Locking and unlocking device and battery replacement robot

Abstract

The invention relates to the technical field of battery replacement, in particular to a locking and unlocking device and a battery replacement robot. The problem that an existing locking and unlocking device is poor in compatibility is solved. In order to achieve the purpose, the locking and unlocking device comprises a supporting part, a walking assembly, a rotating assembly and a locking and unlocking assembly, the walking assembly is arranged on the supporting part and can move in the first horizontal direction relative to the supporting part, the rotating assembly is connected with the walking assembly, and the locking and unlocking assembly is arranged on the supporting part. The locking and unlocking assembly is connected with the rotating assembly and can move on the horizontal plane through the rotating assembly. By the adoption of the technical scheme, movement of the locking and unlocking assembly at any position of the plane can be achieved through cooperation of the walking assembly and the rotating assembly, so that the locking and unlocking assembly has a larger adjusting range, and the premise is provided for the locking and unlocking assembly to be matched with fasteners of different vehicle types, different positions and different models.

Description

Technical Field

[0001] The present invention relates to the field of battery replacement technology, and in particular to a locking and unlocking device and a battery replacement robot. Background Art

[0002] With the development of new energy vehicles, battery swapping, as a way to quickly replenish energy for new energy batteries, has been strongly supported by national policies and promoted by enterprises. Therefore, when a vehicle enters a battery swapping station, how to quickly replace the battery on the vehicle side and replace the battery on the station side has become an important issue in this field. In this regard, the battery swapping station will use a battery swapping cart to meet the battery swapping needs. Specifically, the battery swapping cart is equipped with a locking and unlocking device, which can unlock the fasteners used to fasten the battery, so that the battery can be replaced. Then the battery swapping cart will replace the battery on the station side and lock it through the locking and unlocking device.

[0003] With the development of technology, the models of new energy vehicles are changing, and the types, quantities and positions of fasteners are also changing. However, the locking and unlocking devices in the prior art are relatively simple in form and cannot be compatible with different models, different fastener positions and different fastener types.

[0004] Accordingly, the art needs a new technical solution to solve the above problems. Summary of the invention

[0005] In order to solve at least one of the above problems in the prior art, that is, to solve the problem of poor compatibility of the existing encryption and unlocking devices, the present application provides an encryption and unlocking device, including:

[0006] Support portion (1);

[0007] A walking assembly (2), the walking assembly (2) being arranged on the supporting portion (1), and the walking assembly (2) being movable in a first horizontal direction relative to the supporting portion (1);

[0008] A rotating assembly (3), wherein the rotating assembly (3) is connected to the walking assembly (2);

[0009] A locking and unlocking assembly (4), wherein the locking and unlocking assembly (4) is connected to the rotating assembly (3), and the locking and unlocking assembly (4) can be moved on a horizontal plane through the rotating assembly (3).

[0010] When the above technical solution is adopted, the locking and unlocking assembly can be moved to any position on the plane through the cooperation of the walking assembly and the rotating assembly, so that the locking and unlocking assembly has a larger adjustment range, providing the premise for the locking and unlocking assembly to adapt to fasteners of different vehicle models, different positions and different models.

[0011] In the preferred technical solution of the locking and unlocking device, the walking assembly (2) comprises a first driving mechanism (21) and a first transmission mechanism, and the first transmission mechanism is respectively connected to the first driving mechanism (21) and the supporting part (1).

[0012] In the preferred technical solution of the locking and unlocking device, the first transmission mechanism comprises a driving gear (22), the walking assembly (2) further comprises a mounting plate (23), the mounting plate (23) is slidably connected to the supporting portion (1), the first driving mechanism (21) is connected to the mounting plate (23), and the output end of the first driving mechanism (21) is connected to the driving gear (22);

[0013] The support portion (1) is provided with a rack structure (11), and the driving gear (22) is meshingly connected with the rack structure (11).

[0014] In a preferred technical solution of the locking and unlocking device, the locking and unlocking device further comprises a protective cover (12), wherein the protective cover (12) is arranged on the support portion (1), the protective cover (12) is located above the mounting plate (23), and the horizontal projection of the protective cover (12) relative to the support portion (1) at least partially covers the horizontal projection of the mounting plate (23) relative to the support portion (1).

[0015] In a preferred technical solution of the locking and unlocking device, the locking and unlocking device further comprises a first guiding mechanism, wherein the first guiding structure is capable of guiding when the walking assembly (2) moves in the first horizontal direction.

[0016] In a preferred technical solution of the locking and unlocking device, the first guide structure comprises a first linear guide rail (13) and a first guide block (24), the first linear guide rail (13) being arranged on the support portion (1) along the first horizontal direction, the first guide block (24) being arranged on the walking assembly (2), the first guide block (24) being slidably connected to the first linear guide rail (13); and / or

[0017] Two first guide mechanisms are provided, and the two first guide mechanisms are arranged side by side up and down.

[0018] In the preferred technical solution of the above-mentioned locking and unlocking device, the walking component (2) also includes a drag chain structure (25), and the supporting part (1) also includes a drag chain support plate (14), one end of the drag chain structure (25) is connected to the mounting plate (23), and the other end is connected to the drag chain support plate (14).

[0019] In the preferred technical solution of the locking and unlocking device, the rotating assembly (3) comprises a second driving mechanism (31), a swing arm (32) and a connecting plate (33), the connecting plate (33) is connected to the walking assembly (2), the second driving mechanism (31) is fixedly connected to the connecting plate (33), and the swing arm (32) is rotatably connected to the connecting plate (33);

[0020] One end of the rotary arm (32) is connected to the output end of the second driving mechanism (31), and the other end of the rotary arm (32) is connected to the locking and unlocking assembly (4).

[0021] In the preferred technical solution of the locking and unlocking device, the locking and unlocking assembly (4) comprises a third driving mechanism (41) and a locking and unlocking member, and the third driving mechanism (41) can drive the locking and unlocking member to perform the locking and unlocking operation.

[0022] In the preferred technical solution of the locking and unlocking device, the locking and unlocking member is configured as a sleeve joint (42), the sleeve joint (42) is connected to the output end of the third driving mechanism (41), and the third driving mechanism (41) can drive the sleeve joint (42) to reciprocate.

[0023] In a preferred technical solution of the locking and unlocking device, the locking and unlocking device further comprises a lifting assembly (5), wherein the lifting assembly (5) is respectively connected to the rotating assembly (3) and the locking and unlocking assembly (4); both the lifting assembly (5) and the locking and unlocking assembly (4) can be moved on a horizontal plane through the rotating assembly (3), and the locking and unlocking assembly (4) can be moved in a vertical direction through the lifting assembly (5).

[0024] In the preferred technical solution of the locking and unlocking device, the lifting assembly (5) comprises a fourth driving mechanism (51) and a second transmission mechanism, and the second transmission mechanism is respectively connected to the fourth driving mechanism (51) and the locking and unlocking assembly (4).

[0025] In the preferred technical solution of the above-mentioned locking and unlocking device, the second transmission mechanism includes a lead screw (52) and a moving block (53), the output end of the fourth drive mechanism (51) is connected to the lead screw (52), the moving block (53) is screwed to the lead screw (52), and the moving block (53) is connected to the locking and unlocking assembly (4).

[0026] In the preferred technical solution of the locking and unlocking device, the lifting assembly (5) further comprises a third transmission mechanism, and the third transmission mechanism is respectively connected to the fourth drive mechanism (51) and the second transmission mechanism.

[0027] In the preferred technical solution of the locking and unlocking device, the third transmission mechanism comprises a driving gear (54), a driven gear (55) and a transmission toothed belt (56); the driving gear (54) is connected to the output end of the fourth driving mechanism (51); the driving gear (54) and the driven gear (55) are synchronously connected via the transmission toothed belt (56); and the driven gear (55) is connected to the second transmission mechanism.

[0028] In the preferred technical solution of the locking and unlocking device, the lifting assembly (5) further comprises a connecting bracket (57), and the connecting bracket (57) is connected to the rotating assembly (3).

[0029] In a preferred technical solution of the locking and unlocking device, the locking and unlocking device further comprises a second guiding mechanism, and the second guiding mechanism is capable of guiding when the locking and unlocking assembly (4) moves in a vertical direction.

[0030] In the preferred technical solution of the locking and unlocking device, the second guide mechanism comprises a second linear guide rail (571) and a second guide block (58), the second linear guide rail (571) is vertically arranged on the connecting bracket (57), the second guide block (58) is slidably connected to the second linear guide rail (571), and the locking and unlocking assembly (4) is connected to the second guide block (58); and / or

[0031] Two second guide mechanisms are provided, and the two second guide mechanisms are arranged opposite to each other.

[0032] In the preferred technical solution of the locking and unlocking device, both ends of the support portion (1) are provided with limit blocks (15); and / or

[0033] The walking assembly (2) further comprises a detection bracket (231) and a proximity switch (2311); the proximity switch (2311) is arranged on the detection bracket (231); and a detection plate (16) is arranged on the support portion (1).

[0034] The present application also provides a battery-swapping robot, which includes the locking and unlocking device as described in any one of the above items.

[0035] When the above technical solution is adopted, the locking and unlocking assembly can be moved to any position on the plane through the cooperation of the walking assembly and the rotating assembly, so that the locking and unlocking assembly has a larger adjustment range, providing the premise for the battery-swapping robot to adapt to different vehicle models and fasteners of different positions and models.

[0036] Solution 1. A locking and unlocking device, comprising:

[0037] Support portion (1);

[0038] A walking assembly (2), the walking assembly (2) being arranged on the supporting portion (1), and the walking assembly (2) being movable in a first horizontal direction relative to the supporting portion (1);

[0039] A rotating assembly (3), wherein the rotating assembly (3) is connected to the walking assembly (2);

[0040] A locking and unlocking assembly (4), wherein the locking and unlocking assembly (4) is connected to the rotating assembly (3), and the locking and unlocking assembly (4) can be moved on a horizontal plane through the rotating assembly (3).

[0041] Solution 2. According to the locking and unlocking device described in Solution 1, the walking component (2) includes a first driving mechanism (21) and a first transmission mechanism, and the first transmission mechanism is respectively connected to the first driving mechanism (21) and the supporting part (1).

[0042] Solution 3. According to the locking and unlocking device of Solution 2, the first transmission mechanism includes a driving gear (22), the walking assembly (2) also includes a mounting plate (23), the mounting plate (23) is slidably connected to the supporting portion (1), the first driving mechanism (21) is connected to the mounting plate (23), and the output end of the first driving mechanism (21) is connected to the driving gear (22);

[0043] The support portion (1) is provided with a rack structure (11), and the driving gear (22) is meshingly connected with the rack structure (11).

[0044] Solution 4. According to the locking and unlocking device described in Solution 3, the locking and unlocking device also includes a protective cover (12), the protective cover (12) is arranged on the support part (1), the protective cover (12) is located above the mounting plate (23), and the horizontal projection of the protective cover (12) relative to the support part (1) at least partially covers the horizontal projection of the mounting plate (23) relative to the support part (1).

[0045] Solution 5. According to the locking and unlocking device described in Solution 2, the locking and unlocking device also includes a first guiding mechanism, and the first guiding structure is capable of guiding when the walking component (2) moves in the first horizontal direction.

[0046] Solution 6. According to the locking and unlocking device of Solution 5, the first guide structure comprises a first linear guide rail (13) and a first guide block (24), the first linear guide rail (13) is arranged on the support portion (1) along the first horizontal direction, the first guide block (24) is arranged on the walking assembly (2), and the first guide block (24) is slidably connected to the first linear guide rail (13); and / or

[0047] Two first guide mechanisms are provided, and the two first guide mechanisms are arranged side by side up and down.

[0048] Solution 7. According to the locking and unlocking device described in Solution 3, the walking component (2) also includes a drag chain structure (25), and the supporting part (1) also includes a drag chain support plate (14), one end of the drag chain structure (25) is connected to the mounting plate (23), and the other end is connected to the drag chain support plate (14).

[0049] Solution 8. According to the locking and unlocking device of Solution 1, the rotating assembly (3) comprises a second driving mechanism (31), a swing arm (32) and a connecting plate (33), the connecting plate (33) is connected to the walking assembly (2), the second driving mechanism (31) is fixedly connected to the connecting plate (33), and the swing arm (32) is rotatably connected to the connecting plate (33);

[0050] One end of the rotary arm (32) is connected to the output end of the second driving mechanism (31), and the other end of the rotary arm (32) is connected to the locking and unlocking assembly (4).

[0051] Solution 9. According to the locking and unlocking device of Solution 1, the locking and unlocking assembly (4) includes a third driving mechanism (41) and a locking and unlocking member, and the third driving mechanism (41) can drive the locking and unlocking member to perform the locking and unlocking operation.

[0052] Solution 10. According to the locking and unlocking device described in Solution 9, the locking and unlocking member is configured as a sleeve joint (42), and the sleeve joint (42) is connected to the output end of the third driving mechanism (41), and the third driving mechanism (41) can drive the sleeve joint (42) to reciprocate.

[0053] Solution 11. According to the locking and unlocking device described in Solution 1, the locking and unlocking device also includes a lifting component (5), and the lifting component (5) is connected to the rotating component (3) and the locking and unlocking component (4), respectively. The lifting component (5) and the locking and unlocking component (4) can both be moved on a horizontal plane through the rotating component (3), and the locking and unlocking component (4) can be moved in a vertical direction through the lifting component (5).

[0054] Solution 12. According to the locking and unlocking device of Solution 11, the lifting assembly (5) includes a fourth driving mechanism (51) and a second transmission mechanism, and the second transmission mechanism is respectively connected to the fourth driving mechanism (51) and the locking and unlocking assembly (4).

[0055] Solution 13. According to the locking and unlocking device of Solution 12, the second transmission mechanism includes a lead screw (52) and a moving block (53), the output end of the fourth drive mechanism (51) is connected to the lead screw (52), the moving block (53) is screwed to the lead screw (52), and the moving block (53) is connected to the locking and unlocking assembly (4).

[0056] Solution 14. According to the locking and unlocking device described in Solution 12, the lifting assembly (5) also includes a third transmission mechanism, and the third transmission mechanism is respectively connected to the fourth drive mechanism (51) and the second transmission mechanism.

[0057] Solution 15. According to the locking and unlocking device described in Solution 14, the third transmission mechanism includes a driving gear (54), a driven gear (55) and a transmission belt (56), the driving gear (54) is connected to the output end of the fourth driving mechanism (51), the driving gear (54) and the driven gear (55) are synchronously connected through the transmission belt (56), and the driven gear (55) is connected to the second transmission mechanism.

[0058] Solution 16. According to the locking and unlocking device described in Solution 12, the lifting component (5) also includes a connecting bracket (57), and the connecting bracket (57) is connected to the rotating component (3).

[0059] Solution 17. According to the locking and unlocking device of Solution 16, the locking and unlocking device also includes a second guiding mechanism, and the second guiding mechanism is capable of guiding when the locking and unlocking component (4) moves in the vertical direction.

[0060] Solution 18. According to the locking and unlocking device of Solution 17, the second guide mechanism comprises a second linear guide rail (571) and a second guide block (58), the second linear guide rail (571) is vertically arranged on the connecting bracket (57), the second guide block (58) is slidably connected to the second linear guide rail (571), and the locking and unlocking assembly (4) is connected to the second guide block (58); and / or

[0061] Two second guide mechanisms are provided, and the two second guide mechanisms are arranged opposite to each other.

[0062] Solution 19. According to the locking and unlocking device of Solution 1, both ends of the support portion (1) are provided with limit blocks (15); and / or

[0063] The walking assembly (2) further comprises a detection bracket (231) and a proximity switch (2311); the proximity switch (2311) is arranged on the detection bracket (231); and a detection plate (16) is arranged on the support portion (1).

[0064] Solution 20. A battery-swapping robot, comprising the locking and unlocking device described in any one of Solutions 1-19. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The locking and unlocking device of the present application is described below with reference to the accompanying drawings. In the accompanying drawings:

[0066] Figure 1 This is a front view of the overall structure of the locking and unlocking device of the present application;

[0067] Figure 2 A top view of the overall structure of the locking and unlocking device of the present application;

[0068] Figure 3 A side view of the overall structure of the locking and unlocking device of the present application;

[0069] Figure 4 An exploded view of a portion of the walking assembly of the present application;

[0070] Figure 5 This is a schematic diagram of the connection between the support part and part of the walking assembly of the present application;

[0071] Figure 6 This is a partial structural diagram of the locking and unlocking device of this application;

[0072] Figure 7 This is a structural diagram of the locking and unlocking components of this application;

[0073] Figure 8 This is a schematic diagram of the connection between the lifting assembly and the locking and unlocking assembly of the present application;

[0074] Fig. 9 A structural diagram of a portion of the lifting assembly of this application;

[0075] Fig.10 A cross-sectional view of a portion of the lifting assembly of the present application;

[0076] Fig.11 This is a partial internal structure diagram of the lifting assembly of this application.

[0077] Reference numerals list

[0078] 1. Support part; 11. Rack structure; 12. Protective cover; 13. First linear guide rail; 14. Drag chain support plate; 15. Limit block; 16. Detection plate;

[0079] 2. Traveling assembly; 21. First driving mechanism; 22. Driving gear; 23. Mounting plate; 231. Detection bracket; 2311. Proximity switch; 24. First guide block; 25. Drag chain structure;

[0080] 3. Rotating assembly; 31. Second driving mechanism; 32. Rotating arm; 33. Connecting plate;

[0081] 4. Locking and unlocking assembly; 41. Third driving mechanism; 42. Sleeve joint;

[0082] 5. Lifting assembly; 51. Fourth driving mechanism; 52. Lead screw; 53. Moving block; 54. Driving gear; 55. Driven gear; 56. Transmission belt; 57. Connecting bracket; 571. Second linear guide rail; 58. Second guide block. DETAILED DESCRIPTION

[0083] The preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application. For example, although the present embodiment is introduced in conjunction with the lifting assembly (5), this is not intended to limit the scope of protection of the present application. Without departing from the principles of the present application, those skilled in the art may omit the lifting assembly (5).

[0084] It should be noted that in the description of the present application, the terms "upper", "lower", "vertical", "horizontal", "inner", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0085] In addition, it should be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0086] As described in the background technology, with the development of new energy vehicles, battery swapping as a way to quickly replenish energy for new energy batteries has been strongly supported by national policies and promoted by enterprises. Therefore, when a vehicle enters a battery swapping station, how to quickly replace the battery on the vehicle side and replace the battery on the station side has become an important issue in this field. In this regard, the battery swapping station will use a battery swapping cart to meet the battery swapping needs. Specifically, the battery swapping cart is provided with a locking and unlocking device, which can unlock the fasteners used to fasten the battery, so that the battery can be replaced. Then the battery swapping cart will replace the battery on the station side and lock it through the locking and unlocking device.

[0087] With the development of technology, the models of new energy vehicles are changing, and the types, quantities and positions of fasteners are also changing. However, the locking and unlocking devices in the prior art are relatively simple in form and cannot be compatible with different models, different fastener positions and different fastener types.

[0088] In order to solve the problem of poor compatibility of existing locking and unlocking devices, the present application provides a locking and unlocking device, comprising: a support portion (1), a walking component (2), a rotating component (3) and a locking and unlocking component (4), wherein the walking component (2) is arranged on the support portion (1), and the walking component (2) can move in a first horizontal direction relative to the support portion (1), the rotating component (3) is connected to the walking component (2), the locking and unlocking component (4) is connected to the rotating component (3), and the locking and unlocking component (4) can move on a horizontal plane through the rotating component (3).

[0089] When the above technical solution is adopted, the locking and unlocking assembly can be moved to any position on the plane through the cooperation of the walking assembly and the rotating assembly, so that the locking and unlocking assembly has a larger adjustment range, providing the premise for the locking and unlocking assembly to adapt to fasteners of different vehicle models, different positions and different models.

[0090] Refer to the following Figures 1 to 3 , the locking and unlocking device of the present application is described. Among them, Figure 1 This is a front view of the overall structure of the locking and unlocking device of the present application; Figure 2 A top view of the overall structure of the locking and unlocking device of the present application; Figure 3 It is a side view of the overall structure of the locking and unlocking device of the present application.

[0091] like Figures 1 to 3 As shown, in a preferred embodiment, the locking and unlocking device comprises a support portion (1), a walking component (2), a rotating component (3), a locking and unlocking component (4) and a lifting component (5), wherein the walking component (2) is arranged on the support portion (1), and the walking component (2) can move in a first horizontal direction relative to the support portion (1), one end of the rotating component (3) is connected to the walking component (2), and the other end is connected to the lifting component (5), the locking and unlocking component (4) is connected to the lifting component (5), the lifting component (5) and the locking and unlocking component (4) can both move on a horizontal plane through the rotating component (3), and the locking and unlocking component (4) can move in a vertical direction through the lifting component (5).

[0092] In this embodiment, the locking and unlocking assembly (4) can be moved in a first horizontal direction by the walking assembly (2), the locking and unlocking assembly (4) can be rotated on a horizontal plane by the rotating assembly (3), and the locking and unlocking assembly (4) can be moved in a vertical direction by the lifting assembly (5). The locking and unlocking assembly (4) can be moved to any position on a horizontal plane by the cooperation of the walking assembly (2) and the rotating assembly (3), and the locking and unlocking assembly (4) can be moved in any vertical direction by the lifting assembly (5), so that the locking and unlocking assembly (4) can be adapted to bolts of different vehicle models, different positions and different models.

[0093] Refer to the following Figures 3 to 5 , the support part and the walking assembly of the present application are described. Among them, Figure 3 A side view of the overall structure of the locking and unlocking device of the present application; Figure 4 An exploded view of a portion of the walking assembly of the present application; Figure 5 This is a schematic diagram of the connection between the support part and part of the walking component of the present application.

[0094] like Figures 3 to 5 As shown, the walking assembly (2) comprises a first driving mechanism (21) and a first transmission mechanism, wherein the first transmission mechanism is respectively connected to the first driving mechanism (21) and the supporting portion (1). Specifically, the first transmission mechanism comprises a driving gear (22), and the output end of the first driving mechanism (21) is connected to the driving gear (22).

[0095] The walking assembly (2) further comprises a mounting plate (23), the mounting plate (23) being slidably connected to the support portion (1), and the first driving mechanism (21) being connected to the mounting plate (23). The support portion (1) is provided with a rack structure (11), and the driving gear (22) is meshingly connected to the rack structure (11). A protective cover (12) is provided on the support portion (1), the protective cover (12) is located above the mounting plate (23), and the horizontal projection of the protective cover (12) relative to the support portion (1) at least partially covers the horizontal projection of the mounting plate (23) relative to the support portion (1). Limiting blocks (15) are provided at both ends of the support portion (1), and the walking assembly (2) further comprises a detection bracket (231) and a proximity switch (2311), the proximity switch (2311) being provided on the detection bracket (231), and a detection plate (16) is provided on the support portion (1).

[0096] The locking and unlocking device further comprises a first guide mechanism, which can guide the walking assembly (2) when it moves in a first horizontal direction. Specifically, the first guide structure comprises a first linear guide rail (13) and a first guide block (24), the first linear guide rail (13) is arranged on the support portion (1) along the first horizontal direction, the first guide block (24) is arranged on the walking assembly (2), the first guide block (24) is slidably connected to the first linear guide rail (13), and two first guide mechanisms are arranged side by side. The walking assembly (2) further comprises a drag chain structure (25), the support portion (1) further comprises a drag chain support plate (14), one end of the drag chain structure (25) is connected to the mounting plate (23), and the other end is connected to the drag chain support plate (14).

[0097] In this embodiment, first guide blocks (24) are arranged above and below the back of the mounting plate (23), and correspondingly, first linear guide rails (13) are arranged above and below the support portion (1), and each first guide block (24) is slidably connected to the corresponding first linear guide rail (13). When the travel component (2) is controlled to move in the first horizontal direction, the drive gear (22) can be controlled to reciprocate by the first drive mechanism (21), and the drive gear (22) is meshed with the rack structure (11). The rotation of the drive gear (22) can drive the travel component (2) to move relative to the support portion (1), and during the movement, the cooperation of the first linear guide rail (13) and the first guide block (24) can achieve a guiding effect on the travel component (2).

[0098] In addition, the arrangement of the drag chain structure (25) can protect the pipeline, and during the movement of the mounting plate (23), the mounting plate (23) can drive the drag chain structure (25) to extend and contract. The arrangement of the limit blocks (15) at both ends of the support portion (1) can be used to limit the maximum moving distance of the walking component (2) in the first horizontal direction. At the same time, a detection plate (16) is arranged on one side of the support portion (1), and correspondingly, a detection bracket (231) is arranged on the mounting plate (23), and a proximity switch (2311) is arranged on the detection bracket (231). Through the cooperation of the detection plate (16) and the proximity switch (2311), on the one hand, the maximum moving distance of the walking component (2) on one side can be limited, and on the other hand, the relative position of the walking component (2) can be determined.

[0099] It should be explained that, although the first driving mechanism (21) is meshed and connected with the rack structure (11) on the support part (1) through the driving gear (22) in the present embodiment, its setting is not fixed, and the technicians in this field can change its specific setting as needed, as long as it does not affect the realization of the normal function of the walking component (2). For example, the movement of the walking component (2) relative to the support part (1) can also be achieved by a chain sprocket and a lead screw nut. At this time, the setting of the drag chain structure (25) is not necessary, and the technicians in this field can change the setting mode of the pipeline as needed. In addition, in the present embodiment, the rack structure (11) is located above the driving gear (22), but its setting is not fixed. For example, the rack structure (11) can be set below the driving gear (22), and for another example, two rack structures (11) can be set up side by side. In addition, the setting of the first guide mechanism is not fixed. In an alternative embodiment, the first guide mechanism can be omitted. In another alternative embodiment, those skilled in the art may change the specific setting or quantity of the first guide mechanism as required, for example, by using a guide column and a guide cylinder or a guide groove and a guide block to achieve the guiding function during the movement of the walking component (2), or by only setting one first guide mechanism.

[0100] It should also be explained that the setting of the support part (1) is not fixed. In an alternative embodiment, the limit blocks (15) at both ends can be omitted. However, considering the limitation of the moving distance of the walking component (2) and the stable operation of the walking component (2), setting the limit blocks (15) is a better choice. In another alternative embodiment, the detection plate (16) and the proximity switch (2311) can be omitted, or those skilled in the art can change the specific detection settings according to the needs, as long as it does not affect the normal function.

[0101] Refer to the following Figure 6 and Figure 7 , the rotating assembly and the locking and unlocking assembly of the present application are described. Among them, Figure 6 This is a partial structural diagram of the locking and unlocking device of this application; Figure 7 This is a structural diagram of the locking and unlocking components of this application.

[0102] like Figure 6 and Figure 7 As shown, the rotating assembly (3) comprises a second driving mechanism (31), a swing arm (32) and a connecting plate (33), wherein the connecting plate (33) is connected to the walking assembly (2), the second driving mechanism (31) is fixedly connected to the connecting plate (33), the swing arm (32) is rotatably connected to the connecting plate (33), one end of the swing arm (32) is connected to the output end of the second driving mechanism (31), and the other end of the swing arm (32) is connected to the locking and unlocking assembly (4).

[0103] The locking and unlocking assembly (4) comprises a third driving mechanism (41) and a locking and unlocking member, wherein the third driving mechanism (41) can drive the locking and unlocking member to perform a locking and unlocking operation. Specifically, the locking and unlocking member is configured as a sleeve joint (42), the sleeve joint (42) is connected to an output end of the third driving mechanism (41), and the third driving mechanism (41) can drive the sleeve joint (42) to reciprocate.

[0104] In this embodiment, the connecting plate (33) can be directly connected to the mounting plate (23), and the second driving mechanism (31) is fixedly connected to the connecting plate (33), and the swing arm (32) is rotatably connected to the connecting plate (33). Therefore, when controlling the locking and unlocking assembly (4) and the lifting assembly (5) to rotate, the output end of the second driving mechanism (31) can directly control the swing arm (32) to rotate back and forth, at which time the swing arm (32) and the connecting plate (33) rotate relative to each other, and the third driving mechanism (41) as a whole remains stationary. The locking and unlocking assembly (4) can be linked to rotation and translation through the walking assembly (2) and the rotating assembly (3), so that the locking and unlocking assembly (4) can be moved to any position on the horizontal plane, thereby enabling the locking and unlocking assembly (4) to adapt to bolts of different models, positions and models.

[0105] It should be explained that the specific configuration of the rotating assembly (3) is not fixed. In an alternative embodiment, a mounting bracket can be provided, on which the second driving mechanism (31) can be placed, and the mounting bracket is fixedly connected to the walking assembly (2). In addition, the configuration of the locking and unlocking assembly (4) is also not fixed. Those skilled in the art can set corresponding locking and unlocking members according to different fasteners, for example, setting the locking and unlocking members to nuts.

[0106] Refer to the following Figures 8 to 11 , the lifting assembly of the present application is described. Among them, Figure 8 This is a schematic diagram of the connection between the lifting assembly and the locking and unlocking assembly of the present application; Fig. 9 A structural diagram of a portion of the lifting assembly of this application; Fig.10 A cross-sectional view of a portion of the lifting assembly of the present application; Fig.11 This is a partial internal structure diagram of the lifting assembly of this application.

[0107] like Figures 8 to 11As shown, the lifting assembly (5) includes a fourth drive mechanism (51), a second transmission mechanism, a third transmission mechanism and a connecting bracket (57), the connecting bracket (57) is connected to the rotating assembly (3) through a swing arm (32), and the fourth drive mechanism (51), the second transmission mechanism and the third transmission mechanism are all arranged on the connecting bracket (57). The second transmission mechanism is respectively connected to the fourth drive mechanism (51) and the locking and unlocking assembly (4), specifically, the second transmission mechanism includes a lead screw (52) and a moving block (53), the output end of the fourth drive mechanism (51) is connected to the lead screw (52), the moving block (53) is screwed to the lead screw (52), and the moving block (53) is connected to the locking and unlocking assembly (4). The third transmission mechanism is respectively connected to the fourth drive mechanism (51) and the second transmission mechanism. Specifically, the third transmission mechanism comprises a driving gear (54), a driven gear (55) and a transmission toothed belt (56); the driving gear (54) is connected to the output end of the fourth driving mechanism (51); the driving gear (54) and the driven gear (55) are synchronously connected via the transmission toothed belt (56); and the driven gear (55) is connected to the lead screw (52).

[0108] The locking and unlocking device further comprises a second guide mechanism, which can guide the locking and unlocking assembly (4) when it moves in the vertical direction. Specifically, the second guide mechanism comprises a second linear guide rail (571) and a second guide block (58), the second linear guide rail (571) is vertically arranged on the connecting bracket (57), the locking and unlocking assembly (4) is slidably connected to the second linear guide rail (571) through the second guide block (58), and two second guide mechanisms are arranged, and the two second guide mechanisms are arranged opposite to each other.

[0109] In this embodiment, when controlling the locking and unlocking assembly (4) to move in the vertical direction, since the driving gear (54) and the driven gear (55) are synchronously connected through the transmission toothed belt (56), and the driven gear (55) is connected to the lead screw (52), the driving gear (54) can be controlled to reciprocate through the fourth driving mechanism (51), thereby driving the lead screw (52) to reciprocate, and at this time, the moving block (53) can move up and down relative to the lead screw (52), and the moving block (53) is connected to the locking and unlocking assembly (4), so that the locking and unlocking assembly (4) can move up and down. In addition, a vertical second linear guide rail (571) is relatively arranged in the connecting bracket (57), and two second guide blocks (58) are respectively slidably connected to the corresponding second linear guide rails (571), and the locking and unlocking assembly (4) is connected to the two second guide blocks (58), and the cooperation of the second guide block (58) and the second linear guide rail (571) can achieve a guiding effect for the locking and unlocking assembly (4) when it moves up and down.

[0110] It should be explained that the setting of the lifting assembly (5) is not fixed. For example, if the locking and unlocking member can be lifted and lowered by itself and perform the locking and unlocking operation, the lifting assembly (5) can be omitted. Of course, when the lifting assembly (5) is set, the setting of the second transmission mechanism is not fixed. Those skilled in the art can set it according to the needs, as long as it does not affect the realization of the normal function of the lifting assembly (5). For example, the up and down movement of the locking and unlocking assembly (4) can also be achieved by a chain sprocket and a belt gear. In addition, the setting of the third transmission mechanism is not fixed. In an alternative embodiment, the third transmission mechanism can be omitted, and the output end of the fourth drive mechanism (51) can be directly connected to the lead screw (52). In this case, the connection bracket (57) can be omitted, and the fourth drive mechanism (51) can be directly connected to the rotating assembly (3). However, considering the premise of reducing the operating space, setting the third transmission mechanism and the connection bracket (57) is a better choice. In another alternative embodiment, those skilled in the art can also change the specific setting of the third transmission mechanism according to the needs. For example, the third transmission mechanism can also be set as a matching structure of the chain sprocket.

[0111] It should also be explained that the arrangement of the second guide mechanism is not fixed. In an alternative embodiment, the second guide mechanism may be omitted. In another alternative embodiment, those skilled in the art may change the specific arrangement or quantity of the second guide mechanism as required, for example, by using a guide column and a guide cylinder or a guide groove and a guide block to achieve the guiding effect of the locking and unlocking assembly (4) during the upward and downward movement. For another example, only one second guide mechanism may be arranged.

[0112] The present application also provides a battery-swapping robot, which includes any one of the locking and unlocking devices as described above.

[0113] When the above technical solution is adopted, the locking and unlocking assembly can be moved to any position on the plane through the cooperation of the walking assembly and the rotating assembly, so that the locking and unlocking assembly has a larger adjustment range, providing the premise for the battery-swapping robot to adapt to different vehicle models and fasteners of different positions and models.

[0114] Those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims of the present application, any one of the claimed embodiments may be used in any combination.

[0115] So far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present application.

Claims

1. A locking and unlocking device, characterized in that: include: Support portion (1); A walking assembly (2), the walking assembly (2) being arranged on the supporting portion (1), and the walking assembly (2) being movable in a first horizontal direction relative to the supporting portion (1); A rotating assembly (3), wherein the rotating assembly (3) is connected to the walking assembly (2); A locking and unlocking assembly (4), wherein the locking and unlocking assembly (4) is connected to the rotating assembly (3), and the locking and unlocking assembly (4) can be moved on a horizontal plane through the rotating assembly (3).

2. The locking and unlocking device according to claim 1, characterized in that: The walking assembly (2) comprises a first driving mechanism (21) and a first transmission mechanism, wherein the first transmission mechanism is respectively connected to the first driving mechanism (21) and the supporting part (1).

3. The locking and unlocking device according to claim 2, characterized in that: The first transmission mechanism comprises a driving gear (22), the walking assembly (2) further comprises a mounting plate (23), the mounting plate (23) is slidably connected to the supporting portion (1), the first driving mechanism (21) is connected to the mounting plate (23), and the output end of the first driving mechanism (21) is connected to the driving gear (22); The support portion (1) is provided with a rack structure (11), and the driving gear (22) is meshingly connected with the rack structure (11).

4. The locking and unlocking device according to claim 3, characterized in that: The locking and unlocking device further comprises a protective cover (12), wherein the protective cover (12) is arranged on the support portion (1), the protective cover (12) is located above the mounting plate (23), and the horizontal projection of the protective cover (12) relative to the support portion (1) at least partially covers the horizontal projection of the mounting plate (23) relative to the support portion (1).

5. The locking and unlocking device according to claim 2, characterized in that: The locking and unlocking device further comprises a first guiding mechanism, wherein the first guiding structure is capable of guiding when the walking assembly (2) moves in the first horizontal direction.

6. The locking and unlocking device according to claim 5, characterized in that: The first guide structure comprises a first linear guide rail (13) and a first guide block (24), the first linear guide rail (13) being arranged on the support portion (1) along the first horizontal direction, the first guide block (24) being arranged on the walking assembly (2), the first guide block (24) being slidably connected to the first linear guide rail (13); and / or Two first guide mechanisms are provided, and the two first guide mechanisms are arranged side by side up and down.

7. The locking and unlocking device according to claim 3, characterized in that: The walking assembly (2) further comprises a drag chain structure (25), and the supporting portion (1) further comprises a drag chain support plate (14); one end of the drag chain structure (25) is connected to the mounting plate (23), and the other end is connected to the drag chain support plate (14).

8. The locking and unlocking device according to claim 1, characterized in that: The rotating assembly (3) comprises a second driving mechanism (31), a rotary arm (32) and a connecting plate (33); the connecting plate (33) is connected to the walking assembly (2); the second driving mechanism (31) is fixedly connected to the connecting plate (33); and the rotary arm (32) is rotatably connected to the connecting plate (33); One end of the rotary arm (32) is connected to the output end of the second driving mechanism (31), and the other end of the rotary arm (32) is connected to the locking and unlocking assembly (4).

9. The locking and unlocking device according to claim 1, characterized in that: The locking and unlocking assembly (4) comprises a third driving mechanism (41) and a locking and unlocking member, and the third driving mechanism (41) is capable of driving the locking and unlocking member to perform a locking and unlocking operation.

10. The locking and unlocking device according to claim 9, characterized in that: The locking and unlocking member is configured as a sleeve joint (42), the sleeve joint (42) is connected to an output end of the third driving mechanism (41), and the third driving mechanism (41) is capable of driving the sleeve joint (42) to reciprocate.

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