Torque gun for applying torque and battery replacing robot comprising same

Abstract

The invention discloses a torque gun used for applying torque and a battery replacing robot comprising the torque gun, the torque gun applies torque to lock or unlock a locking piece, the torque gun comprises a sleeve device, the upper end of the sleeve device is in butt joint with the locking piece, and the sleeve device can rotate to transmit the torque to the locking piece; the power device comprises a motor assembly and a speed reducer assembly, the power output end of the motor assembly is in transmission connection with the power input end of the speed reducer assembly, and the power output end of the speed reducer assembly is in butt joint with the power input end of the sleeve device and used for outputting power to drive the sleeve device to rotate; one end of the pre-pressing device abuts against the sleeve device, the other end of the pre-pressing device abuts against the power device, and the pre-pressing device is in a pre-pressing state and used for providing upward pre-tightening force for the sleeve device; the lower end of the outer shell is connected to the power device, the upper end of the outer shell is in butt joint with the sleeve device, and the inner space of the outer shell is used for containing one part of the sleeve device and at least one part of the power device.

Description

[0001] This application is a division of a Chinese invention patent with an application date of December 2, 2021, application number 202111460203.5, and name “Torque gun for applying torque and battery exchange robot comprising the same”. Technical Field

[0002] The present application relates to the field of battery replacement, and in particular to a torque gun for applying torque and a battery replacement robot comprising the same. Background Art

[0003] The battery box of existing electric vehicles is generally divided into fixed and replaceable types. Among them, the fixed battery is generally fixed on the vehicle, and the vehicle is directly used as the charging object during charging. The replaceable battery pack is generally fixed on the vehicle through a movable installation. The battery pack can be removed to replace or charge the battery pack separately. After the replaced battery pack is charged, it is reinstalled on the vehicle.

[0004] The battery pack can be installed to the vehicle through fasteners, and the locking parts on the vehicle can fix the battery pack. In order to facilitate the installation or removal of the locking parts, the battery swap station can use a torque gun to complete the relevant operations.

[0005] In the prior art, the size of the torque gun is also relatively large, which places high demands on the manufacturing and control difficulties. At the same time, when the torque gun is unlocked, it will be subjected to a large power load and pressure from the battery pack in a short period of time, which changes rapidly, is prone to damage or deformation, and has poor stability.

[0006] When the above two aspects are difficult to meet the requirements, the torque gun has poor working stability, which will lead to various problems such as low replacement success rate and replacement efficiency of vehicle battery packs. Therefore, a torque gun with compact structure and stable operation is urgently needed. Summary of the invention

[0007] The technical problem to be solved by the present invention is to overcome the defects of the prior art such as the unstable operation and large structural volume of the vehicle battery pack, resulting in a low replacement success rate and low replacement efficiency, and to provide a torque gun for applying torque and a battery replacement robot containing the same.

[0008] The present invention solves the above technical problems through the following technical solutions:

[0009] A torque gun for applying torque, wherein the torque gun applies torque to lock or unlock a locking member, the torque gun comprising:

[0010] A sleeve device, the upper end of which is butted against the locking member and is rotatable to transmit torque to the locking member;

[0011] A power device, the power device comprises a motor assembly and a reducer assembly, the power output end of the motor assembly is transmission-connected with the power input end of the reducer assembly, and the power output end of the reducer assembly is docked with the power input end of the sleeve device, for outputting power to drive the sleeve device to rotate;

[0012] A pre-pressing device, one end of which abuts against the sleeve device, and the other end of which abuts against the power device, the pre-pressing device is in a pre-pressing state, and is used to provide an upward pre-tightening force for the sleeve device;

[0013] An outer shell, the lower end of which is connected to the power device, the upper end of which is docked with the sleeve device, and the internal space of which is used to accommodate a part of the sleeve device and at least a part of the power device.

[0014] In the present invention, the power device and the sleeve device are housed in the same outer shell, making the structure compact and the layout reasonable, and the pre-stressing device is used to provide an upward pre-tightening force. In the working state, the pre-stressing device can continuously provide an upward restoring force; in the non-working state, the pre-stressing device can maintain the stability of the sleeve device within a certain force range.

[0015] Preferably, the sleeve device comprises a blocking platform, and the upper end of the pre-pressing device abuts against the lower surface of the blocking platform.

[0016] In the present invention, the abutment effect is tighter and the structure is more stable.

[0017] Preferably, the outer shell has an opening at the top, the sleeve device is inserted into 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 tightly attached to the opening under the action of the pre-pressing device.

[0018] Preferably, the blocking platform is arranged perpendicular to the axial direction of the sleeve device.

[0019] In the present invention, the blocking platform perpendicular to the axial direction of the sleeve device can be closely attached to the pre-pressing device and the opening at the same time.

[0020] Preferably, 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, and the pre-stressing device is arranged on the outer peripheral side of the transmission shaft.

[0021] Preferably, the pre-stressing device is a plurality of pre-stressing springs connected in parallel, or a single pre-stressing spring sleeved on the transmission shaft and / or the shaft connection portion.

[0022] In the present invention, two feasible arrangements of the pre-stressed spring are provided.

[0023] Preferably, the reducer assembly includes a harmonic reducer, and the number of the harmonic reducers is the same as the number of the motors and corresponds one to one.

[0024] In the present invention, the motor assembly is high speed and low torque, and the harmonic reducer can convert the power of the motor assembly into low speed and high torque. And the size of the harmonic reducer is relatively small, so that the torque gun can be made into a smaller size.

[0025] Preferably, the reducer assembly includes a harmonic reducer, and the motor drives a plurality of the harmonic reducers through a transmission mechanism.

[0026] In the present invention, a "one-to-many" driving method is provided to make multiple torque guns more synchronous and stable and at a lower cost.

[0027] Preferably, the transmission shaft includes a base and a shaft portion that are connected to each other, the base is fixedly connected to the reducer assembly, the shaft portion is used for transmission connection to the sleeve device, and the sleeve device can slide along the axial direction of the shaft portion relative to the shaft portion.

[0028] In the present invention, when the torque gun is working, it can float in the up and down directions by means of the sliding stroke, so as to improve the success rate of unlocking, reduce wear and tear, and increase the service life of the torque gun.

[0029] Preferably, the outer shell includes a chassis, the chassis is connected to the lower end of the outer shell, and the chassis is connected to the power device.

[0030] In the present invention, the overall structure of the torque gun is compact and firmly installed.

[0031] Preferably, the outer shell also 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 inner wall of the first storage section is in contact with at least a part of the outer side wall of the power device.

[0032] In the present invention, after the chassis is connected to the power device, the shell 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 improved to obtain better structural stability.

[0033] Preferably, the sleeve device comprises:

[0034] A sleeve portion, the upper end of which is used to drive the battery fastener of the device to be replaced to rotate;

[0035] The shaft connection part, the lower end of which is used to receive the input torque rotation to drive the sleeve part to rotate, the upper end of which 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.

[0036] 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.

[0037] 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.

[0038] In this solution, the swing is achieved by using a pivot shaft, and the structure is simple and reliable.

[0039] 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; 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 cooperation between the sleeve portion and the battery fastener; a step surface is provided on the limit platform, and the step surface is used to match with the elastic mechanism on the periphery of the battery fastener; the upper end surface of the sleeve portion has a connecting groove or a groove for cooperating with and avoiding the battery fastener.

[0040] In this solution, it is convenient to guide the sleeve portion to cooperate with the driving member in the battery fastener. The driving member is a nut. By cooperating with the nut and rotating the nut, the screw is removed, and a limit table is used to avoid excessive insertion.

[0041] Preferably, the limiting platform and the battery fastener driving matching portion constitute a gun head, and the gun head is detachable relative to the sleeve portion.

[0042] In this solution, the gun head part is configured as a detachable structure to facilitate maintenance and disassembly.

[0043] 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.

[0044] In this solution, the above structure enables the sleeve part to swing in multiple directions.

[0045] Preferably, the sleeve device further comprises an elastic reset member, which is sleeved on the outer circumferential surface of the sleeve device and is used to reset the sleeve portion to a position where the axis of the sleeve portion coincides with the axis of the shaft connection portion.

[0046] Preferably, the elastic return member is a rubber sleeve or a spring assembly.

[0047] In the present invention, a rubber sleeve or a spring assembly is used as the elastic reset member, which has a simple structure and is easy to replace.

[0048] Preferably, the elastic reset member comprises a spring and a steel sleeve, the steel sleeve is sleeved on the outside of the sleeve device, and the spring is arranged between the steel sleeve and the sleeve device.

[0049] In the present invention, the outer steel sleeve provides support and protection. 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 a reset force for the sleeve device.

[0050] Preferably, an inner side surface of the upper end of the steel sleeve is provided with a receiving groove, and the spring is arranged in the receiving groove.

[0051] In the present invention, the spring is prevented from being exposed to the outside, thereby preventing the spring from being damaged and prolonging its service life, while making the structure compact and the layout reasonable.

[0052] A battery-swapping robot comprises a battery-swapping unit, wherein the battery-swapping unit comprises at least a substrate and a plurality of torque guns as described above, wherein the torque guns are mounted on the substrate.

[0053] Preferably, the battery-swapping robot further includes a lifting mechanism and a walking mechanism, wherein 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.

[0054] The positive and progressive effect of the present invention is that the torque gun for applying torque and the battery-changing robot including the same accommodate the power device and the sleeve device in the same outer shell, making the structure compact and the layout reasonable, and utilizing the pre-stressing device to provide an upward pre-tightening force. In the working state, the pre-stressing device can continuously provide an upward restoring force; in the non-working state, the pre-stressing device can maintain the stability of the sleeve device within a certain force range. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 Schematic diagram of the overall structure of the torque gun in Example 1 of the present invention.

[0056] Figure 2 It is a cross-sectional view of the overall structure of the torque gun in Example 1 of the present invention.

[0057] Figure 3 This is a schematic diagram of the overall structure of a torque gun in another implementation manner of Example 1 of the present invention.

[0058] Figure 4 Schematic diagram of the sleeve portion of the sleeve device of the torque gun in Example 1 of the present invention.

[0059] Figure 5 Schematic diagram of the shaft connection portion of the sleeve device of the torque gun in Example 1 of the present invention.

[0060] Figure 6 Schematic diagram of the connecting shaft of the sleeve device of the torque gun in Example 1 of the present invention.

[0061] Figure 7 This is a schematic diagram of the overall structure of the power device of the torque gun in Example 1 of the present invention.

[0062] Figure 8 It is a cross-sectional view of the outer shell of the torque gun in Example 1 of the present invention.

[0063] Fig. 9 This is a schematic diagram of the overall structure of the battery-swapping robot in Example 1 of the present invention.

[0064] Description of reference numerals:

[0065] Torque gun 1

[0066] Sleeve part 21

[0067] Headset 2100

[0068] Battery fastener drive matching unit 2101

[0069] Guide surface 2102

[0070] Step surface 2103

[0071] Square spring 2110

[0072] Wave spring 2111

[0073] Steel sleeve 2112

[0074] Limiting table 2120

[0075] Connecting sleeve 2130

[0076] Shaft connection 22

[0077] Pivot shaft 23

[0078] Connecting shaft 24

[0079] Block 25

[0080] Motor assembly 31

[0081] Reducer assembly 32

[0082] Transmission shaft 41

[0083] Preload spring 42

[0084] Outer shell 5

[0085] Chassis 51 DETAILED DESCRIPTION

[0086] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0087] Example 1

[0088] like Figure 1-9 As shown, this embodiment provides a torque gun 1 for applying torque, and the torque gun 1 applies torque to lock or unlock a locking member. The torque gun 1 in this embodiment includes the following parts:

[0089] A sleeve device, the upper end of which is butted against the locking member and can rotate to transmit torque to the locking member;

[0090] The power device includes a motor assembly and a reducer assembly 32. The power output end of the motor assembly is drivingly connected to the power input end of the reducer assembly 32. The power output end of the reducer assembly 32 is connected to the power input end of the sleeve device to output power to drive the sleeve device to rotate.

[0091] A pre-pressing device, one end of which abuts against the sleeve device, and the other end of which abuts against the power device. The pre-pressing device is in a pre-pressing state and is used to provide an upward pre-tightening force for the sleeve device;

[0092] The outer shell 5 has a lower end connected to the power device, an upper end of the outer shell 5 butts against the sleeve device, and an internal space of the outer shell 5 is used to accommodate a part of the sleeve device and at least a part of the power device.

[0093] In this embodiment, the torque gun 1 as a whole is provided with a power device, a pre-pressing device, a sleeve device, and an outer shell 5 located on the outer side of the whole from bottom to top.

[0094] Specifically, in this embodiment, 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 pre-stressing device is used to provide an upward pre-tightening force. In the working state, the pre-stressing device can continuously provide an upward restoring force; in the non-working state, the pre-stressing device can maintain the stability of the sleeve device within a certain force range.

[0095] like Figure 1-9As shown, in this embodiment, the sleeve device includes a blocking platform 25 , and the upper end of the pre-pressing device abuts against the lower surface of the blocking platform 25 .

[0096] Specifically, in this embodiment, the lower end of the sleeve device is provided with a blocking platform 25, and the blocking platform 25 protrudes from the outer surface of the sleeve device. And the upper end of the pre-pressing device abuts against the lower surface of the blocking platform 25 to continuously provide an upward restoring force. The above structure can make the abutment effect between the two tighter and the structure more stable.

[0097] like Figure 1-9 As shown, in this embodiment, the outer shell 5 has an opening on the top, the sleeve device is inserted into the opening, the outer diameter of the blocking platform 25 is smaller than the inner diameter of the opening, and the upper surface of the blocking platform 25 is tightly attached to the opening under the action of the pre-pressing device.

[0098] Further, the blocking platform 25 is arranged perpendicular to the axial direction of the sleeve device. At this time, the direction of the force exerted by the opening and the pre-pressing device on the sleeve device is upward or downward 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 close to the pre-pressing device and the opening at the same time.

[0099] Specifically, Figure 1-9 As shown, the blocking platform 25 is pushed upward by the thrust of the pre-pressing device. The upper surface of the blocking platform 25 is in close contact with the lower surface of the opening, and the lower surface of the blocking platform 25 is in close contact with the upper end of the pre-pressing device.

[0100] On the other hand, the blocking platform 25 in this embodiment has a certain thickness to ensure that its body has sufficient structural strength. In other embodiments, the existing structure of the sleeve device can be used, or some shape features can be added on the basis of the existing structure to match the opening and / or pre-pressing device to achieve a similar effect.

[0101] like Figure 1-9 As shown, in this embodiment, as a part of the power device in the torque gun 1, 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 connected to the shaft connection portion 22, and the pre-stressing device is arranged on the outer peripheral side of the transmission shaft 41.

[0102] Specifically, the transmission shaft 41 rotates with the output end of the reducer and docks with the shaft connection portion 22 of the sleeve device. In this embodiment, 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.

[0103] like Figure 1-9As shown, the reducer assembly 32 in this embodiment includes a harmonic reducer, and the number of the harmonic reducers is the same as the number of motors and corresponds one to one. In addition, one motor drives one reducer assembly 32, and together they form a power device of the torque gun 1.

[0104] The motor assembly 31 in this embodiment has 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, the drive sleeve device can be driven to rotate, and the locking member can be locked or unlocked by means of high torque.

[0105] The motor assembly 31 and the reducer assembly 32 in this embodiment are in a one-to-one correspondence, so that in actual use, a certain torque gun 1 can be debugged and adjusted separately without affecting other torque guns 1. In other embodiments of the present invention, 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-to-many" 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.

[0106] like Figure 1-9 As shown, the pre-compression device in this embodiment is a single pre-compression spring 42 sleeved on the transmission shaft 41 and the shaft connection part 22, so as to provide a uniform upward thrust. At the same time, the spring sleeved on the transmission shaft 41 and the shaft connection part 22 can provide a certain guiding effect to cooperate with the floating mechanism inside or outside the torque gun 1 to adjust the position.

[0107] In other embodiments of the present invention, the pre-stressing device may also be a plurality of pre-stressing springs 42 connected in parallel, or other elastic components, such as nitrogen springs, etc. The various embodiments of the present invention are intended to provide a plurality of feasible mechanisms and arrangements of the pre-stressing device for those skilled in the art, but these embodiments all fall within the protection scope of the present invention.

[0108] like Figure 1-9 As shown, the transmission shaft 41 in this embodiment includes a base and a shaft portion connected to each other. The base is connected and fixed to the harmonic reducer, and the shaft portion is used for transmission connection sleeve device, and the sleeve device can slide along the axial direction of the shaft portion relative to the shaft portion.

[0109] In the present invention, when the torque gun 1 is working, it needs to cooperate with the floating mechanism to achieve floating in the horizontal plane and / or vertical height to reduce the overall accuracy requirements of the battery replacement equipment. Therefore, by providing a relatively slidable sleeve device and a rotating device, it is possible to achieve floating in the up and down directions with the help of the sliding stroke to improve the unlocking success rate, while reducing wear and tear and increasing the service life of the torque gun 1.

[0110] like Figure 1-9 As shown, the torque gun 1 in this embodiment has an outer shell 5. The outer shell 5 includes a chassis 51, and the chassis 51 is connected to the lower end of the outer shell 5. Moreover, in this embodiment, the chassis 51 and the outer shell 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 firmly installed.

[0111] The outer shell 5 also includes a first storage section at the bottom, which is connected to the chassis 51. The first storage section accommodates at least a portion of the power device, and the inner wall of the first storage section fits at least a portion of the outer wall of the power device. Specifically, after the chassis 51 is connected to the power device, the present embodiment uses the shell to accommodate a portion 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 improved to obtain better structural stability.

[0112] Furthermore, if Figure 1-9 As shown, the outer edge of the chassis 51 extends to the outside of the outer shell 5 to form a flange. The flange is provided with through holes that penetrate up and down, and the through holes are arranged around the circumference of the outer shell 5. In this embodiment, 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.

[0113] Meanwhile, the lower surface of the chassis 51 is also provided with threaded holes, and the chassis 51 is connected to the power device through threads. Specifically, the harmonic reducer in this embodiment is provided with positioning holes around it, 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.

[0114] Specifically, in this embodiment, the contact area between the chassis 51 and the plane to be installed is increased by the structure of the flange on the base, so as to reduce the force on the outer shell 5 and the plane to be installed. At the same time, the outer shell 5 of the torque gun 1 is installed by using the through hole on the flange, so as to confirm the installation position of the torque gun 1 on the outer shell 5, so that the torque gun 1 and the outer shell 5 can be more stably installed on the plane to be installed. In addition, this embodiment also uses the threaded holes on the lower surface of the chassis 51 to achieve threaded connection with the power device, that is, the harmonic reducer, so that the chassis 51 can be stably fixedly connected with the power device.

[0115] like Figure 1-9 As shown, in this embodiment, the sleeve device of the torque gun 1 includes a sleeve portion 21 and a shaft connection portion 22. Among them, the upper end of the sleeve portion 21 is used to drive the battery fastener of the device to be replaced to rotate, and the lower end of the shaft connection portion 22 is used to receive the input torque rotation to drive the sleeve portion 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.

[0116] The above structure is adopted in this embodiment, so that the sleeve part 21 can swing relative to the axial direction of the shaft connection part 22, thereby increasing the range of motion of the sleeve part 21. Even if there is an error in the relative positioning between 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 clamp the fastener, thereby achieving the torsion of the fastener. With the help of the relatively fixed shaft connection part 22 and the sleeve part 21 that can swing relative to the shaft connection part 22, the sleeve device in this embodiment can effectively reduce the positioning accuracy requirements and the accuracy requirements of the installation position of the torque gun 1, and at the same time can also improve the efficiency of aligning the fastener.

[0117] Specifically, in this embodiment, the sleeve portion 21 is connected to the shaft connection portion 22 via a pivot shaft 23. The movable pivot shaft 23 can swing the upper end of the sleeve portion 21 from the axis of the shaft connection portion 22 to the outside of the axis of the shaft connection portion 22. The swing is achieved by using the pivot shaft 23, which is simple and reliable.

[0118] like Figure 1-9 As shown in the figure, as a specific implementation of this embodiment, the sleeve part 21 is connected to the shaft connecting part 22 through the pivot shaft 23, so that the upper end of the sleeve part 21 can swing from the axis of the shaft connecting part 22 to the outside of the axis of the shaft connecting part 22. The swing is realized by the pivot shaft 23, which has a simple and reliable structure, and can realize the pivoting of the sleeve part 21 along the pivot shaft 23 and the shaft connecting part 22. Of course, other pivoting methods can also be used, which are not limited here.

[0119] Specifically, Figure 2 and Figure 4-5 As shown, the lower end of the sleeve portion 21 has two downwardly extending connecting walls arranged opposite to each other, and the two connecting walls have correspondingly arranged first pivot holes, and the pivot shaft 23 is inserted into the first pivot holes. An escape gap is provided between the lower end of the sleeve portion 21 and the upper end of the shaft connecting portion 22, and the escape gap is used to avoid interference with the swing of the sleeve portion 21, so as to avoid interference with the swing.

[0120] As another embodiment, the sleeve device further includes a connecting shaft 24, the sleeve portion 21 is connected to the shaft connecting portion 22 via the connecting shaft 24, the sleeve portion 21 can swing relative to the connecting shaft 24, the connecting shaft 24 can swing relative to the shaft connecting portion 22, and the connecting shaft 24 can realize the swing of the sleeve portion 21 in multiple directions. In other embodiments of the present invention, the sleeve portion 21 and the shaft connecting portion 22 can also be directly connected, and the sleeve portion 21 can swing in different directions relative to the shaft connecting portion 22. The sleeve portion 21 and the shaft connecting portion 22 can also be connected via a pivot shaft 23.

[0121] Specifically, Figure 4-6As shown, the connecting shaft 24 is in the shape of a rectangular parallelepiped as a whole, and the connecting shaft 24 is provided with two holes in different directions, and the sleeve portion 21 and the shaft connecting portion 22 can be pivotally arranged on the connecting shaft 24. In other embodiments, the connecting shaft 24 can also include a ball head portion and a ball groove portion that are rolling-fitted, the upper end of the sleeve portion 21 is fixedly connected to one end of the connecting shaft 24, and the lower end of the shaft connecting portion 22 is fixedly connected to the other end of the connecting shaft 24. The rolling fit of the ball head portion and the ball groove portion can reduce friction and improve the swing flexibility of the sleeve portion 21 and the shaft connecting portion 22.

[0122] When the connecting shaft 24 is in the shape of a rectangular parallelepiped as a whole, the lower end of the sleeve portion 21 is pivotally connected to the connecting shaft 24, and the upper end of the shaft connecting portion 22 is pivotally connected to the connecting shaft 24. The swing direction of the connecting shaft 24 relative to the shaft connecting portion 22 is not coplanar with the swing direction of the sleeve portion 21 relative to the connecting shaft 24. The sleeve portion 21 can swing in any direction relative to the axial direction of the shaft connecting portion through the two-way pivot connection.

[0123] In this embodiment, the connecting walls extending downward from the sleeve portion 21 are arranged opposite to each other, and the connecting shaft 24 can be inserted between the two connecting walls. The upper end of the shaft connecting portion 22 also has a structure similar to or the same as the connecting wall, and the connecting shaft 24 can also be inserted into the shaft connecting portion 22. The sleeve portion 21, the connecting shaft 24 and the shaft connecting portion 22 are connected in sequence by the pivot shaft 23, and the sleeve portion 21 and the shaft connecting portion 22 can swing in different directions relative to the connecting shaft 24.

[0124] Furthermore, in this embodiment, a battery fastener driving matching portion 2101 is provided at the upper end of the sleeve portion 21, and a guide surface 2102 is provided on the upper end surface of the battery fastener driving matching portion 2101, and the guide surface 2102 is used to guide the sleeve portion 21 to cooperate with the driving member in the battery fastener. A limit platform 2120 is also provided on the outer peripheral surface of the sleeve portion 21, and the limit platform 2120 is used to limit the depth of the sleeve portion 21 and the battery fastener. A step surface 2103 is provided on the limit platform 2120, and the step surface 2103 is used to match the elastic mechanism on the periphery of the battery fastener. The upper end surface of the sleeve portion 21 has a connecting groove or groove that cooperates to avoid the battery fastener.

[0125] In this solution, the guide sleeve portion 21 is conveniently matched with the driving member in the battery fastener. The driving member is a nut. By matching with the nut and rotating the nut, the screw is removed, and the limit platform 2120 is used to avoid excessive insertion.

[0126] The sleeve device further includes a connecting shaft 24 , through which the sleeve portion 21 is connected to the shaft connecting portion 22 . The sleeve portion 21 can swing relative to the connecting shaft 24 , and the connecting shaft 24 can swing relative to the shaft connecting portion 22 .

[0127] In this solution, the above structure enables the sleeve portion 21 to swing in multiple directions.

[0128] The sleeve device also includes an elastic reset member, which is sleeved on the outer circumference of the sleeve device and is used to reset the sleeve portion 21 to a position where the axis of the sleeve portion 21 coincides with the axis of the shaft connection portion 22 .

[0129] The torque gun 1 includes an elastic reset member, which is sleeved on the outer circumferential 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. Since the sleeve portion 21 can swing relative to the axis direction of the shaft connection portion 22, 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 portion 21 and the fastener, the swingable sleeve portion 21 can still clamp the fastener. At this time, the elastic reset member can drive the axis of the sleeve portion 21 to coincide with the axis of the shaft connection portion 22, and the axis of the sleeve device can coincide with the axis of the fastener, thereby achieving torsion of the fastener.

[0130] In this embodiment, the elastic return member is a square spring 2110, while in other embodiments, it can also be a spring assembly consisting of a wave spring 2111 or a rubber sleeve.

[0131] In one embodiment of the present invention, the specific structure of the elastic reset member and the sleeve device is as follows:

[0132] like Figure 1-9 As shown, 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 arranged between the steel sleeve 2112 and the sleeve device. The structure is simple, ensuring that an effective reset force is applied to the sleeve device, which is easy to install and more reliable when used. The inner side surface of the upper end of the steel sleeve 2112 is provided with a receiving groove, and the wave spring 2111 is arranged in the receiving groove. The structure is compact, stable, and reliable.

[0133] Specifically, the sleeve device includes a sleeve head 2100, a connecting sleeve 2130 and a limiting platform 2120. The upper end of the sleeve head 2100 is used to drive the battery fastener of the device to be replaced to rotate; the sleeve head 2100 and the connecting sleeve 2130 are detachably connected, and the lower end of the connecting sleeve 2130 is used to drive the connecting shaft connecting part 22; the limiting platform 2120 is sleeved on the outer side of the sleeve head 2100, and the sleeve head 2100 and the connecting sleeve 2130 are detachably connected. By setting the sleeve part 21 as a detachably connected sleeve head 2100, a connecting sleeve 2130 and a limiting platform 2120, since the sleeve head 2100 is easy to wear, the sleeve part 21 can be repaired by replacing the sleeve head 2100, avoiding the replacement of the sleeve part 21 as a whole.

[0134] The material of the limit platform 2120 can be polytetrafluoroethylene to reduce the impact sound and friction. The steel sleeve 2112 can be inserted from top to bottom for easy installation. The steel sleeve 2112 can maintain the stability of the sleeve portion 21 of the torque gun 1 during the process of the power device outputting torque to the sleeve device. The limit pad can prevent the sleeve portion 21 from being inserted too deeply into the battery fastener.

[0135] The lower end of the sleeve 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 block and the transmission groove are used to realize the transmission connection between the sleeve 2100 and the connecting sleeve 2130, and the structure is simple and reliable.

[0136] When the torque gun 1 is docked with the battery pack fastener, if there is a position deviation, the sleeve needs to swing. After the swing, the reset component will reset the axis of the sleeve part 21 to the position where it coincides with the axis of the connecting shaft 24, so as not to swing the angle excessively to match the fastener. It can also assist in aligning the gun head after it is matched 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.

[0137] This embodiment also provides a battery swap robot, which includes a battery swap unit, which includes at least a substrate and a plurality of torque guns 1 as described above, and the torque guns 1 are mounted on the substrate. The mounting position of the torque gun 1 corresponds to the position of the locking member relative to the battery pack on the vehicle.

[0138] In this embodiment, the battery-swapping robot further includes a lifting mechanism and a walking mechanism. The lifting mechanism is used to lift 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.

[0139] When the battery-swapping robot performs the operation of disassembling the vehicle's battery pack, the walking mechanism first adjusts the position of the battery-swapping robot to directly below the vehicle's battery pack, and the lifting mechanism then lifts the battery-swapping part. At this time, the torque gun 1 on the battery-swapping part is connected to the locking part on the vehicle through a sleeve device. Furthermore, the power device of the torque gun 1 outputs torque and transmits it to the locking part on the vehicle through the sleeve device. The locking part on the vehicle is unlocked, and the vehicle's battery pack falls naturally. The lifting mechanism then lowers the battery-swapping part as a whole, and the walking mechanism moves the battery-swapping robot out of the working position, completing the disassembly process of the vehicle's battery pack.

[0140] When the battery-swapping robot performs the operation of installing the vehicle battery pack, the walking mechanism first adjusts the position of the battery-swapping robot carrying the vehicle battery pack to directly below the vehicle battery pack, and the lifting mechanism then lifts the battery-swapping part carrying the vehicle battery pack. At this time, the torque gun 1 on the battery-swapping part is connected to the locking part on the vehicle through the sleeve device. Furthermore, the power device of the torque gun 1 outputs torque and is transmitted to the locking part on the vehicle through the sleeve device. The locking part on the vehicle is unlocked, and the vehicle battery pack falls naturally, completing the removal of the vehicle battery pack.

[0141] 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 torque gun for applying torque, wherein the torque gun applies torque to lock or unlock a locking member, characterized in that: The torque gun comprises: A sleeve device, the upper end of which is butted against the locking member and can rotate to transmit torque to the locking member; 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, the lower end of which is used to receive input torque to rotate so as to drive the sleeve part to rotate, and the upper end of which is connected to the lower end of the sleeve part; A battery fastener driving matching portion is arranged at the upper end of the sleeve portion, and a guide surface is arranged on the upper end surface of the battery fastener driving matching portion, and the guide surface is used to guide the sleeve portion to match with the driving member in the battery fastener.

2. The torque gun for applying torque according to claim 1, characterized in that The torque gun also includes A power device, the power device comprises a motor assembly and a reducer assembly, the power output end of the motor assembly is drivingly connected to the power input end of the reducer assembly, and the power output end of the reducer assembly is docked with the power input end of the sleeve device, for outputting power to drive the sleeve device to rotate; A pre-pressing device, one end of which abuts against the sleeve device, and the other end of which abuts against the power device, the pre-pressing device is in a pre-pressing state, and is used to provide an upward pre-tightening force for the sleeve device; An outer shell, the lower end of which is connected to the power device, the upper end of which is docked with the sleeve device, and the internal space of which is used to accommodate a part of the sleeve device and at least a part of the power device.

3. The torque gun for applying torque according to claim 2, characterized in that The sleeve device includes a blocking platform, and the upper end of the pre-pressing device abuts against the lower surface of the blocking platform; Preferably, the upper portion of the outer shell has an opening, the sleeve device is inserted into 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 tightly attached to the opening under the action of the pre-pressing device; And / or, the blocking platform is arranged perpendicular to the axial direction of the sleeve device.

4. The torque gun for applying torque according to claim 2, characterized in that: 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, and the pre-stressing device is arranged on the outer peripheral side of the transmission shaft.

5. The torque gun for applying torque according to claim 4, characterized in that The pre-stressing device is a plurality of pre-stressing springs connected in parallel, or a single pre-stressing spring sleeved on the transmission shaft and / or the shaft connection portion; And / or, the reducer assembly includes harmonic reducers, and the number of the harmonic reducers is the same as the number of the motors and corresponds one to one; And / or, the reducer assembly includes a harmonic reducer, and the motor drives a plurality of the harmonic reducers through a transmission mechanism; And / or, the transmission shaft includes a base and a shaft portion that are connected to each other, the base is connected and fixed to the reducer assembly, the shaft portion is used for transmission connection to the sleeve device, and the sleeve device can slide along the axial direction of the shaft portion relative to the shaft portion.

6. The torque gun for applying torque according to claim 2, characterized in that: The outer shell includes a chassis, the chassis is connected to the lower end of the outer shell, and the chassis is connected to the power device; Preferably, the outer shell also 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 inner wall of the first storage section is in contact with at least a part of the outer wall of the power device.

7. The torque gun for applying torque according to claim 1, characterized in 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; Preferably, the sleeve portion is connected to the shaft connecting portion via a pivot shaft, so that the upper end of the sleeve portion can swing from the axis of the shaft connecting portion to the outside of the axis of the shaft connecting portion; And / or, 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.

8. The torque gun for applying torque according to claim 1, characterized in that: The outer circumferential surface of the sleeve portion is provided with a limit platform, and the limit platform is used to limit the depth of the sleeve portion and the battery fastener; the limit platform is provided with a step surface, and the step surface is used to match the elastic mechanism of the outer circumference of the battery fastener; the upper end surface of the sleeve portion has a connecting groove or a groove for matching and avoiding the battery fastener; Preferably, the limiting platform and the battery fastener driving matching portion constitute a gun head, and the gun head is detachable relative to the sleeve portion.

9. The torque gun for applying torque according to claim 1, characterized in that: The sleeve device further comprises an elastic reset member, which is sleeved on the outer peripheral surface of the sleeve device and is used to reset the sleeve portion to a position where the axis of the sleeve portion coincides with the axis of the shaft connection portion; Preferably, the elastic reset member is a rubber sleeve or a spring assembly; And / or, the elastic reset member comprises a spring and a steel sleeve, the steel sleeve is sleeved on the outside of the sleeve device, and the spring is arranged between the steel sleeve and the sleeve device; Preferably, an accommodating groove is provided on the inner side surface of the upper end of the steel sleeve, and the spring is arranged in the accommodating groove.

10. A battery-swapping robot, characterized in that: The battery-swapping robot includes a battery-swapping unit, which includes at least a substrate and a plurality of torque guns as described in any one of claims 1 to 9, and the torque guns are mounted on the substrate.

11. The battery-swapping robot according to claim 10, characterized in that: The battery-swapping robot also includes a lifting mechanism and a walking mechanism, wherein the lifting mechanism is used to lift 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.

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