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 plurality of rotating assemblies and a locking and unlocking assembly, the rotating assemblies are sequentially connected, the rotating assembly located at the front end is connected with the supporting part, and the locking and unlocking assembly is connected with the rotating assembly located at the tail end. The locking and unlocking assembly can move on the horizontal plane through the multiple rotating assemblies. By the adoption of the technical scheme, the locking and unlocking assembly can move at any position of the plane through cooperation of the multiple rotating assemblies, so that the locking and unlocking assembly has a larger adjusting range, and the premise is provided for the locking and unlocking device to adapt to different vehicle types and fasteners of 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 rotating assembly (2), wherein the rotating assembly (2) is provided in plurality and the plurality of rotating assemblies (2) are connected in sequence, and the rotating assembly (2) located at the front end is connected to the supporting portion (1);

[0008] A locking and unlocking assembly (3) is connected to the rotating assembly (2) located at the end, and the locking and unlocking assembly (3) can move on a horizontal plane through a plurality of the rotating assemblies (2).

[0009] 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 multiple rotating assemblies, so that the locking and unlocking assembly has a larger adjustment range, providing the premise for the locking and unlocking device to adapt to different vehicle models and fasteners in different positions and models.

[0010] In the preferred technical solution of the locking and unlocking device, each of the rotating components (2) comprises a first driving mechanism (21) and a swing arm (22), the output end of each of the first driving mechanisms (21) is connected to the corresponding swing arm (22), the plurality of swing arms (22) in the plurality of rotating components (2) are parallel to each other, and two adjacent swing arms (22) are rotatably connected;

[0011] The rotary arm (22) of the rotating assembly (2) located at the front end is rotatably connected to the support portion (1), and the lifting assembly (4) is connected to the rotary arm (22) of the rotating assembly (2) located at the rear end.

[0012] In the preferred technical solution of the above-mentioned locking and unlocking device, the support part (1) includes a connecting plate (11), the connecting plate (11) is parallel to the plurality of rotary arms (22), and the rotary arms (22) of the rotating assembly (2) located at the front end are rotatably connected to the connecting plate (11).

[0013] In the preferred technical solution of the locking and unlocking device, the locking and unlocking assembly (3) further comprises a second driving mechanism (31) and a locking and unlocking member, and the second driving mechanism (31) is capable of driving the locking and unlocking member to perform a locking and unlocking operation.

[0014] In a preferred technical solution of the locking and unlocking device, the locking and unlocking member is configured as a sleeve joint (32), the sleeve joint (32) is connected to an output end of the second driving mechanism (31), and the second driving mechanism (31) can drive the sleeve joint (32) to reciprocate.

[0015] In a preferred technical solution of the locking and unlocking device, the locking and unlocking device further comprises a lifting assembly (4), one end of the lifting assembly (4) is connected to the rotating assembly (2) located at the end, and the other end is connected to the locking and unlocking assembly (3), the lifting assembly (4) and the locking and unlocking assembly (3) can both be moved on a horizontal plane through a plurality of rotating assemblies (2), and the locking and unlocking assembly (3) can be moved in a vertical direction through the lifting assembly (4).

[0016] In the preferred technical solution of the locking and unlocking device, the lifting assembly (4) comprises a third driving mechanism (41) and a first transmission mechanism, and the first transmission mechanism is respectively connected to the third driving mechanism (41) and the locking and unlocking assembly (3).

[0017] In the preferred technical solution of the above-mentioned locking and unlocking device, the first transmission mechanism includes a lead screw (42) and a moving block (43), the output end of the third drive mechanism (41) is connected to the lead screw (42), the moving block (43) is screwed to the lead screw (42), and the moving block (43) is connected to the locking and unlocking assembly (3).

[0018] In the preferred technical solution of the locking and unlocking device, the lifting assembly (4) further comprises a second transmission mechanism, the second transmission mechanism comprises a driving gear (44), a driven gear (45) and a transmission toothed belt (46), the driving gear (44) is connected to the output end of the third driving mechanism (41), the driven gear (45) is connected to the first transmission mechanism, and the driving gear (44) and the driven gear (45) are synchronously connected via the transmission toothed belt (46).

[0019] In the preferred technical solution of the locking and unlocking device, the lifting assembly (4) further comprises a connecting bracket (47), and the connecting bracket (47) is connected to the rotating assembly (2) located at the end.

[0020] In a preferred technical solution of the locking and unlocking device, the locking and unlocking device further comprises a guiding mechanism, which can guide the locking and unlocking assembly (3) when it moves in a vertical direction.

[0021] In the preferred technical solution of the locking and unlocking device, the guide mechanism comprises a linear guide rail (471) and a guide block (48), the linear guide rail (471) is vertically arranged on the connecting bracket (47), the guide block (48) is slidably connected to the linear guide rail (471), and the locking and unlocking assembly (3) is connected to the guide block (48); and / or

[0022] There are two guide mechanisms, which are arranged opposite to each other.

[0023] 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.

[0024] When adopting the above technical solution, the locking and unlocking assembly can be moved to any position on the plane through the cooperation of multiple rotating assemblies, so that the locking and unlocking assembly has a larger adjustment range, providing the premise for the battery swap robot to adapt to different vehicle models and fasteners of different positions and models.

[0025] Solution 1. A locking and unlocking device, comprising:

[0026] Support portion (1);

[0027] A rotating assembly (2), wherein the rotating assembly (2) is provided in plurality and the plurality of rotating assemblies (2) are connected in sequence, and the rotating assembly (2) located at the front end is connected to the supporting portion (1);

[0028] A locking and unlocking assembly (3) is connected to the rotating assembly (2) located at the end, and the locking and unlocking assembly (3) can move on a horizontal plane through a plurality of the rotating assemblies (2).

[0029] Solution 2. According to the locking and unlocking device of Solution 1, each of the rotating components (2) comprises a first driving mechanism (21) and a swing arm (22), the output end of each of the first driving mechanisms (21) is connected to the corresponding swing arm (22), the plurality of swing arms (22) in the plurality of rotating components (2) are parallel to each other, and two adjacent swing arms (22) are rotatably connected;

[0030] The rotary arm (22) of the rotating assembly (2) located at the front end is rotatably connected to the support portion (1), and the lifting assembly (4) is connected to the rotary arm (22) of the rotating assembly (2) located at the rear end.

[0031] Solution 3. According to the locking and unlocking device described in Solution 2, the support part (1) includes a connecting plate (11), the connecting plate (11) is parallel to the plurality of rotary arms (22), and the rotary arm (22) of the rotating assembly (2) located at the front end is rotatably connected to the connecting plate (11).

[0032] Solution 4. According to the locking and unlocking device of Solution 1, the locking and unlocking assembly (3) further includes a second driving mechanism (31) and a locking and unlocking member, and the second driving mechanism (31) is capable of driving the locking and unlocking member to perform the locking and unlocking operation.

[0033] Solution 5. According to the locking and unlocking device described in Solution 4, the locking and unlocking member is configured as a sleeve joint (32), and the sleeve joint (32) is connected to the output end of the second driving mechanism (31), and the second driving mechanism (31) can drive the sleeve joint (32) to reciprocate.

[0034] Solution 6. According to the locking and unlocking device described in Solution 1, the locking and unlocking device also includes a lifting component (4), one end of the lifting component (4) is connected to the rotating component (2) located at the end, and the other end is connected to the locking and unlocking component (3), the lifting component (4) and the locking and unlocking component (3) can both be moved on the horizontal plane through the multiple rotating components (2), and the locking and unlocking component (3) can be moved in the vertical direction through the lifting component (4).

[0035] Solution 7. According to the locking and unlocking device described in Solution 6, the lifting component (4) includes a third driving mechanism (41) and a first transmission mechanism, and the first transmission mechanism is respectively connected to the third driving mechanism (41) and the locking and unlocking component (3).

[0036] Solution 8. According to the locking and unlocking device described in Solution 7, the first transmission mechanism includes a lead screw (42) and a moving block (43), the output end of the third drive mechanism (41) is connected to the lead screw (42), the moving block (43) is screwed to the lead screw (42), and the moving block (43) is connected to the locking and unlocking assembly (3).

[0037] Solution 9. According to the locking and unlocking device described in Solution 7, the lifting component (4) also includes a second transmission mechanism, the second transmission mechanism includes a driving gear (44), a driven gear (45) and a transmission belt (46), the driving gear (44) is connected to the output end of the third driving mechanism (41), the driven gear (45) is connected to the first transmission mechanism, and the driving gear (44) and the driven gear (45) are synchronously connected through the transmission belt (46).

[0038] Solution 10. According to the locking and unlocking device described in Solution 6, the lifting component (4) also includes a connecting bracket (47), and the connecting bracket (47) is connected to the rotating component (2) located at the end.

[0039] Solution 11. According to the locking and unlocking device of Solution 10, the locking and unlocking device also includes a guiding mechanism, which is capable of guiding when the locking and unlocking component (3) moves in the vertical direction.

[0040] Solution 12. According to the locking and unlocking device of Solution 11, the guide mechanism comprises a linear guide rail (471) and a guide block (48), the linear guide rail (471) is vertically arranged on the connecting bracket (47), the guide block (48) is slidably connected to the linear guide rail (471), and the locking and unlocking assembly (3) is connected to the guide block (48); and / or

[0041] There are two guide mechanisms, which are arranged opposite to each other.

[0042] Solution 13. A battery-swapping robot, comprising the locking and unlocking device described in any one of Solutions 1-12. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The locking and unlocking device of the present application is described below with reference to the accompanying drawings. In the accompanying drawings:

[0044] Figure 1 This is the overall structural diagram of the locking and unlocking device of this application;

[0045] Figure 2 This is a schematic diagram of the connection between the support part and the rotating assembly of the present application;

[0046] Figure 3 This is a structural diagram of the locking and unlocking components of the present application;

[0047] Figure 4 This is a schematic diagram of the connection between the lifting assembly and the locking and unlocking assembly of the present application;

[0048] Figure 5 A structural diagram of a portion of the lifting assembly of this application;

[0049] Figure 6 A cross-sectional view of a portion of the lifting assembly of the present application;

[0050] Figure 7 This is a partial internal structure diagram of the lifting assembly of this application.

[0051] Reference numerals list

[0052] 1. Support part; 11. Connecting plate;

[0053] 2. Rotating assembly; 21. First driving mechanism; 22. Rotating arm;

[0054] 3. Locking and unlocking assembly; 31. Second driving mechanism; 32. Sleeve joint;

[0055] 4. Lifting assembly; 41. Third driving mechanism; 42. Lead screw; 43. Moving block; 44. Driving gear; 45. Driven gear; 46. Transmission belt; 47. Connecting bracket; 471. Linear guide rail; 48. Guide block. DETAILED DESCRIPTION

[0056] 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 (4), 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 (4).

[0057] 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 merely 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", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. In addition, in the description of the present application, "multiple" refers to at least two.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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 part (1), a rotating assembly (2) and a locking and unlocking assembly (3), wherein the rotating assembly (2) is provided in plurality, and the plurality of rotating assemblies (2) are connected in sequence, the rotating assembly (2) located at the front end is connected to the support part (1), the locking and unlocking assembly (3) is connected to the rotating assembly (2) located at the end, and the locking and unlocking assembly (3) can be moved on a horizontal plane through the plurality of rotating assemblies (2).

[0062] 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 multiple rotating assemblies, so that the locking and unlocking assembly has a larger adjustment range, providing the premise for the locking and unlocking device to adapt to different vehicle models and fasteners in different positions and models.

[0063] Refer to the following Figures 1 to 3 , to describe the locking and unlocking device of the present application. Among them, Figure 1 This is the overall structural diagram of the locking and unlocking device of this application; Figure 2 This is a schematic diagram of the connection between the support part and the rotating assembly of the present application; Figure 3 This is a structural diagram of the locking and unlocking components of this application.

[0064] like Figures 1 to 3 As shown, in a preferred embodiment, the locking and unlocking device comprises a supporting portion (1), a rotating assembly (2), a locking and unlocking assembly (3) and a lifting assembly (4), wherein a plurality of rotating assemblies (2) are provided, and the plurality of rotating assemblies (2) are connected in sequence, the rotating assembly (2) at the front end is connected to the supporting portion (1), the locking and unlocking assembly (3) is connected to the rotating assembly (2) at the end, and the locking and unlocking assembly (3) can be moved on a horizontal plane through the plurality of rotating assemblies (2).

[0065] Each rotating assembly (2) comprises a first driving mechanism (21) and a swing arm (22), the output end of each first driving mechanism (21) is connected to a corresponding swing arm (22), the plurality of swing arms (22) in the plurality of rotating assemblies (2) are parallel to each other, and two adjacent swing arms (22) are rotatably connected. The swing arm (22) of the rotating assembly (2) at the front end is rotatably connected to the support portion (1), and the lifting assembly (4) is connected to the swing arm (22) of the rotating assembly (2) at the end. The support portion (1) comprises a connecting plate (11), the connecting plate (11) is parallel to the plurality of swing arms (22), and the swing arm (22) of the rotating assembly (2) at the front end is rotatably connected to the connecting plate (11).

[0066] The locking and unlocking assembly (3) comprises a second driving mechanism (31) and a locking and unlocking member, wherein the second driving mechanism (31) 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 (32), the sleeve joint (32) is connected to the output end of the second driving mechanism (31), and the second driving mechanism (31) can drive the sleeve joint (32) to reciprocate.

[0067] In this embodiment, two rotating assemblies (2) are provided, a first rotating arm (22) and a first first driving mechanism (21) are both rotatably connected to the connecting plate (11), a second rotating arm (22) and a second first driving mechanism (21) are both rotatably connected to the first rotating arm (22), and Figure 1 and Figure 2 It can be seen that when the swing arm (22) rotates, the corresponding first drive mechanism (21) will rotate along with the swing arm (22). The output end of each second drive mechanism (31) can directly control the corresponding swing arm (22) to rotate back and forth, the first rotating assembly (2) can rotate relative to the support portion (1), and the second rotating assembly (2) can rotate relative to the first rotating assembly (2). Therefore, the locking and unlocking assembly (3) can be moved to any position on the horizontal plane through the two rotating assemblies (2), so that the locking and unlocking assembly (3) can be adapted to bolts of different models, positions and types.

[0068] It should be explained that the specific configuration of the rotating assembly (2) is not fixed. In an alternative embodiment, a person skilled in the art can change the number of rotating assemblies (2) as required, for example, setting the number of rotating assemblies (2) to three or more. In another alternative embodiment, taking the first rotating assembly (2) as an example, the swing arm (22) can be located above the connecting plate (11). In this case, the first driving mechanism (21) can be fixedly connected to the connecting plate (11), the connecting plate (11) can be rotatably connected to the swing arm (22), and the output end of the first driving mechanism (21) can be connected to the swing arm (22). In this case, when the swing arm (22) rotates, the first driving mechanism (21) remains stationary.

[0069] In addition, the arrangement of the connecting plate (11) is not fixed. In an alternative embodiment, the first first driving mechanism (21) can be directly fixed to the supporting portion (1), and the connecting plate (11) can be omitted. In addition, the arrangement of the locking and unlocking assembly (3) is 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 member as a nut.

[0070] Refer to the following Figures 4 to 7 , the lifting assembly of the present application is described. Among them, Figure 4 This is a schematic diagram of the connection between the lifting assembly and the locking and unlocking assembly of the present application; Figure 5 A structural diagram of a portion of the lifting assembly of this application; Figure 6 A cross-sectional view of a portion of the lifting assembly of the present application; Figure 7 This is a partial internal structure diagram of the lifting assembly of this application.

[0071] like Figures 4 to 7As shown, the lifting assembly (4) includes a third driving mechanism (41), a first transmission mechanism, a second transmission mechanism and a connecting bracket (47), the connecting bracket (47) is connected to the rotating assembly (2) through a swing arm (22), and the third driving mechanism (41), the first transmission mechanism and the second transmission mechanism are all arranged on the connecting bracket (47). The first transmission mechanism is respectively connected to the third driving mechanism (41) and the locking and unlocking assembly (3), specifically, the first transmission mechanism includes a lead screw (42) and a moving block (43), the output end of the third driving mechanism (41) is connected to the lead screw (42), the moving block (43) is screwed to the lead screw (42), and the moving block (43) is connected to the locking and unlocking assembly (3). The second transmission mechanism is respectively connected to the third driving mechanism (41) and the first transmission mechanism. Specifically, the second transmission mechanism comprises a driving gear (44), a driven gear (45) and a transmission toothed belt (46); the driving gear (44) is connected to the output end of the third driving mechanism (41); the driving gear (44) and the driven gear (45) are synchronously connected via the transmission toothed belt (46); and the driven gear (45) is connected to the lead screw (42).

[0072] The locking and unlocking device further comprises a guide mechanism, which can guide the locking and unlocking assembly (3) when it moves in the vertical direction. Specifically, the guide mechanism comprises a linear guide rail (471) and a guide block (48), the linear guide rail (471) is vertically arranged on the connecting bracket (47), the locking and unlocking assembly (3) is slidably connected to the linear guide rail (471) through the guide block (48), and two guide mechanisms are provided, and the two guide mechanisms are arranged opposite to each other.

[0073] In this embodiment, when controlling the locking and unlocking assembly (3) to move in the vertical direction, since the driving gear (44) and the driven gear (45) are synchronously connected through the transmission toothed belt (46), and the driven gear (45) is connected to the lead screw (42), the driving gear (44) can be controlled to rotate back and forth through the third driving mechanism (41), thereby driving the lead screw (42) to rotate back and forth, and at this time, the moving block (43) can move up and down relative to the lead screw (42), and the moving block (43) is connected to the locking and unlocking assembly (3), so that the locking and unlocking assembly (3) can move up and down. In addition, vertical linear guides (471) are relatively arranged in the connecting bracket (47), and two guide blocks (48) are respectively slidably connected to the corresponding linear guides (471), and the locking and unlocking assembly (3) is connected to the two guide blocks (48), and the cooperation of the guide blocks (48) and the linear guides (471) can achieve a guiding effect for the locking and unlocking assembly (3) when it moves up and down.

[0074] It should be explained that the setting of the lifting assembly (4) 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 (4) can be omitted. Of course, when the lifting assembly (4) is set, the setting of the first 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 (4). For example, the up and down movement of the locking and unlocking assembly (3) can also be achieved by a chain sprocket and a belt gear. In addition, the setting of the second transmission mechanism is not fixed. In an alternative embodiment, the second transmission mechanism can be omitted, and the output end of the third drive mechanism (41) can be directly connected to the lead screw (42). In this case, the connection bracket (47) can be omitted, and the third drive mechanism (41) can be directly connected to the rotating assembly (2). However, considering the premise of reducing the operating space, setting the second transmission mechanism and the connection bracket (47) is a better choice. In another alternative embodiment, those skilled in the art can also change the specific setting of the second transmission mechanism according to the needs. For example, the second transmission mechanism can also be set to a matching structure of the chain sprocket.

[0075] It should also be explained that the setting of the guide mechanism is not fixed. In an alternative embodiment, the guide mechanism may be omitted. In another alternative embodiment, those skilled in the art may change the specific setting or number of the guide mechanism according to the needs, 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 component (3) during the upward and downward movement, or by only setting one guide mechanism.

[0076] The present application also provides a battery-swapping robot, which includes any one of the locking and unlocking devices as described above.

[0077] When adopting the above technical solution, the locking and unlocking assembly can be moved to any position on the plane through the cooperation of multiple rotating assemblies, so that the locking and unlocking assembly has a larger adjustment range, providing the premise for the battery swap robot to adapt to different vehicle models and fasteners of different positions and models.

[0078] 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.

[0079] 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 rotating assembly (2), wherein the rotating assembly (2) is provided in plurality and the plurality of rotating assemblies (2) are connected in sequence, and the rotating assembly (2) located at the front end is connected to the supporting portion (1); A locking and unlocking assembly (3) is connected to the rotating assembly (2) located at the end, and the locking and unlocking assembly (3) can move on a horizontal plane through a plurality of the rotating assemblies (2).

2. The locking and unlocking device according to claim 1, characterized in that: Each of the rotating components (2) comprises a first driving mechanism (21) and a rotary arm (22); an output end of each of the first driving mechanisms (21) is connected to a corresponding rotary arm (22); a plurality of the rotary arms (22) in a plurality of the rotating components (2) are parallel to each other, and two adjacent rotary arms (22) are rotatably connected; The rotary arm (22) of the rotating assembly (2) located at the front end is rotatably connected to the support portion (1), and the lifting assembly (4) is connected to the rotary arm (22) of the rotating assembly (2) located at the rear end.

3. The locking and unlocking device according to claim 2, characterized in that: The support portion (1) comprises a connecting plate (11), the connecting plate (11) is parallel to the plurality of rotary arms (22), and the rotary arms (22) of the rotary assembly (2) located at the front end are rotatably connected to the connecting plate (11).

4. The locking and unlocking device according to claim 1, characterized in that: The locking and unlocking assembly (3) further comprises a second driving mechanism (31) and a locking and unlocking member, wherein the second driving mechanism (31) is capable of driving the locking and unlocking member to perform a locking and unlocking operation.

5. The locking and unlocking device according to claim 4, characterized in that: The locking and unlocking member is configured as a sleeve joint (32), the sleeve joint (32) is connected to an output end of the second driving mechanism (31), and the second driving mechanism (31) is capable of driving the sleeve joint (32) to reciprocate.

6. The locking and unlocking device according to claim 1, characterized in that: The locking and unlocking device further comprises a lifting assembly (4), one end of the lifting assembly (4) is connected to the rotating assembly (2) located at the end, and the other end is connected to the locking and unlocking assembly (3); both the lifting assembly (4) and the locking and unlocking assembly (3) can be moved on a horizontal plane through a plurality of rotating assemblies (2), and the locking and unlocking assembly (3) can be moved in a vertical direction through the lifting assembly (4).

7. The locking and unlocking device according to claim 6, characterized in that: The lifting assembly (4) comprises a third driving mechanism (41) and a first transmission mechanism, wherein the first transmission mechanism is respectively connected to the third driving mechanism (41) and the locking and unlocking assembly (3).

8. The locking and unlocking device according to claim 7, characterized in that: The first transmission mechanism comprises a lead screw (42) and a moving block (43), the output end of the third drive mechanism (41) is connected to the lead screw (42), the moving block (43) is threadedly connected to the lead screw (42), and the moving block (43) is connected to the locking and unlocking assembly (3).

9. The locking and unlocking device according to claim 7, characterized in that: The lifting assembly (4) further comprises a second transmission mechanism, the second transmission mechanism comprising a driving gear (44), a driven gear (45) and a transmission toothed belt (46), the driving gear (44) being connected to an output end of the third driving mechanism (41), the driven gear (45) being connected to the first transmission mechanism, and the driving gear (44) and the driven gear (45) being synchronously connected via the transmission toothed belt (46).

10. The locking and unlocking device according to claim 6, characterized in that: The lifting assembly (4) further comprises a connecting bracket (47), wherein the connecting bracket (47) is connected to the rotating assembly (2) located at the end.

Images