Gripper device of battery replacing vehicle and control method thereof

Abstract

The invention discloses a gripping apparatus device of a battery replacing vehicle and a control method of the gripping apparatus device, and belongs to the technical field of battery box replacement. The leveling assembly is connected with the lifting appliance assembly and is used for driving the lifting appliance assembly to level until the lifting appliance assembly is in a horizontal state; the rotary assembly is connected with the lifting appliance assembly and is used for driving the lifting appliance assembly to rotate by 360 degrees until the lifting appliance assembly is positioned right above the battery box; the lifting appliance assembly comprises a gripping apparatus mechanism for locking the battery box and a lifting mechanism for controlling the lifting of the gripping apparatus mechanism. The technical problem that in the prior art, manual carrying cannot meet the requirement for grabbing large batteries in engineering machinery can be solved.

Description

Technical Field

[0001] This invention relates to the field of battery box replacement technology, and in particular to a battery swapping vehicle gripping device and its control method. Background Technology

[0002] With the development of new energy construction machinery, the demand for replacing large batteries is increasing. Given the complex working environment and massive battery boxes of construction machinery, manual handling and replacement pose risks, increase labor costs, and result in low efficiency. This cannot meet the demands of construction machinery for handling large batteries. Therefore, there is an urgent need for a battery swapping vehicle gripping device and its control method to solve these technical problems. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a battery swapping vehicle gripping device and its control method, which can solve the technical problem that the existing technology of manual handling cannot meet the gripping needs of large batteries in engineering machinery.

[0004] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0005] In a first aspect, the present invention provides a battery swapping vehicle gripper device, comprising:

[0006] Lifting gear assembly;

[0007] A leveling assembly connected to the spreader assembly is used to drive the spreader assembly to level until the spreader assembly is in a horizontal state;

[0008] A slewing assembly connected to the lifting assembly is used to drive the lifting assembly to rotate 360 ​​degrees until the lifting assembly is directly above the battery box;

[0009] The lifting assembly includes a gripping mechanism for locking the battery box and a lifting mechanism for controlling the lifting and lowering of the gripping mechanism.

[0010] Furthermore, the lifting mechanism includes:

[0011] The gripper includes an upper platform, a limiting bracket, a lower platform connected to the upper platform via the limiting bracket, a gripper lifting cylinder mounted on the lower surface of the upper platform, a first sliding vertical plate connected to the gripper lifting cylinder, a pulley assembly integrated on the limiting bracket, a wire rope sleeved on the first sliding vertical plate and the pulley assembly, a connector fixed to the lower platform, and a compaction detection proximity switch penetrating the lower platform for detecting the compaction state of the battery box.

[0012] One end of the wire rope is connected to the lifting cylinder of the gripper, and the other end of the wire rope is connected to the lower platform of the gripper. The pulley group includes two groups, each group including two coaxial pulleys. There is a height difference between the two groups of pulleys, which is used to connect the wire rope to the connector in a direction perpendicular to the ground. The first sliding plate is integrated into the upper platform of the gripper.

[0013] Furthermore, the limiting bracket includes:

[0014] A mounting bracket connected to the upper platform of the gripper, a pointed end integrated into the end of the mounting bracket, and a hollow column mounted on the lower platform of the gripper;

[0015] The number of hollow columns corresponds one-to-one with the tip.

[0016] Furthermore, the gripper mechanism includes:

[0017] The gripper includes a gripper rotary locking cylinder mounted on the upper surface of the gripper's lower platform, a pair of second sliding vertical plates connected to the output ends of the gripper rotary locking cylinder on both sides, a pair of connecting rod units hinged to the second sliding vertical plates, a guide plate mounted on the gripper's lower platform and slidably connected to the second sliding vertical plates, four battery clamps coaxially rotating with the output ends of the connecting rod units, and locking detection proximity switches mounted at the four included angles of the gripper's lower platform.

[0018] The battery clamp is integrated on the lower surface of the gripper's lower platform.

[0019] Furthermore, the linkage unit includes:

[0020] A first rotating rod hinged to the second sliding upright plate, a second driving rod rotatably connected to the first rotating rod, and a rotating shaft sleeved on the second driving rod;

[0021] The rotating shaft extends from the upper platform of the gripper to the lower platform of the gripper, and a battery clamp is connected to one side of the lower platform of the gripper.

[0022] Furthermore, the slewing assembly includes:

[0023] A rotary reducer fixedly connected to the upper platform of the gripper, a lifting device rotary cylinder fixedly connected to the upper platform of the gripper, and an encoder integrated on the lifting device rotary cylinder;

[0024] The output shaft of the lifting device's slewing cylinder is fixedly connected to the input end of the slewing reducer.

[0025] Furthermore, the leveling assembly includes:

[0026] A single-axis tilt sensor for detecting the horizontal tilt angle of the spreader assembly and a spreader leveling cylinder for leveling the spreader assembly;

[0027] The single-axis tilt sensor is installed perpendicular to the ground, and the leveling cylinder of the lifting device is fixedly connected to the lifting device assembly.

[0028] Secondly, the present invention provides a control method for a battery swapping vehicle gripper device, comprising:

[0029] Control the rotation of the slewing assembly until the spreader assembly is directly above the battery box;

[0030] The control leveling assembly levels the spreader assembly until the spreader assembly is in a horizontal position;

[0031] The gripper mechanism is lowered to the minimum preset distance directly above the battery box to compact it. The gripper mechanism is then rotated to lock the battery box until it is locked in place. Finally, the gripper mechanism is raised to the preset highest installation position to complete the battery box replacement.

[0032] Furthermore, controlling the leveling assembly to level the spreader assembly until the spreader assembly is in a horizontal state includes:

[0033] Obtain the low-order byte and high-order byte data output by the single-axis tilt sensor;

[0034] The intermediate angle is obtained based on the low-order byte data and the high-order byte data, and the expression includes:

[0035] ;

[0036] in, The median angle is 16 bits. For high-order byte data, The least significant byte of data;

[0037] The actual angle value is obtained based on the preset angle resolution coefficient and the intermediate angle. The expression includes:

[0038] When 0≤AW≤32768 ;

[0039] When 32769≤AW≤65535 ;

[0040] The actual angle values ​​include positive and negative actual angle values. This is the actual positive angle value. It is a negative actual angle value. The midpoint is 0.05, which is the preset angle resolution coefficient.

[0041] When the actual angle is positive, the leveling cylinder of the spreader is extended; when the actual angle is negative, the leveling cylinder of the spreader is retracted until the actual angle is zero, thus achieving leveling.

[0042] Furthermore, controlling the descent of the gripper mechanism includes:

[0043] The hydraulic cylinder for lifting the gripper extends, causing the wire rope to move along the pulley. Under the traction of the wire rope, the gripper mechanism descends.

[0044] The control gripper mechanism's rotary lock battery box includes:

[0045] The control gripper's rotary locking cylinder extends, causing the second sliding vertical plate and the connecting rod unit to move in the same direction as the extension. Under the action of the connecting rod unit, the battery clamp rotates and acts on the battery box. When a locking signal is received from the locking detection proximity switch, the battery clamp locks the battery box.

[0046] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0047] This invention first proposes a battery swapping vehicle gripping device. The device drives the lifting assembly to rotate through a slewing assembly until the lifting assembly is above the battery box. Then, the device drives the lifting assembly to level it until it is horizontal. After achieving both horizontalization and rotation, the lifting mechanism of the lifting assembly controls the gripping mechanism of the lifting assembly to descend, locking the gripping mechanism with the battery box. Then, the lifting mechanism is driven to rise to complete the gripping of the battery box. This device enables the gripping of large batteries in engineering machinery, saving manpower and resources and improving gripping efficiency.

[0048] By relying on the positioning of the compaction detection proximity switch and the fixing of the locking detection proximity switch, the battery box can be locked and lifted to realize the replacement of the battery box. The whole set of devices is installed on the articulated truck and can complete the replacement of batteries for new energy engineering vehicles, improving the battery replacement efficiency and construction safety. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the structure of a battery swapping vehicle gripper device provided in an embodiment of the present invention;

[0050] Figure 2 This is a flowchart illustrating a control method for a battery swapping vehicle gripper device provided in an embodiment of the present invention.

[0051] The components include: 1. Leveling cylinder for the lifting device; 2. Single-axis tilt sensor; 3. Mounting bracket; 4. Rotary reducer; 5. Upper platform of the gripper; 6. Lifting cylinder for the gripper; 7. Wire rope; 8. Locking detection proximity switch; 9. Battery clamp; 10. Hollow column; 11. Grip lock cylinder; 12. Compaction detection proximity switch; 13. Lower platform of the gripper; 14. Linkage unit; 15. First sliding vertical plate; 16. Pulley block; 17. Second sliding vertical plate; 18. Encoder; and 19. Rotary cylinder for the lifting device. Detailed Implementation

[0052] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations thereof. In the absence of conflict, the embodiments and technical features in the embodiments can be combined with each other.

[0053] In this invention, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B together, or B alone. Additionally, in this invention, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0054] Example 1:

[0055] Figure 1 This is a schematic diagram of the structure of the battery swapping vehicle gripper device in Embodiment 1 of the present invention, specifically including:

[0056] Lifting gear assembly.

[0057] A leveling assembly connected to the spreader assembly is used to drive the spreader assembly to level until the spreader assembly is in a horizontal state;

[0058] The leveling assembly includes:

[0059] A single-axis tilt sensor 2 for detecting the horizontal tilt angle of the lifting assembly and a lifting leveling cylinder 1 for leveling the lifting assembly;

[0060] The single-axis tilt sensor 2 is installed perpendicular to the ground. The leveling cylinder 1 of the lifting device is fixedly connected to the lifting device assembly. The number of the leveling cylinder 1 and the single-axis tilt sensor 2 can be set according to the actual application scenario. In this embodiment, there can be two.

[0061] The single-axis tilt sensor 2 can detect the tilt angle of the spreader assembly in the horizontal direction. This tilt angle information is fed back to the controller, which sends a telescopic command to the spreader leveling cylinder 1. The single-axis tilt sensor 2 and the controller interact with each other to level the entire spreader assembly. The controller mentioned in this embodiment refers to the controller that controls the grabbing device of the electric vehicle. Its complete control process is described in detail in Embodiment 2 and will not be repeated here.

[0062] A slewing assembly connected to the lifting assembly is used to drive the lifting assembly to rotate 360 ​​degrees until the lifting assembly is directly above the battery box;

[0063] The slewing assembly includes:

[0064] The rotary reducer 4 is fixedly connected to the upper platform 5 of the gripper, the lifting device rotary cylinder 19 is fixedly connected to the upper platform 5 of the gripper, and the encoder 18 is integrated on the lifting device rotary cylinder 19;

[0065] The output shaft of the slewing cylinder 19 of the lifting device is fixedly connected to the input end of the slewing reducer 4. The slewing reducer 4 and the upper platform 5 of the gripper mentioned below are fastened together with bolts. After receiving the signal from the encoder 18, the controller converts the high input power into low speed and high torque output through the slewing reducer 4, driving the lifting device assembly to achieve full rotation. The information interaction between the encoder 18 and the controller can achieve automatic adjustment to be directly above the battery box. The specific implementation method is conventional existing technology and will not be described in detail here.

[0066] The lifting assembly includes a gripping mechanism for locking the battery box and a lifting mechanism for controlling the lifting and lowering of the gripping mechanism, wherein the lifting mechanism includes:

[0067] The gripper consists of an upper platform 5, a limiting bracket, a lower platform 13 connected to the upper platform 5 via the limiting bracket, a gripper lifting cylinder 6 mounted on the lower surface of the upper platform 5, a first sliding vertical plate 15 connected to the gripper lifting cylinder 6, a pulley assembly 16 integrated on the limiting bracket, a steel wire rope 7 sleeved on the first sliding vertical plate 15 and the pulley assembly 16, a connector (not shown in the figure) fixed to the lower platform 13, and a compaction detection proximity switch 12 penetrating the lower platform 13 for detecting the compaction state of the battery box.

[0068] One end of the wire rope 7 is connected to the output end of the gripper lifting cylinder 6, and the other end of the wire rope 7 is connected to the gripper lower platform 13. The pulley group 16 includes two groups, each group including two coaxial pulleys. The two groups of pulleys maintain a height difference, which is used to connect the wire rope 7 to the connector in a direction perpendicular to the ground. The connector is used to drive the gripper lower platform 13 to rise and fall under the action of the wire rope 7. The first sliding upright plate 15 is integrated on the gripper upper platform 5, and the first sliding upright plate 15 and the gripper lifting cylinder 6 are connected by the wire rope 7.

[0069] Specifically, the limiting bracket includes:

[0070] The mounting bracket 3 is connected to the upper platform 5 of the gripper, the tip (not shown in the figure) integrated into the end of the mounting bracket 3, and the hollow column 10 is mounted on the lower platform 13 of the gripper;

[0071] The number of hollow columns 10 corresponds one-to-one with the tip portion.

[0072] The gripper mechanism includes:

[0073] The gripper includes a gripper rotary locking cylinder 11 mounted on the upper surface of the gripper lower platform 13, a pair of second sliding vertical plates 17 connected to the output ends on both sides of the gripper rotary locking cylinder 11, a pair of connecting rod units 14 hinged to the second sliding vertical plates 17, a guide plate (not shown in the figure, the guide plate is used to limit the movement direction of the connecting rod units 14 and the second sliding vertical plates 17) mounted on the gripper lower platform 13 and slidably connected to the second sliding vertical plates 17, four battery clamps 9 coaxially rotating with the output ends of the connecting rod units 14, and locking detection proximity switches 8 mounted at the four included angles of the gripper lower platform 13.

[0074] The battery clamp 9 is integrated on the lower surface of the gripper platform 13.

[0075] The linkage unit 14 includes:

[0076] The first rotating rod (not shown in the figure) is hinged to the second sliding plate 17, the second driving rod (not shown in the figure) is rotatably connected to the first rotating rod, and the rotating shaft (not shown in the figure) is sleeved on the second driving rod. The specific structure of the connecting rod unit 14 is a conventional connecting rod function. The function of the connecting rod unit 14 in this application is only to achieve locking with the battery box under the action of the gripper rotary locking cylinder 11.

[0077] The rotating shaft extends from the upper platform 5 of the gripper to the lower platform 13 of the gripper, and a battery clamp 9 is connected to one side of the lower platform 13 of the gripper.

[0078] In summary, the battery swapping vehicle gripping device disclosed in Example 1 can grip large batteries in engineering machinery, saving manpower and resources and improving gripping efficiency.

[0079] By relying on the positioning of the compaction detection proximity switch 12 and the fixing of the locking detection proximity switch 8, the battery box can be locked and lifted to realize the replacement of the battery box. The whole set of devices is installed on the articulated truck and can complete the replacement of batteries for new energy engineering vehicles, improving the battery replacement efficiency and construction safety.

[0080] Example 2:

[0081] Embodiment 2 of the present invention provides a control method for a battery swapping vehicle gripper device, such as... Figure 2 As shown in the flowchart, this flowchart only illustrates the logical order of the methods described in this embodiment. Provided there are no conflicts, different methods may be used in other possible embodiments of the present invention. Figure 2 Complete the steps shown or described in the order indicated.

[0082] The method in this embodiment specifically includes the following steps:

[0083] Step 1: Control the slewing assembly to rotate until the lifting assembly is directly above the battery box. Specifically, first obtain the position information of the encoder 18, and control the movement of the lifting cylinder 19 according to the position information of the encoder 18, driving the lifting assembly to rotate 360° until the lifting assembly is directly above the battery box for subsequent processing.

[0084] Step Two: After the spreader assembly completes its slewing motion, control the leveling assembly to level the spreader assembly until it is in a horizontal position, including:

[0085] Acquire the low-byte and high-byte data output by the single-axis tilt sensor 2;

[0086] The intermediate angle is obtained based on the low-order byte data and the high-order byte data, and the expression includes: ;

[0087] in, The median angle is 16 bits. For high-order byte data, The least significant byte of data;

[0088] The actual angle value is obtained based on the preset angle resolution coefficient and the intermediate angle. The expression includes:

[0089] When 0≤AW≤32768 ;

[0090] When 32769≤AW≤65535 ;

[0091] The actual angle values ​​include positive and negative actual angle values. This is the actual positive angle value. It is a negative actual angle value. The midpoint is 0.05, which is the preset angle resolution coefficient.

[0092] When the actual angle is positive, the controller sends a PWM pulse signal to control the leveling cylinder of the lifting device to extend. When the actual angle is negative, the controller sends a PWM pulse signal to control the leveling cylinder of the lifting device to retract until the actual angle is zero, thus achieving leveling.

[0093] Step 3: After completing the rotation and leveling, control the gripper mechanism to descend to the minimum preset distance directly above the battery box, thus compacting the battery box. At this point, the gripper and battery box are compacted. After the gripper mechanism and battery box are compacted, proceed to the next step: control the gripper mechanism to lock the battery box until the gripper mechanism and battery box are locked together. Then, control the gripper mechanism to rise to the preset highest installation position (i.e., attached). Figure 1 The tip mentioned above is inserted into the hollow column 10, so that the tip cannot be seen and the tip cannot be further displaced in the hollow column 10, thus enabling subsequent battery box replacement.

[0094] The control mechanism for lowering the gripper includes:

[0095] The control gripper lifting cylinder 6 extends, driving the wire rope 7 to move along the pulley. Under the traction of the wire rope 7, the gripper mechanism descends (in fact, the gripper lower platform 13 also descends). The signal from the compaction detection proximity switch 12 can be used to determine whether the battery box and gripper mechanism have been compacted. Controlling the gripper mechanism to rise corresponds exactly to the above content, and will not be repeated here.

[0096] The control gripper mechanism's rotary lock battery box includes:

[0097] The control gripper cylinder 11 extends, causing the second sliding plate 17 and the linkage unit 14 to move in the same direction as the extension. Under the action of the linkage unit 14, the battery clamp 9 rotates and acts on the battery box. The signal from the locking detection proximity switch 8 can be used to determine whether the battery clamp has been locked.

[0098] When the controller sends an unlocking command, the control gripper's rotary locking cylinder 11 shortens, causing the second sliding plate 17 and the linkage unit 14 to move in the same direction as the extension. Under the action of the linkage unit 14, the battery clamp 9 rotates to release the battery box.

[0099] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A gripping device for battery swapping vehicles, characterized in that, include: Lifting gear assembly; A leveling assembly connected to the spreader assembly is used to drive the spreader assembly to level until the spreader assembly is in a horizontal state; A slewing assembly connected to the lifting assembly is used to drive the lifting assembly to rotate 360 ​​degrees until the lifting assembly is directly above the battery box; The lifting assembly includes a gripping mechanism for locking the battery box and a lifting mechanism for controlling the lifting and lowering of the gripping mechanism.

2. The battery swapping vehicle gripper device according to claim 1, characterized in that, The lifting mechanism includes: The gripper consists of an upper platform (5), a limiting bracket, a lower platform (13) connected to the upper platform (5) via the limiting bracket, a gripper lifting cylinder (6) mounted on the lower surface of the upper platform (5), a first sliding plate (15) connected to the gripper lifting cylinder (6), a pulley assembly (16) integrated on the limiting bracket, a wire rope (7) sleeved on the first sliding plate (15) and the pulley assembly (16), a connector fixed on the lower platform (13), and a compaction detection proximity switch (12) penetrating the lower platform (13) for detecting the compaction state of the battery box. One end of the wire rope (7) is connected to the lifting cylinder (6) of the gripper, and the other end of the wire rope (7) is connected to the lower platform (13) of the gripper. The pulley group (16) includes two groups, each group including two coaxial pulleys, for connecting the wire rope (7) to the connector in a direction perpendicular to the ground. The first sliding plate (15) is integrated on the upper platform (5) of the gripper.

3. The battery swapping vehicle gripper device according to claim 2, characterized in that, The limiting bracket includes: The mounting bracket (3) connected to the upper platform (5) of the gripper, the tip integrated into the end of the mounting bracket (3), and the hollow column (10) mounted on the lower platform (13) of the gripper. The number of hollow columns (10) corresponds one-to-one with the tip.

4. The battery swapping vehicle gripper device according to claim 2, characterized in that, The gripper mechanism includes: The gripper rotary locking cylinder (11) installed on the upper surface of the gripper lower platform (13), a pair of second sliding vertical plates (17) connected to the output ends on both sides of the gripper rotary locking cylinder (11), a pair of connecting rod units (14) hinged to the second sliding vertical plates (17), a guide plate installed on the gripper lower platform (13) and slidably connected to the second sliding vertical plates (17), four battery clamps (9) coaxially rotating with the output ends of the connecting rod units (14), and locking detection proximity switches (8) installed at the four included angles of the gripper lower platform (13); The battery clamp (9) is integrated on the lower surface of the gripper lower platform (13).

5. The battery swapping vehicle gripper device according to claim 4, characterized in that, The linkage unit (14) includes: A first rotating rod hinged to the second sliding upright plate (17), a second driving rod rotatably connected to the first rotating rod, and a rotating shaft sleeved on the second driving rod; The rotating shaft extends from the upper platform (5) of the gripper to the lower platform (13) of the gripper, and a battery clamp (9) is connected to one side of the lower platform (13) of the gripper.

6. The battery swapping vehicle gripper device according to claim 2, characterized in that, The slewing assembly includes: A rotary reducer (4) fixedly connected to the upper platform (5) of the gripper, a lifting cylinder (19) fixedly connected to the upper platform (5) of the gripper, and an encoder (18) integrated on the lifting cylinder (19). The output shaft of the lifting device rotary cylinder (19) is fixedly connected to the input end of the rotary reducer (4).

7. The battery swapping vehicle gripper device according to claim 1, characterized in that, The leveling assembly includes: A single-axis tilt sensor (2) for detecting the horizontal tilt angle of the spreader assembly and a spreader leveling cylinder (1) for leveling the spreader assembly; The single-axis tilt sensor (2) is installed perpendicular to the ground, and the leveling cylinder (1) of the lifting device is fixedly connected to the lifting device assembly.

8. A control method for a battery swapping vehicle gripper device, characterized in that, include: Control the rotation of the slewing assembly until the spreader assembly is directly above the battery box; The control leveling assembly levels the spreader assembly until the spreader assembly is in a horizontal position; The gripper mechanism is lowered to the minimum preset distance directly above the battery box to compact it. The gripper mechanism is then rotated to lock the battery box until it is locked in place. Finally, the gripper mechanism is raised to the preset highest installation position to complete the battery box replacement.

9. The control method for the battery swapping vehicle gripper device according to claim 8, characterized in that, The control leveling assembly levels the spreader assembly until the spreader assembly is in a horizontal state, including: Obtain the low-byte and high-byte data output by the single-axis tilt sensor (2); The intermediate angle is obtained based on the low-order byte data and the high-order byte data, and the expression includes: ； in, The median angle is 16 bits. For high-order byte data, The least significant byte of data; The actual angle value is obtained based on the preset angle resolution coefficient and the intermediate angle. The expression includes: When 0≤AW≤32768 ; When 32769≤AW≤65535 ; The actual angle values ​​include positive and negative actual angle values. This is the actual positive angle value. It is a negative actual angle value. The midpoint is 0.05, which is the preset angle resolution coefficient. When the actual angle is positive, the leveling cylinder of the spreader is extended; when the actual angle is negative, the leveling cylinder of the spreader is retracted until the actual angle is zero, thus achieving leveling.

10. The control method for the battery swapping vehicle gripper device according to claim 8, characterized in that, The control mechanism for lowering the gripper includes: The lifting cylinder (6) of the control gripper extends, driving the wire rope (7) to move along the pulley. Under the traction of the wire rope (7), the gripper mechanism descends. The control gripper mechanism's rotary lock battery box includes: The control gripper cylinder (11) extends, causing the second sliding plate (17) and the linkage unit (14) to move in the same direction as the extension. Under the action of the linkage unit (14), the battery clamp (9) rotates and acts on the battery box. When the locking signal of the locking detection proximity switch (8) is received, the battery clamp (9) locks the battery box.

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