Self-Integrated Machine Fastener

Abstract

The self - integrated mechanical fastener comprises an active device and a passive device and is configured to have a locked state and an unlocked state. The active device includes a motor that drives a shaft in a first direction to advance a plunger toward the passive device, shifting the fastener to the locked state. The plunger includes a tapered distal end that mechanically engages a lock body. The lock body is laterally moved by the tapered distal end and applies a force to a lock frame disposed in a slot defined within the housing of the passive device. By this force, the mechanical fastener is locked. To unlock the mechanical fastener, the motor drives the shaft in a second direction to pull the plunger away from the passive device.

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This application claims priority to U.S. Application No. 18 / 056,048, filed on November 16, 2022, entitled "Self - Aligning Mechanical Fasteners", which in turn claims the benefit and priority of U.S. Provisional Application No. 63 / 364,074, filed on May 3, 2022, entitled "Self - Aligning Mechanical Fasteners", and these are hereby incorporated by reference into this specification.

[0002] This application generally relates to mechanical fasteners for coupling physical components of a device.

Background Art

[0003] Often, it is necessary to couple or join physical components to form a device. Such components can be joined or coupled using adhesives (such as glue), clamps, nails, screws, bolts, or similar devices. Screws and bolts include a head and a threaded shaft that is threaded into one or more physical components to mechanically secure the components. A driving device (screwdriver, wrench, hex key, or similar device) drives the head to rotate the threaded shaft. A bolt or nut can be attached to the proximal end of the threaded shaft and tightened rotatably to generate a mechanical force between the head and the bolt / nut and secure one or more parts therebetween.

[0004] To drive the head, an accurate mechanical alignment between the drive device and the head is required. For example, a screw head or a bolt head includes a recess for receiving the corresponding end of a minus driver or a plus driver. A bolt head can also have a raised or recessed hexagonal shape to allow the bolt to be engaged with a wrench. Further, to screw a threaded shaft into a bolt / nut, an accurate mechanical alignment between the threaded shaft and the bolt or nut is required.

[0005] Such mechanical alignment can be performed manually by a human relatively easily, but it poses a problem in an automated system. For example, in a robot system, expensive and complex optical devices are required for guidance and alignment. Further, in a robot system, it is necessary to operate and track a plurality of separate / removed parts (such as screws, bolts, etc.).

[0006] This application provides an improved low-cost alignment system for mechanical fasteners.

Summary of the Invention

Problems to be Solved by the Invention

[0007] The exemplary embodiments described herein have innovative features, but none of them are essential to their desirable characteristics or solely responsible for those characteristics. The following description and drawings show in detail some exemplary embodiments of the present disclosure and illustrate some exemplary ways in which the various principles of the present disclosure can be implemented. However, the exemplary examples do not cover many possible embodiments of the present disclosure. Without limiting the scope of the claims, some advantageous features are summarized below. Other objects, advantages, and novel features of the present disclosure will be described in the following detailed description of the present disclosure when considered in conjunction with the drawings, which are intended to illustrate rather than limit the present invention.

Means for Solving the Problems

[0008] One aspect of the present invention is a self-aligning mechanical fastener, which has an active device and a passive device. The active device includes an active housing that defines a channel extending along a first axis, a shaft disposed within the channel and extending along the first axis, the shaft having an external thread defined in a threaded region, a motor configured to rotate the shaft about the first axis, a plunger having a channel defined from a proximal end to a distal end thereof, the channel being defined by an inner wall having an internal thread that engages the external thread of the threaded region of the shaft, the distal end having a tapered shape, a cap attached to the active housing and disposed at the distal end of the shaft, the cap having a proximal surface and a distal surface, a gap being defined between the proximal surface and the active housing, and a lock body disposed on the proximal surface of the cap. The passive device includes an alignment housing having a hole extending from a proximal end to a distal end thereof parallel to the first axis, the hole being configured to receive the active housing, the proximal end of the alignment housing forming a tapered alignment guide defined by an inner wall of the alignment housing such that the width of the hole decreases from the proximal end to the distal end of the alignment guide, the width being measured with respect to a second axis orthogonal to the first axis, and a pressure frame disposed within a slot defined within the alignment housing, the hole extending through a hollow central region of the pressure frame. The self-aligning mechanical fastener has a locked state and an unlocked state.To transition the self-aligning mechanical fastener from the unlocked state to the locked state, the active housing is inserted into the hole, the lock body is aligned with the pressure frame, the motor rotates the shaft in a first direction to advance the plunger toward the cap, the distal end of the plunger applies a force to the lock body, and the lock body mechanically engages with the pressure frame, thereby mechanically fixing the active device to the passive device. To transition the self-aligning mechanical fastener from the locked state to the unlocked state, the motor rotates the shaft in a second direction to retract the plunger from the cap, releasing the force on the lock body, thereby unlocking the active device from the passive device.

[0009] In one or more embodiments, the lock body is a first lock body, the self-aligning mechanical fastener further comprises a second lock body disposed on the proximal surface of the cap within the gap, and the shaft is disposed between the first lock body and the second lock body. In one or more embodiments, the first and second lock bodies each include a first and a second cylinder.

[0010] In one or more embodiments, the slot is partially defined by a planar inner wall within the alignment housing at the distal end of the slot, the pressure frame has a planar outer surface on the distal side of the pressure frame, and the planar outer surface contacts the planar inner wall. In one or more embodiments, the planar outer surface and the planar inner wall are parallel to a plane orthogonal to the first axis, the pressure frame has a planar engagement surface connected to the planar outer surface, the planar engagement surface and the plane define an acute angle, and the planar engagement surface is configured to engage with the lock body when the self-aligning mechanical fastener is in the locked state. In one or more embodiments, the acute angle is in the range of about 35 degrees to about 45 degrees.

[0011] In one or more embodiments, the acute angle is a first acute angle, the pressure frame has a planar alignment surface connected to the planar engagement surface, the planar engagement surface is located between the planar alignment surface and the planar outer surface, the planar alignment surface and the plane define a second acute angle, and the planar alignment surface is configured to engage the lock body when the active housing is partially removed from the hole. In one or more embodiments, the first acute angle is in the range of about 35 degrees to about 45 degrees, and the second acute angle is in the range of about 70 degrees to about 80 degrees.

[0012] In one or more embodiments, each inner wall defining the tapered alignment guide has a cross-sectional thickness that increases from the proximal end to the distal end of the tapered alignment guide, and the cross-sectional thickness is measured along each axis orthogonal to the first axis. The inner wall includes opposing first and second walls that are aligned with respect to the second axis. In one or more embodiments, the inner wall includes a third wall that is aligned with respect to a third axis orthogonal to the first axis and the second axis, and the third wall is connected to the opposing first and second walls.

[0013] In one or more embodiments, the proximal end of the plunger includes a plurality of planar outer surfaces configured to engage respective planar inner surfaces of the active housing when the shaft rotates about the first axis, such that the plunger advances when the self-aligning mechanical fastener transitions from the unlocked state to the locked state and the plunger retracts when the self-aligning mechanical fastener transitions from the locked state to the unlocked state.

[0014] In one or more embodiments, the pressure frame is configured to float within the slot with respect to the second axis and / or with respect to a third axis orthogonal to the first axis and the second axis.

[0015] In one or more embodiments, the active device further includes a controller that communicates electrically with the motor, and the controller rotates the shaft in the first direction by the motor to advance the plunger toward the cap, and generates a first drive signal for shifting the self-aligning mechanical fastener from the unlocked state to the locked state, and rotates the shaft in the second direction by the motor to retract the plunger from the cap, and generates a second drive signal for shifting the self-aligning mechanical fastener from the locked state to the unlocked state. In one or more embodiments, the active device includes a limit switch that communicates electrically with the controller, and the limit switch is configured to output a limit switch signal when the shaft is rotated in the first direction and the distal end of the plunger advances to a predetermined position, and the controller is configured to generate a stop output signal for stopping the motor in response to a feedback signal from the motor while the self-aligning mechanical fastener system shifts from the unlocked state to the locked state and before the controller receives the limit switch signal. In one or more embodiments, the feedback signal is the drive current of the motor, and the controller is configured to generate a stop output signal when the drive current is equal to or greater than a predetermined value.

[0016] In one or more embodiments, the predetermined value is a first predetermined value, and while the self-aligning mechanical fastener system shifts from the unlocked state to the locked state and before receiving the limit switch signal, the controller is configured to generate the stop output signal when the drive current is equal to or greater than a second predetermined value and the second predetermined value is greater than the first predetermined value.

[0017] In one or more embodiments, the limit switch is a first limit switch, the limit switch signal is a first limit switch signal, the predetermined position is a first predetermined position, the active device includes a second limit switch that communicates electrically with the controller, the second limit switch is configured to output the second limit switch signal when the distal end of the plunger is drawn to the second predetermined position by rotating the shaft in the second direction, and while the self-aligning mechanical fastener system transitions from the locked state to the unlocked state, the controller is configured to generate the stop output signal in response to receiving the second limit switch signal.

[0018] Another aspect of the present invention is an assembly comprising a first object, a second object, an active device attached to the first object, a passive device attached to the second object, and a controller. The active device includes an active housing defining a channel extending along a first axis, a shaft disposed within the channel and extending along the first axis and having an external thread defined in a threaded region, a motor configured to rotate the shaft about the first axis, a plunger having a channel defined from a proximal end to a distal end of the plunger, the channel being defined by an inner wall having an internal thread engaging the external thread of the threaded region of the shaft, the distal end having a tapered shape, a cap attached to the active housing and disposed at the distal end of the shaft, the cap having a proximal surface and a distal surface, a gap being defined between the proximal surface and the active housing, and a lock body disposed on the proximal surface of the cap. The passive device includes an alignment housing having a hole extending parallel to the first axis from a proximal end to a distal end of the alignment housing, the hole being configured to receive the active housing, the proximal end of the alignment housing forming a tapered alignment guide defined by an inner wall of the alignment housing such that the width of the hole decreases from the proximal end to the distal end of the alignment guide, the width being measured with respect to a second axis orthogonal to the first axis, and a pressure frame disposed within a slot defined within the alignment housing, the hole extending through a hollow central region of the pressure frame. The controller is in electrical communication with the motor. The active device and the passive device are configured to form a self-aligning mechanical fastener having a locked state and an unlocked state.When shifting the self - aligning mechanical fastener from the unlocked state to the locked state, the active housing is inserted into the hole, the lock body is aligned with the pressure frame, and the controller generates a first drive signal for the motor to rotate the shaft in a first direction to advance the plunger towards the cap. The distal end of the plunger applies a force to the lock body, and the lock body mechanically engages with the pressure frame to mechanically fix the active device to the passive device. When shifting the self - aligning mechanical fastener from the locked state to the unlocked state, the controller generates a second drive signal, whereby the motor rotates the shaft in a second direction to retract the plunger from the cap, releasing the force on the lock body and unlocking the active device from the passive device.

[0019] In one or more embodiments, the controller is on the first object. In one or more embodiments, the first object comprises an interface plate configured to be attached to a vehicle, and the second object has a battery tray.

[0020] In one or more embodiments, the active device is a first active device, and the passive device is a first passive device. The self - aligning mechanical fastener is a first self - aligning mechanical fastener. The assembly further comprises a second active device attached to the first object and a second passive device attached to the second object. The first active device is aligned with the first passive device, the second active device is aligned with the second passive device, and the second active device and the second passive device are configured to form a second self - aligning mechanical fastener.

[0021] Another aspect of the present invention is a method of releasably and mechanically coupling objects. This method includes the step of inserting an active device into a passive device, where the active device is mechanically coupled to a first object and the passive device is mechanically coupled to a second object. The active device includes an active housing defining a channel extending along a first axis, a shaft disposed within the channel and extending along the first axis and having an external thread defined in a threaded region, a motor for rotating the shaft about the first axis, a plunger having a channel defined from a proximal end to a distal end of the plunger, the channel being defined by an inner wall having an internal thread engaging the external thread of the threaded region of the shaft, the distal end having a tapered shape, a cap attached to the active housing and disposed at the distal end of the shaft, the cap having a proximal surface and a distal surface, a gap being defined between the proximal surface and the active housing, and a lock body disposed on the proximal surface of the cap. The passive device includes an alignment housing having a hole extending parallel to the first axis from a proximal end to a distal end of the alignment housing, the hole being configured to receive the active housing, the proximal end of the alignment housing forming a tapered alignment guide defined by an inner wall of the alignment housing such that the width of the hole decreases from the proximal end to the distal end of the alignment guide, the width being measured with respect to a second axis orthogonal to the first axis, and a pressure frame disposed within a slot defined within the alignment housing, the hole extending through a hollow central region of the pressure frame.This method further includes the steps of rotating the shaft in a first direction relative to the first axis by the motor to advance the plunger toward the cap; mechanically contacting the distal end of the plunger with the lock body; applying a force to the lock body at the distal end of the plunger to mechanically engage the lock body with the pressure frame by this force; and restricting the movement of the lock body by the distal end of the plunger and the pressure frame, thereby mechanically fixing the active device to the passive device.

Brief Description of the Drawings

[0022] To more fully understand the nature and advantages of the concepts disclosed herein, reference is made to the detailed description of the preferred embodiments and the accompanying drawings.

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DETAILED DESCRIPTION OF THE INVENTION

[0023] The self - integrated mechanical fastener includes an active device and a passive device, and is configured to have a locked state and an unlocked state. The active device includes one or more locking bodies that can mechanically engage with the locking frame of the passive device. The active device includes a motor that can drive the shaft in a first direction to advance the plunger along the vertical axis towards the distal end of the active device and towards the passive device. The plunger includes a tapered distal end configured to mechanically engage with the locking body when the plunger advances distally. In the locked state, the plunger applies a force to the locking body, and the locking body applies a force to the locking frame to mechanically fix the active device and the passive device. In the unlocked state, the force is released and the plunger is at least partially retracted.

[0024] The active device can include a lower limit switch that can operate when the plunger reaches a predetermined lower position when the fastener transitions from the unlocked state to the locked state. When the lower limit switch operates, the lower limit switch generates a first limit switch output signal that can be received by a controller that is in electrical communication with the motor. When the fastener transitions from the unlocked state to the locked state, the controller can monitor the drive current (or other electrical characteristics) of the motor. The controller can compare the drive current of the motor with a first predetermined maximum drive current before receiving the first limit switch output signal. If the drive current exceeds the first predetermined maximum drive current, the controller can generate a stop output signal to stop the motor. After receiving the first limit switch output signal, the controller can compare the drive current of the motor with a second predetermined maximum drive current that is lower than the first predetermined maximum drive current. If the drive current exceeds the second predetermined maximum drive current, the controller can generate a stop output signal to stop the motor. The first predetermined maximum drive current can correspond to a thread misalignment or damage of the shaft and / or the plunger. The second predetermined maximum drive current can correspond to a predetermined locking force applied to the locking body by the plunger.

[0025] Furthermore, the active device can include an upper limit switch that operates when the plunger reaches a predetermined upper position when the fastener transitions from the locked state to the unlocked state. When the upper limit switch operates, the upper limit switch generates a second limit switch output signal that can be received by the controller. In response to receiving the second limit switch output signal, the controller can generate a stop output signal to stop the motor. The second limit switch output signal can correspond to a position where the shaft and the plunger are fully retracted when the fastener is in the unlocked state.

[0026] The assembly can include an active device attached to a first object and a passive device attached to a second object. When the active device and the passive device are configured as a self-aligning mechanical fastener in the locked state, the first and second objects are mechanically coupled.

[0027] FIG. 1 is a perspective view of a self-aligning mechanical fastener 10 according to an embodiment. The fastener 10 includes an active device 100 and a passive device 200. The active device 100 can be inserted into the passive device 200, and the active device 100 and the passive device 200 can be releasably locked (e.g., mechanically fixed) to form the fastener.

[0028] FIG. 2 is a cross-sectional view of the self-aligning mechanical fastener 10 through plane 20 of FIG. 1. The fastener 10 is in the unlocked state in FIGS. 1 and 2.

[0029] FIG. 3 is a separated cross-sectional view of the active device 100. The active device 100 includes a housing 110, a shaft 120, a plunger 130, a cap 140, one or more lock bodies 150, and a motor 160. The active device 100 has a distal end 102 (e.g., a first end) and a proximal end 104 (e.g., a second end). The housing 100 defines a hollow region 112 that includes a housing channel 114 extending along a central vertical axis 300 (e.g., a first axis).

[0030] Shaft 120 is positioned or disposed within housing channel 114. Shaft 120 extends along or parallel to a first axis 300. Further, shaft 120 includes a threaded region 122 in which an external thread 124 is defined. Shaft 120 is configured to rotate about a vertical axis 300, similar to a screw or bolt.

[0031] FIG. 4 is an exploded perspective view of shaft 120. This figure shows that a keyhole 400 is defined in shaft 120. Keyhole 400 is configured to mechanically engage with a bevel gear 162 (FIG. 3) driven by a motor 160, transferring the rotational driving force from motor 160 to shaft 120, such that when motor 160 is in a first state, the shaft rotates in a first direction (e.g., clockwise) about a central vertical axis 300, and when motor 160 is in a second state, the shaft rotates in a second direction (e.g., counterclockwise) about the central vertical axis 300.

[0032] Plunger 130 includes a distal end 502 and a proximal end 504 as shown in FIG. 5. The distal end 502 can have a tapered shape such as a wedge shape, arrow shape, anchor shape, or other shapes. The distal end 502 can include a planar outer surface 510. Slots 520 can be formed on the outer surface of the lateral side surfaces of plunger 130. Slots 520 can be formed on the outer surface of the opposite side surfaces of plunger 130. Slots 520 extend parallel to a central vertical axis 300. Plunger 130 can include a plurality of planar outer surfaces 540 configured to frictionally engage with corresponding planar inner surfaces 116 within housing 110 that define housing channel 114.

[0033] Further, as shown in FIG. 6, a plunger channel 530 is defined within the plunger 130. The plunger channel 530 extends from the proximal end 504 to the distal end 502 of the plunger 130 along and / or parallel to the central vertical axis 300. The plunger channel 530 is defined by the inner wall 550 of the plunger 130. An internal thread 560 is defined on the inner wall 550. The plunger channel 530 is configured to receive the shaft 120, and the internal thread 560 of the inner wall 540 is configured to engage (e.g., rotationally engage) with the external thread 124 of the shaft 120, and by rotating the shaft 120 relative to the plunger 130, the relative position of the plunger 130 with respect to the shaft 120 can be adjusted.

[0034] Returning to FIG. 3, the cap 140 is attached to or is part of (e.g., integrally connected to) the housing 110. The cap 140 has a distal side 142 and a proximal side 144. The distal side 142 can include a planar distal surface 143. The proximal side 144 includes one or more planar proximal surfaces 145 configured to mechanically support one or more lock bodies 150. A proximal hole 146 for receiving the distal end of the shaft 120 may be defined in the proximal side 142. The cap 140 also includes a tapered alignment side surface 147 disposed at a position closer to the central vertical axis 300 than the proximal side 144 or near it on the distal side 142 of the cap 140. Two opposing tapered side surfaces 147 are shown on the left and right sides of the cap 140 in FIG. 3. One or more additional tapered side surfaces 147 are disposed in front of and / or behind the cap 140, e.g., on the opposite side of a cross-section orthogonal to the cross-section shown in FIG. 3. The tapered side surface 147 can be used to align the active device 100 with the passive device 200 when the distal end 102 of the active device 100 is inserted into the passive device 200. The tapered side surface 147 shown in FIG. 3 can align the active device 100 with a second axis 310 orthogonal to the first axis 300. The tapered side surface 147 of the cross-section orthogonal to the cross-section shown in FIG. 3 can align the active device 100 with a third axis 320 orthogonal to the first axis 300 and the second axis 310.

[0035] FIG. 7 is a sectional view of the passive device 200. The passive device 200 includes an alignment housing 210 and a pressure frame 220. The alignment housing 210 includes a tapered alignment guide 230 at the proximal end 202 of the passive device 200 and the alignment housing 210. The tapered alignment guide 230 includes a plurality of walls 240 having a tapered inner surface 242, and the distal end 244 of the inner surface 242 is disposed closer to the central vertical axis 300 than the proximal end 246 of the inner surface 242. In one embodiment, the thickness of the wall 240 can be thinner at the proximal end 246 than at the distal end 244, and the wall 240 is provided such that the thickness increases from the proximal end 246 toward the distal end 244 and the distal end approaches the central vertical axis 300 of the wall 240. The distal end 244 of the inner surface 242 is disposed closer to the central vertical axis 300 than the proximal end 246 of the inner surface 242. In another embodiment, the wall 240 has a substantially uniform thickness and is inclined inwardly to provide a wall 240 in which the distal end 244 of the inner surface 242 is disposed closer to the central vertical axis 300 than the proximal end 246 of the inner surface 242.

[0036] The wall 240 can include a pair of opposing walls (e.g., wall 240A and another wall 240B (not shown) on the opposite side of the cross section). The pair of walls 240A, 240B provides a tapered alignment guide 250 with respect to the second axis 310. The wall 240 can also include a wall 240C disposed between the walls 240A, 240B and orthogonal to the walls 240A, 240B. The wall 240C provides a tapered alignment guide with respect to the third axis 320. Any wall 240 (e.g., wall 240D (not shown)) on the opposite side of the wall 240C can further provide a tapered alignment guide with respect to the third axis 320 in combination with the wall 240C.

[0037] The housing 210 defines a hole or channel 260 that extends along or parallel to the central vertical axis 300 from the proximal end 202 to the distal end 204 of the passive device 200. The hole 260 is configured to accommodate the active device 100. The proximal portion of the hole 260 is at least partially defined by walls 240 (e.g., walls 240A-C or walls 240A-D). The internal planar wall or surface 262 and the internal side wall 264 of the housing 210 further define the hole 260. The hole 260 passes through the hollow central region 222 of the pressure frame 220.

[0038] The housing 210 also defines a slot 270 configured to accommodate and / or hold the pressure frame 220. The slot 270 is configured to provide a gap 272 between the outer edge 224 of the pressure frame 220 and one of the planar internal housing walls 212 that partially defines the slot 270. The gap 272 allows the pressure frame 220 to float within the slot 270 with respect to a third axis 320, and the pressure frame 220 can slide in either direction along the third axis 320 up to the length of the gap 272, and the pressure frame 220 can float within the slot 270 with respect to (or parallel to) the third axis 320.

[0039] FIG. 8 is a single perspective view of the pressure frame 220 at the lower part of the housing 210, further showing a gap 272 with respect to (or parallel to) the third axis 320. FIG. 9 is a single perspective view of the lower part of the housing 210 with the pressure frame 220 removed, further showing the slot 270. The length 900 of the slot 270 measured with respect to the second axis 310 is greater than the corresponding length 1000 of the body portion 1010 of the pressure frame 220 configured to be disposed within the slot 270, as shown in FIG. 10. FIG. 10 is a single partially transparent perspective view of the lower part of the housing 210 and the pressure frame 220. The difference between the length 900 of the slot 270 and the length 1000 of the body portion 1010 of the pressure frame 220 provides a gap 1072 with respect to (or parallel to) the second axis 310. The gap 1072 enables the pressure frame 220 to float within the slot 270 with respect to the second axis 310, and the pressure frame 220 can slide in either direction along the second axis 310 up to the length of the gap 1072, and the pressure frame 220 can float within the slot 270 with respect to (or parallel to) the third axis 310. The ability of the pressure frame 220 to float with respect to (or parallel to) the second axis 310 and / or the third axis 320 provides an additional self - aligning function for the fastener 10.

[0040] FIG. 11 is an exploded isometric view of a pressure frame 220 according to an embodiment. The pressure frame 220 includes opposing body portions 1010 aligned along (or parallel to) the third axis 320. Each body portion 1010 includes a body protrusion 1110 that extends away from the pressure frame 220 (e.g., parallel to the vertical axis 300) and is configured to be received within the slot 270. The length 1000 of the body portion 1010 including the body protrusion 1110 is shorter than the corresponding length 900 of the slot 270 (FIGS. 9 and 10), enabling the pressure frame 220 to float within the slot 270 with respect to (or parallel to) the third axis 310.

[0041] FIG. 12 is a cross-sectional view of the pressure frame 220 through the plane 1200 of FIG. 11. The body projection 1110 includes a planar sliding surface 1201 on the distal side of the pressure frame 220. The planar sliding surface 1201 is parallel to the plane defined by the second axis 310 and the third axis 320. The planar sliding surface 1201 is configured to rest on and slide engage with a portion of the frame 210 that defines the slot 270.

[0042] Each body portion 1010 also includes a planar engagement surface 1210 connected to the planar sliding surface 1201. The planar engagement surface 1210 is configured to engage with respective lock bodies 150 (FIG. 3) when the fastener 10 is in the locked state. The planar engagement surface 1210 is inclined inwardly toward the hollow central region 222 of the pressure frame 220. The planar engagement surface 1210 faces at an acute angle 1220 with respect to the plane 1230 defined by the planar sliding surface 1201. Further, the planar engagement surface 1210 faces at an obtuse angle 1240 with respect to the planar sliding surface 1201. The acute angle 1220 can include a range from about 30 degrees to about 50 degrees, about 35 degrees, about 40 degrees, about 45 degrees, and / or any value or range between any two of the foregoing angles.

[0043] The obtuse angle 1240 can include a range from about 130 degrees to about 150 degrees, about 135 degrees, about 140 degrees, about 145 degrees, and / or any value or range between any two of the foregoing angles. The sum of the acute angle 1220 and the obtuse angle 1240 is preferably about 180 degrees.

[0044] Each body part 1010 can also include a planar alignment surface 1250 connected to the planar engagement surface 1210. The planar engagement surface 1210 is disposed between the planar slide surface 1201 and the planar alignment surface 1250. The planar alignment surface 1250 is inclined inwardly toward the hollow central region 222 of the pressure frame 220 and is configured to engage with respective lock bodies 150 (FIG. 3) during the transition from the unlocked state to the locked state. The planar alignment surface 1250 is oriented at an acute angle 1260 with respect to the plane 1230. Further, the planar alignment surface 1250 is oriented at an obtuse angle 1270 with respect to the planar engagement surface 1210. The acute angle 1260 can have a range of from about 65 degrees to about 85 degrees, including about 70 degrees, about 75 degrees, about 80 degrees, and / or any value or range between any two of the foregoing angles (including from about 70 degrees to about 80 degrees). The obtuse angle 1270 can have a range of from about 100 degrees, about 105 degrees, about 110 degrees, and / or any value or range between any two of the foregoing angles (a range of from about 95 degrees to about 115 degrees). The sum of the acute angle 1260 and the obtuse angle 1270 is preferably about 180 degrees.

[0045] The inner edge of the planar alignment surface 1250 defines a catch fillet 1280 configured to catch and engage respective lock bodies 150 as a safety mechanism when the active device 100 is only partially inserted into the passive device 200 (or vice versa). The catch fillet 1280 can hold the lock body 150 (and thus the active device 100), and the lock body 150 can slide along the planar alignment surface 1250 by the distal movement of the plunger 140, allowing the active device 100 to be fully inserted into the passive device 200 (or vice versa).

[0046] Each body part 1010 can also include a plane 1290 inclined outwardly from the hollow central region 222 of the pressure frame 220.

[0047] FIG. 13 is a cross-sectional view of the fastener 10 in the inserted state. The fastener 10 is also in the unlocked state. The cross-sections of the fastener 10 in FIGS. 2 and 13 are the same, but the relative positions of the active device 100 and the passive device 200 are different. In FIG. 13, the active device 100 is inserted into the hole or channel 260 (e.g., FIGS. 7 - 10) of the passive device 200. At this relative position, the planar distal surface 143 of the cap 140 is disposed on the inner planar surface 262 of the housing 210 of the passive device 200. To transition from the unlocked state to the locked state, the motor 160 is actuated to rotate the shaft 120 in a first direction (e.g., clockwise) such that the external thread 124 of the shaft 120 rotationally engages with the internal thread 560 (FIG. 6) of the plunger 130. By the rotational engagement, the planar outer surface 540 of the plunger 130 frictionally engages with the corresponding planar inner surface 116 of the housing 110, and the plunger 130 moves downward. As shown in FIG. 14, the central vertical axis 300 is rotated toward the cap 140.

[0048] As the plunger 130 moves downward, the tapered distal end 502 of the plunger 130 physically contacts and mechanically engages the inside of the lock body 150, applying a force to the lock body 150 to slide and / or rotate the lock body 150 laterally along or parallel to a second axis 320 (e.g., away from the central vertical axis 300) (see FIG. 15). When the lock body 150 slides and / or rotates laterally, the outside of the lock body 150 physically contacts and mechanically engages the planar engagement surface 1210 of the lock frame 220, locking the fastener 10 in the locked state. In the locked state, the plunger 130 applies an outward force to the lock body 150, and the lock body 150 applies a force to the lock frame 220. The position of the lock frame 220 is restricted and / or constrained by the housing inner wall 212 that defines the slot 270, thereby locking (e.g., mechanically fixing) the active device 100 and the passive device 200.

[0049] FIG. 15 also shows that the housing 110 includes a lip, ridge, or downward projection 1500 that extends toward the cap 140 parallel to the central vertical axis 300. The lip 1500 reduces the height 1530 of the gap 1510 between the distal side 1520 of the housing 110 and the planar proximal surface 145 of the cap 140, and the height 1530 is measured with respect to the central vertical axis 300. The height 1530 between the lip 1500 and the planar proximal surface 145 is less than the corresponding dimension 152 (e.g., height or diameter) of the lock body 150, whereby the lateral movement (e.g., movement parallel to the third axis 330) of each lock body 150 can be restricted. In addition to or instead of this, the planar proximal surface 145 can include a lip, ridge, or upward projection (e.g., a projection extending toward the housing 110 parallel to the central vertical axis 300) to reduce the height 1530 of the gap 1510.

[0050] FIG. 15 further shows that an optional ring 1540 is disposed around the shaft 120 on the planar proximal surface 145 of the cap 140. The ring 1540 can be formed of a relatively soft or flexible material such as rubber or plastic and can prevent the plunger 130 from contacting the cap 140 if the plunger 130 advances too far downward along the central vertical axis 300. The ring 1540 can prevent or reduce damage to the plunger 130 and / or the cap 140.

[0051] To shift from the locked state to the unlocked state, the motor 160 is actuated to rotate the shaft 120 in a second direction (e.g., counterclockwise), and the external thread 124 of the shaft 120 is rotationally engaged with the internal thread 560 (FIG. 6) of the plunger. By the rotational engagement, the planar outer surface 540 (FIG. 13) of the plunger 130 is frictionally engaged with the corresponding planar inner surface 116 (FIG. 13) within the housing 110, whereby, as shown in FIG. 13, the plunger 130 moves upward in a direction away from the cap 140 along the central vertical axis 300. When the plunger 130 moves upward, the planar alignment surface 1250 contacts the outside of the lock body 150 and pushes the lock body 150 inward toward the central vertical axis 300. Thereafter, the active device 100 and the passive device 200 can be separated. For example, due to gravity, the passive device 200 slides downward along the central vertical axis 300 and away from the active device 100.

[0052] FIGS. 16 and 17 are perspective cross-sectional views of the control system 1600 of the fastener 10. The control system 1600 includes a first limit switch 1610 (e.g., a lower limit switch), a second limit switch 1620 (e.g., an upper limit switch), and a controller 1630. The controller 1630 is in electrical communication with the first and second limit switches 1610, 1620. Since the limit switches 1610, 1620 are disposed behind and / or inside the housing 110, they are not shown in FIGS. 2, 3, 13, and 14.

[0053] As shown in FIG. 16, the first limit switch 1610 is configured to generate a first output signal (e.g., a first limit switch signal) when the plunger 130 is lowered along the central vertical axis 300 to a predetermined position. The predetermined position corresponds to the transition to the locked state of the fastener 10 at the position where the plunger 130 begins to engage with the lock body 150, as shown in FIGS. 17A - 17C. 14 and 15. When the distal end 502 of the plunger 130 physically contacts the first limit switch 1610, and the first limit switch 1610 pivots away from the plunger 130 by a predetermined pivot angle (e.g., about 10 degrees, about 15 degrees, about 20 degrees, or other angle) compared to the default or home position of the first limit switch 1610, the first limit switch 1610 is activated (e.g., the state of the first limit switch 1610 is changed). Additionally, or alternatively, the physical contact between the distal end 502 of the plunger 130 and the first limit switch 1610 may change the electrical characteristics (e.g., voltage, current, resistance, impedance, and / or other electrical characteristics) of the first limit switch 1610. For example, the first limit switch 1610 is conductive, and when the plunger 130 electrically contacts the first limit switch 1610, it may change the electrical characteristics (e.g., voltage, current, resistance, impedance, and / or other electrical characteristics) of the first limit switch 1610. 130 is electrically resistive, and the voltage or impedance measured at the first limit switch 1610 may increase when the distal end 502 of the plunger 130 is physically in contact with the first limit switch 1610 compared to when they are physically separated. In another embodiment, the first limit switch 1610 can include an optical switch whose state can be changed when the distal end 502 of the plunger 130 is lowered in front of the optical switch.

[0054] To transition from the unlocked state to the locked state, the plunger 130 is lowered by rotating the shaft 120 in the first direction with the motor 160 (e.g., FIG. 13). During this transition, the controller 130 can monitor the drive current of the motor 160. The controller 130 can compare the drive current with a first predetermined maximum current. The motor 160 can continue to drive the shaft 120 as long as the drive current is below the first predetermined maximum current. When the controller 130 determines that the drive current exceeds the first predetermined maximum current, the controller 130 can stop the motor 160 (e.g., by generating a stop output signal). When the drive current exceeds the first predetermined maximum current, it can indicate that the external and internal threads 124, 560 of the shaft 120 and the plunger 130 are misaligned and / or damaged. The first predetermined maximum current can be about 4 amperes, about 5 amperes, about 6 amperes, or any value or range between any two of the aforementioned currents.

[0055] When the controller 1630 receives the first output signal, the controller 1630 begins to compare the drive current with a second predetermined maximum current that is lower than the first predetermined maximum current. The second predetermined maximum current can be about 3 amperes, about 3.5 amperes, about 4 amperes, about 4.5 amperes, or any value or range between any two of the aforementioned currents. When the drive current exceeds the second predetermined maximum current, it is indicated that a minimum force is applied to the lock body 150 by the plunger 130 and the fastener 10 has transitioned to the locked state. When the drive current exceeds the second predetermined maximum current, the controller 130 stops the motor 160. (e.g., by generating a stop output signal).

[0056] As shown in FIG. 17, the second limit switch 1620 is configured to generate a second output signal (e.g., a second limit switch signal) when the plunger 130 rises along the central vertical axis 300 to a predetermined position. The predetermined position corresponds to the unlocked state of the fastener 10 when the plunger 130 is released from the lock body 150 and retracted. The second limit switch 1620 is disposed within a slot 520 defined in the plunger 130. When the plunger rises to the predetermined position, the distal or lower end 1640 of the slot 520 physically contacts the second limit switch 1620, enabling the second limit switch 1620 to be actuated (e.g., its state to be changed). For example, the second limit switch 1620 can be actuated when the lower end 1640 of the slot 520 physically contacts the second limit switch. Rotate 1620 and pivot the second limit switch 1620 away from the plunger 130 by a predetermined pivot angle (e.g., about 10 degrees, about 15 degrees, about 20 degrees, or another angle) compared to the default or home position of the second limit switch 1620. Additionally or alternatively, physical contact between the lower end 1640 of the slot 520 and the second limit switch 1620 can cause a change in the electrical characteristics (e.g., voltage, current, resistance, impedance, and / or another electrical characteristic) of the second limit switch 1620. For example, the second limit switch 1620 is conductive, the plunger 130 is electrically resistive, and the voltage or impedance measured at the second limit switch 1620 can increase when the lower end 1640 of the slot 520 and the second limit switch 1620 are in physical contact compared to when they are physically separated. In another embodiment, the second limit switch 1620 can include an optical switch that can change state when the lower end 1640 of the slot 520 is lowered in front of the optical switch.

[0057] To transition from the locked state to the unlocked state, the motor 160 rotates the shaft 120 in the second direction to raise the plunger 130. During this transition, the controller 130 can monitor the drive current of the motor 160. The controller 130 can compare the drive current with a first predetermined maximum current. The motor 160 can continue to drive the shaft 120 as long as the drive current is below the first predetermined maximum current. This can indicate, as described above, that the respective external threads 124 of the shaft 120 and the plunger 130 and the internal thread 560 are misaligned and / or damaged. When the controller 1630 receives a second output signal, the controller 1630 stops the motor 160 (for example, by generating a stop output signal).

[0058] In another embodiment, the reference number 1630 can represent electronics for the limit switches 1610, 1620 and / or a local controller, and / or another controller 1650 can be configured to perform some or all of the functions described above with respect to the controller 1630. For example, the controller 1630 and / or 1650 can monitor the drive current of the motor 160 and compare the drive current with a first and / or a second predetermined maximum current. The controller 1630 and / or 1650 can also stop the motor 160 (for example, by generating a stop output signal) when the drive current exceeds the first and / or second predetermined maximum current and / or in response to a second output signal from the second limit switch 1620. In this embodiment, the electronics and / or local controller 1630 can send an output signal indicating that the first limit switch 1610 has become active and / or that the second limit switch 1620 has become active to the controller 1650. Additionally, or alternatively, the electronics and / or local controller 1630 can relay the first output signal and / or the second output signal to the controller 1650.

[0059] Controller 1630 and / or 1650 can generate a first drive signal that rotates the shaft 120 of the motor 160 in a first direction (e.g., clockwise) to shift the fastener 10 from the unlocked state to the locked state. Controller 1630 and / or 1650 can generate a second drive signal that rotates the shaft 120 of the motor 160 in a second direction (e.g., counterclockwise) to shift the fastener 10 from the locked state to the unlocked state.

[0060] FIG. 18 is a perspective view of the fastener 10 in the inserted state. The fastener 10 can be in the inserted and unlocked state as shown in FIG. 13, or in the inserted and locked state as shown in FIGS. 14 and 15. The fastener 10 is also in the unlocked state. The cross-sections shown in FIGS. 13 and 14 pass through the plane 1300 of FIG. 18.

[0061] FIG. 19 is a perspective view of an assembly 1900 according to an embodiment. The assembly 1900 includes a self-aligning mechanical fastener 10, a first object 1901, and a second object 1902. The active device 100 is attached to and / or mechanically coupled to the first object 1901 (e.g., the proximal end of the active device 100). The passive device 200 is attached to and / or mechanically coupled to the second object 1902 (e.g., the distal end of the active device 100). When the self-aligning mechanical fastener 10 is in the locked state, the first object 1901 and the second object 1902 are mechanically coupled in a releasable manner. In some embodiments, the first object 1901 can include the same controller 1920 as the controller 1650. Each object 1901, 1902 can include a plate, a housing, a tray, a mechanical load, or another object.

[0062] FIG. 20 is a perspective view and a partial exploded view of a battery tray 2000 according to an embodiment. The battery tray 2000 is configured to hold one or more battery modules 2010. The passive devices 200 are preferably disposed at each corner 2002 of the battery tray 2000. Each passive device 200 is mechanically coupled to the housing 2004 of the battery tray 2000. The passive devices 200 are each configured to be removably mechanically fixed and locked to a respective active device 100, and the active device 100 can be mechanically coupled to an interface plate 2100 that can be fixed to the bottom of an electric vehicle, as shown in FIG. 21. The interface plate 2100 can be mechanically coupled to a plurality of battery trays 2000 using self-aligning mechanical fasteners 10. The interface plate 2100 and the battery tray 2000 can respectively correspond to first and second objects 1901, 1902. The battery tray 2000 can be raised and lowered to the interface plate 2100 using a lift such as a robotic lift. One of the battery trays 2000 is shown in the partial exploded view of FIG. 21, showing the active device 100 on the interface plate 2100 corresponding to the battery tray 2000 in the exploded view. All the battery trays 2000 are mechanically coupled to the interface plate 2100 using the self-aligning mechanical fasteners 10 of FIG. 22.

[0063] FIG. 23 is a block diagram of the bottom of an electric vehicle 2300 with an interface plate 2100 mechanically fixed thereto. A plurality of battery trays 2000 are removably attached (e.g., locked) to the interface plate 2100 using self-aligning mechanical fasteners 10. In a preferred embodiment, a plurality of active assemblies 200 are mechanically coupled to the battery tray 2000 and a plurality of active assemblies 100 are mechanically coupled to the interface plate 2100. In another embodiment, a plurality of active assemblies 100 are mechanically coupled to the battery tray 2000 and a plurality of active assemblies 200 are mechanically coupled to the interface plate 2100. In yet another embodiment, the active assemblies 100 and the active assemblies 200 are mechanically coupled to both the battery tray 2000 and the interface plate 2100.

[0064] In some embodiments, the interface plate 2100 can be the same as or substantially the same as the interface plate disclosed in FIG. 1. U.S. Patent Application No. 17 / 221,510, filed Apr. 2, 2021, entitled "Interface for Coupling an Electric Battery and a Vehicle System", is incorporated herein by reference.

[0065] FIG. 24 is a flowchart of a method 2400 for releasably and mechanically coupling objects according to an embodiment. The method 2400 can be performed using a self-aligning mechanical fastener 10, an assembly 1900, an interface plate 2100, and a battery module 2000, or an electric vehicle 2300.

[0066] In step 2401, an active device 100 is inserted into a passive device 200. The active device 100 is mechanically coupled to a first object such as an object 1901 or an interface plate 2100. The passive device is mechanically coupled to a second object such as an object 1902 or a battery module 2000.

[0067] In step 2402, motor 160 rotates shaft 120 in a first direction with respect to first axis 300, advancing plunger 130 toward cap 140. When shaft 120 is rotated, the threaded region 122 of shaft 120 rotationally engages with the internal threads 560 defined in plunger channel 530.

[0068] In step 2403, the tapered distal end 502 of plunger 130 mechanically contacts lock body 150, as shown, for example, in FIG. 14.

[0069] In step 2404, the tapered distal end 502 of plunger 130 applies a force (e.g., a lateral force) to lock body 150, causing lock body 150 to mechanically engage pressure frame 220 within passive device 200.

[0070] In step 2405, the tapered distal end 502 of plunger 130 and pressure frame 220 limit the movement of lock body 150, locking (e.g., mechanically fixing) active device 100 to passive device 200.

[0071] The present invention should not be regarded as limited to the specific embodiments described above. Various modifications, equivalent processes, and numerous structures to which the present invention is applicable will be readily apparent to those skilled in the art of the technology to which the present invention pertains upon review of this disclosure. The above embodiments can be implemented in various ways. In one or more aspects and embodiments involving the execution of a process or method, program instructions executable by a device (e.g., a computer, a processor, or other device) can be used to control the execution or performance of the process or method.

[0072] In this regard, various inventive concepts may be embodied as a non-transitory computer-readable storage medium (or multiple non-transitory computer-readable storage media) encoded with one or more programs (e.g., any suitable type of computer memory including a temporary or non-temporary digital storage unit, a circuit configuration of a field programmable gate array or other semiconductor device, or other physical computer storage media). When executed on one or more computers or other processors, a method implementing one or more of the various embodiments described above is performed. When implemented in software (e.g., as an app), the software code may be executed on any suitable processor or set of processors, whether provided to a single computer or distributed among multiple computers.

[0073] Furthermore, it should be understood that the computer may be embodied in any of a number of forms, by way of non-limiting example, such as a rack-mounted computer, a desktop computer, a laptop computer, or a tablet computer. Further, the computer may be incorporated into a device not generally considered a computer but having suitable processing capabilities, including a personal digital assistant (PDA), a smartphone, or other suitable portable or fixed electronic device.

[0074] Also, the computer may include one or more communication devices that may be used to interconnect the computer with one or more other devices and / or systems, such as any suitable form of one or more networks, including a local area network or wide area network (such as an enterprise network), an intelligent network (IN) or the Internet, to one or more other devices and / or systems. Such networks may be based on any suitable technology, operate according to any suitable protocol, and may include wireless networks or wired networks.

[0075] In addition, the computer may include one or more input devices and / or one or more output devices. These devices can be used, among other things, to provide a user interface. Examples of output devices that can be used to provide a user interface include printers or display screens for visually presenting output, and speakers or other sound generating devices for aurally presenting output. Examples of input devices that can be used for a user interface include keyboards, and pointing devices such as mice, touch pads, and digital tablets. As another example, the computer can receive input information in speech recognition or other auditory formats.

[0076] The non-transitory computer-readable medium may be portable so that the program stored thereon can be loaded onto one or more different computers or other processors to implement the various aspects described above. In some embodiments, the computer-readable medium may be a non-transitory medium.

[0077] As used herein, the terms "program," "application," and "software" are used in a general sense and refer to any kind of computer code or set of computer-executable instructions that can be used to program a computer or other processor to implement the various aspects described above. Further, according to one aspect, it should be understood that one or more computer programs that execute the methods of this application at runtime need not be present on a single computer or processor, and may be distributed in a modular fashion among a plurality of different computers or processors to implement the various aspects of this application.

[0078] Computer-executable instructions can be in many forms such as program modules executed by one or more computers or other devices. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The functions of program modules can be combined or distributed as needed in various embodiments.

[0079] Also, data structures can be stored in any suitable form on a computer-readable medium. For simplicity of explanation, a data structure is shown as having fields associated through positions within the data structure. Such relationships can be similarly achieved by allocating positions within a computer-readable medium that convey the relationships between fields as storage for the fields. However, any suitable mechanism can be used, including the use of pointers, tags, or other mechanisms for establishing relationships between data elements, to establish relationships between the information within the fields of the data structure.

[0080] Accordingly, the disclosure and claims include new and novel improvements over existing methods and techniques that have not been previously known or implemented to achieve the useful results described above. Users of the methods and systems will obtain specific benefits from the functions now made possible by the effects that the specific changes described herein have on the system and its output to the user. Implementing the claimed invention using the technical components described herein is expected to achieve significantly improved operation.

[0081] Also, as described, some aspects may be embodied in one or more ways. The acts performed as part of the method may be ordered in any suitable way. Accordingly, embodiments may be constructed in which the acts are performed in an order different from that shown. This may include performing some acts simultaneously, even though in the exemplary embodiments they are shown as sequential acts.

Claims

1. A self - aligning mechanical fastener, the self - aligning mechanical fastener comprising: An active device, An active housing defining a channel extending along a first axis, A shaft disposed within the channel and extending along the first axis, the shaft having an external thread defined in a threaded region, A motor configured to rotate the shaft about the first axis, A plunger having a channel defined from a proximal end to a distal end of the plunger, the channel being defined by an inner wall having an internal thread that engages the external thread of the threaded region of the shaft, the distal end having a tapered shape, A cap attached to the active housing and disposed at the distal end of the shaft, the cap having a proximal face and a distal face, a gap being defined between the proximal face and the active housing, A lock body disposed on the proximal face of the cap, And an active device having, A passive device, An alignment housing having a hole extending from a proximal end to a distal end of the alignment housing parallel to the first axis, the hole being configured to receive the active housing, the proximal end of the alignment housing forming a tapered alignment guide defined by an inner wall of the alignment housing such that the width of the hole decreases from the proximal end to the distal end of the alignment guide, the width being measured with respect to a second axis orthogonal to the first axis, A pressure frame disposed within a slot defined within the alignment housing, the hole extending through a hollow central region of the pressure frame, And a passive device having, The self - aligning mechanical fastener has a locked state and an unlocked state, To shift the self - aligning mechanical fastener from the unlocked state to the locked state, the active housing is inserted into the hole, and the lock body is aligned with the pressure frame, the motor rotates the shaft in a first direction to advance the plunger toward the cap, the distal end of the plunger applies a force to the lock body, and the lock body mechanically engages with the pressure frame, thereby mechanically fixing the active device to the passive device, To shift the self - aligning mechanical fastener from the locked state to the unlocked state, the motor rotates the shaft in a second direction to retract the plunger from the cap, releasing the force on the lock body, thereby unlocking the active device from the passive device. The self - aligning mechanical fastener is such a device.

2. In the self - aligning mechanical fastener according to claim 1, the lock body is a first lock body, and the self - aligning mechanical fastener further includes a second lock body disposed on the proximal surface of the cap within the gap, and the shaft is disposed between the first lock body and the second lock body. The self - aligning mechanical fastener is such a device.

3. In the self - aligning mechanical fastener according to claim 2, the first lock body and the second lock body each include a first cylinder and a second cylinder. The self - aligning mechanical fastener is such a device.

4. In the self-aligning mechanical fastener according to claim 1, the slot is partially defined by a planar inner wall within the alignment housing at the distal end of the slot, the pressure frame has a planar outer surface on the distal side of the pressure frame, and the planar outer surface contacts the planar inner wall. A self-aligning mechanical fastener.

5. A self-aligning mechanical fastener according to claim 4, The planar outer surface and the planar inner wall are parallel to a plane perpendicular to the first axis, The pressure frame has a planar engagement surface connected to the planar outer surface, The planar engagement surface and the plane define an acute angle, The planar engagement surface is configured to engage with the lock body when the self-aligning mechanical fastener is in the locked state. A self-aligning mechanical fastener.

6. In the self-aligning mechanical fastener according to claim 5, the acute angle is in the range of about 35 degrees to about 45 degrees. A self-aligning mechanical fastener.

7. In the self-aligning mechanical fastener according to claim 5, The acute angle is a first acute angle, The pressure frame has a planar alignment surface connected to the planar engagement surface, the planar engagement surface is located between the planar alignment surface and the planar outer surface, The planar alignment surface and the plane define a second acute angle, The planar alignment surface is configured to engage with the lock body when the active housing is partially removed from the hole. A self-aligning mechanical fastener.

8. In the self-aligning mechanical fastener according to claim 7, The first acute angle is in the range of about 35 degrees to about 45 degrees, A self-aligning mechanical fastener in which the second acute angle is in the range of about 70 degrees to about 80 degrees. **Claim 9** In the self-aligning mechanical fastener according to claim 1, each inner wall defining the tapered alignment guide has a cross-sectional thickness that increases from the proximal end to the distal end of the tapered alignment guide, and the cross-sectional thickness is measured along each axis orthogonal to the first axis. A self-aligning mechanical fastener, wherein the inner wall includes opposing first and second walls that are aligned with respect to the second axis. **Claim 10** In the self-aligning mechanical fastener according to claim 9, the inner wall includes a third wall that is aligned with respect to a third axis orthogonal to the first axis and the second axis, and the third wall is connected to the opposing first wall and the second wall. A self-aligning mechanical fastener. **Claim 11** In the self-aligning mechanical fastener according to claim 1, the proximal end of the plunger includes a plurality of planar outer surfaces configured to engage with the respective planar inner surfaces of the active housing when the shaft rotates about the first axis, whereby the self-aligning mechanical fastener moves from the unlocked state to the locked state. When the plunger advances and the self-aligning mechanical fastener transitions from the locked state to the unlocked state, the plunger retracts. A self-aligning mechanical fastener. **Claim 12** In the self-aligning mechanical fastener according to claim 1, the pressure frame is configured to float within the slot with respect to the second axis and / or with respect to a third axis orthogonal to the first axis and the second axis. A self-aligning mechanical fastener. **Claim 13** In the self-aligning mechanical fastener according to claim 1, the active device further includes a controller that communicates electrically with the motor, and the controller Generate a first drive signal that rotates the shaft in the first direction by the motor to advance the plunger toward the cap and shifts the self-aligning mechanical fastener from the unlocked state to the locked state. A self-aligning mechanical fastener configured to generate a second drive signal that rotates the shaft in the second direction by the motor to retract the plunger from the cap and shifts the self-aligning mechanical fastener from the locked state to the unlocked state.

14. In the system according to claim 13, The active device includes a limit switch that communicates electrically with the controller. This limit switch is configured to output a limit switch signal when the shaft is rotated in the first direction and the distal end of the plunger advances to a predetermined position. The controller is configured to generate a stop output signal that stops the motor in response to a feedback signal from the motor while the self-aligning mechanical fastener system is transitioning from the unlocked state to the locked state and before the controller receives the limit switch signal.

15. In the system according to claim 14, The feedback signal is the drive current of the motor, and the controller is configured to generate a stop output signal when the drive current is equal to or greater than a predetermined value.

16. In the system according to claim 15, The predetermined value is a first predetermined value. Before the self - aligning mechanical fastener system transitions from the unlocked state to the locked state and before receiving the limit switch signal, the controller is configured to generate the stop output signal when the drive current is equal to or greater than a second predetermined value, where the second predetermined value is greater than the first predetermined value. System. **Claim 17** In the system according to claim 13, The limit switch is a first limit switch, The limit switch signal is a first limit switch signal, The predetermined position is a first predetermined position, The active device includes a second limit switch that communicates electrically with the controller. The second limit switch is configured to output a second limit switch signal when the distal end of the plunger is drawn into the second predetermined position by rotating the shaft in the second direction. While the self - aligning mechanical fastener system transitions from the locked state to the unlocked state, the controller is configured to generate the stop output signal in response to receiving the second limit switch signal. System. **Claim 18** An assembly comprising: A first object, A second object, An active device attached to the first object, the active device comprising: An active housing defining a channel extending along a first axis, A shaft disposed within the channel and extending along the first axis, the shaft having an external thread defined in a threaded region. A motor configured to rotate the shaft about the first axis. A plunger having a channel defined from a proximal end to a distal end of the plunger, the channel being defined by an inner wall having an internal thread that engages an external thread of the threaded region of the shaft, the distal end having a tapered shape, the plunger, A cap attached to the active housing and disposed at the distal end of the shaft, the cap having a proximal face and a distal face, a gap being defined between the proximal face and the active housing, the cap, A lock body disposed on the proximal face of the cap, An active device having, A passive device attached to the second object, the passive device, An alignment housing having a hole extending from a proximal end to a distal end of the alignment housing parallel to the first axis, the hole being configured to receive the active housing, the proximal end of the alignment housing forming a tapered alignment guide defined by an inner wall of the alignment housing such that the width of the hole decreases from the proximal end to the distal end of the alignment guide, the width being measured with respect to a second axis orthogonal to the first axis, the alignment housing, A pressure frame disposed within a slot defined within the alignment housing, the hole extending through a hollow central region of the pressure frame, the pressure frame, A passive device having, A controller in electrical communication with the motor, Having, The active device and the passive device are configured to form a self-aligning mechanical fastener having a locked state and an unlocked state, When transitioning the self-aligning mechanical fastener from the unlocked state to the locked state, The active housing is inserted into the hole and the lock body is aligned with the pressure frame, The controller generates a first drive signal for the motor to rotate the shaft in a first direction to advance the plunger toward the cap, the distal end of the plunger applies a force to the lock body, and the lock body mechanically engages with the pressure frame to mechanically fix the active device to the passive device, when shifting the self-aligning mechanical fastener from the locked state to the unlocked state, the controller generates a second drive signal, whereby the motor rotates the shaft in a second direction to retract the plunger from the cap, releasing the force on the lock body and unlocking the active device from the passive device. An assembly.

19. The assembly according to claim 18, wherein the controller is on the first object.

20. The assembly according to claim 18, wherein the first object comprises an interface plate configured to be attached to a vehicle, and the second object has a battery tray.

21. In the assembly according to claim 18, the active device is a first active device, the passive device is a first passive device, the self-aligning mechanical fastener is a first self-aligning mechanical fastener, the assembly further comprises a second active device attached to the first object, and a second passive device attached to the second object, the first active device is aligned with the first passive device, The second active device is aligned with the second passive device, and the second active device and the second passive device are configured to form a second self-aligning mechanical fastener, assembly. Claim 22 A method of releasably and mechanically coupling an object, comprising: inserting an active device into a passive device, wherein the active device is mechanically coupled to a first object and the passive device is mechanically coupled to a second object; The active device includes: an active housing defining a channel extending along a first axis; a shaft disposed within the channel and extending along the first axis, the shaft having external threads defined in a threaded region; a motor for rotating the shaft about the first axis; a plunger having a channel defined from a proximal end to a distal end of the plunger, the channel being defined by an inner wall having internal threads that engage the external threads of the threaded region of the shaft, the distal end having a tapered shape; a cap attached to the active housing and disposed at a distal end of the shaft, the cap having a proximal surface and a distal surface, a gap being defined between the proximal surface and the active housing; and a lock body disposed on the proximal surface of the cap. The passive device includes: An alignment housing having a hole extending from a proximal end to a distal end of the alignment housing parallel to the first axis, the hole being configured to receive an active housing, the proximal end of the alignment housing forming a tapered alignment guide defined by an inner wall of the alignment housing such that the width of the hole decreases from the proximal end to the distal end of the alignment guide, the width being measured with respect to a second axis orthogonal to the first axis, the alignment housing; A pressure frame disposed within a slot defined within the alignment housing, the hole extending through a hollow central region of the pressure frame, the pressure frame; having; Rotating the shaft in a first direction relative to the first axis with the motor to advance the plunger toward the cap; Mechanically contacting a distal end of the plunger with the lock body; Applying a force to the lock body at the distal end of the plunger to mechanically engage the lock body with the pressure frame; Restricting movement of the lock body by the distal end of the plunger and the pressure frame, thereby mechanically fixing the active device to the passive device; A method having.

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