Card type replaceable battery system for robot and production equipment of card type replaceable battery system

Abstract

The invention relates to the technical field of battery replacement, in particular to a card type battery-replaceable battery system for a robot and production equipment of the card type battery-replaceable battery system. Comprising a plurality of card type independent modules; the robot selects a plurality of card type independent modules as energy supply units according to system configuration; the energy supply unit consists of lithium-ion battery cells which are connected in series and in parallel to form a group and are packaged in a hard shell; the energy supply unit comprises positive and negative terminals which are connected with the positive and negative of the battery cell; the positive terminal and the negative terminal are made of metal copper or aluminum materials and are plated with plating layers. A balancing interface is independently integrated on the energy supply unit; a card type small module group design is adopted, a control module is combined to form a battery replacement system, a group of batteries are replaced in time after the batteries of the robot are used up, continuous use of the robot is not affected, the problem that the robot cannot be used after being charged is solved, and the robot can work continuously.

Description

Technical Field

[0001] The present invention relates to the technical field of battery swapping, and specifically relates to a card-type replaceable battery system for robots and its production equipment. Background Art

[0002] With the further development of the intelligence, convenience, and economy of robots, robots will be able to work stably in more dynamic environments. For example, they can perform housework in complex home environments, provide information services in public places, quietly tighten screws in factories, conduct high-risk scientific research in the outdoors, etc.; humanoid robots have gradually moved from concepts into people's ordinary lives, with increasing application scenarios, and will become an indispensable part of assisting human production, life, and entertainment like cars, mobile phones, etc. in the future; the development prospect of humanoid robots is broad, and lithium batteries have become the core power of humanoid robots due to their advantages of high energy density, light weight, and high charging efficiency.

[0003] Currently, the batteries used in robots are generally designed inside the body cavity, where the space is narrow, the energy that can be accommodated is limited, and the standby time is short. It is understood that the battery system equipped with the current Tesla robot has only about 2.3 kWh of energy, generally supporting the robot to move for 2 - 4 hours, far from meeting people's needs for energy replenishment. After the battery inside the robot runs out of power, it needs to wait for charging to be used, which cannot meet the continuous working requirements of the robot.

[0004] In addition, the positive and negative terminals on the battery need to be electroplated for protection to meet the usage requirements. In order to avoid waste of the electrolyte, when the electroplated parts are taken out of the electrolyte, it is necessary to wait for the residual electrolyte to drain before putting new parts into the electrolyte for electroplating, which undoubtedly affects the electroplating efficiency of the positive and negative terminals on the battery. Summary of the Invention

[0005] In order to make up for the deficiencies of the prior art, the present invention proposes a card-type replaceable battery system for robots and its production equipment. The purpose of the present invention is to provide a replaceable battery system device for humanoid robots or robot dogs, etc. that use lithium-ion batteries as the energy source, enabling the robot to work continuously without interruption. The present invention adopts a card-type small module group design, combined with a control module to form a battery swapping system. After a group of batteries in the robot is used up, a new group is replaced in time, without affecting the continuous use of the robot, reducing the problem that the robot cannot be used while waiting for charging, and enabling the robot to work continuously.

[0006] The technical solution adopted by the present invention to solve its technical problems is as follows: A card-type replaceable battery system for a robot according to the present invention includes a plurality of card-type independent modules; the robot selects a plurality of card-type independent modules as the energy supply unit according to the system configuration; the energy supply unit consists of lithium-ion battery cells, which are connected in series and parallel to form a group and are encapsulated in a rigid shell; the energy supply unit includes positive and negative terminals connected to the positive and negative electrodes of the battery cells; the positive and negative terminals are made of metal copper or aluminum and are plated with a coating; an equalization interface is separately integrated on the energy supply unit; a monomer voltage and temperature acquisition interface is integrated on the energy supply unit; the system further includes a high-voltage control module, which is combined at the battery end or integrated into the robot body end to form an energy exchange system.

[0007] Preferably, the high-voltage control module includes a positive relay for high-voltage control, a negative relay, a pre-charge relay for pre-charge management, a pre-charge resistor, a fuse for active protection function, a shunt or Hall for current detection, a metal connection row, and a fixing device; the system has a wireless communication or Bluetooth function to interact with the robot and the charging device.

[0008] A production device for card-type replaceable batteries for robots, which is applicable to the above-mentioned card-type replaceable battery system for robots and is used for electroplating the positive and negative terminals; the device includes an electroplating bath; the electroplating bath is filled with electroplating solution; the electroplating bath immerses a positive electrode block and an energizing component; a turntable is rotatably connected to a position near the front inside of the electroplating bath; a plurality of part holes are evenly arranged on the turntable; an electroplating cylinder is connected to a position corresponding to the part holes at the rear of the turntable; the front port of the electroplating cylinder is aligned with the part holes; electroplating holes are provided through the outer wall of the electroplating cylinder; the front side of the turntable is in movable sealing contact with the position near the front inside of the electroplating bath; a motor is fixedly connected to the front side of the electroplating bath; the output shaft of the motor is fixedly connected to the center of the front side of the turntable; a discharge bin is fixedly connected above the motor; the discharge bin is located at the front side of the electroplating bath.

[0009] Preferably, the electroplating cylinder is rotatably connected to the turntable; a fixing plate is fixedly connected to a position near the rear inside of the electroplating bath; a first gear is fixedly connected to the center of the fixing plate; a second gear is provided at the rear end of the electroplating cylinder; a plurality of the second gears are meshed with the first gear for transmission; an arc-shaped shield is fixedly connected to the front side of the fixing plate; the number of teeth of the first gear is greater than that of the second gear.

[0010] Preferably, the inner wall of the electroplating cylinder is evenly distributed with strip-shaped bars along the circumferential direction; the strip-shaped bars can move as the electroplating cylinder rotates.

[0011] Preferably, the front side of the fixed disk is fixedly connected to a corrugated ring; the front end of the corrugated ring is corrugated; a corrugated groove is provided at the front end of the corrugated ring; a movable rod is movably connected in the corrugated groove; the movable rod passes through the rear end of the corresponding electroplating cylinder and is movably sealed and connected with the electroplating cylinder; the rear end of the electroplating cylinder is conical; a one-way liquid inlet hole is eccentrically provided at the rear end of the electroplating cylinder; the inner wall of the electroplating cylinder is movably connected to the movable disk; the movable disk is staggered with the shifting bar; the front end of the movable rod extends to the inner side of the electroplating cylinder and is connected to the movable disk; a one-way liquid outlet hole is provided through the front and back of the movable disk.

[0012] Preferably, the movable disk is rotatably sealed with the movable rod; the one-way liquid outlet is eccentrically arranged on the movable disk; a hollow cavity is arranged inside the movable disk; and the hollow cavity is arranged away from the one-way liquid outlet.

[0013] Preferably, the front and rear ends of the shifting bar are staggered in the circumferential direction of the inner wall of the electroplating cylinder; the electroplating cylinder rotates clockwise from a front perspective; after the shifting bar lifts the parts as the electroplating cylinder rotates, the parts move backward along the inclined shifting bar.

[0014] Preferably, the upper portion of the corrugated groove is configured as a smooth groove; the rear end of the movable rod can transition from the smooth groove to a movable position.

[0015] Preferably, the front end of the plating cylinder is rotatably sealed and connected to the turntable; the inner wall of the plating cylinder is provided with a pull groove; the pull bar is slidably and sealably connected in the pull groove; the front end surface of the turntable is provided with a driving groove; the number of the driving grooves is consistent with the number of part holes; the driving bar is slidably connected in the driving groove; the driving bar is connected to the bottom of the driving groove through a spring; the driving groove is filled with liquid medium; the bottom of the driving groove is connected to the bottom of the pull groove through a first liquid hole; the front end surface of the driving bar is obliquely provided with a guide surface; the driving bar is squeezed and compressed back into the driving groove as the turntable rotates.

[0016] The beneficial effects of the present invention are as follows:

[0017] 1. The purpose of the present invention is to provide a replaceable battery system device for humanoid robots or robot dogs that use lithium-ion batteries as energy to enable the robots to work continuously without interruption; the present invention adopts a card-type small module group design, combined with a control module to form a power replacement system. After one group of batteries of the robot is used up, a group can be replaced in time, which will not affect the continuous use of the robot, reduce the problem of the robot being unable to be used while waiting for charging, and allow the robot to work continuously.

[0018] 2. Since the electroplating of parts and the reflux process of the electroplating solution on the surface of parts are carried out simultaneously in the present invention, the electroplating of positive and negative terminals has a high degree of continuity and high electroplating efficiency. After the stripping bar moves up a certain height along with the electroplating cylinder, the parts on the stripping bar will fall over the stripping bar, thus realizing the turning of the parts inside the electroplating cylinder. The stacked parts are more evenly exposed in the electroplating solution inside the electroplating cylinder under tumbling, thus avoiding the influence of shielding on the electroplating uniformity at the contact positions of the parts and making the electroplating of the parts more comprehensive without dead corners.

[0019] 3. The electroplating solution in the present invention will be discharged into the front side of the movable disk along the one-way liquid outlet holes, and the electroplating solution will spray the parts inside the electroplating cylinder. After the stripping bar in the electroplating cylinder picks up the parts, since the stripping bar is inclined, the parts will move backward along the stripping bar and finally gather near the position of the movable disk. The one-way liquid outlet holes on the movable disk can flush and spread out the parts forward, thus increasing the contact frequency between the electroplating solution and the parts, and at the same time making the electroplating solution and the parts contact more fully, improving the electroplating effect.

[0020] 4. Since the stripping bar inside the electroplating cylinder turns up the parts each time in the present invention, making the parts exposed inside the electroplating cylinder, the gas can more thoroughly carry away the residual liquid on the parts, improving the thoroughness of electroplating solution recovery and further reducing the waste of electroplating solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below in conjunction with the drawings and embodiments.

[0022] Figure 1 is a schematic diagram of an independent module in the present invention;

[0023] Figure 2 is a schematic diagram of the high-voltage control module in the present invention;

[0024] Figure 3 is a three-dimensional view of the production equipment in the present invention;

[0025] Figure 4 is Figure 3 a cross-sectional view of;

[0026] Figure 5 is Figure 4 an enlarged view of part A in;

[0027] Figure 6 is Figure 4 an enlarged view of part B in;

[0028] Figure 7 is a three-dimensional view of the turntable, electroplating cylinder and fixed disk in the present invention;

[0029] Figure 8 is Figure 7 a three-dimensional view from another angle;

[0030] Figure 9 It is a schematic diagram of the meshing of the first gear and the second gear in the present invention;

[0031] Figure 10 It is a position diagram of the smooth groove in the present invention;

[0032] Figure 11 It is a three-dimensional view of the electroplating cylinder in the present invention.

[0033] In the figure: electroplating bath 1, positive electrode block 11, power-on assembly 12, motor 13, discharge bin 14, turntable 2, part holes 21, drive grooves 22, drive bars 23, springs 24, first liquid holes 25, guiding surfaces 26, electroplating cylinder 3, electroplating holes 31, second gear 32, dial bars 33, one-way liquid inlet holes 34, dial grooves 35, fixed disk 4, first gear 41, protective cover 42, corrugated ring 5, corrugated grooves 51, movable rods 52, smooth grooves 53, movable disk 6, one-way liquid outlet holes 61, hollow cavities 62. Specific embodiments

[0034] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0035] As Figures 1 to 11 shown, the present invention includes the following embodiments:

[0036] Embodiment 1, a card-type replaceable battery system for a robot, including a plurality of card-type independent modules; the robot selects a plurality of card-type independent modules as energy-providing units according to the system configuration; the energy-providing units are composed of lithium-ion battery cells, connected in series and parallel to form a group, and encapsulated in a rigid shell; the energy-providing units include positive and negative terminals connected to the positive and negative electrodes of the battery cells; the positive and negative terminals are made of metal copper or aluminum and are plated with a coating; an equalization interface is separately integrated on the energy-providing units; a monomer voltage and temperature acquisition interface is integrated on the energy-providing units; the system further includes a high-voltage control module, which is combined at the battery end or integrated into the robot body end to form an energy exchange system.

[0037] In this embodiment, the high-voltage control module includes a positive relay for high-voltage control, a negative relay, a pre-charge relay for pre-charge management, a pre-charge resistor, a fuse for active protection function, a shunt or Hall for current detection, a metal connection row, and a fixing device; the system has a wireless communication or Bluetooth function to interact with the robot and the charging device.

[0038] The energy supply unit includes, but is not limited to, the 18650-4695 series, or available square and soft-pack batteries; the hard shell can be made of materials including, but not limited to, metal (such as AL, SUS, etc.) foils, nylon, plastics, rubber, etc. to constrain and fix the battery cells; the positive and negative terminals are made of metal CU or AL and have a certain thickness of metal plating to ensure corrosion and friction resistance. Their structures can be designed to be convex or concave as needed to ensure energy transmission after plugging; to ensure the equalization ability of large currents, the equalization interface is separately set at the positive and negative ends. The positive end is connected to the positive electrode of each battery cell, and the negative end is connected to the negative electrode of each battery cell. Flexible cables or Busbars with a certain square requirement can be used, meeting the passing of an equalization current of at least 500 mA - 1000 mA. If equalization is needed, it is convenient for external equalizers to process; the single-cell voltage and temperature acquisition interface interacts with the robot for single-cell voltage and temperature information. Of course, the single-cell voltage and temperature data can be integrated into the control module or placed inside the robot body; the high-voltage control module can be combined at the battery end or integrated into the high-voltage control module at the robot body end to form an energy exchange system; this system has wireless communication or Bluetooth functions, interacts with the robot and charging equipment, and has wireless communication types including, but not limited to, support for WiFi, Bluetooth, Zigbee, LoRa, 4G, and NB-IoT, and is integrated for communication and management with mobile phone APPs, computer upper computers, etc.; or has input and output functions for wireless charging, etc.

[0039] The lithium-ion battery units are integrated into individual card-type independent modules. A robot can select multiple such card-type modules as the energy supply unit according to the system configuration; the independent card-type modules use quick-connect interfaces and can be combined with the high-voltage control module that can be integrated at the battery end or at the robot body end to form an energy exchange system.

[0040] The purpose of the present invention is to provide a replaceable battery system device for humanoid robots or robot dogs, etc., which use lithium-ion batteries as the energy supply, enabling the robot to work continuously without interruption; the present invention adopts a design of a card-type small module group, combined with a control module to form a battery replacement system. After a group of batteries of the robot is used up, a new group is replaced in time, without affecting the continuous use of the robot, reducing the problem that the robot cannot be used while waiting for charging, and enabling the robot to work continuously.

[0041] At present, the robot industry has just emerged in the world. For the first time, it is proposed to use energy devices with battery replacement mode for robots, and related products for battery replacement for robots. This device is simple to make, the battery cell module is lightweight, and it is assembled with the high-voltage module in a plug-in manner, which is easy to operate. It is like a miniaturized automotive battery system with mature materials and processes. It has a wide range of application scenarios and can be used for robots, robot dogs, AGV carts and other mobile machines. The control adopts the currently mature lithium-ion battery use, maintenance and care, scrapping and other disposal methods, which are risk-controllable and environmentally friendly. It is embedded in the robot body, and the battery module can be replaced when it is out of power. The replaced modules can be charged and used together to form a cycle, which is convenient for continuous operation of the robot.

[0042] Embodiment 2, a card-type replaceable battery production equipment for robots, the equipment is suitable for the above-mentioned card-type replaceable battery system for robots, the equipment is used to electroplate the positive and negative terminals; the equipment includes an electroplating pool 1; the electroplating pool 1 is filled with electroplating liquid; the electroplating pool 1 is immersed in the positive electrode block 11 and the power-on component 12; the inner front position of the electroplating pool 1 is rotatably connected to the turntable 2; the turntable 2 is evenly provided with part holes 21; the rear side of the turntable 2 is connected to the electroplating cylinder 3 at the corresponding position of the part hole 21; the front end of the electroplating cylinder 3 is aligned with the part hole 21; the outer wall of the electroplating cylinder 3 is penetrated by an electroplating hole 31; the front side of the turntable 2 is in movably sealed contact with the inner front position of the electroplating pool 1; the front side of the electroplating pool 1 is fixedly connected to the motor 13; the output shaft of the motor 13 is fixedly connected to the front center of the turntable 2; the motor 13 is fixedly connected to the discharge bin 14 above; the discharge bin 14 is located on the front side of the electroplating pool 1.

[0043] The motor 13 drives the turntable 2 to rotate slowly. During the rotation of the turntable 2, the electroplating barrel 3 at the rear side will be driven to move synchronously. The electroplating barrel 3 will slowly enter the electroplating solution in the electroplating tank 1, and as the turntable 2 rotates, the electroplating barrel 3 will move out of the electroplating solution. The existence time of the electroplating barrel 3 in the electroplating solution is the electroplating time of the parts in the electroplating barrel 3. Therefore, the electroplating time can be controlled by directly controlling the rotation speed of the turntable 2. Generally, the electroplating time ranges from a few minutes to dozens of minutes, depending on the specific needs. During the rotation of the turntable 2, the turntable 2 will drive the part hole 21 to be exposed from the inner side of the electroplating tank 1, and then the electroplated parts in the electroplating cylinder 3 connected to the part hole 21 will be pulled out, and the electroplated parts will fall into the discharge bin 14 for collection, and then new parts to be electroplated will be loaded into the electroplating cylinder 3, and the electroplating cylinder 3 will drive the parts to be electroplated to gradually enter the electroplating tank 1, and the part hole 21 will be blocked again, and the electroplating cylinder 3 will drive the parts into the electroplating solution, and the electroplating solution will flow along the electroplating hole 31 Entering the inner side of the electroplating cylinder 3, the positive and negative terminals, i.e., the parts, serve as cathodes. The positive electrode block 11 is made of a nickel block, and the electrolyte contains nickel ions. When the power-on component 12 is powered, the plated metal of the anode loses electrons and becomes ions and enters the solution. The plated metal ions in the solution obtain electrons at the cathode, and will be deposited on the surface of the positive and negative terminals to form a coating. The metal parts in contact with the electroplating solution, such as the electroplating tank 1 and the turntable 2, are made of metal materials that do not participate in the reaction, such as stainless steel. As the turntable 2 continues to rotate, the turntable 2 will drive the electroplating cylinder 3 and the electroplated parts out of the electroplating solution, and the excess electroplating solution on the surface of the parts inside the electroplating cylinder 3 will flow out along the electroplating holes 31, so as to realize the recycling of the electroplating solution and avoid waste and pollution of the surrounding environment. Then, after the electroplating cylinder 3 is exposed from the electroplating tank 1, the electroplated parts are removed and replaced with new parts to be electroplated. In this embodiment, since the electroplating of the parts and the reflux of the electroplating solution on the surface of the parts are carried out simultaneously, the electroplating of the positive and negative terminals is relatively continuous, and the electroplating efficiency is high.

[0044] Embodiment 3, the plating cylinder 3 is rotatably connected to the turntable 2; the fixed disk 4 is fixedly connected to the rear position in the plating pool 1; the center of the fixed disk 4 is fixedly connected to the first gear 41; the rear end of the plating cylinder 3 is provided with a second gear 32; a plurality of the second gears 32 are meshed with the first gear 41 for transmission; the front side of the fixed disk 4 is fixedly connected to an arc-shaped protective cover 42; the number of teeth on the first gear 41 is greater than the number of teeth on the second gear 32.

[0045] In this embodiment, the inner wall of the electroplating cylinder 3 is evenly distributed with shifting bars 33 along the circumferential direction; the shifting bars 33 can move along with the rotation of the electroplating cylinder 3 .

[0046] When the turntable 2 rotates with the motor 13, the turntable 2 will drive multiple rotatably connected electroplating cylinders 3 to move. When the electroplating cylinder 3 moves around the center of the turntable 2, the second gear 32 at the rear end of the electroplating cylinder 3 is meshed with the first gear 41 for transmission, so the electroplating cylinder 3 will rotate while revolving. After the electroplating cylinder 3 drives the parts inside to be immersed in the plating solution, the self-rotation of the electroplating cylinder 3 will make the inner lever 33 move with the rotation of the electroplating cylinder 3, and the parts will gather at the lower position of the inner side of the electroplating cylinder 3. During the rotation of the electroplating cylinder 3, the lever 33 will be driven to lift the parts at the lower position of the inner side of the electroplating cylinder 3. Since the width of the lever 33 is fixed, after the lever 33 moves up a certain height with the electroplating cylinder 3, the lever 33 42, and the electroplating liquid on the inner wall of the shield 42 will drip into the electroplating tank 1.

[0047] Embodiment 4, the front side of the fixed disk 4 is fixedly connected to the corrugated ring 5; the front end of the corrugated ring 5 is corrugated; the front end of the corrugated ring 5 is provided with a corrugated groove 51; the corrugated groove 51 is movably connected with a movable rod 52; the movable rod 52 passes through the rear end of the corresponding electroplating cylinder 3 and is movably sealed and connected with the electroplating cylinder 3; the rear end of the electroplating cylinder 3 is conical; a one-way liquid inlet hole 34 is eccentrically provided at the rear end of the electroplating cylinder 3; the inner wall of the electroplating cylinder 3 is movably connected to the movable disk 6; the movable disk 6 is staggered with the shifting bar 33; the front end of the movable rod 52 extends to the inner side of the electroplating cylinder 3 and is connected to the movable disk 6; the movable disk 6 is penetrated by a one-way liquid outlet hole 61 at the front and back.

[0048] In this embodiment, the movable disk 6 is rotatably sealed to the movable rod 52 ; the one-way liquid outlet 61 is eccentrically arranged on the movable disk 6 ; a hollow cavity 62 is arranged inside the movable disk 6 ; and the hollow cavity 62 is arranged away from the one-way liquid outlet 61 .

[0049] In this embodiment, the front and rear ends of the lever 33 are staggered in the circumferential direction of the inner wall of the electroplating cylinder 3; the electroplating cylinder 3 rotates clockwise from the front side; after the lever 33 lifts the parts as the electroplating cylinder 3 rotates, the parts move backward along the inclined lever 33.

[0050] In this embodiment, the upper portion of the corrugated groove 51 is configured as a smooth groove 53 ; the rear end of the movable rod 52 can transition and move from the smooth groove 53 .

[0051] During the rotation of the turntable 2 driven by the motor 13, the electroplating cylinder 3 will revolve. Due to the meshing relationship between the first gear 41 and the second gear 32, the electroplating cylinder 3 will also rotate on its own during the revolution. During the movement of the electroplating cylinder 3, the inner movable disk 6 and the movable rod 52 will be driven. The rear end of the movable rod 52 moves in the corrugated groove 51. The front end of the corrugated ring 5 changes in a corrugated shape. Therefore, when the movable rod 52 moves along the corrugated groove 51 at the front end of the corrugated ring 5, it will fluctuate back and forth. In order to make the forward movement of the movable rod 52 more stable, a tension spring (not shown in the figure) is connected between the rear side of the movable disk 6 and the inner bottom wall of the electroplating cylinder 3. In this way, the movable rod 52 moves back and forth more stably under the guidance of the corrugated groove 51. During the forward movement of the movable rod 52, the movable disk 6 will be driven to move forward inside the electroplating cylinder 3. The space between the rear side of the movable disk 6 and the inner bottom wall of the electroplating cylinder 3 is called the working cavity. When the movable disk 6 moves forward, the space of the working cavity will become larger to form a negative pressure. If the electroplating cylinder 3 is located in the electroplating solution, the working cavity will suck in the surrounding electroplating solution through the one-way liquid inlet hole 34. After the electroplating solution is sucked into the working cavity, as the movable disk 6 moves backward, the electroplating solution in the working cavity will be discharged along the one-way liquid outlet hole 61. The electroplating solution will be discharged along the one-way liquid outlet hole 61 to the front side of the movable disk 6. The electroplating solution will spray the parts inside the electroplating cylinder 3. After the bar 33 in the electroplating cylinder 3 picks up the parts, since the bar 33 is inclined, the parts will move backward along the bar 33 and finally gather near the movable disk 6. The one-way liquid outlet hole 61 on the movable disk 6 can scatter and spread the parts forward. In this way, the contact frequency between the electroplating solution and the parts is increased, and at the same time, the electroplating solution and the parts are more fully contacted, improving the electroplating effect; Since there is a hollow cavity 62 inside the movable disk 6, the hollow cavity 62 is arranged away from the one-way liquid outlet hole 61, and the specification of the hollow cavity 62 is larger than that of the one-way liquid outlet hole 61. Therefore, the position of the one-way liquid outlet hole 61 on the movable disk 6 is heavier. When the one-way liquid outlet hole 61 of the movable disk 6 is below the center of gravity of the movable disk 6 itself, it will always remain in the downward state. In this way, the electroplating solution discharged from the one-way liquid outlet hole 61 can impact the parts at the lower position inside the electroplating cylinder 3 each time, making the parts more stable when being impacted. After each pick-up by the bar 33, the parts can be turned over, and at the same time, the parts in front of the electroplating cylinder 3 are transferred backward, so that the parts move back and forth repeatedly inside the electroplating cylinder 3, and the parts are repeatedly scattered by the electroplating solution, further ensuring the contact effect between the electroplating solution and the parts. The excess electroplating solution in the electroplating cylinder 3 will be discharged into the electroplating tank 1 along the electroplating hole 31;

[0052] After the electroplating cylinder 3 is removed from the liquid level of the electroplating solution, the gas inhaled through the one-way liquid inlet hole 34 will enter the working chamber and, as the movable disk 6 moves backward, the gas in the working chamber will be compressed and discharged along the one-way liquid outlet hole 61. The gas discharged from the one-way liquid outlet hole 61 will impact the electroplated parts in the electroplating cylinder 3, causing the excess liquid adhering to the parts in the electroplating cylinder 3 to be discharged along the electroplating holes 31. Since the bar 33 inside the electroplating cylinder 3 turns the parts over each time, the parts are exposed inside the electroplating cylinder 3, enabling the gas to more thoroughly carry away the residual liquid on the parts, improving the thoroughness of electroplating solution recovery and further reducing the waste of electroplating solution. Additionally, after the parts inside the electroplating cylinder 3 move forward under the impact of the gas, the bar 33 picks up the front parts each time and moves backward along the inclination of the bar 33 itself. The parts move backward and return to the vicinity of the one-way liquid outlet hole 61, causing the parts to approach the one-way liquid outlet hole 61 again and be impacted by the gas at close range, making it easier for the liquid on the parts to be washed away. The excess liquid will be centrifugally thrown out more thoroughly along with the cooperation of the electroplating holes 31, enabling the electroplating solution to be more thoroughly recovered and the parts to be dehydrated and dried faster after electroplating.

[0053] After the front end port of the electroplating cylinder 3 is exposed from the pool mouth of the electroplating bath 1, the parts are discharged along the front end port and the part holes 21 under the impact of the gas, realizing the self-unloading of the parts. Since the upper position of the corrugated groove 51 is set as the smooth groove 53, during the process of the rear end of the movable rod 52 entering the smooth groove 53, the movable rod 52 and the movable disk 6 will not move back and forth, and no gas will be ejected from the one-way liquid outlet hole 61, enabling new parts to be smoothly placed inside the electroplating cylinder 3 along the part holes 21. After the electroplating cylinder 3 containing new parts re-enters the electroplating bath 1, the rear end of the movable rod 52 will move out of the smooth groove 53 of the corrugated groove 51, causing the movable rod 52 to move back and forth again in the front-rear direction.

[0054] Embodiment 5: The front end of the electroplating cylinder 3 is rotatably and sealingly connected to the turntable 2; a dial groove 35 is provided on the inner wall of the electroplating cylinder 3; the bar 33 is slidably and sealingly connected in the dial groove 35; a driving groove 22 is provided on the front end face of the turntable 2; the number of the driving grooves 22 is the same as the number of the part holes 21; a driving bar 23 is slidably connected in the driving groove 22; the driving bar 23 is connected to the bottom of the driving groove 22 through a spring 24; the driving groove 22 is filled with a liquid medium; the bottom of the driving groove 22 is communicated with the bottom of the dial groove 35 through a first liquid hole 25; a guiding surface 26 is inclinedly provided on the front end face of the driving bar 23; the driving bar 23 is squeezed and retracted into the driving groove 22 as the turntable 2 rotates.

[0055] During the rotation of the turntable 2, the electroplating cylinder 3 will move along with the movement of the turntable 2. After the electroplating cylinder 3 is removed from the electroplating bath 1, the corresponding driving groove 22 of the electroplating cylinder 3 will also be exposed from the shielding state of the electroplating bath 1. The driving bar 23 extends out of the driving groove 22 under the action of the spring 24, and the space in the driving groove 22 becomes larger to form a negative pressure. The liquid medium in the dial groove 35 enters the driving groove 22 along the first liquid hole 25. The dial bar 33 will retract into the dial groove 35. The shape of the dial bar 33 is adapted to that of the dial groove 35. After the dial bar 33 retracts into the dial groove 35, it is adapted to the inner wall of the electroplating cylinder 3, making the inner wall of the electroplating cylinder 3 smooth. Thus, the parts are more easily flushed out by gas when contacting the inner wall of the electroplating cylinder 3 with less friction, improving the stability of part unloading, avoiding the parts remaining in the electroplating cylinder 3 blocked by the dial bar 33, and improving the smoothness of unloading; after a new part is loaded into the electroplating cylinder 3, the electroplating cylinder 3 and the corresponding driving groove 22 will enter the inner side of the electroplating bath 1. The guiding surface 26 on the driving bar 23 is pressed, which will drive the driving bar 23 to squeeze the liquid medium in the driving groove 22 and overcome the elastic force of the spring 24, so that the liquid medium in the driving groove 22 enters the dial groove 35 along the first liquid hole 25, causing the dial bar 33 in the dial groove 35 to extend out again. When the electroplating cylinder 3 rotates, it can drive the protruding dial bar 33 on the inner wall to pick up the parts, ensuring the turning over and spreading of the parts; the setting span of the first liquid hole 25 is at the rotation sealing position of the electroplating cylinder 3 and the turntable 2. The electroplating cylinder 3 is rotationally and sealingly connected to the rotating groove on the turntable 2 through a rotating ring. There is a gap between the rotating ring and the bottom of the rotating groove for the liquid medium in the first liquid hole 25 to flow through.

[0056] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the Figure 3 orientation or positional relationship shown, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the protection scope of the present invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0057] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A card-type replaceable battery system for a robot, characterized in that: It includes multiple card-type independent modules; the robot selects multiple card-type independent modules as energy supply units according to the system configuration; the energy supply unit is composed of lithium electronic cells, which are connected in series and parallel and packaged in a hard shell; the energy supply unit includes positive and negative terminals connected to the positive and negative terminals of the cells; the positive and negative terminals are made of metal copper or aluminum and are plated with a coating; a balancing interface is separately integrated on the energy supply unit; a single cell voltage and temperature acquisition interface is integrated on the energy supply unit; the system also includes a high-voltage control module, which is combined with the battery end or integrated into the robot body end to form an energy exchange system.

2. A card-type replaceable battery system for a robot according to claim 1, characterized in that: The high-voltage control module includes a positive relay for high-voltage control, a negative relay, a pre-charge relay for pre-charge management, a pre-charge resistor, a fuse with active protection function, a shunt or Hall for current detection, a metal connecting bar and a fixing device; the system has wireless communication or Bluetooth function to exchange information with the robot and charging equipment.

3. A card-type replaceable battery production device for a robot, the device being applicable to the card-type replaceable battery system for a robot as claimed in claim 1, characterized in that: The equipment is used for electroplating positive and negative terminals; the equipment comprises an electroplating tank filled with electroplating liquid; the electroplating tank immerses the positive electrode block and the energized component; the inner front position of the electroplating tank is rotatably connected to a turntable with a part hole; the rear side of the turntable is connected to a plating cylinder at a position corresponding to the part hole; the front end of the plating cylinder is aligned with the part hole; the outer wall of the plating cylinder is penetrated by a plating hole; the front side of the turntable is in movably sealed contact with the inner front position of the electroplating tank; the front side of the turntable is driven by a motor; the front side of the electroplating tank is fixedly connected to a discharge bin.

4. The card-type replaceable battery production equipment for robots according to claim 3, characterized in that: The electroplating cylinder is rotatably connected to the turntable; the rear position in the electroplating pool is fixedly connected to a fixed disk; the center of the fixed disk is fixedly connected to a first gear; a second gear meshing with the first gear is provided at the rear end of the electroplating cylinder; and a protective cover is fixedly connected to the front side of the fixed disk.

5. The card-type replaceable battery production equipment for robots according to claim 4, characterized in that: The inner wall of the electroplating cylinder is evenly distributed with strips along the circumference.

6. The card-type replaceable battery production equipment for robots according to claim 5, characterized in that: The front side of the fixed disk is fixedly connected to a corrugated ring with a corrugated groove; a movable rod is movably connected in the corrugated groove; the movable rod passes through the rear end of the corresponding electroplating cylinder and is movably sealed and connected to the electroplating cylinder; a one-way liquid inlet hole is eccentrically provided at the rear end of the electroplating cylinder; the inner wall of the electroplating cylinder is movably connected to a movable disk with a one-way liquid outlet hole; the front end of the movable rod extends to the inner side of the electroplating cylinder and is connected to the movable disk.

7. The card-type replaceable battery production equipment for robots according to claim 6, characterized in that: The movable disk is rotatably sealed with the movable rod; the one-way liquid outlet is eccentrically arranged on the movable disk; and the center of gravity of the movable disk is close to the one-way liquid outlet.

8. The card-type replaceable battery production equipment for robots according to claim 6, characterized in that: The front end and the rear end of the strip are staggered in the circumferential direction of the inner wall of the electroplating cylinder.

9. The card-type replaceable battery production equipment for robots according to claim 6, characterized in that: The upper position of the corrugated groove is configured as a smooth groove.

10. The card-type replaceable battery production equipment for robots according to claim 6, characterized in that: The front end of the plating cylinder is connected to the turntable in a rotatable sealing manner; a pull groove is provided on the inner wall of the plating cylinder; the pull bar is slidably and sealably connected in the pull groove; a driving groove is provided on the front end surface of the turntable; a driving bar is slidably connected in the driving groove; the driving bar is connected to the bottom of the driving groove through a spring; the driving groove is filled with a liquid medium; the bottom of the driving groove is connected to the bottom of the pull groove through a first liquid hole; a guide surface is obliquely provided on the front end surface of the driving bar; the driving bar is squeezed and compressed back into the driving groove as the turntable rotates.

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