, and the power output end of the reducer assembly is connected to the sleeve The power input end of the device is docked to output power to drive the sleeve device to rotate;
  • a pre-compression device one end of the pre-compression device abuts against the sleeve device, and the other end abuts against the power device, the pre-compression device is in a pre-compression state, and is used to provide an upward force for the sleeve device Preload;
  • the outer casing the lower end of the outer casing is connected to the power device, the upper end of the outer casing is docked with the sleeve device, and the inner space of the outer casing is used to accommodate a part of the sleeve device and the at least a portion of the power plant.
  • the power device and the sleeve device are accommodated in the same outer shell, so that the structure is compact and the layout is reasonable, and the pre-loading device is used to provide upward pre-tightening force.
  • the pre-loading device can continuously provide Upward restoring force; in the non-working state, the preloading device can keep the sleeve device stable within a certain force range.
  • the sleeve device includes a blocking platform, and the upper end of the preloading device abuts against the lower surface of the blocking platform.
  • the abutting effect is tighter and the structure is more stable.
  • the upper part of the outer casing has an opening, the sleeve device is passed through the opening, the outer diameter of the blocking platform is smaller than the inner diameter of the opening, and the upper surface of the blocking platform is located between the preloading device Fits snugly against said opening under action.
  • the blocking platform is arranged perpendicular to the axial direction of the sleeve device.
  • the blocking platform perpendicular to the axial direction of the sleeve device can be in close contact with the preloading device and the opening at the same time.
  • the power output end of the reducer assembly includes a transmission shaft
  • the power input end of the sleeve device includes a shaft connection portion
  • the transmission shaft is connected to the shaft connection portion
  • the preloading device is arranged on the outer peripheral side of the transmission shaft.
  • the preloading device is a plurality of parallel preloading springs, or a single preloading spring sleeved on the transmission shaft and/or the shaft connecting portion.
  • the reducer assembly includes a harmonic reducer, and the number of the harmonic reducer is the same as the number of the motors and corresponds to each other.
  • the motor assembly has high speed and low torque
  • the harmonic speed reducer can convert the power of the motor assembly into low speed and high torque.
  • the size of the harmonic reducer is relatively small, so that the torque gun can be made into a smaller size.
  • the reducer assembly includes a harmonic reducer, and the motor drives multiple harmonic reducers through a transmission mechanism.
  • a "one belt and multiple" driving method is provided to make multiple torque guns more synchronous and stable, and the cost is lower.
  • the transmission shaft includes a connected base and a shaft portion, the base is connected and fixed to the reducer assembly, the shaft portion is used for transmission connection with the sleeve device, and the sleeve device is opposite
  • the shaft portion can slide along the axial direction of the shaft portion.
  • the sliding stroke when the torque gun is working, the sliding stroke can be used to realize the floating in the up and down direction, so as to improve the success rate of unlocking, reduce wear and improve the service life of the torque gun.
  • the outer casing includes a chassis, the chassis is connected to the lower end of the outer casing, and the chassis is connected to the power device.
  • the overall structure of the torque gun is compact and the installation is firm.
  • the outer shell further includes a first storage section located at the lower part, the first storage section is connected to the chassis, the first storage section accommodates at least a part of the power device, and the first storage section
  • the inner wall of the segment conforms to at least a portion of the outer wall of the power plant.
  • the casing is used to accommodate a part of the power device, so that the overall volume of the torque gun is reduced, the structure is more compact, and the fit is obtained to obtain better structural stability.
  • the sleeve device includes:
  • a sleeve part the upper end of which is used to drive the battery fastener of the equipment to be replaced to rotate;
  • the shaft connection part the lower end of the shaft connection part is used to receive the input torque to rotate to drive the sleeve part to rotate
  • the upper end of the shaft connection part is connected to the lower end of the sleeve part, and the sleeve part
  • the upper end of the upper end can swing from the axis of the shaft connection to the outside of the axis of the shaft connection.
  • the sleeve part can swing relative to the axial direction of the shaft connection part, so that the range of motion of the sleeve part can be increased, and even if there is an error in the relative positioning of the sleeve part and the fastener, it can The swinging sleeve portion can still catch the fastener, thereby realizing the twisting of the fastener.
  • the sleeve device can reduce the requirement of positioning accuracy, can reduce the requirement of the accuracy of the installation position of the torque gun, and can improve the efficiency of aligning the fastener.
  • the sleeve part is connected to the shaft connection part through a pivot shaft, so that the upper end of the sleeve part can swing from the axis of the shaft connection part to the outside of the axis of the shaft connection part .
  • the pivoting shaft is used to realize the swing, and the structure is simple and reliable.
  • the upper end of the sleeve part is provided with a battery fastener driving matching part, and the upper end surface of the battery fastener driving matching part is provided with a guide surface, and the guide surface is used to guide the sleeve
  • the part cooperates with the driving part in the battery fastener;
  • the outer peripheral surface of the sleeve part is provided with a limiting platform, and the limiting platform is used to limit the cooperation between the sleeve part and the battery fastener
  • the limit platform is provided with a step surface, the step surface is used to match the elastic mechanism of the outer periphery of the battery fastener; Groove or groove.
  • the driving part is a nut. By cooperating with the nut, the nut is rotated to remove the screw, and the stopper is used to prevent insertion too deep.
  • the limiting platform and the battery fastener driving matching part constitute a gun head, and the gun head can be detached from the sleeve part.
  • the gun head part is set as a detachable structure, which is convenient for maintenance and disassembly.
  • the sleeve device further includes a connection shaft, the sleeve part is connected to the shaft connection part through the connection shaft, the sleeve part can swing relative to the connection shaft, and the connection The shaft can swing relative to the shaft connection portion.
  • the sleeve device further includes an elastic reset member, which is sheathed on the outer peripheral surface of the sleeve device, and is used to reset the sleeve part to the axis of the sleeve part and the The axis of the shaft joint part coincides.
  • an elastic reset member which is sheathed on the outer peripheral surface of the sleeve device, and is used to reset the sleeve part to the axis of the sleeve part and the The axis of the shaft joint part coincides.
  • the elastic reset member is a rubber sleeve or a spring assembly.
  • a rubber sleeve or a spring assembly is used as the elastic reset member, which has a simple structure and is easy to replace.
  • the elastic reset member includes a spring and a steel sleeve, the steel sleeve is sleeved on the outside of the sleeve device, and the spring is disposed between the steel sleeve and the sleeve device.
  • the outer steel sleeve provides support and protection.
  • the use of the steel sleeve can maintain the stability of the sleeve device of the torque gun during the process of transmitting the external torque to the sleeve device, and the use is reliable.
  • the inner spring is used to provide the sleeve The device provides the restoring force.
  • the inner surface of the upper end of the steel sleeve is provided with an accommodating groove, and the spring is arranged in the accommodating groove.
  • the spring is prevented from being exposed to the outside to prevent its damage and prolong its service life, while making the structure compact and the layout reasonable.
  • a battery-swapping robot the battery-swapping robot includes a battery-swapping unit, and the battery-swapping unit at least includes a base plate and several torque guns as described above, and the torque guns are installed on the base plate.
  • the battery-swapping robot further includes a lifting mechanism and a walking mechanism, the lifting mechanism is used to raise or lower the battery-swapping part, and the walking mechanism is used to adjust the position of the battery-swapping robot relative to the vehicle .
  • the positive progress effect of the present invention is that the torque gun for applying torque and the battery-changing robot containing it store the power device and the sleeve device in the same outer shell, which makes the structure compact and the layout reasonable, and uses the pre-pressing device to provide Upward pre-tightening force, in the working state, the pre-loading device can continuously provide upward restoring force; in the non-working state, the pre-loading device can keep the sleeve device stable within a certain force range.
  • Fig. 1 is the overall structure schematic diagram of the torque gun in the embodiment 1 of the present invention.
  • Fig. 2 is the sectional view of the overall structure of the torque gun in Embodiment 1 of the present invention.
  • Fig. 3 is a schematic diagram of the overall structure of the torque gun in another embodiment of Example 1 of the present invention.
  • FIG. 4 is a schematic diagram of the sleeve portion of the sleeve device of the torque gun in Embodiment 1 of the present invention.
  • FIG. 5 is a schematic diagram of the shaft connection part of the sleeve device of the torque gun in Embodiment 1 of the present invention.
  • FIG. 6 is a schematic diagram of the connecting shaft of the sleeve device of the torque gun in Embodiment 1 of the present invention.
  • FIG. 7 is a schematic diagram of the overall structure of the power device of the torque gun in Embodiment 1 of the present invention.
  • FIG. 8 is a cross-sectional view of the outer shell of the torque gun in Embodiment 1 of the present invention.
  • FIG. 9 is a schematic diagram of the overall structure of the battery-swapping robot in Embodiment 1 of the present invention.
  • Torque gun 1 sleeve part 21; sleeve head 2100; battery fastener drive matching part 2101; guide surface 2102; step surface 2103; square spring 2110; wave spring 2111; steel sleeve 2112; Shaft connection part 22 ; pivot shaft 23 ; connecting shaft 24 ; blocking platform 25 ; motor assembly 31 ; reducer assembly 32 ; transmission shaft 41 ; preload spring 42 ;
  • Torque gun 1 for applying torque, and the torque gun 1 applies torque to lock or unlock a locking member.
  • Torque gun 1 in the present embodiment comprises following parts:
  • a sleeve device the upper end of the sleeve device is docked to the locking member, and can be rotated to transmit torque to the locking member;
  • the power device includes a motor assembly and a reducer assembly 32, the power output end of the motor assembly is connected to the power input end of the reducer assembly 32, and the power output end of the reducer assembly 32 is docked with the power input end of the sleeve device, Used to output power to drive the sleeve device to rotate;
  • a preloading device one end of the preloading device leans against the sleeve device, and the other end leans against the power device, the preloading device is in a preloaded state, and is used to provide an upward preload for the sleeve device;
  • the outer casing 5 the lower end of the outer casing 5 is connected to the power device, the upper end of the outer casing 5 is docked with the sleeve device, and the inner space of the outer casing 5 is used to accommodate a part of the sleeve device and at least a part of the power device.
  • the entire torque gun 1 is sequentially provided with a power device, a preload device, a sleeve device, and an outer shell 5 located outside the whole in sequence from bottom to top.
  • the power device and the sleeve device are housed in the same outer shell 5, so that the structure is compact and the layout is reasonable, and the preloading device is used to provide upward preloading force.
  • the preloading The device can continuously provide upward restoring force; in the non-working state, the preloading device can keep the sleeve device stable within a certain force range.
  • the sleeve device includes a blocking platform 25 , and the upper end of the preloading device abuts against the lower surface of the blocking platform 25 .
  • a blocking platform 25 is provided at the lower end of the sleeve device, and the blocking platform 25 protrudes from the outer surface of the sleeve device. And the upper end of the preloading device abuts against the lower surface of the blocking platform 25 to continuously provide an upward restoring force.
  • the above structure can make the abutting effect between the two more compact and the structure more stable.
  • the upper part of the outer casing 5 has an opening, and the sleeve device is passed through the opening. fit snugly into the opening.
  • the blocking platform 25 is arranged perpendicular to the axial direction of the sleeve device. At this time, the opening and the preloading device act on the sleeve device in an upward or downward direction along the axial direction of the sleeve device. In this embodiment, the blocking platform 25 perpendicular to the axial direction of the sleeve device can be in close contact with the preloading device and the opening at the same time.
  • the blocking platform 25 is pushed upward by the thrust of the preloading device.
  • the upper surface of the blocking platform 25 is close to the lower surface of the opening, and the lower surface of the blocking platform 25 is close to the upper end of the preloading device.
  • the blocking platform 25 in this embodiment has a certain thickness to ensure that its body has sufficient structural strength.
  • the existing structure on the sleeve device can also be used, or some shape features can be added on the basis of the existing structure to match the opening and/or the pre-pressing device, so as to achieve similar effects.
  • the power output end of the reducer assembly 32 includes a transmission shaft 41
  • the power input end of the sleeve device includes a shaft connection portion 22
  • the transmission shaft 41 is docked with the shaft connection portion 22
  • the preloading device is arranged on the outer peripheral side of the transmission shaft 41 .
  • the transmission shaft 41 rotates following the output end of the reducer, and is connected to the shaft connection portion 22 of the sleeve device.
  • the shaft connection portion 22 has a polygonal groove matching the shape of the transmission shaft 41 , which is used to achieve docking with the transmission shaft 41 and transmit torque.
  • the reducer assembly 32 in this embodiment includes a harmonic reducer, and the number of the harmonic reducer is the same as the number of motors and corresponds one by one. Moreover, a motor drives a speed reducer assembly 32, and together constitutes a power device of the torque gun 1.
  • the motor assembly 31 in this embodiment has a high speed and low torque, and the harmonic reducer can convert the power of the motor assembly 31 into low speed and high torque. In this way it is sufficient to drive the sleeve arrangement in rotation and to lock or unlock the locking element with a high torque.
  • the motor assembly 31 and the reducer assembly 32 in this embodiment have a one-to-one correspondence, so that in actual use, a certain torque gun 1 can be debugged and adjusted independently without affecting other torque guns 1 .
  • the reducer assembly 32 includes a harmonic reducer.
  • the power device includes a transmission mechanism, and the motor drives multiple harmonic reducers through the transmission mechanism.
  • the above method provides a "one belt and more" driving method, which makes multiple torque guns 1 more synchronous and stable. At the same time, reducing the number of spare parts means reducing the difficulty and cost of manufacturing, assembly and maintenance.
  • the preloading device in this embodiment is a single preloading spring 42 sleeved on the transmission shaft 41 and the shaft connecting portion 22 , so as to provide a uniform upward thrust.
  • the spring is sheathed on the transmission shaft 41 and the shaft connecting portion 22 , which can provide a certain guiding effect to coordinate with the internal or external floating mechanism of the torque gun 1 to adjust the position.
  • the preloading device may also be a plurality of parallel preloading springs 42, or other elastic components, such as nitrogen gas springs.
  • the preloading device may also be a plurality of parallel preloading springs 42, or other elastic components, such as nitrogen gas springs.
  • Various embodiments of the present invention are intended to provide those skilled in the art with various feasible mechanisms and arrangements of the preloading device, but these embodiments all fall within the protection scope of the present invention.
  • the transmission shaft 41 in this embodiment includes a base and a shaft connected together.
  • the base is connected and fixed to the harmonic reducer
  • the shaft is used for transmission and connection with the sleeve device
  • the sleeve device can slide along the axial direction of the shaft relative to the shaft.
  • the torque gun 1 when the torque gun 1 is working, it needs to cooperate with the floating mechanism to realize the floating in the horizontal plane and/or in the vertical height, so as to reduce the accuracy requirement of the whole power exchange equipment. Therefore, by setting the relatively slidable sleeve device and the rotating device, it is possible to realize the floating in the up and down direction by means of the sliding stroke, so as to improve the success rate of unlocking, reduce wear and improve the service life of the torque gun 1 .
  • the torque gun 1 in this embodiment has an outer casing 5 .
  • the outer casing 5 includes a chassis 51 connected to the lower end of the outer casing 5 .
  • the chassis 51 and the outer casing 5 are integrally formed, and the lower surface of the chassis 51 is connected to the power device of the torque gun 1, so that the overall structure of the torque gun 1 is compact and the installation is firm.
  • the outer casing 5 also includes a first storage section located at the bottom, the first storage section is connected to the chassis 51, the first storage section accommodates at least a part of the power device, and the inner wall of the first storage section is attached to at least a part of the outer wall of the power device combine.
  • the casing is used to accommodate a part of the power device, so that the overall volume of the torque gun 1 is reduced, the structure is more compact, and the fit is obtained to obtain better structural stability.
  • the outer edge of the chassis 51 extends to the outside of the outer casing 5 to form a flange.
  • the flange is provided with a through hole that penetrates up and down, and the through hole is arranged around the circumference of the outer shell 5 .
  • the through holes correspond to the bolt connectors one by one, and are used to fix the outer shell 5 on the plane to be installed.
  • the lower surface of the chassis 51 is also provided with threaded holes, and the chassis 51 is connected to the power unit through threads.
  • positioning holes are provided on the circumference of the harmonic reducer in this embodiment, and screws are passed through the positioning holes and screwed into the threaded holes to achieve a fixed connection between the chassis 51 and the power device.
  • the contact area between the chassis 51 and the plane to be installed is increased through the structure of the flange on the base, so as to reduce the stress on the outer casing 5 and the plane to be installed.
  • the installation of the outer casing 5 of the torque gun 1 is realized by using the through hole on the flange, thereby confirming the installation position of the torque gun 1 on the outer casing 5, and the torque gun 1 and the outer casing 5 can be more stably installed in the place to be installed. on flat surface.
  • the threaded holes on the lower surface of the chassis 51 and the power unit that is, the harmonic reducer, are used to realize threaded connection, so that the chassis 51 can be stably connected with the power unit.
  • the sleeve device of the torque gun 1 includes a sleeve portion 21 and a shaft connection portion 22 .
  • the upper end of the sleeve part 21 is used to drive the battery fastener of the equipment to be replaced to rotate
  • the lower end of the shaft connection part 22 is used to receive the input torque to rotate to drive the sleeve part 21 to rotate.
  • the lower end of the sleeve portion 21 is connected to the upper end of the shaft connection portion 22 , and the upper end of the sleeve portion 21 can swing from the axis of the shaft connection portion 22 to the outside of the axis of the shaft connection portion 22 .
  • the above-mentioned structure is adopted, so that the sleeve portion 21 can swing relative to the axial direction of the shaft connection portion 22 , so that the range of motion of the sleeve portion 21 can be increased. Even if there is an error in the relative positioning of the sleeve part 21 and the fastener, as long as the error is still within the swing range, the swingable sleeve part 21 can still catch the fastener, thereby realizing the twisting of the fastener.
  • the sleeve device in this embodiment can effectively reduce the requirements for positioning accuracy and reduce the accuracy of the installation position of the torque gun 1 requirements, while also improving the efficiency of aligning fasteners.
  • the sleeve portion 21 is connected to the shaft connection portion 22 through a pivot shaft 23 .
  • the movable pivot shaft 23 can make the upper end of the sleeve part 21 swing from the axis of the shaft connection part 22 to the outside of the axis of the shaft connection part 22 .
  • the pivoting shaft 23 is used to realize the swing, and the structure is simple and reliable.
  • the sleeve part 21 is connected to the shaft connection part 22 through a pivot shaft 23, so that the upper end of the sleeve part 21 can be rotated from the axis of the shaft connection part 22 swing to the outside of the axis of the shaft connection portion 22.
  • the pivoting shaft 23 is used to swing, the structure is simple and reliable, and the sleeve part 21 can pivot along the pivoting shaft 23 and the shaft connecting part 22.
  • other pivoting ways can also be used, which are not limited here.
  • the lower end of the sleeve part 21 has two downwardly extending connecting walls arranged oppositely, and the two connecting walls have correspondingly arranged first pivot holes, through which the pivot shaft 23 is inserted. on the first pivot hole.
  • An avoidance gap is provided between the lower end of the sleeve part 21 and the upper end of the shaft connection part 22, and the avoidance gap is used to avoid interference with the swing of the sleeve part 21, which can avoid interference with swing.
  • the sleeve device also includes a connecting shaft 24, the sleeve part 21 is connected to the shaft connecting part 22 through the connecting shaft 24, the sleeve part 21 can swing relative to the connecting shaft 24, and the connecting shaft 24 is relatively
  • the connecting portion 22 can swing, and the connecting shaft 24 can realize swinging of the sleeve portion 21 in multiple directions.
  • the sleeve part 21 and the shaft connection part 22 may also be directly connected, and the sleeve part 21 may swing in different directions relative to the shaft connection part 22 .
  • the sleeve part 21 and the shaft connection part 22 may also be connected by a pivot shaft 23 .
  • the connecting shaft 24 is in the shape of a cuboid as a whole, and the connecting shaft 24 is provided with two holes in different directions.
  • the connecting shaft 24 can also include a rolling fit ball head and a ball groove part, the upper end of the sleeve part 21 is fixedly connected with one end of the connecting shaft 24, and the lower end of the shaft connecting part 22 is connected with the other end of the connecting shaft 24. Fixed connection.
  • the rolling fit between the ball head and the ball groove can reduce friction and improve the swinging flexibility of the sleeve part 21 and the shaft connection part 22 .
  • the connecting shaft 24 When the connecting shaft 24 is in the shape of a cuboid as a whole, the lower end of the sleeve part 21 is pivotally connected to the connecting shaft 24, and the upper end of the shaft connecting part 22 is pivotally connected to the connecting shaft 24.
  • the portion 21 is not coplanar with respect to the swing direction of the connecting shaft 24 .
  • the sleeve part 21 can swing in any direction relative to the axial direction of the shaft part through the two-way pivot connection.
  • the downwardly extending connecting walls of the sleeve part 21 are arranged oppositely, and the connecting shaft 24 can be inserted between the two connecting walls.
  • the upper end of the shaft connection portion 22 also has a similar or identical structure to the connection wall, and the connection shaft 24 can also be inserted into the shaft connection portion 22 .
  • the sleeve part 21 , the connecting shaft 24 and the shaft connecting part 22 are sequentially connected by the pivot shaft 23 , and the sleeve part 21 and the shaft connecting part 22 can swing in different directions relative to the connecting shaft 24 .
  • the upper end of the sleeve part 21 is provided with a battery fastener driving matching part 2101, and the upper end surface of the battery fastener driving matching part 2101 is provided with a guide surface 2102, and the guide surface 2102 is used for guiding
  • the sleeve part 21 cooperates with the driver in the battery fastener.
  • the outer peripheral surface of the sleeve part 21 is further provided with a limiting platform 2120, which is used to limit the depth of the sleeve part 21 and the battery fastener.
  • a stepped surface 2103 is provided on the limiting platform 2120, and the stepped surface 2103 is used to match with the elastic mechanism on the periphery of the battery fastener.
  • the upper end surface of the sleeve part 21 has a communication groove or a groove for cooperating and avoiding the battery fastener.
  • the guide sleeve part 21 it is convenient for the guide sleeve part 21 to cooperate with the driving part in the battery fastener.
  • the driving part is a nut. By cooperating with the nut, the nut is rotated to remove the screw, and the limit table 2120 is used to prevent the insertion from being too deep .
  • the sleeve device further includes a connecting shaft 24 through which the sleeve part 21 is connected to the shaft connecting part 22 , the sleeve part 21 can swing relative to the connecting shaft 24 , and the connecting shaft 24 can swing relative to the shaft connecting part 22 .
  • the sleeve device further includes an elastic reset member, which is sheathed on the outer peripheral surface of the sleeve device, and is used to reset the sleeve portion 21 to the position where the axis of the sleeve portion 21 coincides with the axis of the shaft connection portion 22 .
  • the torque gun 1 includes an elastic reset member, which is sheathed on the outer peripheral surface of the sleeve device, and is used to reset the sleeve portion 21 to a place where the axis of the sleeve portion 21 coincides with the axis of the shaft connection portion 22 . Since the sleeve part 21 can swing relative to the axial direction of the shaft connection part 22, the range of motion of the sleeve part 21 can be increased. Even if there is an error in the relative positioning of the sleeve part 21 and the fastener, the swingable sleeve part 21 can still jam the fastener.
  • the elastic reset member can drive the axis of the sleeve part 21 to coincide with the axis of the shaft connection part 22, and the axis of the sleeve device can coincide with the axis of the fastener, thereby realizing the twisting of the fastener.
  • the elastic return member is a square spring 2110, but in other embodiments, it may also be a wave spring 2111 or a spring assembly composed of a rubber sleeve.
  • the specific structure of the elastic return member and the sleeve device is as follows:
  • the elastic reset member includes a wave spring 2111 and a steel sleeve 2112, the steel sleeve 2112 is sleeved on the outside of the sleeve device, and the wave spring 2111 is located between the steel sleeve 2112 and the sleeve device, the structure is simple, It ensures that an effective reset force is applied to the sleeve device, which is convenient for installation and more reliable in use.
  • the inner surface of the upper end of the steel sleeve 2112 is provided with an accommodating groove, and the wave spring 2111 is arranged in the accommodating groove, which has a compact, stable structure and reliable use.
  • the sleeve device includes a sleeve head 2100, a connecting sleeve 2130 and a limit table 2120.
  • the upper end of the sleeve head 2100 is used to drive the battery fastener of the equipment to be replaced to rotate; the sleeve head 2100 is detachably connected to the connecting sleeve 2130, and the connecting sleeve 2130 The lower end of the lower end is used for the transmission connection shaft connection part 22; the limit table 2120 is sleeved on the outside of the sleeve head 2100, and the sleeve head 2100 is detachably connected with the connection sleeve 2130.
  • the sleeve part 21 By setting the sleeve part 21 as a detachably connected sleeve head 2100, a connecting sleeve 2130 and a limiter 2120, since the sleeve head 2100 is easy to wear, the sleeve part 21 can be repaired only by replacing the sleeve head 2100, avoiding the overall replacement of the sleeve part twenty one.
  • the material of the limiting platform 2120 can be polytetrafluoroethylene, which can reduce impact sound and friction.
  • the steel sleeve 2112 can be inserted from top to bottom, which is convenient for installation, and the steel sleeve 2112 can maintain the stability of the sleeve part 21 of the torque gun 1 during the process of the power unit output torque to the sleeve device, and the limit pad can avoid the sleeve
  • the barrel portion 21 is inserted too deeply into the battery fastener.
  • the lower end of the sleeve head 2100 is provided with a transmission block, and the upper end of the connecting sleeve 2130 is provided with a transmission groove, and the transmission block is clamped in the transmission groove.
  • the transmission connection between the sleeve head 2100 and the connecting sleeve 2130 is realized by using the transmission block and the transmission groove, and the structure is simple and reliable.
  • the sleeve When the torque gun 1 is docked with the battery pack fastener, if there is a position deviation, the sleeve needs to be swung. After the swing, it will be reset by the reset assembly so that the axis of the sleeve part 21 tends to reset to the axis coincident with the connecting shaft 24, so as not to Excessive angle swing for mating fasteners. It can also assist to align the gun head after fitting inside the battery fastener, and then perform the locking and unlocking operation of the battery pack fastener, so as to avoid collision or wear between the torque gun 1 and the battery pack fastener.
  • the battery-swapping robot includes a battery-swapping unit.
  • the battery-swapping unit at least includes a base plate and several torque guns 1 as above, and the torque gun 1 is installed on the base plate. Wherein, the installation position of the torque gun 1 is in one-to-one correspondence with the position of the locking member relative to the battery pack on the vehicle.
  • the battery swapping robot also includes a lifting mechanism and a walking mechanism.
  • the lifting mechanism is used to raise or lower the battery exchange unit, and the traveling mechanism is used to adjust the position of the battery exchange robot relative to the vehicle.
  • the traveling mechanism When the battery-swapping robot performs the operation of disassembling the vehicle battery pack, the traveling mechanism first adjusts the position of the battery-swapping robot to directly below the vehicle battery pack, and then the lifting mechanism raises the battery-swapping part. At this time, the torque gun 1 on the power exchange part is connected with the locking piece on the vehicle through the sleeve device. Furthermore, the power device of the torque gun 1 outputs torque, which is transmitted to the locking member on the vehicle through the sleeve device, the locking member on the vehicle is unlocked, and the vehicle battery pack falls naturally. Then the lifting mechanism lowers the battery replacement part as a whole, and the walking mechanism moves the battery replacement robot out of the working position to complete the disassembly process of the vehicle battery pack.
  • the traveling mechanism When the battery replacement robot performs the operation of installing the vehicle battery pack, the traveling mechanism first adjusts the position of the battery replacement robot carrying the vehicle battery pack to directly below the vehicle battery pack, and then the lifting mechanism moves the battery replacement part carrying the vehicle battery pack rising. At this time, the torque gun 1 on the power exchange part is connected with the locking piece on the vehicle through the sleeve device. Further, the power device of the torque gun 1 outputs torque, which is transmitted to the locking member on the vehicle through the sleeve device, the locking member on the vehicle is unlocked, and the vehicle battery pack falls naturally, completing the disassembly of the vehicle battery pack.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Resistance Welding (AREA)

Abstract

一种用于施加扭矩的扭矩枪（1）及包含其的换电机器人，扭矩枪（1）施加扭矩以锁紧或解锁锁止件，扭矩枪（1）包括：套筒装置，套筒装置的上端对接于锁止件，并且能够转动以传递扭矩至锁止件；动力装置，动力装置包括电动机组件（31）和减速机组件（32），电动机组件（31）的动力输出端与减速机组件（32）的动力输入端传动连接，减速机组件（32）的动力输出端与套筒装置的动力输入端对接，用于输出动力以带动套筒装置转动；预压装置，预压装置一端抵靠于套筒装置，另一端抵靠于动力装置，预压装置处于预压状态，用于为套筒装置提供向上的预紧力；外壳体（5），外壳体（5）的下端连接于动力装置，外壳体（5）的上端与套筒装置对接，外壳体（5）的内部空间用于容纳套筒装置的一部分和动力装置的至少一部分。

Description

用于施加扭矩的扭矩枪及包含其的换电机器人
本申请要求申请日为2021/12/2的中国专利申请CN2021114602035的优先权。本申请引用上述中国专利申请的全文。
技术领域
本发明涉及换电领域，特别涉及一种用于施加扭矩的扭矩枪及包含其的换电机器人。
背景技术
现有电动汽车的电池箱设置方式一般分为固定式和可换式，其中，固定式电池一般是固定在车辆上，在充电时直接以车辆作为充电对象。而可换式的电池包一般通过活动安装的方式被固定在车辆上。电池包可以被取下，以单独对电池包进行更换或充电操作。更换下的电池包充电完毕后，再重新安装在车辆上。
电池包可以通过紧固件安装至车辆，车辆上的锁定件可以实现电池包的固定。为了便于锁定件的安装或拆卸，换电站可以利用扭矩枪完成相关操作。
现有技术中，扭矩枪的尺寸也较大，对制造难度和控制难度都提出了很高的要求。同时，扭矩枪在解锁时，短时间内会承受很大的动力载荷及电池包的压力，变化急剧，容易发生损坏或变形，稳定性较差。
当上述两方面难以满足要求时，扭矩枪的工作稳定性差，会导致车用电池包的更换成功率低、更换效率等多种问题，因此，急需一种结构紧凑、工作稳定的扭矩枪。
发明内容
本发明要解决的技术问题是为了克服现有技术中车用电池包的工作不稳定和结构体积较大以导致的更换成功率低、更换效率低的缺陷，提供一种用于施加扭矩的扭矩枪及包含其的换电机器人。
本发明是通过下述技术方案来解决上述技术问题：
一种用于施加扭矩的扭矩枪，所述扭矩枪施加扭矩以锁紧或解锁锁止件，所述扭矩枪包括：
套筒装置，所述套筒装置的上端对接于所述锁止件，并且能够转动以传递扭矩至所述锁止件；
动力装置，所述动力装置包括电动机组件和减速机组件，所述电动机组件的动力输 出端与所述减速机组件的动力输入端传动连接，所述减速机组件的动力输出端与所述套筒装置的动力输入端对接，用于输出动力以带动所述套筒装置转动；
预压装置，所述预压装置一端抵靠于所述套筒装置，另一端抵靠于所述动力装置，所述预压装置处于预压状态，用于为所述套筒装置提供向上的预紧力；
外壳体，所述外壳体的下端连接于所述动力装置，所述外壳体的上端与所述套筒装置对接，所述外壳体的内部空间用于容纳所述套筒装置的一部分和所述动力装置的至少一部分。
在本发明中，将动力装置和套筒装置收纳于同一外壳体中，使结构紧凑、布局合理，并利用预压装置提供向上的预紧力，在工作状态下，预压装置能够持续的提供向上的回复力；在非工作状态下，预压装置能够在一定受力范围内保持套筒装置的稳定。
较佳地，所述套筒装置包括阻挡台，所述预压装置的上端抵靠于所述阻挡台的下表面。
在本发明中，抵靠效果更紧密，结构更稳定。
较佳地，所述外壳体上部具有开口，所述套筒装置穿设于所述开口，所述阻挡台的外径小于所述开口内径，所述阻挡台的上表面在所述预压装置作用下紧贴于所述开口。
较佳地，所述阻挡台垂直于所述套筒装置的轴向设置。
在本发明中，垂直于套筒装置的轴向的阻挡台能够同时紧贴预压装置和开口。
较佳地，所述减速机组件的动力输出端包括传动轴，所述套筒装置的动力输入端包括轴连部，所述传动轴与所述轴连部对接，所述预压装置设置于所述传动轴的外周侧。
较佳地，所述预压装置为多个并联的预压弹簧，或单个套设于所述传动轴和/或所述轴连部的预压弹簧。
在本发明中，提供两种可行的预压弹簧布置方式。
较佳地，所述减速机组件包括谐波减速机，所述谐波减速机数量与所述电机数量相同并一一对应。
在本发明中，电机组件是高转速低扭矩，谐波减速器可以将电机组件的动力转换为低转速高扭矩。且谐波减速机的尺寸相对较小，使扭矩枪可以制作成更小尺寸。
较佳地，所述减速机组件包括谐波减速机，所述电机通过传动机构带动多个所述谐波减速机。
在本发明中，提供一种“一带多”的驱动方式，使多个扭矩枪更加同步、稳定，并且成本更低。
较佳地，所述传动轴包括相连接的底座及轴部，所述底座与所述减速机组件相连接 固定，所述轴部用于传动连接所述套筒装置，所述套筒装置相对于所述轴部能够沿所述轴部的轴线方向滑动。
在本发明中，在扭矩枪工作时，能够借助滑动的行程来实现上下方向的浮动，以提高解锁成功率，同时减少磨损，提高扭矩枪的使用寿命。
较佳地，所述外壳体包括底盘，所述底盘与所述外壳体下端相连，所述底盘连接于所述动力装置。
在本发明中，使扭矩枪整体结构紧凑、安装牢固。
较佳地，所述外壳体还包括位于下部的第一收纳段，所述第一收纳段与所述底盘相连，所述第一收纳段容纳所述动力装置的至少一部分，所述第一收纳段的内壁与所述动力装置的外侧壁的至少一部分相贴合。
在本发明中，在底盘连接于动力装置之后，利用壳体容纳动力装置的一部分，使扭矩枪整体体积减小、结构更加紧凑、贴合以获得更好的结构稳定性。
较佳地，所述套筒装置包括：
套筒部，所述套筒部的上端用于驱动待换电设备的电池紧固件转动；
轴连部，所述轴连部的下端用于接受输入的扭矩转动以带动所述套筒部转动，所述轴连部的上端与所述套筒部的下端相连接，所述套筒部的上端能够从所述轴连部的轴线处向所述轴连部的轴线外侧方向摆动。
在本方案中，通过采用以上结构，套筒部相对于轴连部的轴线方向能够摆动，从而能够增大套筒部的活动范围，即使套筒部与紧固件的相对定位出现误差，能够摆动的套筒部依然可以卡住紧固件，进而实现紧固件的扭转。套筒装置能够降低定位精度的要求，能够降低扭矩枪的安装位置的精度要求，能够提高对准紧固件的效率。
较佳地，所述套筒部通过枢转轴与所述轴连部相连接，使所述套筒部的上端能够从所述轴连部的轴线处向所述轴连部的轴线外侧方向摆动。
在本方案中，利用枢转轴实现摆动，结构简单、可靠。
较佳地，所述套筒部的上端设置有电池紧固件驱动匹配部，所述电池紧固件驱动匹配部的上端面设有导向面，所述导向面用于导引所述套筒部与所述电池紧固件中的驱动件相配合；所述套筒部的外周面设有限位台，所述限位台用于限制所述套筒部与所述电池紧固件相配合的深度；所述限位台上设置有台阶面，所述台阶面用于与所述电池紧固件外周的弹性机构相匹配；所述套筒部上端面具有配合避让电池紧固件的连通槽或凹槽。
在本方案中，便于导引所述套筒部与所述电池紧固件中的驱动件配合，驱动件为螺母，通过与螺母配合，旋转螺母，将螺钉拆除，并且利用限位台避免插入过深。
较佳地，所述限位台和所述电池紧固件驱动匹配部构成枪头，所述枪头相对于所述套筒部能够拆卸。
在本方案中，使枪头部分设置为可拆卸的结构，便于维修和拆装。
较佳地，所述套筒装置还包括连接轴，所述套筒部通过所述连接轴与所述轴连部相连接，所述套筒部相对于所述连接轴能够摆动，所述连接轴相对于所述轴连部能够摆动。
在本方案中，通过上述结构实现套筒部在多个方向上的摆动。
较佳地，所述套筒装置还包括弹性复位件，所述弹性复位件套设于所述套筒装置外周面，用于使所述套筒部复位至所述套筒部的轴线与所述轴连部的轴线相重合处。
较佳地，所述弹性复位件为橡胶套或弹簧组件。
在本发明中，使用橡胶套或者弹簧组件作为弹性复位件，结构简单、易于更换。
较佳地，所述弹性复位件包括弹簧和钢套，所述钢套套设于所述套筒装置的外侧，所述弹簧设于所述钢套与所述套筒装置之间。
在本发明中，外侧的钢套提供支撑和保护，采用钢套可以保持外部扭矩传导给套筒装置过程中，扭矩枪的套筒装置的稳定性，使用可靠，内侧的弹簧用于给套筒装置提供复位力。
较佳地，所述钢套的上端的内侧面设有容置槽，所述弹簧设于所述容置槽内。
在本发明中，避免弹簧暴露于外部，防止其损坏、延长使用寿命，同时使结构紧凑、布局合理。
一种换电机器人，所述换电机器人包括换电部，所述换电部至少包括基板和若干个如上所述的扭矩枪，所述扭矩枪安装于所述基板上。
较佳地，所述换电机器人还包括升降机构和行走机构，所述升降机构用于升起或降下所述换电部，所述行走机构用于调节所述换电机器人相对于车辆的位置。
本发明的积极进步效果在于：该用于施加扭矩的扭矩枪及包含其的换电机器人将动力装置和套筒装置收纳于同一外壳体中，使结构紧凑、布局合理，并利用预压装置提供向上的预紧力，在工作状态下，预压装置能够持续的提供向上的回复力；在非工作状态下，预压装置能够在一定受力范围内保持套筒装置的稳定。
附图说明
图1为本发明实施例1中的扭矩枪的整体结构示意图；
图2为本发明实施例1中的扭矩枪的整体结构剖视图；
图3为本发明实施例1另一种实施方式中的扭矩枪的整体结构示意图；
图4为本发明实施例1中的扭矩枪的套筒装置的套筒部的示意图；
图5为本发明实施例1中的扭矩枪的套筒装置的轴连部的示意图；
图6为本发明实施例1中的扭矩枪的套筒装置的连接轴的示意图；
图7为本发明实施例1中的扭矩枪的动力装置的整体结构示意图；
图8为本发明实施例1中的扭矩枪的外壳体的剖视图；
图9为本发明实施例1中的换电机器人的整体结构示意图。
附图标记说明：
扭矩枪1；套筒部21；套头2100；电池紧固件驱动匹配部2101；导向面2102；台阶面2103；方形弹簧2110；波形弹簧2111；钢套2112；限位台2120；连接套2130；轴连部22；枢转轴23；连接轴24；阻挡台25；电机组件31；减速机组件32；传动轴41；预压弹簧42；外壳体5；底盘51。
具体实施方式
下面通过实施例的方式进一步说明本发明，但并不因此将本发明限制在所述的实施例范围之中。
实施例1
如图1-9所示，本实施例提供一种用于施加扭矩的扭矩枪1，扭矩枪1施加扭矩以锁紧或解锁锁止件。本实施例中的扭矩枪1包括如下部分：
套筒装置，套筒装置的上端对接于锁止件，并且能够转动以传递扭矩至锁止件；
动力装置，动力装置包括电动机组件和减速机组件32，电动机组件的动力输出端与减速机组件32的动力输入端传动连接，减速机组件32的动力输出端与套筒装置的动力输入端对接，用于输出动力以带动套筒装置转动；
预压装置，预压装置一端抵靠于套筒装置，另一端抵靠于动力装置，预压装置处于预压状态，用于为套筒装置提供向上的预紧力；
外壳体5，外壳体5的下端连接于动力装置，外壳体5的上端与套筒装置对接，外壳体5的内部空间用于容纳套筒装置的一部分和动力装置的至少一部分。
本实施例中，扭矩枪1整体自下而上依次设有动力装置、预压装置、套筒装置，以及位于整体外侧的外壳体5。
具体地，在本实施例中，将动力装置和套筒装置收纳于同一外壳体5中，使结构紧凑、布局合理，并利用预压装置提供向上的预紧力，在工作状态下，预压装置能够持续的提供向上的回复力；在非工作状态下，预压装置能够在一定受力范围内保持套筒装置的 稳定。
如图1-9所示，在本实施例中，套筒装置包括阻挡台25，预压装置的上端抵靠于阻挡台25的下表面。
具体地，在本实施例中，套筒装置的下端设有阻挡台25，阻挡台25凸出于套筒装置的外侧表面。并且预压装置的上端抵靠于阻挡台25的下表面，以持续提供向上的回复力。上述结构能够使两者之间的抵靠效果更紧密、结构也更稳定。
如图1-9所示，在本实施例中，外壳体5上部具有开口，套筒装置穿设于开口，阻挡台25的外径小于开口内径，阻挡台25的上表面在预压装置作用下紧贴于开口。
进一步地，阻挡台25垂直于套筒装置的轴向设置。此时开口和预压装置对套筒装置的作用力的方向为沿套筒装置的轴向向上或向下。在本实施例中，垂直于套筒装置的轴向的阻挡台25能够同时紧贴预压装置和开口。
具体地，如图1-9所示，阻挡台25被预压装置的推力向上顶。阻挡台25的上表面紧贴开口的下表面，阻挡台25的下表面紧贴预压装置的上端。
从另一方面考虑，本实施例中的阻挡台25具有一段厚度，来确保其本体具有足够的结构强度。而在其他实施方式中，也可以利用套筒装置上的现有结构，或者在现有结构的基础上增加一些形状特征，来匹配开口和/或预压装置，以达到类似的效果。
如图1-9所示，在本实施例中，作为扭矩枪1中的动力装置的一部分，减速机组件32的动力输出端包括传动轴41，套筒装置的动力输入端包括轴连部22，传动轴41与轴连部22对接，预压装置设置于传动轴41的外周侧。
具体地，传动轴41跟随减速机的输出端旋转，并且对接于套筒装置的轴连部22。在本实施例中，轴连部22具有与传动轴41形状相匹配的多边形凹槽，用于实现与传动轴41的对接以及传递扭矩。
如图1-9所示，本实施例中的减速机组件32包括谐波减速机，谐波减速机数量与电机数量相同并一一对应。并且，一个电机驱动一个减速机组件32，并共同组成一个扭矩枪1的动力装置。
本实施例中的电机组件31是高转速低扭矩，谐波减速器可以将电机组件31的动力转换为低转速高扭矩。这样一来可以满足驱动套筒装置旋转，并且借助高扭矩来锁定或解锁锁止件。
本实施例中的电机组件31和减速机组件32是一一对应的关系，这样在实际使用中，可以单独对某一个扭矩枪1进行调试、调整，同时不会影响其他扭矩枪1。而在本发明的其他实施方式中，减速机组件32包括谐波减速机。动力装置包括传动机构，并且电机通 过传动机构带动多个谐波减速机。上述方式提供一种“一带多”的驱动方式，使多个扭矩枪1更加同步、稳定。同时，减少零配件的数量也就意味着降低了制造、装配、维修的难度和成本。
如图1-9所示，本实施例中的预压装置为单个套设于传动轴41和轴连部22的预压弹簧42，便于提供均匀的向上推力。同时，弹簧套设于传动轴41和轴连部22上，能够提供一定的导向作用，以配合扭矩枪1内部或外部的浮动机构调整位置。
而在本发明的其他实施例中，预压装置也可以是多个并联的预压弹簧42，或是其他的弹性部件，例如氮气弹簧等。本发明的多种实施方式意在为本领域技术人员提供多种可行的预压装置的机构以及布置方式，但这些实施方式都落入本发明的保护范围之内。
如图1-9所示，本实施例中的传动轴41包括相连接的底座及轴部。其中，底座与谐波减速机相连接固定，轴部用于传动连接套筒装置，套筒装置相对于轴部能够沿轴部的轴线方向滑动。
在本发明中，当扭矩枪1工作时，需要和浮动机构配合工作，实现水平平面内和/或竖直高度上的浮动，以降低换电设备整体的精度要求。因此，通过设置可相对滑动的套筒装置和转动装置，就能够借助滑动的行程来实现上下方向的浮动，以提高解锁成功率，同时减少磨损，提高扭矩枪1的使用寿命。
如图1-9所示，本实施例中的扭矩枪1具有外壳体5。外壳体5包括底盘51，底盘51与外壳体5下端相连。并且，在本实施例中底盘51与外壳体5是一体成型的，底盘51下表面连接于扭矩枪1的动力装置，从而使扭矩枪1整体结构紧凑、安装牢固。
外壳体5还包括位于下部的第一收纳段，第一收纳段与底盘51相连，第一收纳段容纳动力装置的至少一部分，第一收纳段的内壁与动力装置的外侧壁的至少一部分相贴合。具体地，在底盘51连接于动力装置之后，本实施例利用壳体容纳动力装置的一部分，使扭矩枪1整体体积减小、结构更加紧凑、贴合以获得更好的结构稳定性。
进一步地，如图1-9所示，底盘51的外缘向外壳体5的外侧延伸形成法兰。法兰上开设有上下贯通的通孔，通孔环绕外壳体5的周圈设置。本实施例中，通孔与螺栓连接件一一对应，用于将外壳体5固定在待安装平面上。
同时，底盘51的下表面还设有螺纹孔，底盘51与动力装置通过螺纹连接。具体地，本实施例中的谐波减速机周圈开设有定位孔，将螺丝穿过定位孔并拧入螺纹孔以实现底盘51与动力装置之间的固定连接。
具体地，在本实施例中，通过底座上的法兰的结构来增加底盘51与待安装平面的接触面积，以减少外壳体5和待安装平面的受力。同时，利用法兰上的通孔实现扭矩枪1的 外壳体5的安装，从而确认扭矩枪1在外壳体5上的安装位置，能够使扭矩枪1及外壳体5更加稳定地安装在待安装平面上。额外地，本实施例还利用底盘51下表面的螺纹孔与动力装置，即谐波减速机，实现螺纹连接，使底盘51能够稳定地与动力装置实现固定连接。
如图1-9所示，在本实施例中，扭矩枪1的套筒装置包括套筒部21和轴连部22。其中，套筒部21的上端用于驱动待换电设备的电池紧固件转动，轴连部22的下端用于接受输入的扭矩转动以带动所述套筒部21转动。套筒部21的下端与轴连部22的上端相连接，套筒部21的上端能够从轴连部22的轴线处向轴连部22的轴线外侧方向摆动。
本实施例中采用上述结构，使套筒部21相对于轴连部22的轴线方向能够摆动，从而能够增大套筒部21的活动范围。即使套筒部21与紧固件的相对定位出现误差，只要误差仍处于摆动范围内，能够摆动的套筒部21就依然可以卡住紧固件，进而实现紧固件的扭转。借助于相对固定的轴连部22以及可相对于轴连部22摆动的套筒部21，本实施例中的套筒装置能够有效地降低定位精度的要求、降低扭矩枪1的安装位置的精度要求，同时还能够提高对准紧固件的效率。
具体地，本实施例中，套筒部21通过枢转轴23与轴连部22相连接。可活动的枢转轴23能够使套筒部21的上端从轴连部22的轴线处向轴连部22的轴线外侧方向摆动。利用枢转轴23实现摆动，结构简单、可靠。
如图1-9所示，作为本实施例的一种具体实施方式，套筒部21通过枢转轴23与轴连部22相连接，使套筒部21的上端能够从轴连部22的轴线处向轴连部22的轴线外侧方向摆动。利用枢转轴23实现摆动，结构简单、可靠，可以实现套筒部21沿着枢转轴23与轴连部22枢转，当然也可以采用其他的枢接方式，在此不做限定。
具体地，如图2和图4-5所示，套筒部21下端具有相对设置的两个下伸的连接壁，两个连接壁具有相应设置的第一枢转孔，枢转轴23插设于第一枢转孔。套筒部21的下端与轴连部22的上端之间设有避让间隙，避让间隙用于避免干涉套筒部21的摆动，能够避免干涉摆动。
作为另一种实施方式，套筒装置还包括连接轴24，套筒部21通过连接轴24与轴连部22相连接，套筒部21相对于连接轴24能够摆动，连接轴24相对于轴连部22能够摆动，连接轴24能够实现套筒部21多个方向的摆动。而在本发明的其他实施方式中，套筒部21、轴连部22也可以直接相连，套筒部21相对于轴连部22可以朝不同的方向摆动。套筒部21、轴连部22也可以通过枢转轴23相连接。
具体地，如图4-6所示，连接轴24整体为长方体状，连接轴24设有两个不同朝向 的孔，套筒部21、轴连部22可以枢设于连接轴24。在其他方式中，连接轴24还可以包括滚动配合的球头部和球槽部，套筒部21的上端与连接轴24的一端固定连接，轴连部22的下端与连接轴24的另一端固定连接。用球头部和球槽部的滚动配合可以减少摩擦，提高套筒部21和轴连部22摆动的灵活性。
连接轴24整体为长方体状时，套筒部21的下端与连接轴24枢接，轴连部22的上端与连接轴24枢接，连接轴24相对于轴连部22的摆动方向与套筒部21相对于连接轴24的摆动方向不共面。通过双向枢接实现套筒部21可以相对于连轴部的轴线方向上任意方向的摆动。
在本实施例中，套筒部21的下伸的连接壁相对设置，连接轴24可以插入两个连接壁之间。轴连部22的上端也就有与连接壁相似或相同的结构，连接轴24也可以插入轴连部22。套筒部21、连接轴24及轴连部22顺次利用枢转轴23相连，套筒部21及轴连部22相对于连接轴24均可以朝不同的方向摆动。
进一步地，在本实施例中，套筒部21的上端设置有电池紧固件驱动匹配部2101，电池紧固件驱动匹配部2101的上端面设有导向面2102，导向面2102用于导引套筒部21与电池紧固件中的驱动件相配合。套筒部21的外周面还设有限位台2120，限位台2120用于限制套筒部21与电池紧固件相配合的深度。限位台2120上设置有台阶面2103，台阶面2103用于与电池紧固件外周的弹性机构相匹配。套筒部21上端面具有配合避让电池紧固件的连通槽或凹槽。
在本方案中，便于导引套筒部21与电池紧固件中的驱动件配合，驱动件为螺母，通过与螺母配合，旋转螺母，将螺钉拆除，并且利用限位台2120避免插入过深。
套筒装置还包括连接轴24，套筒部21通过连接轴24与轴连部22相连接，套筒部21相对于连接轴24能够摆动，连接轴24相对于轴连部22能够摆动。
在本方案中，通过上述结构实现套筒部21在多个方向上的摆动。
套筒装置还包括弹性复位件，弹性复位件套设于套筒装置外周面，用于使套筒部21复位至套筒部21的轴线与轴连部22的轴线相重合处。
扭矩枪1包括弹性复位件，弹性复位件套设于套筒装置的外周面，用于使套筒部21复位至套筒部21的轴线与轴连部22的轴线相重合处。由于套筒部21相对于轴连部22的轴线方向能够摆动，从而能够增大套筒部21的活动范围，即使套筒部21与紧固件的相对定位出现误差，能够摆动的套筒部21依然可以卡住紧固件。此时，弹性复位件能够驱使套筒部21的轴线与轴连部22的轴线重合，套筒装置的轴线能够与紧固件的轴线重合，进而实现紧固件的扭转。
在本实施例中，弹性复位件为方形弹簧2110，而在其他实施例中，也可以是波形弹簧2111或橡胶套构成的弹簧组件。
在本发明的其中一种实施方式中，弹性复位件及套筒装置的具体结构如下：
如图1-9所示，弹性复位件包括波形弹簧2111和钢套2112，钢套2112套设于套筒装置的外侧，波形弹簧2111设于钢套2112与套筒装置之间，结构简单，保证对套筒装置施加有效的复位力度，便于安装，使用时更加可靠。钢套2112的上端的内侧面设有容置槽，波形弹簧2111设于容置槽内，结构紧凑，并且结构稳定、使用可靠。
具体地，套筒装置包括套头2100、连接套2130及限位台2120，套头2100的上端用于驱动待换电设备的电池紧固件转动；套头2100与连接套2130可拆卸连接，连接套2130的下端用于传动连接轴连部22；限位台2120套设于套头2100的外侧，套头2100与连接套2130可拆卸连接。通过将套筒部21设置为可拆卸连接的套头2100、连接套2130及限位台2120，由于套头2100易磨损，只需更换套头2100即可修复套筒部21，避免了整体更换套筒部21。
其中，限位台2120的材质可以为聚四氟乙烯，减少撞击声以及降低摩擦。钢套2112可以自上向下套入，便于安装，且采用钢套2112可以保持动力装置输出扭矩给套筒装置过程中，扭矩枪1的套筒部21的稳定性，限位垫可避免套筒部21插入电池紧固件过深。
套头2100的下端设有传动块，连接套2130的上端具有传动槽，传动块卡设于传动槽。利用传动块及传动槽实现套头2100与连接套2130的传动连接，结构简单、可靠。
当扭矩枪1对接电池包紧固件时，若有位置偏差则需要套筒摆动，摆动后会被复位组件使套筒部21轴线有向与连接轴24的轴线重合处复位的趋势，不至于为了配合紧固件使角度摆动过度。也可辅助使枪头在电池紧固件内部配合后摆正，再执行电池包紧固件的加解锁操作，避免扭矩枪1与电池包紧固件之间发生碰撞或磨损。
本实施例还提供一种换电机器人，换电机器人包括换电部，换电部至少包括基板和若干个如上的扭矩枪1，扭矩枪1安装于基板上。其中，扭矩枪1的安装位置与锁止件相对于车辆上的电池包的位置一一对应。
在本实施例中，换电机器人还包括升降机构和行走机构。升降机构用于升起或降下换电部，行走机构用于调节换电机器人相对于车辆的位置。
当换电机器人执行拆卸车辆电池包的操作时，行走机构先将换电机器人的位置调节至车辆电池包的正下方，升降机构再将换电部升起。此时，换电部上的扭矩枪1通过套筒装置与车辆上的锁止件相对接。进一步地，扭矩枪1的动力装置输出扭矩，并通过套筒装置传递至车辆上的锁止件，车辆上的锁止件被解锁，车辆电池包自然落下。随后升 降机构将换电部整体降下，行走机构将换电机器人移出工作位置，完成车辆电池包的拆卸过程。
当换电机器人执行安装车辆电池包的操作时，行走机构先将载有车辆电池包的换电机器人的位置调节至车辆电池包的正下方，升降机构再将载有车辆电池包的换电部升起。此时，换电部上的扭矩枪1通过套筒装置与车辆上的锁止件相对接。进一步地，扭矩枪1的动力装置输出扭矩，并通过套筒装置传递至车辆上的锁止件，车辆上的锁止件被解锁，车辆电池包自然落下，完成车辆电池包的拆卸。
虽然以上描述了本发明的具体实施方式，但是本领域的技术人员应当理解，这仅是举例说明，本发明的保护范围是由所附权利要求书限定的。本领域的技术人员在不背离本发明的原理和实质的前提下，可以对这些实施方式做出多种变更或修改，但这些变更和修改均落入本发明的保护范围。

Claims (19)

  1. 一种用于施加扭矩的扭矩枪，所述扭矩枪施加扭矩以锁紧或解锁锁止件，其特征在于，所述扭矩枪包括：
    套筒装置，所述套筒装置的上端对接于所述锁止件，并且能够转动以传递扭矩至所述锁止件；
    动力装置，所述动力装置包括电动机组件和减速机组件，所述电动机组件的动力输出端与所述减速机组件的动力输入端传动连接，所述减速机组件的动力输出端与所述套筒装置的动力输入端对接，用于输出动力以带动所述套筒装置转动；
    预压装置，所述预压装置一端抵靠于所述套筒装置，另一端抵靠于所述动力装置，所述预压装置处于预压状态，用于为所述套筒装置提供向上的预紧力；
    外壳体，所述外壳体的下端连接于所述动力装置，所述外壳体的上端与所述套筒装置对接，所述外壳体的内部空间用于容纳所述套筒装置的一部分和所述动力装置的至少一部分。
  2. 如权利要求1所述的用于施加扭矩的扭矩枪，其特征在于，所述套筒装置包括阻挡台，所述预压装置的上端抵靠于所述阻挡台的下表面。
  3. 如权利要求2所述的用于施加扭矩的扭矩枪，其特征在于，所述外壳体上部具有开口，所述套筒装置穿设于所述开口，所述阻挡台的外径小于所述开口内径，所述阻挡台的上表面在所述预压装置作用下紧贴于所述开口；
    和/或，所述阻挡台垂直于所述套筒装置的轴向设置。
  4. 如权利要求1-3任一项所述的用于施加扭矩的扭矩枪，其特征在于，所述减速机组件的动力输出端包括传动轴，所述套筒装置的动力输入端包括轴连部，所述传动轴与所述轴连部对接，所述预压装置设置于所述传动轴的外周侧。
  5. 如权利要求4所述的用于施加扭矩的扭矩枪，其特征在于，所述预压装置为多个并联的预压弹簧，或单个套设于所述传动轴和/或所述轴连部的预压弹簧；
    和/或，所述减速机组件包括谐波减速机，所述谐波减速机数量与所述电机数量相同并一一对应。
  6. 如权利要求4或5所述的用于施加扭矩的扭矩枪，其特征在于，所述减速机组件包括谐波减速机，所述电机通过传动机构带动多个所述谐波减速机；
    和/或，所述传动轴包括相连接的底座及轴部，所述底座与所述减速机组件相连接固定，所述轴部用于传动连接所述套筒装置，所述套筒装置相对于所述轴部能够沿所述轴 部的轴线方向滑动。
  7. 如权利要求1-6任意一项所述的用于施加扭矩的扭矩枪，其特征在于，所述外壳体包括底盘，所述底盘与所述外壳体下端相连，所述底盘连接于所述动力装置。
  8. 如权利要求7所述的用于施加扭矩的扭矩枪，其特征在于，所述外壳体还包括位于下部的第一收纳段，所述第一收纳段与所述底盘相连，所述第一收纳段容纳所述动力装置的至少一部分，所述第一收纳段的内壁与所述动力装置的外侧壁的至少一部分相贴合。
  9. 如权利要求1-8任一项所述的用于施加扭矩的扭矩枪，其特征在于，所述套筒装置包括：
    套筒部，所述套筒部的上端用于驱动待换电设备的电池紧固件转动；
    轴连部，所述轴连部的下端用于接受输入的扭矩转动以带动所述套筒部转动，所述轴连部的上端与所述套筒部的下端相连接，所述套筒部的上端能够从所述轴连部的轴线处向所述轴连部的轴线外侧方向摆动。
  10. 如权利要求9所述的用于施加扭矩的扭矩枪，其特征在于，所述套筒部通过枢转轴与所述轴连部相连接，使所述套筒部的上端能够从所述轴连部的轴线处向所述轴连部的轴线外侧方向摆动。
  11. 如权利要求9或10所述的用于施加扭矩的扭矩枪，其特征在于，所述套筒部的上端设置有电池紧固件驱动匹配部，所述电池紧固件驱动匹配部的上端面设有导向面，所述导向面用于导引所述套筒部与所述电池紧固件中的驱动件相配合；所述套筒部的外周面设有限位台，所述限位台用于限制所述套筒部与所述电池紧固件相配合的深度；所述限位台上设置有台阶面，所述台阶面用于与所述电池紧固件外周的弹性机构相匹配；所述套筒部上端面具有配合避让电池紧固件的连通槽或凹槽。
  12. 如权利要求11所述的用于施加扭矩的扭矩枪，其特征在于，所述限位台和所述电池紧固件驱动匹配部构成枪头，所述枪头相对于所述套筒部能够拆卸。
  13. 如权利要求9-12任一项所述的用于施加扭矩的扭矩枪，其特征在于，所述套筒装置还包括连接轴，所述套筒部通过所述连接轴与所述轴连部相连接，所述套筒部相对于所述连接轴能够摆动，所述连接轴相对于所述轴连部能够摆动。
  14. 如权利要求9-13任一项所述的用于施加扭矩的扭矩枪，其特征在于，所述套筒装置还包括弹性复位件，所述弹性复位件套设于所述套筒装置外周面，用于使所述套筒部复位至所述套筒部的轴线与所述轴连部的轴线相重合处。
  15. 如权利要求14所述的用于施加扭矩的扭矩枪，其特征在于，所述弹性复位件为橡胶套或弹簧组件。
  16. 如权利要求14或15所述的用于施加扭矩的扭矩枪，其特征在于，所述弹性复位件包括弹簧和钢套，所述钢套套设于所述套筒装置的外侧，所述弹簧设于所述钢套与所述套筒装置之间。
  17. 如权利要求16所述的用于施加扭矩的扭矩枪，其特征在于，所述钢套的上端的内侧面设有容置槽，所述弹簧设于所述容置槽内。
  18. 一种换电机器人，其特征在于，所述换电机器人包括换电部，所述换电部至少包括基板和若干个如权利要求1-17任一项所述的扭矩枪，所述扭矩枪安装于所述基板上。
  19. 如权利要求18所述的换电机器人，其特征在于，所述换电机器人还包括升降机构和行走机构，所述升降机构用于升起或降下所述换电部，所述行走机构用于调节所述换电机器人相对于车辆的位置。
PCT/CN2022/136299 2021-12-02 2022-12-02 用于施加扭矩的扭矩枪及包含其的换电机器人 WO2023098890A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111460203.5 2021-12-02
CN202111460203.5A CN115283979A (zh) 2021-12-02 2021-12-02 用于施加扭矩的扭矩枪及包含其的换电机器人

Publications (1)

Publication Number Publication Date
WO2023098890A1 true WO2023098890A1 (zh) 2023-06-08

Family

ID=83818979

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/136299 WO2023098890A1 (zh) 2021-12-02 2022-12-02 用于施加扭矩的扭矩枪及包含其的换电机器人

Country Status (2)

Country Link
CN (1) CN115283979A (zh)
WO (1) WO2023098890A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115283979A (zh) * 2021-12-02 2022-11-04 奥动新能源汽车科技有限公司 用于施加扭矩的扭矩枪及包含其的换电机器人

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3128655A (en) * 1962-06-22 1964-04-14 Lok Fast Inc Blind bolt installation tool with preloaded torque-responsive driving mechanism
CN104002278A (zh) * 2014-06-18 2014-08-27 电子科技大学 一种螺栓拧紧设备
CN107097067A (zh) * 2017-06-02 2017-08-29 上海蔚来汽车有限公司 自动加解锁装置、换电机器人、充换电站及加解锁方法
CN208393331U (zh) * 2018-04-28 2019-01-18 蔚来汽车有限公司 自动导引型换电机器人和充换电站
CN109500579A (zh) * 2017-12-15 2019-03-22 蔚来汽车有限公司 螺栓拧紧机构及电池包安装支架
CN109877573A (zh) * 2019-02-20 2019-06-14 杭州启鲲科技有限公司 一种电动汽车电池加解锁装置
CN112658665A (zh) * 2020-11-09 2021-04-16 国网浙江省电力有限公司金华供电公司 一种用于机器人的自适应电动套筒和机器人
CN115283980A (zh) * 2021-12-02 2022-11-04 奥动新能源汽车科技有限公司 套筒装置、扭矩枪及换电机器人
CN115283981A (zh) * 2021-12-02 2022-11-04 奥动新能源汽车科技有限公司 自动复位的扭矩枪头、扭矩枪及换电机器人
CN115283979A (zh) * 2021-12-02 2022-11-04 奥动新能源汽车科技有限公司 用于施加扭矩的扭矩枪及包含其的换电机器人
CN115283974A (zh) * 2021-12-02 2022-11-04 奥动新能源汽车科技有限公司 用于换电电池包加解锁的扭矩枪安装座、扭矩枪、机器人
CN115283982A (zh) * 2021-12-02 2022-11-04 奥动新能源汽车科技有限公司 换电电池包加解锁的扭矩枪动力装置、扭矩枪及换电机器人

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3128655A (en) * 1962-06-22 1964-04-14 Lok Fast Inc Blind bolt installation tool with preloaded torque-responsive driving mechanism
CN104002278A (zh) * 2014-06-18 2014-08-27 电子科技大学 一种螺栓拧紧设备
CN107097067A (zh) * 2017-06-02 2017-08-29 上海蔚来汽车有限公司 自动加解锁装置、换电机器人、充换电站及加解锁方法
CN109500579A (zh) * 2017-12-15 2019-03-22 蔚来汽车有限公司 螺栓拧紧机构及电池包安装支架
CN208393331U (zh) * 2018-04-28 2019-01-18 蔚来汽车有限公司 自动导引型换电机器人和充换电站
CN109877573A (zh) * 2019-02-20 2019-06-14 杭州启鲲科技有限公司 一种电动汽车电池加解锁装置
CN112658665A (zh) * 2020-11-09 2021-04-16 国网浙江省电力有限公司金华供电公司 一种用于机器人的自适应电动套筒和机器人
CN115283980A (zh) * 2021-12-02 2022-11-04 奥动新能源汽车科技有限公司 套筒装置、扭矩枪及换电机器人
CN115283981A (zh) * 2021-12-02 2022-11-04 奥动新能源汽车科技有限公司 自动复位的扭矩枪头、扭矩枪及换电机器人
CN115283979A (zh) * 2021-12-02 2022-11-04 奥动新能源汽车科技有限公司 用于施加扭矩的扭矩枪及包含其的换电机器人
CN115283974A (zh) * 2021-12-02 2022-11-04 奥动新能源汽车科技有限公司 用于换电电池包加解锁的扭矩枪安装座、扭矩枪、机器人
CN115283982A (zh) * 2021-12-02 2022-11-04 奥动新能源汽车科技有限公司 换电电池包加解锁的扭矩枪动力装置、扭矩枪及换电机器人

Also Published As

Publication number Publication date
CN115283979A (zh) 2022-11-04

Similar Documents

Publication Publication Date Title
WO2023098890A1 (zh) 用于施加扭矩的扭矩枪及包含其的换电机器人
TWI657886B (zh) 自動加解鎖裝置、換電機器人、充換電站及自動加解鎖方法
TW201927603A (zh) 用於浮動換電裝置的復位機構、浮動換電裝置及換電方法
WO2023098862A1 (zh) 换电设备及包含其的换电机器人、换电站
KR101348040B1 (ko) 전지 조립 장치 및 전지 조립체의 제조 방법
CN111099043B (zh) 一种具有导向凸块的载荷适配器
CN218558555U (zh) 快换总成、换电车辆
CN216761516U (zh) 托盘安装机构、换电设备以及换电站
CN216761510U (zh) 托盘安装机构、换电设备以及换电站
CN115303110A (zh) 托盘安装机构、换电设备以及换电站
CN217224437U (zh) 用于施加扭矩的扭矩枪及包含其的换电机器人
WO2022047811A1 (zh) 机器人末端对接机构
CN115283980A (zh) 套筒装置、扭矩枪及换电机器人
CN112310546B (zh) 连接组件、箱体、电池组及装置
CN106099161B (zh) 一种可实现内部电池定位的治具
CN115283982A (zh) 换电电池包加解锁的扭矩枪动力装置、扭矩枪及换电机器人
CN219096529U (zh) 电池解锁装置及换电平台
CN217702237U (zh) 一种新型螺栓机
CN216942755U (zh) 换电设备及包含其的换电机器人、换电站
CN217022256U (zh) 一种电磁解锁机构、电池包的换电装置及换电站
CN115283981A (zh) 自动复位的扭矩枪头、扭矩枪及换电机器人
CN216758875U (zh) 套筒装置、扭矩枪及换电机器人
CN202292614U (zh) 多品种发动机混流装配翻转台车
CN115283974A (zh) 用于换电电池包加解锁的扭矩枪安装座、扭矩枪、机器人
CN208576368U (zh) 一种用于顶升和移动的装置

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: 22900694

Country of ref document: EP

Kind code of ref document: A1