Multi-mode combined unlocking method for battery swap station

Abstract

The invention discloses a multi-mode combined unlocking method for a battery swap station, which comprises a plurality of unlocking guns, a control module, a detection module and an operation module, the plurality of unlocking guns perform high-speed unlocking at a set initial torque, the detection module feeds back respective positions of the plurality of unlocking guns, the control module judges whether a bolt is loosened and exceeds a set range or not, and if yes, the operation module performs unlocking. The torque is automatically and progressively increased or the current torque is kept, different unlocking gun torque adaptation is achieved, when a bolt with the unlocking torque exceeding the limit appears, the operation module controls the bolt to enter an abnormal processing mode, and finally all the bolts are unlocked.

Description

Technical Field

[0001] The present invention belongs to the technical field of battery replacement and unlocking of new energy vehicles, and in particular relates to a multi-mode combination unlocking method for a battery replacement station. Background Art

[0002] In order to achieve reliable, durable and easy disassembly and assembly of the connection between the battery and the body, new energy battery-swap vehicles mostly use bolts, clamps, plug-ins and other methods. Among them, the bolt structure is widely used due to its low cost, high tightness and high durability.

[0003] During the use of battery-swap vehicles with bolt mechanisms, the bolts are affected by temperature changes, vibrations during driving, dust entering the bolt surface and other factors, which cause the bolt clamping force and friction to increase. When removing the battery, the bolts are affected by the above factors, and the normally set rated unlocking torque cannot overcome the clamping force and friction, resulting in unlocking failure.

[0004] The unlocking methods currently used are as follows:

[0005] 1. Unlock with fixed torque: At the beginning of unlocking, the servo unlocking mechanism unlocks with high speed and fixed torque. The success rate of unlocking stubborn bolts is not high, and the only way to unlock them is to increase the unlocking torque. Long-term high torque unlocking will cause great damage to the bolts and gun heads, reducing the service life of the bolts.

[0006] 2. Unlocking by output torque of servo mechanism: Due to the limited installation space for locking and unlocking, the size of the locking and unlocking gun is limited, and a higher power servo gun cannot be used. In addition, the maximum overload torque of the servo gun cannot exceed 300%, and unlocking cannot be achieved by increasing the torque.

[0007] 3. Unlock with incremental torque: If the initial unlocking torque cannot loosen the bolt, increase the unlocking torque by a certain amount to unlock again until the unlocking is completed or the upper limit of the incremental torque unlocking times is reached.

[0008] A body and battery connection system is composed of a combination of multiple sets of bolts of the same or different specifications. The battery replacement mechanism simply increases the torque to unlock the bolts, cannot specifically find the bolts with abnormal torque, and has poor flexibility. At the same time, large torque unlocking has irreversible effects on the mechanical life of the bolts and unlocking gun heads. Summary of the invention

[0009] The main technical problem solved by the present invention is to provide a multi-mode combined unlocking method for a battery swap station. All unlocking guns start unlocking with low torque in standard mode. Each unlocking gun judges whether the bolt is loose beyond a certain range according to its current position, and automatically increases the torque or maintains the current torque to achieve torque adaptation of different gun heads. When a bolt with an unlocking torque exceeding the limit appears, the bolt enters the abnormal mode, and finally all bolts are unlocked. The bolts processed in the abnormal mode can protect the battery swap mechanism, battery swap vehicle, battery, and connectors from large load impact, thereby increasing the service life of the battery swap station and the vehicle body battery connector.

[0010] In order to solve the above technical problems, a technical solution adopted by the present invention is: a method for unlocking multiple modes of a battery swap station, the method comprising:

[0011] Several unlocking guns, control modules, detection modules and operation modules. Several unlocking guns are used for high-speed unlocking with a set initial torque. The detection module feeds back the respective positions of several unlocking guns. The control module determines whether the bolt is loose beyond the set range, and automatically increases the torque or maintains the current torque to achieve torque adaptation of different unlocking guns. When a bolt with an unlocking torque exceeding the limit appears, the operation module controls the bolt to enter the abnormal processing mode, and finally realizes the unlocking of all bolts;

[0012] The specific steps are as follows:

[0013] S1 unlocks the gun and bolt for adaptation;

[0014] The S2 unlocking gun unlocks at high speed with a set initial torque;

[0015] S3 is used to adapt the unlocking gun head torque and judge abnormal bolts;

[0016] S4 handles abnormal bolts;

[0017] The S5 continues unlocking to complete the unlocking.

[0018] Preferably,

[0019] The control module in S1 controls several unlocking guns to dock at corresponding unlocking positions respectively, and the unlocking guns and bolts are adapted to achieve the alignment of the gun heads and the nuts.

[0020] Preferably,

[0021] In S2, the control module sends an unlocking instruction to a plurality of unlocking guns, and the plurality of unlocking guns are unlocked at a set initial torque and a set initial speed.

[0022] Preferably,

[0023] In S3, the detection module detects whether the bolt rotates more than 30 degrees after step S2. If the rotation angle is less than 30 degrees, the control module controls the corresponding unlocking gun to increase the torque by 10 N·m in sequence;

[0024] If the detection module detects that the rotation angle of the unlocking gun is greater than 30 degrees, the control module controls the corresponding unlocking gun to unlock the bolt with the torque that increases successively. The detection module detects that the bolt is loosened to the set number of turns and the unlocking is completed;

[0025] If the unlocking gun increases the torque to the preset maximum torque, and the detection module detects that the rotation does not exceed 30 degrees, the control module controls the unlocking gun to enter the abnormal mode.

[0026] Preferably,

[0027] In S4, the operation module is used to control the unlocking gun to enter abnormal mode 1. The specific method of abnormal mode 1 is as follows:

[0028] S01 control module controls the unlocking gun to use the preset maximum torque value of half, and the unlocking speed uses 90% of the initial speed as the locking setting value, locking for 1 second and stopping for 0.5 seconds;

[0029] S02 uses the preset maximum torque and initial speed as the unlocking setting value and unlocks for 1 second;

[0030] S03 detection module detects whether the current angle of the unlocking gun is rotated more than 30 degrees. If it is not more than 30 degrees, repeat steps S01 and S02;

[0031] If the angle exceeds 30 degrees, the control module controls the unlocking gun to exit abnormal mode 1 and perform standard mode unlocking.

[0032] Preferably,

[0033] In S03, the control module determines whether the number of "acceleration-stop-release" operations is less than the set number of abnormal unlocking operations. If so, all unlocking operations are terminated; if not, the "acceleration-stop-release" operation is performed again.

[0034] Preferably,

[0035] In S4, the operation module is used to control the unlocking gun to enter abnormal mode 2. The specific method of abnormal mode 2 is as follows:

[0036] S01 uses the preset maximum torque and initial speed as the unlocking setting value and unlocks for 1 second;

[0037] S02 detection module detects whether the current angle of the unlocking gun is rotated more than 30 degrees. If it is not more than 30 degrees, repeat step S01;

[0038] If the angle exceeds 30 degrees, the control module controls the unlocking gun to exit abnormal mode 2 and perform standard mode unlocking.

[0039] Preferably,

[0040] In S02, the control module determines whether the number of "unlock-stop" operations is less than the set number of abnormal unlocking operations. If so, all unlocking actions are terminated; if not, the "unlock-stop" operation is performed again.

[0041] Preferably,

[0042] The control module blocks the unlocking gun, and all unlocking guns do not unlock.

[0043] Preferably,

[0044] The detection module in S5 detects that all unlocking guns have exited abnormal mode 1 or abnormal mode 2 and entered the standard mode for unlocking.

[0045] The beneficial effects of the present invention are as follows:

[0046] This method uses all unlocking guns to start unlocking with low torque in standard mode. Each unlocking gun determines whether the bolt is loose beyond a certain range according to its current position, and automatically increases the torque or maintains the current torque to achieve torque adaptation of different gun heads. When a bolt with unlocking torque exceeding the limit appears, the bolt enters the abnormal mode, and finally all bolts are unlocked. The bolts processed in the abnormal mode can protect the battery swap mechanism, battery swap vehicle, battery, and connectors from large load impact, thereby increasing the service life of the battery swap station and body battery connectors. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a schematic diagram of the unlocking mode steps of the present invention;

[0048] Figure 2 It is the unlocking mode combination of the present invention to attempt;

[0049] Figure 3 It is a schematic diagram of the main steps of abnormal unlocking of the present invention. DETAILED DESCRIPTION

[0050] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0051] Example:

[0052] A method for unlocking multiple modes of a battery swap station, the method comprising:

[0053] Several unlocking guns, control modules, detection modules and operation modules. Several unlocking guns are used for high-speed unlocking with a set initial torque. The detection module feeds back the respective positions of several unlocking guns. The control module determines whether the bolt is loose beyond the set range, and automatically increases the torque or maintains the current torque to achieve torque adaptation of different unlocking guns. When a bolt with an unlocking torque exceeding the limit appears, the operation module controls the bolt to enter the abnormal processing mode, and finally realizes the unlocking of all bolts;

[0054] The specific steps are as follows:

[0055] S1 unlocks the gun and bolt for adaptation;

[0056] The S2 unlocking gun unlocks at high speed with a set initial torque;

[0057] S3 is used to adapt the unlocking gun head torque and judge abnormal bolts;

[0058] S4 handles abnormal bolts;

[0059] The S5 continues unlocking to complete the unlocking.

[0060] Standard Mode:

[0061] The S1 control module controls several unlocking guns to stop at corresponding unlocking positions respectively, and the unlocking guns and bolts are adapted to achieve the alignment of the gun heads and the nuts.

[0062] The S2 control module sends an unlocking instruction to a plurality of unlocking guns, and the plurality of unlocking guns are unlocked at a set initial torque and a set initial speed.

[0063] S3 detection module detects whether the bolt rotates more than 30 degrees after step S2. If the rotation angle is less than 30 degrees, the control module controls the corresponding unlocking gun to increase the torque by 10N·m in sequence;

[0064] If the detection module detects that the rotation angle of the unlocking gun is greater than 30 degrees, the control module controls the corresponding unlocking gun to unlock the bolt with the torque that increases successively. The detection module detects that the bolt is loosened to the set number of turns and the unlocking is completed;

[0065] Abnormal mode 1:

[0066] The S1 control module controls the unlocking gun to use a preset torque value of half the maximum torque, and the unlocking speed uses 90% of the initial speed as the locking setting value, locking for 1 second and stopping for 0.5 seconds;

[0067] S2 uses the preset maximum torque and initial speed as the unlocking setting value and unlocks for 1 second;

[0068] S3 detection module detects whether the current angle of the unlocking gun is rotated more than 30 degrees. If it is not more than 30 degrees, repeat steps S1 and S2;

[0069] If the angle exceeds 30 degrees, the control module controls the unlocking gun to exit abnormal mode 1 and perform standard mode unlocking.

[0070] In S3, the control module determines whether the number of "acceleration-stop-release" is less than the set number of abnormal unlocking. If it is exceeded, all unlocking actions are terminated; if it is not exceeded, the "acceleration-stop-release" operation is performed again.

[0071] The following is a table recording the number of unlocking times when the initial torques are 70N·m, 80N·m, and 90N·m respectively.

[0072]

[0073] Initial torque 70N·m test record table

[0074]

[0075] Initial torque 80N·m test record table

[0076]

[0077] Initial torque 90N·m test record table

[0078] Abnormal mode 2:

[0079] S1 uses the preset maximum torque and initial speed as the unlocking setting value and unlocks for 1 second;

[0080] The S2 detection module detects whether the current angle of the unlocking gun is rotated more than 30 degrees. If it is not more than 30 degrees, repeat the S1 step;

[0081] If the angle exceeds 30 degrees, the control module controls the unlocking gun to exit abnormal mode 2 and perform standard mode unlocking.

[0082] In S2, the control module determines whether the number of "unlock-stop" operations is less than the set number of abnormal unlocking operations. If it is exceeded, all unlocking actions are terminated; if it is not exceeded, the "unlock-stop" operation is performed again.

[0083] Abnormal mode three:

[0084] The control module blocks the unlocking gun, and all unlocking guns do not unlock.

[0085] Finally, it should be noted that when the unlocking gun is unlocking in abnormal mode 1 or abnormal mode 2, the other unlocking guns unlocking in standard mode must stop working. The detection module will unlock them at the same time after detecting that all unlocking guns have exited abnormal mode 1 or abnormal mode 2 to prevent the battery from being damaged due to uneven force after individual bolts fall off.

[0086] The above are only embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for unlocking multiple modes in a battery swap station, characterized in that: The method includes: Several unlocking guns, control modules, detection modules and operation modules. Several unlocking guns are used for high-speed unlocking with a set initial torque. The detection module feeds back the respective positions of several unlocking guns. The control module determines whether the bolt is loose beyond the set range, and automatically increases the torque or maintains the current torque to achieve torque adaptation of different unlocking guns. When a bolt with an unlocking torque exceeding the limit appears, the operation module controls the bolt to enter the abnormal processing mode, and finally realizes the unlocking of all bolts; The specific steps are as follows: S1 unlocks the gun and bolt for adaptation; The S2 unlocking gun unlocks at high speed with a set initial torque; S3 performs torque adaptation of the unlocking gun head and judgement of abnormal bolts; S4 handles abnormal bolts; The S5 continues unlocking to complete the unlocking.

2. A method for unlocking a battery swap station in multiple modes according to claim 1, characterized in that: The control module in SI controls several unlocking guns to dock at corresponding unlocking positions respectively, and the unlocking guns and bolts are adapted to achieve the alignment of the gun heads and the nuts.

3. A multi-mode combination unlocking method for a battery swap station according to claim 2, characterized in that: In S2, the control module sends an unlocking instruction to a plurality of unlocking guns, and the plurality of unlocking guns are unlocked at a set initial torque and a set initial speed.

4. A method for unlocking a battery swap station in multiple modes according to claim 3, characterized in that: In S3, the detection module detects whether the bolt rotates more than 30 degrees after step S2. If the rotation angle is less than 30 degrees, the control module controls the corresponding unlocking gun to increase the torque by 10 N·m in sequence; If the detection module detects that the rotation angle of the unlocking gun is greater than 30 degrees, the control module controls the corresponding unlocking gun to unlock the bolt with the torque that increases successively. The detection module detects that the bolt is loosened to the set number of turns and the unlocking is completed; If the unlocking gun increases the torque to the preset maximum torque, and the detection module detects that the rotation does not exceed 30 degrees, the control module controls the unlocking gun to enter the abnormal mode.

5. A method for unlocking a battery swap station in multiple modes according to claim 4, characterized in that: In S4, the operation module is used to control the unlocking gun to enter abnormal mode 1. The specific method of abnormal mode 1 is as follows: S01 control module controls the unlocking gun to use the preset maximum torque value of half, and the unlocking speed uses 90% of the initial speed as the locking setting value, locking for 1 second and stopping for 0.5 seconds; S02 uses the preset maximum torque and initial speed as the unlocking setting value and unlocks for 1 second; S03 detection module detects whether the current angle of the unlocking gun is rotated more than 30 degrees. If it is not more than 30 degrees, repeat steps S01 and S02; If the angle exceeds 30 degrees, the control module controls the unlocking gun to exit abnormal mode 1 and perform standard mode unlocking.

6. A method for unlocking a battery swap station in multiple modes according to claim 5, characterized in that: In S03, the control module determines whether the number of "acceleration-stop-release" is less than the set number of abnormal unlocking. If it is exceeded, all unlocking actions are terminated; if it is not exceeded, the "acceleration-stop-release" operation is performed again.

7. A multi-mode combination unlocking method for a battery swap station according to claim 5, characterized in that: In S4, the operation module is used to control the unlocking gun to enter abnormal mode 2. The specific method of abnormal mode 2 is as follows: S01 uses the preset maximum torque and initial speed as the unlocking setting value and unlocks for 1 second; S02 detection module detects whether the current angle of the unlocking gun is rotated more than 30 degrees. If it is not more than 30 degrees, repeat step S01; If the angle exceeds 30 degrees, the control module controls the unlocking gun to exit abnormal mode 2 and perform standard mode unlocking.

8. A method for unlocking a battery swap station in multiple modes according to claim 7, characterized in that: In S02, the control module determines whether the number of "unlock-stop" operations is less than the set number of abnormal unlocking operations. If so, all unlocking actions are terminated; if not, the "unlock-stop" operation is performed again.

9. A method for unlocking a battery swap station in multiple modes according to claim 5, characterized in that: In S4, the operation module is used to control the unlocking gun to enter abnormal mode 3. The specific method of abnormal mode 3 is as follows: The control module blocks the unlocking gun, and all unlocking guns do not unlock.

10. A method for unlocking a battery swap station in multiple modes according to claim 8, characterized in that: The detection module in S5 detects that all unlocking guns have exited abnormal mode 1 or abnormal mode 2 and entered the standard mode for unlocking.

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