Automatic battery replacing equipment for robot

Abstract

Automatic battery replacing equipment for a robot comprises a battery taking and placing device and a robot positioning device, the robot positioning device comprises a track, a wheel lifting device, a mounting seat, a lifting seat and a positioning pin, the track is arranged on the ground, moving wheels of the robot are matched with the track, and the moving wheels can linearly move along the track; a wheel lifting device is arranged on the track, a detection block is mounted on the bottom surface of a chassis of the robot, and a detection switch sends a signal to a control system of the automatic battery replacement equipment after detecting the detection block; two positioning holes are further formed in the bottom face of a chassis of the robot, each positioning hole is provided with a vertical groove and an annular groove, positioning pins are used in cooperation with the positioning holes, pressing blocks are arranged on the positioning pins, the positioning pins are rotatably installed on a lifting base, the lifting base is fixedly installed on an installation base, and the installation base is fixed to the ground. A positioning pin rotation driving device is arranged on the mounting seat; a stop block is arranged on the mounting base, and a stop table is arranged on the bottom face of the robot chassis.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an automatic battery replacement device for robots. Background Art

[0002] With the continuous development of robot application technology, the existing mobile wheeled robots in the prior art have been applied in more and more fields, such as shopping mall leading robots, logistics distribution robots, food delivery robots, etc. The driving power of robots is one of the main factors that determine the performance of robots in order to achieve long-distance movement. Figure 1 As shown, Figure 1 This is a schematic diagram of a typical type of mobile wheeled robot. The robot is mainly composed of a top, a chassis and mobile wheels. The top is fixedly installed above the chassis and is used to place various items that need to be delivered. The chassis has a driving device and a power supply device for the mobile wheels. The power supply device provides power for the driving device. The power supply device also provides control power or power for other functions of the robot. The mobile wheel device is under the chassis and is driven by the driving device to rotate the mobile wheel so that the entire robot can move. The power supply device is generally a battery. There are two commonly used batteries, one is a rechargeable battery and the other is a replaceable battery. Rechargeable batteries are not suitable for some occasions that require high work efficiency because they require charging waiting time. The replaceable battery method can greatly save waiting time. However, for some large distribution stations, if the battery is replaced manually, it will not only require a lot of manpower, but also affect the turnover efficiency. Therefore, it is necessary to develop an automatic battery replacement device for robots. Summary of the invention

[0003] In order to solve the above problems, the present invention proposes an automatic battery replacement device for a robot, which can automatically replace the battery of the robot. After the robot is positioned by a robot positioning device, the battery can be replaced by a battery picking and placing device.

[0004] The objectives of the present invention are achieved through the following technical solutions.

[0005] A battery automatic replacement device for a robot comprises a battery picking and placing device and a robot positioning device, wherein the robot positioning device comprises a track, a wheel lifting device, a mounting seat, a lifting seat and a positioning pin, wherein the track is arranged on the ground, the moving wheels of the robot cooperate with the track, the moving wheels can move straightly along the track, a wheel lifting device is arranged on the track, a detection block is arranged on the bottom surface of the chassis of the robot, and a detection switch sends a signal to the control system of the battery automatic replacement device after detecting the detection block; two positioning holes are also arranged on the bottom surface of the chassis of the robot, wherein the positioning holes are provided with vertical grooves and annular grooves, the positioning pins cooperate with the positioning holes, a pressing block is arranged on the positioning pin, the positioning pin is rotatably mounted on the lifting seat, the lifting seat is fixedly mounted on the mounting seat, the mounting seat is fixed on the ground, and a positioning pin rotation driving device is arranged on the mounting seat; a stopper is arranged on the mounting seat, and a stopper is arranged on the bottom surface of the robot chassis;

[0006] When the robot replaces the battery, the moving wheel enters the track and moves along the track. When the stopper hits the block, the robot stops. At this time, the detection block enters the detection range of the detection switch, and the robot's moving wheel falls on the wheel lifting device. The detection switch sends a signal to the control system of the automatic battery replacement equipment. The control system drops the wheel lifting device, and the robot drops down as a whole with the wheel lifting device. The positioning hole on the bottom of the robot chassis is sleeved on the positioning pin, and the pressing block set on the positioning pin moves up and down along the vertical groove to realize the horizontal positioning of the robot. The positioning pin rotation drive device rotates the positioning pin 90°, so that the pressing block rotates 90° along the annular groove to a position without a vertical groove, and then the control system makes the lifting seat drop, and the pressing block presses the robot against the bottom of the annular groove to realize the positioning of the robot in the up and down directions.

[0007] In the automatic battery replacement device for a robot as described above, the positioning holes are arranged diagonally.

[0008] As described above, in an automatic battery replacement device for a robot, the positioning pin rotation drive device includes a driven gear, a driving gear and a motor, the driven gear is fixedly arranged on the positioning pin, the driven gear cooperates with the driving gear, the driving gear is fixedly connected to the output shaft of the motor, and the motor is fixedly installed on the mounting seat.

[0009] In the automatic battery replacement device for a robot as described above, the entrance of the track is trumpet-shaped, and a slope is provided at the junction with the ground.

[0010] In the automatic battery replacement device for a robot as described above, the robot positioning device is used to position the robot before taking and placing the battery, and the battery taking and placing device takes out the battery of the robot and places a new battery on the robot after the robot is positioned.

[0011] A robot positioning method for an automatic battery replacement device of a robot, comprising the following steps:

[0012] S1: The robot walks in a straight line;

[0013] S2: The robot stops;

[0014] S3: horizontal positioning of the robot;

[0015] S4: Robot positioning in up and down directions.

[0016] As described above, in a robot positioning method for an automatic battery replacement device for a robot, in step S1, a track is set, and the robot walks to the track to achieve straight-line walking when the battery needs to be replaced.

[0017] In the robot positioning method for an automatic battery replacement device of a robot as described above, in S2, a blocking device is provided so that the robot stops when it walks on the track to the automatic battery replacement station.

[0018] As described above, in a robot positioning method for an automatic battery replacement device for a robot, in step S3, mutually matching positioning holes and positioning pins are set between the robot and the robot positioning device, and a wheel lifting device is set under the moving wheel of the robot, the wheel lifting device is set on a track, and the wheel lifting device descends with the robot so that the positioning pin is inserted into the positioning hole, thereby realizing the horizontal positioning of the robot.

[0019] As described above, in a robot positioning method for an automatic battery replacement device for a robot, in step S4, a clamping mechanism is provided between the positioning pin and the positioning hole, and a lifting device is provided below the positioning pin. The clamping mechanism is first used to clamp the positioning pin and the positioning hole, and then the positioning pin is lowered so that the positioning pin moves downward with the positioning hole to a fixed position, thereby realizing the positioning of the robot in the up and down directions.

[0020] The beneficial effects of the present invention are:

[0021] 1. The automatic battery replacement device for a robot of the present invention can automatically replace the battery for the robot. After the robot is positioned by a robot positioning device, the battery can be replaced by a battery picking and placing device.

[0022] 2. The automatic battery replacement device for a robot of the present invention realizes preliminary constraints on the robot's motion trajectory by setting a track in the robot's positioning device.

[0023] 3. The automatic battery replacement device for a robot of the present invention realizes the horizontal positioning of the robot by arranging a moving wheel lifting device on the track and arranging matching positioning holes and positioning pins on the robot and the positioning device.

[0024] 4. The automatic battery replacement device for a robot of the present invention realizes the positioning of the robot in the up and down directions by providing a clamping mechanism between the positioning pin and the positioning hole and providing a lifting mechanism on the positioning pin. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] By reading the detailed description of the preferred embodiments below, the scheme and advantages of the present application will become clear to those skilled in the art. The accompanying drawings are only used to illustrate the preferred embodiments and are not to be considered as limitations of the present invention. In the accompanying drawings:

[0026] Figure 1 The figure is a schematic diagram of the structure of a movable wheeled robot in the prior art.

[0027] Figure 2 The present invention is a schematic structural diagram of an automatic battery replacement device for a robot according to an embodiment of the present invention.

[0028] Figure 3 for Figure 2 Left view of .

[0029] Figure 4 This is a partial top view of an automatic battery replacement device for a robot according to an embodiment of the present invention (only the track portion is shown).

[0030] Figure 5 for Figure 2 Enlarged view of part A in the middle.

[0031] Figure 6 for Figure 2 Enlarged view of part B in the middle.

[0032] The components represented by the reference numerals in the figure are:

[0033] Chassis 1, positioning hole 11, vertical groove 12, annular groove 13, detection block 14, stopper 15, upper body 2, moving wheel 3, battery picking and placing device 4, robot positioning device 5, track 51, wheel lifting device 52, mounting seat 53, lifting seat 54, positioning pin 55, pressing block 551, driven gear 552, driving gear 56, motor 57, detection switch 58, stopper 59, ground 6. DETAILED DESCRIPTION

[0034] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0035] like Figure 1 As shown, Figure 1 The figure is a schematic diagram of a typical type of movable wheeled robot, which is mainly composed of a top 2, a chassis 1 and movable wheels 3. The top 2 is fixedly mounted above the chassis 1 and is used to place various items that need to be delivered. The chassis is provided with a driving device and a power supply device for the movable wheels 3. The power supply device provides power for the driving device, and the power supply device also provides control power or power for other functions of the robot. The movable wheels 3 are installed under the chassis 1 and are driven by the driving device to rotate the movable wheels so that the entire robot can move.

[0036] like Figure 2 and Figure 3 As shown, the automatic battery replacement equipment for the robot includes a robot positioning device 5 and a battery picking and placing device 4. In order to realize the automatic battery replacement function, it is first necessary to realize the precise positioning of the robot before picking and placing the battery. The robot positioning device 5 is used to position the robot before picking and placing the battery. The battery picking and placing device 4 takes out the battery of the robot after the robot is positioned and places a new battery on the robot. The battery picking and placing device 4 can be a manipulator. Through program setting, after the robot is positioned, the manipulator clamps the battery to first take the battery out of the chassis 1 of the robot, and then clamps the replaced battery to install the battery into the battery compartment of the chassis 1 of the robot.

[0037] The difficulty of the present invention lies in how to accurately position the robot, so a robot positioning device for a robot battery automatic replacement device is proposed, the robot positioning device 5 includes a track 51, a wheel lifting device 52, a mounting seat 53, a lifting seat 54 and a positioning pin 55, the track 51 is set on the ground 6, such as Figure 4 , Figure 5 and Figure 6As shown, the track 51 includes two tracks. The moving wheels 3 of the robot cooperate with the track 51. The moving wheels 3 can move in a straight line along the track 51. The entrance of the track 51 is horn-shaped. The horn shape can be beneficial to the initial guidance of the robot when entering the track 51. An inclined plane is provided at the junction with the ground 6. When the inclined plane is provided, in order to have a transition with the ground 6 when the robot enters the track 51, a wheel lifting device 52 is provided on the track 51. The wheel lifting device 52 can be a lifting hydraulic cylinder or an electric lifting device. A detection block 14 is installed on the bottom surface of the chassis 1 of the robot. After the detection switch 58 detects the detection block 14, it sends a signal to the control system of the automatic battery replacement device. The detection switch 58 can select a proximity switch. It should be noted that the proximity switch should be a model that can only detect the detection block 14. For example, the detection block 14 is an aluminum block of a material different from that of other parts of the robot, and the proximity switch is a model that detects aluminum; in the robot Two positioning holes 11 are also provided on the bottom surface of the chassis 1. The positioning holes 11 are provided with vertical grooves 12 and annular grooves 13. The vertical grooves 12 are for the pressing block 551 to pass through, and the annular grooves 13 are for accommodating the pressing block 551. Both the vertical grooves 12 and the annular grooves 13 leave margins for the pressing block 551 to ensure that no interference occurs in the corresponding actions. The positioning pins 55 are used in conjunction with the positioning holes 11. The positioning holes 11 are diagonally arranged, and the diagonal arrangement is sufficient to achieve positioning. The pressing block 551 is arranged on the positioning pins 55. The positioning pins 55 are rotatably mounted on the lifting seat 54 through bearings, etc. The lifting seat 54 can adopt a lifting hydraulic cylinder structure or an electric push rod type. The lifting seat 54 is fixedly mounted on the mounting seat 53, and the mounting seat 53 is fixed on the ground 6. A positioning pin 55 rotation driving device is arranged on the mounting seat 53; a stopper 59 is arranged on the mounting seat 53, and a stopper 15 is arranged on the bottom surface of the robot chassis 1;

[0038] When the robot replaces the battery, the moving wheel 3 enters the track 51 and moves along the track 51. When the stopper 15 hits the block 59, the robot stops. At this time, the detection block 14 enters the detection range of the detection switch 58, and the moving wheel 3 of the robot falls on the wheel lifting device 52. The detection switch 58 sends a signal to the control system of the automatic battery replacement equipment. The control system drops the wheel lifting device 52, and the robot drops as a whole with the wheel lifting device 52. The positioning hole 11 on the bottom surface of the robot chassis 1 is sleeved on the positioning pin 55, and the pressing block 551 set on the positioning pin 5 moves up and down along the vertical groove 12 to realize the horizontal positioning of the robot. The positioning pin 55 rotation drive device rotates the positioning pin 55 90°, so that the pressing block 551 rotates 90° along the annular groove 13 to a position without the vertical groove 12, and then the control system causes the lifting seat 54 to drop, and the pressing block 551 presses the robot against the bottom of the annular groove 13 to realize the positioning of the robot in the up and down directions.

[0039] Specifically, the rotation driving device of the positioning pin 55 includes a driven gear 552, a driving gear 56 and a motor 57. The driven gear 552 is fixedly set on the positioning pin 55, and the driven gear 552 is gear-matched with the driving gear 56. The driving gear 56 is fixedly connected to the output shaft of the motor 57, and the motor 57 is fixedly mounted on the mounting seat 53.

[0040] A robot positioning method for an automatic battery replacement device of a robot, comprising the following steps:

[0041] S1: The robot walks in a straight line; specifically, a track 51 is set, and the robot walks to the track 51 to achieve straight line walking when the battery needs to be replaced;

[0042] S2: the robot stops; specifically, in S2, a blocking device is provided, and the robot stops when it walks on the track 51 to the automatic battery replacement station;

[0043] S3: Positioning the robot in the horizontal direction; specifically, in step S3, mutually matching positioning holes and positioning pins are set between the robot and the robot positioning device, and a wheel lifting device 52 is set under the moving wheel 3 of the robot. The wheel lifting device 52 is set on the track 51. The wheel lifting device 52 descends and brings the robot down so that the positioning pin is inserted into the positioning hole, thereby realizing the horizontal positioning of the robot;

[0044] S4: Positioning the robot in the up and down directions; specifically, in step S4, a clamping mechanism is set between the positioning pin and the positioning hole, and a lifting device is set below the positioning pin. The clamping mechanism is first used to clamp the positioning pin and the positioning hole, and then the positioning pin is lowered so that the positioning pin and the positioning hole move downward to a fixed position, thereby realizing the positioning of the robot in the up and down directions.

[0045] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An automatic battery replacement device for a robot, characterized in that: The invention comprises a battery taking and placing device (4) and a robot positioning device (5), wherein the robot positioning device (5) comprises a track (51), a wheel lifting device (52), a mounting seat (53), a lifting seat (54) and a positioning pin (55), wherein the track (51) is arranged on the ground (6), the moving wheel (3) of the robot cooperates with the track (51), the moving wheel (3) can move linearly along the track (51), the wheel lifting device (52) is arranged on the track (51), a detection block (14) is installed on the bottom surface of the chassis (1) of the robot, and a detection switch (58) sends a signal to the control system of the battery automatic replacement device after detecting the detection block (14); The bottom surface of the robot chassis (1) is also provided with two positioning holes (11), the positioning holes (11) are provided with vertical grooves (12) and annular grooves (13), the positioning pins (55) are used in conjunction with the positioning holes (11), a pressing block (551) is provided on the positioning pins (55), the positioning pins (55) are rotatably mounted on a lifting seat (54), the lifting seat (54) is fixedly mounted on a mounting seat (53), the mounting seat (53) is fixed on the ground (6), and a positioning pin (55) rotation driving device is provided on the mounting seat (53); a stopper (59) is provided on the mounting seat (53), and a stopper (15) is provided on the bottom surface of the robot chassis (1); When the robot replaces the battery, the moving wheel (3) enters the track (51) and moves along the track (51). When the stopper (15) hits the block (59), the robot stops. At this time, the detection block (14) enters the detection range of the detection switch (58), and the moving wheel (3) of the robot falls on the wheel lifting device (52). The detection switch (58) sends a signal to the control system of the automatic battery replacement equipment. The control system lowers the wheel lifting device (52), and the robot falls as a whole along with the wheel lifting device (52). The fixed surface of the bottom of the robot chassis (1) The positioning hole (11) is sleeved on the positioning pin (55), and the pressing block (551) arranged on the positioning pin (55) moves up and down along the vertical groove (12) to realize the positioning of the robot in the horizontal direction. The positioning pin (55) rotation driving device rotates the positioning pin (55) by 90 degrees, so that the pressing block (551) rotates 90 degrees along the annular groove (13) to a position without the vertical groove (12), and then the control system makes the lifting seat (54) descend, and the pressing block (551) presses the robot against the bottom of the annular groove (13) to realize the positioning of the robot in the vertical direction.

2. The automatic battery replacement device for a robot according to claim 1, characterized in that: The positioning holes (11) are arranged diagonally.

3. The automatic battery replacement device for a robot according to claim 1, characterized in that: The positioning pin (55) rotation driving device comprises a driven gear (552), a driving gear (56) and a motor (57); the driven gear (552) is fixedly arranged on the positioning pin (55); the driven gear (552) and the driving gear (56) are gear-matched; the driving gear (56) is fixedly connected to the output shaft of the motor (57); and the motor (57) is fixedly mounted on the mounting seat (53).

4. The automatic battery replacement device for a robot according to claim 1, characterized in that: The entrance of the track (51) is trumpet-shaped, and a slope is provided at the junction with the ground (6).

5. An automatic battery replacement device for a robot according to any one of claims 1 to 4, characterized in that: The robot positioning device (5) is used to position the robot before taking and placing the battery, and the battery taking and placing device (4) takes out the battery of the robot and places a new battery on the robot after the robot is positioned.

6. A robot positioning method for a robot battery automatic replacement device, characterized in that: The automatic battery replacement device for a robot according to any one of claims 1 to 5 comprises the following steps: S1: The robot walks in a straight line; S2: The robot stops; S3: horizontal positioning of the robot; S4: Robot positioning in up and down directions.

7. A robot positioning method for an automatic battery replacement device for a robot according to claim 6, characterized in that: In step S1, a track (51) is set, and the robot walks to the track (51) to achieve straight-line walking when the battery needs to be replaced.

8. A robot positioning method for an automatic battery replacement device for a robot according to claim 7, characterized in that: In step S2, a blocking device is provided so that the robot stops when it walks on the track (51) to the automatic battery replacement station.

9. A robot positioning method for an automatic battery replacement device for a robot according to claim 8, characterized in that: In step S3, mutually matching positioning holes and positioning pins are arranged between the robot and the robot positioning device, and a wheel lifting device (52) is arranged under the moving wheel (3) of the robot. The wheel lifting device (52) is arranged on the track (51). The wheel lifting device (52) descends and brings the robot down so that the positioning pin is inserted into the positioning hole, thereby realizing the horizontal positioning of the robot.

10. A robot positioning method for an automatic battery replacement device for a robot according to claim 9, characterized in that: In step S4, a clamping mechanism is set between the positioning pin and the positioning hole, and a lifting device is set under the positioning pin. The clamping mechanism is first used to clamp the positioning pin and the positioning hole, and then the positioning pin is lowered so that the positioning pin and the positioning hole move downward to a fixed position, thereby realizing the positioning of the robot in the up and down directions.

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