Socket device, torque gun and battery replacement robot

Abstract

The present invention discloses a sleeve device, a torque gun and a battery-swapping robot. The sleeve device is arranged in a torque gun for locking and unlocking a battery-swapping battery box. The sleeve device comprises: a sleeve portion and a shaft connection portion. The upper end of the sleeve portion is used to drive the battery fastener of the device to be replaced to rotate; the lower end of the shaft connection portion is used to receive external torque rotation to drive the sleeve portion to rotate. The upper end of the shaft connection portion is connected to the lower end of the sleeve portion. The upper end of the sleeve portion can swing from the axis of the shaft connection portion to the outer side of the axis of the shaft connection portion. The sleeve portion can swing relative to the axis direction of the shaft connection portion, thereby increasing the range of motion of the sleeve portion. Even if there is an error in the relative positioning of the sleeve portion and the fastener, the swingable sleeve portion can still clamp the fastener, thereby realizing the torsion of the fastener. The sleeve device can reduce the requirements for positioning accuracy and improve the efficiency of aligning fasteners.

Description

Technical Field

[0001] The present invention relates to the field of battery replacement for electric vehicles, and in particular to a sleeve device, a torque gun and a battery replacement robot. Background Art

[0002] The battery box settings of existing electric vehicles are generally divided into fixed and replaceable types. Among them, fixed batteries are generally fixed on the vehicle, and the vehicle is directly used as the charging object during charging. The replaceable battery box is generally fixed on the vehicle's bracket through a movable installation. The battery box can be removed to replace or charge the battery box alone. After the replaced battery box is charged, it is reinstalled on the vehicle. The battery box can be a battery PACK. When multiple battery cells are packaged together in the same outer shell frame and connected to the outside through a unified boundary, this constitutes a module. When several modules are controlled or managed together by the BMS and thermal management system, this unified whole is called a battery PACK.

[0003] The battery box can be mounted to the bracket by fasteners, and the locking device on the bracket can fix the battery box. In order to facilitate the installation or removal of fasteners, the battery swap station can use a torque gun to complete the relevant operations. The sleeve of the torque gun can clamp the end of the fastener, so that torque can be applied to the fastener, thereby achieving the installation or removal of the battery box.

[0004] Currently, it is usually difficult to accurately align the sleeve of a torque gun with the fastener, resulting in difficulty in loading and unloading the battery box and low efficiency. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the above-mentioned defect that the sleeve of the torque gun in the prior art is usually difficult to accurately align with the fastener, and to provide a sleeve device, a torque gun and a battery-changing robot.

[0006] The present invention solves the above technical problems through the following technical solutions:

[0007] A sleeve device is arranged in a torque gun for locking and unlocking a battery replacement box, and the sleeve device includes: a sleeve part and a shaft connection part, the upper end of the sleeve part is used to drive the battery fastener of the device to be replaced to rotate; the lower end of the shaft connection part is used to accept external torque rotation 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 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.

[0008] In this solution, by adopting the above structure, the sleeve part can swing relative to the axial direction of the shaft connection part, thereby increasing the range of motion of the sleeve part. Even if there is an error in the relative positioning of the sleeve part and the fastener, the swingable sleeve part can still clamp the fastener, thereby achieving the torsion of the fastener. The sleeve device can reduce the positioning accuracy requirements, reduce the accuracy requirements of the installation position of the torque gun, and improve the efficiency of aligning the fastener.

[0009] Preferably, the sleeve portion is connected to the shaft connection portion via a pivot shaft, so that the upper end of the sleeve portion can swing from the axis of the shaft connection portion toward the outside of the axis of the shaft connection portion.

[0010] In this solution, the swing is achieved by using a pivot shaft, and the structure is simple and reliable.

[0011] Preferably, the lower end of the sleeve portion has two downwardly extending connecting walls that are oppositely arranged, and the two connecting walls have correspondingly arranged first pivot holes, and the pivot shaft is inserted into the first pivot hole.

[0012] Preferably, an escape gap is provided between the lower end of the sleeve portion and the upper end of the shaft connection portion, and the escape gap is used to avoid interference with the swing of the sleeve portion.

[0013] In this solution, interference swing can be avoided.

[0014] Preferably, a battery fastener driving matching portion is provided at the upper end of the sleeve portion, and a guide surface is provided on the upper end surface of the battery fastener driving matching portion, and the guide surface is used to guide the sleeve portion to cooperate with the driving member in the battery fastener.

[0015] In this solution, it is easy to guide the two to cooperate. The driving member is a nut. By cooperating with the nut and rotating the nut, the screw can be removed.

[0016] Preferably, a limit platform is provided on the outer peripheral surface of the sleeve portion, and the limit platform is used to limit the depth of the matching between the sleeve portion and the battery fastener.

[0017] In this solution, the limit table prevents the insertion from being too deep.

[0018] Preferably, the limiting platform is provided with a step surface, and the step surface is used to match the elastic mechanism on the periphery of the battery fastener.

[0019] Preferably, the upper end surface of the sleeve portion has a connecting groove or a groove for matching and avoiding the battery fastener.

[0020] Preferably, the lower end of the shaft connection portion has a connecting hole, and the external power output portion applies a torque to the shaft connection portion through the connecting hole, so as to apply an external force torque to the shaft connection portion.

[0021] Preferably, the sleeve device further comprises a connecting shaft, the sleeve portion is connected to the shaft connecting portion via the connecting shaft, the sleeve portion can swing relative to the connecting shaft, and the connecting shaft can swing relative to the shaft connecting portion.

[0022] In this solution, the sleeve part can swing in multiple directions.

[0023] Preferably, the lower end of the sleeve portion is pivotally connected to the connecting shaft, the upper end of the shaft connecting portion is pivotally connected to the connecting shaft, and the swing direction of the connecting shaft relative to the shaft connecting portion is not coplanar with the swing direction of the sleeve portion relative to the connecting shaft.

[0024] In this solution, the sleeve portion can swing in any direction relative to the axial direction of the coupling portion through the bidirectional pivot connection.

[0025] Preferably, the connecting shaft comprises a rolling-fitting ball head portion and a ball groove portion, the upper end of the sleeve portion is fixedly connected to one end of the connecting shaft, and the lower end of the shaft connection portion is fixedly connected to the other end of the connecting shaft.

[0026] In this solution, the rolling fit between the ball head and the ball groove can reduce friction and improve the swing flexibility of the sleeve and the shaft connection.

[0027] Preferably, the sleeve portion comprises:

[0028] A sleeve head, the upper end of which is used to drive the battery fastener of the device to be replaced to rotate;

[0029] A connecting sleeve, the sleeve head is detachably connected to the connecting sleeve, and the lower end of the connecting sleeve is used for transmission connection with the shaft connection part;

[0030] A limiting pad is sleeved on the outside of the sleeve, and the sleeve is detachably connected to the connecting sleeve.

[0031] In this solution, the sleeve part is configured as a detachably connected sleeve head, a connecting sleeve and a limiting pad. Since the sleeve head is easily worn, the sleeve part can be repaired by simply replacing the sleeve head, thus avoiding the need to replace the entire sleeve part. The limiting pad can prevent the sleeve part from being inserted too deeply into the battery fastener.

[0032] Preferably, a transmission block is provided at the lower end of the sleeve, and a transmission groove is provided at the upper end of the connecting sleeve, and the transmission block is clamped in the transmission groove.

[0033] In this solution, the transmission block and the transmission groove are used to realize the transmission connection between the sleeve head and the connecting sleeve, and the structure is simple and reliable.

[0034] A torque gun comprises the sleeve device as described above.

[0035] In this solution, by adopting the above structure, the sleeve device of the torque gun can swing, so that even if there is an error between the positioning of the torque gun and the battery fastener, the sleeve device can smoothly cooperate with the battery fastener, thereby realizing the installation or removal of the battery fastener. The torque gun can reduce the positioning accuracy requirements and improve the efficiency of installing or removing the battery fastener.

[0036] Preferably, the torque gun also includes a power assembly, a base assembly and an elastic member, the power assembly is installed on the base assembly, the output shaft of the power assembly is transmission-connected to the shaft connection portion, the shaft connection portion can move along the axial direction of the output shaft, the elastic member acts on the sleeve device, and the elastic member is used to drive the sleeve device away from the power assembly.

[0037] In this solution, the elastic member provides support force for the sleeve device inside the torque gun away from the power assembly, and both are installed on the base assembly, so that the structure of the torque gun is compact and stable, and can withstand certain external pressure from the battery box locking mechanism, etc.

[0038] Preferably, a blocking platform is provided on the outer circumference of the shaft connection part, and the elastic member is a second spring, which is sleeved on the outer circumference of the shaft connection part, and two ends of the second spring respectively abut against the shaft connection part and the power component.

[0039] In this solution, the elastic member adopts a second spring, which is positioned and arranged, and has a simple and stable structure.

[0040] A battery-swapping robot comprises a lifting platform and a torque gun mounting plate arranged on the lifting platform, wherein at least one torque gun as described above is arranged on the torque gun mounting plate.

[0041] In this solution, by adopting the above structure, the battery swap robot uses the above torque gun, which can reduce the accuracy requirements of the relative position between the battery swap robot and the device to be replaced, and can improve the efficiency of replacing the battery box of the battery swap device.

[0042] On the basis of being in accordance with the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present invention.

[0043] The positive and progressive effects of the present invention are:

[0044] The sleeve portion of the sleeve device of the present invention can swing relative to the axial direction of the shaft connection portion, thereby increasing the range of motion of the sleeve portion. Even if there is an error in the relative positioning of the sleeve portion and the fastener, the swingable sleeve portion can still clamp the fastener, thereby achieving the torsion of the fastener. The sleeve device can reduce the requirements for positioning accuracy and improve the efficiency of aligning the fastener. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic structural diagram of a battery-swapping robot according to a preferred embodiment of the present invention.

[0046] Figure 2 for Figure 1 Schematic diagram of the structure of the torque gun of the battery-swapping robot.

[0047] Figure 3 for Figure 1 A structural schematic diagram of the torque gun of the battery-swapping robot in use, which includes the torque gun and battery fasteners.

[0048] Figure 4 for Figure 3 Schematic diagram of the structure of the torque gun of the battery-swap robot.

[0049] Figure 5 for Figure 2 The torque gun does not show the structural diagram of the base assembly and the elastic reset assembly.

[0050] Figure 6 for Figure 5 A schematic structural diagram of the sleeve portion of the middle sleeve device.

[0051] Figure 7 for Figure 5 A schematic structural diagram of the shaft connection portion of the middle sleeve device.

[0052] Figure 8 for Figure 5 Schematic diagram of the structure of the connecting shaft of the middle sleeve device.

[0053] Fig. 9 for Figure 5 Schematic diagram of the structure of the output shaft of the middle sleeve device.

[0054] Fig.10 for Figure 5 Schematic diagram of the structure of the reducer assembly of the middle sleeve device.

[0055] Fig.11 for Figure 5 Schematic diagram of the structure of the motor assembly of the middle sleeve device.

[0056] Fig.12 for Figure 3 Schematic diagram of the structure of the base assembly of the battery-swapping robot.

[0057] Fig.13 for Figure 2 The torque gun does not show the structural diagram of the base assembly, in which the elastic reset assembly is a rubber sleeve.

[0058] Fig.14 This is a schematic diagram of the structure of the torque gun in the battery-swapping robot according to Embodiment 2 of the present invention.

[0059] Fig.15 for Fig.14 Schematic diagram of the structure of the torque gun in cross section.

[0060] Fig.16 for Fig.14 Schematic diagram of the structure of the steel sleeve in the medium torque gun.

[0061] Fig.17 for Fig.14 Schematic diagram of the structure of the sleeve head and the limit pad of the middle sleeve part.

[0062] Fig.18 for Fig.17 A schematic structural diagram of the middle sleeve and the limit pad from another perspective.

[0063] Fig.19 for Fig.14 Schematic diagram of the structure of the cross-section of the middle limit pad.

[0064] Fig. 20 for Fig.14 Schematic diagram of the structure of the connecting sleeve of the middle sleeve part.

[0065] Description of reference numerals:

[0066] Battery swap robot 100

[0067] Lifting platform 11

[0068] Torque gun mounting plate 12

[0069] Torque gun 200

[0070] Power Components 21

[0071] Base assembly 22

[0072] Elastic member 23

[0073] Block 24

[0074] Reducer assembly 25

[0075] Motor assembly 26

[0076] Output shaft 27

[0077] Sleeve device 300

[0078] Avoidance clearance 31

[0079] Sleeve portion 40

[0080] Connecting wall 41

[0081] Drive matching unit 42

[0082] Guide surface 43

[0083] Limiting table 44

[0084] Step surface 45

[0085] Connecting groove 46

[0086] Hood 47

[0087] Transmission block 471

[0088] Limit pad 48

[0089] Connecting sleeve 49

[0090] Transmission slot 491

[0091] Axis connection 50

[0092] Connection hole 51

[0093] Connecting shaft 60

[0094] Elastic reset assembly 70

[0095] Steel sleeve 71

[0096] Accommodation groove 72

[0097] Wave spring 73

[0098] Rubber sleeve 74

[0099] Battery Fastener 90 DETAILED DESCRIPTION

[0100] The present invention will be described more clearly and completely below by way of embodiments in conjunction with the accompanying drawings, but the present invention is not limited to the scope of the embodiments.

[0101] Example 1

[0102] like Figures 1 to 13 As shown, this embodiment is a battery swap robot 100, which includes a lifting platform 11 and a torque gun mounting plate 12 disposed on the lifting platform 11, and at least one torque gun 200 as described below is disposed on the torque gun mounting plate 12. The battery swap robot 100 uses the torque gun 200 described below, which can reduce the accuracy requirements of the relative position between the battery swap robot 100 and the device to be replaced, and can improve the efficiency of replacing the battery box of the battery swap device.

[0103] The battery-swapping robot 100 moves to the designated position under the electric vehicle; the lifting platform 11 will move in the direction approaching the electric vehicle, thereby driving the torque gun mounting plate 12 and the torque gun 200 to move in the direction approaching the electric vehicle, and the torque gun 200 will drive the rotational movement of the rotary locking piece on the battery pack to unlock or lock the battery pack.

[0104] In the figure, the torque gun 200 includes a sleeve device 300 as described below. The sleeve device 300 of the torque gun 200 can swing, so that even if there is an error between the positioning of the torque gun 200 and the battery fastener 90, the sleeve device 300 can smoothly cooperate with the battery fastener 90, thereby achieving the installation or removal of the battery fastener 90. The torque gun 200 can reduce the positioning accuracy requirements and improve the efficiency of installing or removing the battery fastener 90.

[0105] The torque gun 200 further includes a power assembly 21, a base assembly 22 and an elastic member 23. The power assembly 21 is mounted on the base assembly 22. The output shaft 27 of the power assembly 21 is in driving connection with the shaft connection 50. The shaft connection 50 can move along the axis direction of the output shaft 27. The elastic member 23 acts on the sleeve device 300. The elastic member 23 is used to drive the sleeve device 300 away from the power assembly 21. The elastic member provides support for the sleeve device 300 in the torque gun 200 to be away from the power assembly 21, and is mounted on the base assembly 22, so that the structure of the torque gun 200 is compact and stable, and can withstand a certain external pressure such as the locking mechanism of the battery box.

[0106] The outer circumference of the shaft connection part 50 is provided with a blocking platform 24, and the elastic member 23 is a second spring, which is sleeved on the outer circumference of the shaft connection part 50, and the two ends of the second spring respectively abut against the shaft connection part 50 and the power assembly 21. The elastic member adopts the second spring, and its position setting is simple and stable.

[0107] As an implementation manner, the power assembly 21 may specifically include a servo motor 26 and a harmonic reducer assembly 25 that are transmission-connected. The harmonic reducer assembly 25 drives the output shaft 27 to rotate, and the output shaft 27 drives the sleeve device 300 to rotate.

[0108] like Figure 4-Figure 8As shown, the figure shows the sleeve device 300 mentioned above, which is arranged in the torque gun 200 for locking and unlocking the battery box for battery replacement, and the sleeve device 300 includes: a sleeve part 40 and a shaft connecting part 50, the upper end of the sleeve part 40 is used to drive the battery fastener 90 of the battery replacement device to rotate; the lower end of the shaft connecting part 50 is used to receive external torque rotation to drive the sleeve part 40 to rotate, the upper end of the shaft connecting part 50 is connected to the lower end of the sleeve part 40, and the upper end of the sleeve part 40 can swing from the axis of the shaft connecting part 50 to the outside of the axis of the shaft connecting part 50. The sleeve part 40 can swing relative to the axis direction of the shaft connecting part 50, so as to increase the range of movement of the sleeve part 40, and even if there is an error in the relative positioning of the sleeve part 40 and the fastener, the swingable sleeve part 40 can still clamp the fastener, thereby realizing the torsion of the fastener. The socket device 300 can reduce the positioning accuracy requirement, can reduce the accuracy requirement of the installation position of the torque gun 200, and can improve the efficiency of aligning the fasteners.

[0109] In this embodiment, if Figure 5 As shown in the figure, as a specific embodiment, the sleeve part 40 is connected to the shaft connecting part 50 through a pivot shaft, so that the upper end of the sleeve part 40 can swing from the axis of the shaft connecting part 50 to the outside of the axis of the shaft connecting part 50. The swing is realized by the pivot shaft, which has a simple and reliable structure, and can realize the pivoting of the sleeve part 40 and the shaft connecting part 50 along the pivot shaft. Of course, other pivoting methods can also be used, which are not limited here.

[0110] like Figure 6 In the embodiment, the lower end of the sleeve portion 40 has two downwardly extending connecting walls 41 arranged opposite to each other, and the two connecting walls 41 have correspondingly arranged first pivot holes, and the pivot shaft is inserted into the first pivot holes. An escape gap 31 is provided between the lower end of the sleeve portion 40 and the upper end of the shaft connecting portion 50, and the escape gap 31 is used to avoid interference with the swing of the sleeve portion 40, so as to avoid interference with the swing.

[0111] As another specific implementation, Figure 5 As shown, the sleeve device 300 also includes a connecting shaft 60, and the sleeve part 40 is connected to the shaft connecting part 50 through the connecting shaft 60. The sleeve part 40 can swing relative to the connecting shaft 60, and the connecting shaft 60 can swing relative to the shaft connecting part 50. The connecting shaft 60 can realize the swing of the sleeve part 40 in multiple directions.

[0112] In other embodiments, the sleeve portion 40 and the shaft connection portion 50 may also be directly connected, and the sleeve portion 40 may swing in different directions relative to the shaft connection portion 50. The sleeve portion 40 and the shaft connection portion 50 may be specifically connected via a pivot shaft.

[0113] In this embodiment, if Figure 8As shown, the connecting shaft 60 can be a rectangular parallelepiped as a whole, and the connecting shaft 60 is provided with two holes in different directions, and the sleeve portion 40 and the shaft connecting portion 50 can be pivoted on the connecting shaft 60. The connecting shaft 60 can also include a ball head and a ball groove portion with rolling fit, the upper end of the sleeve portion 40 is fixedly connected to one end of the connecting shaft 60, and the lower end of the shaft connecting portion 50 is fixedly connected to the other end of the connecting shaft 60. The rolling fit of the ball head and the ball groove portion can reduce friction and improve the flexibility of the sleeve portion 40 and the shaft connecting portion 50 to swing. When the connecting shaft 60 is a rectangular parallelepiped as a whole, the lower end of the sleeve portion 40 is pivoted to the connecting shaft 60, and the upper end of the shaft connecting portion 50 is pivoted to the connecting shaft 60, and the swing direction of the connecting shaft 60 relative to the shaft connecting portion 50 is not coplanar with the swing direction of the sleeve portion 40 relative to the connecting shaft 60. The sleeve portion 40 can swing in any direction relative to the axial direction of the shaft connecting portion 60 through the two-way pivot connection.

[0114] In this embodiment, the connecting walls 41 extending downward from the sleeve portion 40 are arranged opposite to each other, and the connecting shaft 60 can be inserted between the two connecting walls 41. The upper end of the shaft connecting portion 50 also has a structure similar to or the same as the connecting wall 41, and the connecting shaft 60 can also be inserted into the shaft connecting portion 50. The sleeve portion 40, the connecting shaft 60 and the shaft connecting portion 50 are sequentially connected by a pivot axis, and the sleeve portion 40 and the shaft connecting portion 50 can swing in different directions relative to the connecting shaft 60.

[0115] In the above two embodiments, the upper end of the sleeve part 40 is provided with a battery fastener 90 driving matching part 42, and the upper end surface of the battery fastener 90 driving matching part 42 is provided with a guide surface 43, and the guide surface 43 is used to guide the sleeve part 40 to cooperate with the driving part in the battery fastener 90. To facilitate the guidance of the two to cooperate, the driving part is a nut, which cooperates with the nut, rotates the nut, rotates the screw, and drives the battery fastener 90 to lock and unlock. The outer peripheral surface of the sleeve part 40 is provided with a limit platform 44, and the limit platform 44 is used to limit the depth of the sleeve part 40 and the battery fastener 90. The limit platform 44 can prevent the sleeve device 300 from being inserted too deep into the battery fastener 90. The limit platform 44 is provided with a step surface 45, and the step surface 45 is used to match the elastic mechanism on the periphery of the battery fastener 90. The upper end surface of the sleeve part 40 has a connecting groove 46 for matching and avoiding the battery fastener 90. In other embodiments, the connecting groove 46 can also be set as a groove.

[0116] As a specific embodiment, the battery fastener 90 driving matching portion 42 can be an outer hexagonal shape as a whole, and the upper end surface of the battery fastener 90 driving matching portion 42 has an arc-shaped guide surface 43. The lower end of the battery fastener 90 driving matching portion 42 is provided with a step surface 45, and a limit platform 44 is provided below the step surface 45. The diameter of the limit platform 44 is larger than the diameter of the step surface 45. Two downwardly extending connecting walls 41 are provided below the step surface 45. The sleeve portion 40 can also be a hollow structure as a whole, and the connecting groove 46 extends downward from the upper end of the sleeve portion 40. The connecting groove 46 is composed of an upper groove and a lower through groove. The upper groove is used to avoid the fastener, and the lower through groove is used to install the pivot shaft, or the pivot connection between the connecting shaft 60 and the sleeve portion 40.

[0117] The lower end of the shaft connection part 50 has a connection hole 51 , and the external power output part applies a torque to the shaft connection part 50 through the connection hole 51 , so as to apply an external force torque to the shaft connection part 50 .

[0118] As an embodiment, the torque gun 200 may further include an elastic reset assembly 70, which is sleeved on the outer circumference of the sleeve device 300 and is used to reset the sleeve portion 40 to the position where the axis of the sleeve portion 40 coincides with the axis of the shaft connection portion 50. The sleeve portion 40 can swing relative to the axis direction of the shaft connection portion 50, thereby increasing the range of motion of the sleeve portion 40. Even if there is an error in the relative positioning of the sleeve portion 40 and the fastener, the swingable sleeve portion 40 can still clamp the fastener. The elastic reset assembly 70 drives the axis of the sleeve portion 40 to coincide with the axis of the shaft connection portion 50, and the axis of the sleeve device 300 can coincide with the axis of the fastener, thereby achieving torsion of the fastener. The sleeve device 300 can reduce the requirements for positioning accuracy and improve the efficiency of aligning the fastener.

[0119] As an embodiment, when the torque gun 200 is docked with the battery pack fastener, if there is a position deviation, the sleeve device 300 needs to swing. After the swing, the axis of the sleeve part 40 is driven by the elastic reset component 70 to reset to the position where it coincides with the axis of the shaft connection part 50, so that the angle is not excessively swung to match the fastener, and the torque gun head 200 can be calibrated after being matched inside the battery fastener, and then the battery pack fastener is locked and unlocked.

[0120] The elastic reset component 70 is sleeved on the outer circumference of the sleeve portion 40 and the shaft connection portion 50, so that the elastic reset component can apply force inward from all sides to facilitate the reset of the sleeve device 300.

[0121] There is an accommodation gap between the inner side surface of the elastic reset component 70 and the outer peripheral surface of the sleeve portion 40, and the range of the accommodation gap is 1 to 2 mm.

[0122] In this embodiment, the elastic reset component 70 is a spring, and specifically a rectangular spring. Fig.13 As shown, the elastic reset component 70 can also be a rubber sleeve 74, which has a simple structure and is reliable in use.

[0123] The power assembly 21 of the torque gun 200 may specifically include a motor assembly 26, the power output end of the motor assembly 26 is transmission-connected to the power input end of the reducer assembly 25, and the power output end of the reducer assembly 25 is used to output power to drive the sleeve device 300 to rotate. Specifically, the motor assembly 26 may be a servo motor assembly, and the reducer assembly 25 may be a harmonic reducer assembly.

[0124] The torque gun 200 may also include a linkage assembly, wherein the power output end of the motor assembly 25 is transmission-connected to the power input end of the linkage assembly, and the power output end of the linkage assembly is used to transmission-connect multiple reducer assemblies. The motor assembly 25 may be a servo motor for flexible configuration.

[0125] The elastic member 23 is a second spring, which is sleeved on the outer periphery of the shaft connection part 50, and the two ends of the second spring respectively abut against the shaft connection part 50 and the lower side of the blocking platform 24 of the sleeve device 300. During the power replacement process, the second spring can drive the support sleeve device 300 to maintain an up and down floating distance interval away from the power device, and apply pre-pressure, thereby increasing the structural stability, while the overall structure is simple and compact.

[0126] The inner wall of the base assembly 22 is in contact with at least a portion of the outer wall of the power device, and the lower end surface of the base assembly 22 is fixed to the power device via a fixing member, resulting in a compact structure.

[0127] The motor assembly 25, the reducer assembly 26 and the lower end surface of the base assembly 22 are fixed in sequence through fixing pieces.

[0128] Example 2

[0129] like Figure 14-Figure 20 As shown, this embodiment is a battery-changing robot 100, which is basically the same as Embodiment 1, except that the elastic reset assembly 70 and the sleeve portion 40 of this embodiment are as follows.

[0130] The sleeve portion 40 includes a sleeve head 47, a connecting sleeve 48 and a limiting pad 49. The upper end of the sleeve head 47 is used to drive the battery fastener of the device to be replaced to rotate; the sleeve head 47 and the connecting sleeve 48 are detachably connected, and the lower end of the connecting sleeve 48 is used to drive the connecting shaft connecting portion 50; the limiting pad 49 is sleeved on the outer side of the sleeve head 47, and the sleeve head 47 and the connecting sleeve 48 are detachably connected. By setting the sleeve portion 40 as a detachably connected sleeve head 47, a connecting sleeve 48 and a limiting pad 49, since the sleeve head 47 is easy to wear, the sleeve portion 40 can be repaired by replacing the sleeve head 47, avoiding the need to replace the sleeve portion 40 as a whole.

[0131] The material of the limiting pad 49 can be polytetrafluoroethylene, and the steel sleeve 71 can be inserted from top to bottom for easy installation. The steel sleeve 71 can maintain the stability of the sleeve portion 40 of the torque gun during the process of the power device outputting torque to the sleeve device 300, and the limiting pad 49 can prevent the sleeve portion from being inserted too deeply into the battery fastener 90. The lower end of the sleeve 47 is provided with a transmission block 471, and the upper end of the connecting sleeve 48 is provided with a transmission groove 481, and the transmission block 471 is clamped in the transmission groove 481. The transmission block 471 and the transmission groove 481 are used to realize the transmission connection between the sleeve 47 and the connecting sleeve 48, and the structure is simple and reliable.

[0132] The elastic reset assembly 70 of this embodiment includes a wave spring 73 and a steel sleeve 71, wherein the steel sleeve 71 is sleeved on the outside of the sleeve device 300, and the wave spring 73 is arranged between the steel sleeve 71 and the sleeve device 300. The structure is simple, ensuring that effective reset force is applied to the sleeve device 300, and the assembly is easy to install, practical and reliable.

[0133] As an implementation mode, a receiving groove 72 is provided on the inner side surface of the upper end of the steel sleeve 71, and the wave spring 73 is provided in the receiving groove 72, which has a compact structure and is reliable in use.

[0134] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A sleeve device, arranged in a torque gun for locking and unlocking a battery box for battery replacement, characterized in that: The sleeve device comprises: A sleeve portion, the upper end of which is used to drive the battery fastener of the device to be replaced to rotate; A shaft connection part, wherein the lower end of the shaft connection part is used to receive external torque to rotate so as 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 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 upper end of the sleeve portion is provided with a battery fastener driving matching portion, and the upper end surface of the battery fastener driving matching portion is provided with a guide surface, and the guide surface is used to guide the sleeve portion to match with the driving member in the battery fastener; A limit platform is provided on the outer peripheral surface of the sleeve portion, and the limit platform is used to limit the depth of the matching between the sleeve portion and the battery fastener.

2. The sleeve device according to claim 1, characterized in that The sleeve portion is connected to the shaft connection portion via a pivot shaft, so that the upper end of the sleeve portion can swing from the axis of the shaft connection portion toward the outer side of the axis of the shaft connection portion.

3. The sleeve device according to claim 2, characterized in that The lower end of the sleeve portion has two downwardly extending connecting walls which are arranged opposite to each other, and the two connecting walls have correspondingly arranged first pivot holes, and the pivot shaft is inserted into the first pivot hole.

4. The sleeve device according to claim 1, characterized in that An escape gap is provided between the lower end of the sleeve portion and the upper end of the shaft connection portion, and the escape gap is used to avoid interference with the swing of the sleeve portion.

5. The sleeve device according to claim 1, characterized in that The limiting platform is provided with a step surface, and the step surface is used to match the elastic mechanism on the periphery of the battery fastener.

6. The sleeve device according to claim 1, characterized in that The upper end surface of the sleeve portion has a connecting groove or a groove for matching and avoiding the battery fastener.

7. The sleeve device according to claim 1, characterized in that The lower end of the shaft connection part has a connecting hole, and the external power output part applies a torque to the shaft connection part through the connecting hole, so as to apply an external force torque to the shaft connection part.

8. The sleeve device according to claim 1, characterized in that The sleeve device also includes a connecting shaft, the sleeve portion is connected to the shaft connecting portion via the connecting shaft, the sleeve portion can swing relative to the connecting shaft, and the connecting shaft can swing relative to the shaft connecting portion.

9. The sleeve device according to claim 8, characterized in that The lower end of the sleeve portion is pivotally connected to the connecting shaft, the upper end of the shaft connecting portion is pivotally connected to the connecting shaft, and the swing direction of the connecting shaft relative to the shaft connecting portion is not coplanar with the swing direction of the sleeve portion relative to the connecting shaft.

10. The sleeve device according to claim 8, characterized in that The connecting shaft comprises a ball head portion and a ball groove portion which are rolling-fitted, the upper end of the sleeve portion is fixedly connected to one end of the connecting shaft, and the lower end of the shaft connection portion is fixedly connected to the other end of the connecting shaft.

11. The sleeve device according to any one of claims 1 to 10, characterized in that: The sleeve portion comprises: A sleeve head, the upper end of which is used to drive the battery fastener of the device to be replaced to rotate; A connecting sleeve, the sleeve head is detachably connected to the connecting sleeve, and the lower end of the connecting sleeve is used for transmission connection with the shaft connection part; A limiting pad is sleeved on the outside of the sleeve, and the limiting pad is detachably connected to the connecting sleeve.

12. The sleeve device according to claim 11, characterized in that The lower end of the sleeve head is provided with a transmission block, the upper end of the connecting sleeve is provided with a transmission groove, and the transmission block is clamped in the transmission groove.

13. A torque gun, characterized in that: The torque gun comprises a socket device as claimed in any one of claims 1-12.

14. The torque gun according to claim 13, characterized in that The torque gun also includes a power assembly, a base assembly and an elastic member. The power assembly is installed on the base assembly. The output shaft of the power assembly is transmission-connected to the shaft connection portion. The shaft connection portion can move along the axial direction of the output shaft. The elastic member acts on the sleeve device, and the elastic member is used to drive the sleeve device away from the power assembly.

15. The torque gun according to claim 14, characterized in that The outer circumference of the shaft connection part is provided with a blocking platform, the elastic member is a second spring, the second spring is sleeved on the outer circumference of the shaft connection part, and the two ends of the second spring respectively abut against the shaft connection part and the power component.

16. A battery-swapping robot, characterized in that: The battery-exchanging robot comprises a lifting platform and a torque gun mounting plate arranged on the lifting platform, and at least one torque gun as described in any one of claims 13-15 is arranged on the torque gun mounting plate.

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