Warehousing system, goods shelf robot, battery replacing robot and battery replacing method

Abstract

The embodiment of the invention provides a warehousing system, a goods shelf robot, a battery replacing robot and a battery replacing method. The warehousing system comprises a goods shelf, the goods shelf robot and the battery replacing robot. The goods shelf robot comprises a robot body and a power module. A power supply bin is arranged on the robot main body; the power module is detachably installed in a power bin of the robot body and supplies power to the robot body. And the battery replacement robot is used for disassembling the power supply module in the feed state on the shelf robot to be subjected to battery replacement, and / or installing the power supply module in the full-power state on a power supply bin on the shelf robot to be subjected to battery replacement. The power supply module is not installed on the goods shelf, but is installed on the robot main body, so that a fixed power supply and a cable do not need to be set up on the goods shelf, the material cost, the installation cost and the maintenance cost are saved, and the cost of the warehousing system is reduced. Strong current does not need to be connected into the goods shelf, the electricity utilization safety risk and the fire protection risk are reduced, and the electricity utilization safety of the warehousing system is improved.

Description

Technical Field

[0001] This application relates to the technical field of logistics warehousing, and particularly to a warehousing system, a shelf robot, a battery swapping robot, and a battery swapping method. Background Art

[0002] In the related art, a warehousing system includes multiple shelves and shelf robots. The shelf robots are installed on the shelves and are used for sorting the goods on the shelves. A fixed power source and cables are built on the shelves to supply power to the shelf robots.

[0003] Each shelf is laid with cables, which increases the cost of the warehousing system. And when designing the cables, a relatively large power needs to be reserved in the baseline. In addition, there is a fixed power source on the shelf, which increases the risk of electric shock to the staff and the fire risk of the warehousing system. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a warehousing system, a shelf robot, a battery swapping robot, and a battery swapping method to reduce the cost of the warehousing system and improve the electrical safety of the warehousing system. The specific technical solutions are as follows:

[0005] The embodiments of this application provide a warehousing system, including: shelves, shelf robots, and battery swapping robots; the shelf robots are arranged outside the shelves in the length direction of the shelves, and include: a robot main body and a power module; the robot main body runs on the vertical surface of the shelves and is used for picking up and placing the bins on the shelves. A power supply bin is arranged on the robot main body; the power module is detachably installed in the power supply bin of the robot main body to supply power to the robot main body; the battery swapping robot runs on the bearing surface where the shelves are located and is used for disassembling the power module in the power supply state on the shelf robot to be battery-swapped, and / or installing the fully charged power module in the power supply bin of the shelf robot to be battery-swapped.

[0006] In some embodiments of this application, the warehousing system further includes: a control device; the control device is communicatively connected with the shelf robot and the battery swapping robot; the power module includes: a battery; the control device is used to obtain the power state of the battery in the power supply bin; when the battery power is lower than a preset capacity threshold, the control device controls the battery swapping robot to disassemble the power module in the power supply state on the shelf robot to be battery-swapped, and install the fully charged power module in the power supply bin of the shelf robot to be battery-swapped.

[0007] The embodiment of the present application also provides a shelf robot, which is arranged outside the shelf in the length direction of the shelf and includes: a robot body and a power supply module; the robot body is used for picking and placing the bins on the shelf, and a power supply bin is arranged on the robot body; the power supply module is detachably installed in the power supply bin of the robot body to supply power to the robot body.

[0008] The embodiment of the present application also provides a battery swapping robot, which includes: a vehicle body and a disassembly and assembly mechanism; the top of the vehicle body has a battery swapping platform; the disassembly and assembly mechanism is installed on the battery swapping platform; a battery swapping work position is arranged on the battery swapping platform for accommodating the power supply module; the battery swapping platform moves with the vehicle body so that the battery swapping work position on the battery swapping platform corresponds to the position of the power supply bin on the external device to be battery swapped, and the disassembly and assembly mechanism is used to, when the battery swapping work position corresponds to the position of the power supply bin, disassemble the power supply module in the power supply bin in a power-fed state and move it to the battery swapping work position, or move the fully charged power supply module on the battery swapping work position and install it in the power supply bin.

[0009] The embodiment of the present application also provides a battery swapping method, which is applied to the control device in the above-mentioned warehousing system; the method includes: obtaining the power status of the battery in the power supply bin of each shelf robot; when the battery power is lower than a preset capacity threshold, instructing the battery swapping robot to disassemble the power supply module in the power supply bin of the shelf robot to be battery swapped in a power-fed state; instructing the battery swapping robot to install the fully charged power supply module in the power supply bin of the shelf robot to be battery swapped.

[0010] Beneficial effects of the embodiment of the present application:

[0011] In the warehousing system provided by the embodiment of the present application, the shelf robot includes a robot body and a power supply module. The power supply module is not installed on the shelf but on the robot body, so that there is no need to build a fixed power supply and cables on the shelf, saving material costs, installation costs and maintenance costs, thereby reducing the cost of the warehousing system. The shelf does not need to be connected to strong electricity, reducing the risk of electricity use safety and fire risk, and improving the electricity use safety of the warehousing system.

[0012] The power supply module is detachably installed in the power supply bin of the robot body. As the power of the power supply module is continuously consumed, the shelf robot turns into a state to be battery swapped. The warehousing system can use the battery swapping robot to disassemble the power supply module in the power supply bin of the shelf robot to be battery swapped in a power-fed state, and / or install the fully charged power supply module in the power supply bin of the shelf robot to be battery swapped. By using the battery swapping robot to replace the power supply module of the shelf robot, the shelf robot does not need to be charged for a long time and can resume operation after battery swapping, improving the utilization rate of the shelf robot, reducing the waste of production capacity, and enhancing the operation efficiency of the warehousing system.

[0013] Of course, it is not necessary for any product or method implementing the present application to achieve all of the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can also obtain other embodiments based on these drawings.

[0015] Figure 1 Top view of the warehousing system according to the first embodiment of the present application;

[0016] Figure 2 is Figure 1 Stereogram of the shelf robot in the warehousing system shown;

[0017] Figure 3a is Figure 1 Front view of the first type of battery swapping robot in the warehousing system shown;

[0018] Figure 3b is Figure 1 Side view of the first type of battery swapping robot in the warehousing system shown;

[0019] Figure 3c is Figure 1 Side view of the second type of battery swapping robot in the warehousing system shown;

[0020] Figure 4 is Figure 1 Side view of the process of the battery swapping robot in the warehousing system installing the fully charged power module in the disassembly and assembly mechanism;

[0021] Figure 5a is Figure 1 Top view of the battery swapping robot in the warehousing system when it moves to the first position;

[0022] Figure 5b is Figure 5a Top view of the battery swapping robot after removing the power module in the power-down state;

[0023] Figure 5c is Figure 5b Top view of the battery swapping robot when it moves to the second position;

[0024] Figure 5d is Figure 5c Top view of the battery swapping robot after installing the fully charged power module in the power storage compartment;

[0025] Figure 5e isFigure 5d Top view of the power module in the power supply state carried by the battery swapping robot leaving

[0026] Figure 6a is Figure 1 Top view of the battery swapping robot in the storage system moving to a position corresponding to the charging position

[0027] Figure 6b is Figure 6a Top view of the battery swapping robot moving the fully charged power module on the charging position to the first work station

[0028] Figure 6c is Figure 6b Top view of the battery swapping robot placing the power module in the power supply state at the second work station on the charging position for charging

[0029] Figure 7 Top view of the storage system according to the second embodiment of the present application

[0030] Figure 8 is Figure 7 Side view of the shelf of the storage system shown

[0031] Figure 9 Flow chart of the battery swapping method provided by the embodiment of the present application

[0032] Figure 10 Structural schematic diagram of the control device provided by the embodiment of the present application

[0033] Explanation of reference numerals:

[0034] Shelf 100; Horizontal track 110; Storage space 120; Storage layer 121; Docking layer 122; Docking space 130;

[0035] Shelf robot 200; Robot main body 210; Power supply bin 211; Gantry 212; Loading and unloading component 213; Lifting mechanism 214; Power module 220; Second connection part 221; Hook groove 221A; Adsorption plane 221B; Battery 222; Control module 230;

[0036] Battery swapping robot 300; Vehicle body 310; Battery swapping platform 311; Battery swapping work station 312; First work station 3121; Second work station 3122; Movement chassis 313; Lifting mechanism 314; Disassembly and assembly mechanism 320; First connection part 321; Hook 321A; Pneumatic suction cup 321B; Position adjustment mechanism 322;

[0037] Bin 400;

[0038] Charging station 500; Charging pile 510; Charging position 520;

[0039] Tunnel 600; Transfer robot 700; Workstation 800; Sorting table 810. Detailed implementation mode

[0040] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope of protection of the present application.

[0041] As described in the background art, in the related art, a warehousing system includes a plurality of shelves and shelf robots. The shelf robots are installed on the shelves and are used for sorting the shelves. A fixed power supply and cables are built on the shelves to supply power to the shelf robots.

[0042] Cables are laid on each shelf, which increases the cost of the warehousing system. And when designing the cables, a relatively large power needs to be reserved in the baseline. In addition, a fixed power supply is set on the shelf, which increases the risk of electric shock to the staff and the fire risk of the warehousing system.

[0043] In order to reduce the cost of the warehousing system and improve the electrical safety of the warehousing system, the embodiments of the present application provide a warehousing system, a shelf robot, a battery swapping robot and a battery swapping method. First, the warehousing system provided by the embodiments of the present application will be described in detail.

[0044] See Figure 1 and Figure 2 , Figure 1 is a top view of the warehousing system according to the first embodiment of the present application; Figure 2 is Figure 1 a perspective view of the shelf robot in the warehousing system shown. As Figure 1 and Figure 2 shown, the warehousing system includes: shelves 100, shelf robots 200 and battery swapping robots 300.

[0045] The shelf robot 200 is arranged outside the length direction of the shelf 100 and includes: a robot main body 210 and a power supply module 220.

[0046] The robot main body 210 runs on the vertical surface of the shelf 100 and is used for picking up and placing the bins 400 on the shelf 100. A power supply bin 211 is arranged on the robot main body 210. The power supply module 220 is detachably installed in the power supply bin 211 of the robot main body 210 to supply power to the robot main body 210.

[0047] The battery swapping robot 300 operates on the bearing surface where the shelf 100 is located, and is used to disassemble the power module 220 in the power supply state on the shelf robot 200 to be battery swapped, and / or install the fully charged power module 220 into the power supply bin 211 on the shelf robot 200 to be battery swapped.

[0048] In the storage system provided by the embodiment of the present application, the shelf robot 200 includes a robot main body 210 and a power module 220. The power module 220 is not installed on the shelf 100, but on the robot main body 210, so that there is no need to build a fixed power supply and cables on the shelf 100, saving material costs, installation costs and maintenance costs, thereby reducing the cost of the storage system. The shelf 100 does not need to be connected to strong electricity, reducing the risk of electrical safety and fire, and improving the electrical safety of the storage system.

[0049] The power module 220 is detachably installed in the power supply bin 211 of the robot main body 210. As the power of the power module 220 is continuously consumed, the shelf robot 200 turns into a state to be battery swapped. The storage system can use the battery swapping robot 300 to disassemble the power module 220 in the power supply state on the shelf robot 200 to be battery swapped, and / or install the fully charged power module 220 into the power supply bin 211 on the shelf robot 200 to be battery swapped. By using the battery swapping robot 300 operating on the bearing surface where the shelf is located (for example: the ground where the shelf is located) to replace the power module 220 of the shelf robot 200, the shelf robot 200 does not need to be charged for a long time and can be put back into operation after battery swapping, improving the utilization rate of the shelf robot 200, reducing the waste of production capacity, and enhancing the operation efficiency of the storage system.

[0050] Specifically, Figure 1 In the shown embodiment, the shelf 100 is a single-depth or multi-depth shelf, and the number is not less than 1. A plurality of shelves 100 are arranged at intervals in several rows, and the number of shelves in each row is not less than 1. An aisle 600 is formed between two adjacent rows of shelves 100. The shelf robot 200 is located in the aisle 600 and is hung on the facade of the shelf 100 on one or both sides of the aisle 600. Figure 1 In the shown embodiment, the shelves 100 are arranged at intervals in two rows. One row of shelves 100 is double-depth, and the other row is single-depth, and there are two end-to-end connected shelves 100 in each row.

[0051] The shelf robot 200 is used to move along the aisle 600 to pick up and place the bins 400 at different positions on the shelf 100. The battery swapping robot 300 is used to move along the aisle 600 to move to a position corresponding to the power supply bin 211 to replace the power module 220.

[0052] The shelf robot 200 is powered by a power supply module 220. During operation, the power of the power supply module 220 gradually decreases. When the power is lower than the preset capacity threshold, the power supply module 220 is in a power feed state, and the shelf robot 200 is in a state waiting for battery replacement. At this time, the battery replacement robot 300 of the warehousing system replaces the power supply module 220. It should be noted that the replacement of the power supply module 220 can be completed by one battery replacement robot 300 for disassembly and installation, or can be carried out by two battery replacement robots 300, one for disassembly and the other for installation.

[0053] In some embodiments of the present application, refer to Figure 3a and Figure 3b , Figure 3a is Figure 1 the front view of the battery replacement robot in the warehousing system shown; Figure 3b is Figure 1 the side view of the battery replacement robot in the warehousing system shown. As Figure 3a and Figure 3b shown, the battery replacement robot 300 includes: a vehicle body 310 and a disassembly and assembly mechanism 320. The top of the vehicle body 310 has a battery replacement platform 311; the disassembly and assembly mechanism 320 is installed on the battery replacement platform 311.

[0054] A battery replacement position 312 is provided on the battery replacement platform 311 for accommodating the power supply module 220.

[0055] The battery replacement platform 311 moves with the vehicle body 310, so that the battery replacement position 312 on the battery replacement platform 311 corresponds to the position of the power supply bin 211 on the shelf robot 200 waiting for battery replacement.

[0056] The disassembly and assembly mechanism 320 is used to remove the power supply module 220 in the power feed state from the power supply bin 211 and move it to the battery replacement position 312, or move the fully charged power supply module 220 on the battery replacement position 312 and install it in the power supply bin 211 when the battery replacement position 312 corresponds to the position of the power supply bin 211.

[0057] Specifically, as Figure 1 shown, the correspondence between the above-mentioned battery replacement position 312 and the power supply bin 211 means that the battery replacement position 312 corresponds to the position of the power supply bin 211 in the length direction of the roadway 600.

[0058] As Figure 2As shown in the figure, the power supply compartment 211 is provided at the bottom of the robot main body 210. When the power exchange position 312 corresponds to the position of the power supply compartment 211, if the power exchange platform 311 and the power supply compartment 211 are at the same height, the power supply module 220 can be directly disassembled and assembled through the disassembly and assembly mechanism 320; if there is a height difference between the power exchange position 312 and the power supply compartment 211, the power exchange platform 311 can be adjusted to rise and fall first to make the power exchange position 312 correspond to the power supply compartment 211 in the height direction, and then the power supply module 220 can be disassembled and assembled through the disassembly and assembly mechanism 320. In other embodiments of the present application, if the height of the power exchange position 312 is lower than that of the power supply compartment 211, the power supply module 220 on the power exchange position 312 can also be directly lifted by the disassembly and assembly mechanism 320 with lifting ability and moved into the power supply compartment 211.

[0059] Next, the structure of the power exchange robot 300 capable of adjusting the lifting of the power exchange platform 311 will be specifically described.

[0060] As Figure 3a shown, the vehicle body 310 further includes: a motion chassis 313 and a lifting mechanism 314. The power exchange platform 311, the lifting mechanism 314, and the motion chassis 313 are arranged from high to low in sequence, and the power exchange platform 311 is lifted and lowered under the drive of the lifting mechanism 314. Figure 3a In the shown embodiment, the lifting mechanism 314 is a scissor mechanism and can be telescoped in the vertical direction. In other embodiments of the present application, the lifting of the power exchange platform 311 can also be achieved through an electric or pneumatic telescopic cylinder, and the present application does not limit the type of the lifting mechanism 314.

[0061] The number of power exchange positions 312 on the power exchange platform 311 can be one or more; when the number of power exchange positions 312 is one, this power exchange position 312 is used to accommodate one type of power supply module 220. At this time, the power exchange robot 300 is used to disassemble and carry the power supply module 220 in the power-fed state, or to install and carry the power supply module 220 in the fully charged state; when the number of power exchange positions 312 is multiple, a part of the power exchange positions 312 is used to accommodate the power supply module 220 in the power-fed state, and another part of the power exchange positions 312 is used to accommodate the power supply module 220 in the fully charged state. At this time, the power exchange robot 300 is used to disassemble and carry the power supply module 220 in the power-fed state, and to install and carry the power supply module 220 in the fully charged state.

[0062] As Figure 3b shown, the disassembly and assembly mechanism 320 is installed beside the power exchange position 312 and can drive the power supply module 220 in the fully charged state on the power exchange position 312 to extend to the power supply compartment 211, or drive the power supply module 220 in the power-fed state in the power supply compartment 211 to contract to the power exchange position 312.

[0063] When disassembling the power supply module 220 in the power supply state, the moving chassis 313 drives the battery swapping platform 311 to move horizontally, so that the battery swapping position 312 corresponds to the power supply bin 211 in the length direction along the roadway 600; the lifting mechanism 314 drives the battery swapping platform 311 to move vertically, so that the battery swapping position 312 corresponds to the power supply bin 211 in the height direction. The above two steps of adjusting the corresponding positions have no order, and preferably, they can be carried out simultaneously to improve the battery swapping efficiency. After that, the disassembly and assembly mechanism 320 horizontally extends towards the power supply bin 211, connects with the power supply module 220 in the power supply state, and then horizontally contracts to pull it to the battery swapping position 312.

[0064] When installing the power supply module 220 in the fully charged state, first perform the above two steps of adjusting the corresponding positions. After that, the disassembly and assembly mechanism 320 horizontally extends towards the power supply bin 211 and pushes the power supply module 220 in the fully charged state into the power supply bin 211.

[0065] Applying the embodiments of the present application, the battery swapping position 312 corresponds to the power supply bin 211 by the movement of the vehicle body 310, and the disassembly and assembly mechanism 320 drives the power supply module 220 to expand and contract, realizing the disassembly and assembly of the power supply module 220. When using the liftable battery swapping platform 311, the movement of the vehicle body 310 and the battery swapping platform 311 can be carried out simultaneously, improving the battery swapping efficiency of the battery swapping robot 300.

[0066] In some embodiments of the present application, refer to Figure 4 , Figure 4 is Figure 1 a side view of the process of the disassembly and assembly mechanism of the battery swapping robot in the storage system shown installing the power supply module in the fully charged state. As Figure 3a , Figure 3b and Figure 4 shown, the disassembly and assembly mechanism 320 includes: a first connection part 321 and a position adjustment mechanism 322.

[0067] The power supply module 220 includes: a second connection part 221; the first connection part 321 and the second connection part 221 are detachably connected.

[0068] The first connection part 321 can expand and contract between the power supply bin 211 and the battery swapping position 312 driven by the position adjustment mechanism 322. In the case where the first connection part 321 is connected to the second connection part 221, it drives the power supply module 220 to move between the power supply bin 211 and the battery swapping position 312, disassembling the power supply module 220 in the power supply bin 211 and moving it to the battery swapping position 312, or moving and installing the power supply module 220 in the fully charged state on the battery swapping position 312 into the power supply bin 211.

[0069] Specifically, the position adjustment mechanism 322 drives the first connection part 321 to extend and retract between the power supply bin 211 and the battery replacement position 312. It can include only horizontal extension and retraction, or can include both horizontal and vertical extension and retraction. The present application does not make a limitation, as long as the power supply module 220 can be moved to the power supply bin 211 and the battery replacement position 312.

[0070] When the position adjustment mechanism 322 does not have the lifting function, it is used to drive the first connection part 321 to move horizontally, and the position correspondence in the height direction is realized by the lifting of the battery replacement platform 311; when it has the lifting function, it is used to drive the first connection part 321 to move horizontally and / or vertically.

[0071] When disassembling the power supply module 220 in the power-off state, first perform the above two steps for adjusting the position. After that, the first connection part 321 extends towards the power supply bin 211, connects with the second connection part 221, and the first connection part 321 drives the second connection part 221 to contract, pulling the power supply module 220 to the battery replacement position 312.

[0072] When installing the fully charged power supply module 220, first perform the above two steps for adjusting the position. After that, the first connection part 321 connects with the second connection part 221 of the fully charged power supply module 220 at the battery replacement position 312. The first connection part 321 drives the second connection part 221 to extend. After pushing the power supply module 220 to the power supply bin 211, the first connection part 321 disconnects and contracts.

[0073] During the above disassembly and assembly process, when the position adjustment mechanism 322 does not have the lifting function, the steps for aligning the battery replacement position 312 with the power supply bin 211 include: the moving chassis 313 moves horizontally to make the battery replacement position 312 and the power supply bin 211 correspond in position along the length direction of the roadway 600; the lifting mechanism 314 drives the battery replacement platform 311 to move vertically to make the battery replacement position 312 and the power supply bin 211 correspond in position in the height direction. After that, the position adjustment mechanism 322 only needs to drive the first connection part 321 to move horizontally.

[0074] When the position adjustment mechanism 322 has the lifting function, in addition to the above method for adjusting the position correspondence, the following method can also be adopted: the moving chassis 313 moves horizontally to make the battery replacement position 312 and the power supply bin 211 correspond in position along the length direction of the roadway 600; the position adjustment mechanism 322 drives the second connection part 221 to move vertically through the first connection part 321 to make the power supply module 220 and the power supply bin 211 correspond in position in the height direction. After that, the position adjustment mechanism 322 drives the first connection part 321 to move horizontally. It should be noted that the steps of the position adjustment mechanism 322 driving the first connection part 321 to move vertically and horizontally do not have a sequential order. Preferably, they can be carried out simultaneously to improve the battery replacement efficiency.

[0075] When the lifting function is not required, the position adjusting mechanism 322 can be a slider-rail mechanism, a gear-rack mechanism, etc. By fixedly connecting the first connecting portion 321 to the slider or the gear, the horizontal movement of the first connecting portion 321 can be realized. When the lifting function is required, the position adjusting mechanism 322 can drive the first connecting portion 321 to lift by adding a component that can expand and contract in the vertical direction. The component that can expand and contract in the vertical direction can be an electric or pneumatic push rod.

[0076] The connection form between the first connecting portion 321 and the second connecting portion 221 can be snap connection, adsorption connection, etc.

[0077] When using snap connection, as Figure 4 shown, the first connecting portion 321 is a hook 321A arranged upward, and the second connecting portion 221 is a hook groove 221A with an opening downward.

[0078] The power exchange platform 311 is a liftable platform, or the position adjusting mechanism 322 can drive the hook 321A to move vertically.

[0079] When disassembling the power module 220 in the power feeding state, the hook 321A is used to horizontally extend toward the power supply bin 211 under the drive of the position adjusting mechanism 322, extend to the lower part of the hook groove 221A of the power module 220 in the power feeding state in the power supply bin 211, and insert upward into the hook groove 221A under the drive of the power exchange platform 311 or the position adjusting mechanism 322, and then horizontally contract to drive the power module 220 in the power feeding state to move above the power exchange position 312, and then move downward to place the power module 220 in the power feeding state.

[0080] When installing the fully charged power module 220, the hook 321A is used to horizontally extend the fully charged power module 220 toward the power supply bin 211 under the drive of the position adjusting mechanism 322, place the fully charged power module 220 into the power supply bin 211, and then move downward to disengage from the hook groove 221A under the drive of the power exchange platform 311 or the position adjusting mechanism 322.

[0081] Applying the embodiment of the present application, by using the snap connection method of the hook 321A and the hook groove 221A, the connection and disconnection between the first connecting portion 321 and the second connecting portion 221 can be realized only through the power exchange platform 311 or the position adjusting mechanism 322, without additionally adding a mechanism for controlling connection and disconnection, which simplifies the structure of the power exchange robot 300.

[0082] Specifically, the fully charged power module 220 on the battery swapping station 312 can be placed manually or retrieved by the battery swapping robot 300 from the charging station 500. After the battery swapping robot 300 retrieves the fully charged power module 220, the first connection part 321 and the second connection part 221 can always maintain the connection relationship for direct installation, thereby improving the battery swapping efficiency.

[0083] See Figure 3c , Figure 3c is Figure 1 the side view of the second type of battery swapping robot in the storage system shown. As Figure 3c shown, when using adsorption connection, the first connection part 321 is a pneumatic suction cup 321B, and the second connection part 221 is an adsorption plane 221B. By controlling the on-off of the air circuit, the connection or disconnection between the first connection part 321 and the second connection part 221 is realized.

[0084] The battery swapping platform 311 is a liftable platform, or the position adjustment mechanism 322 can drive the pneumatic suction cup 321B to move vertically.

[0085] When disassembling the power module 220 in the power supply state, the pneumatic suction cup 321B is used to horizontally extend towards the power supply bin 211 under the drive of the position adjustment mechanism 322, extend to the adsorption plane 221B of the power module 220 in the power supply state in the power supply bin 211, suck the adsorption plane 221B, and then horizontally contract to drive the power module 220 in the power supply state to move to the battery swapping station 312, and then disconnect the connection with the adsorption plane 221B to place the power module 220 in the power supply state.

[0086] When installing the fully charged power module 220, the pneumatic suction cup 321B is used to horizontally extend the fully charged power module 220 towards the power supply bin 211 under the drive of the position adjustment mechanism 322. After placing the fully charged power module 220 into the power supply bin 211, disconnect the connection with the adsorption plane 221B of the fully charged power module 220 to place the fully charged power module 220.

[0087] Applying the embodiments of the present application, since the pneumatic suction cup is used without the need to move up and down to clamp or disengage from the adsorption plane, the battery swapping platform 311 and the position adjustment mechanism 322 may not have the lifting function, thereby simplifying the structure of the battery swapping robot 300.

[0088] In some embodiments of the present application, see Figures 5a to 5e , Figure 5a is Figure 1 the top view of the battery swapping robot in the storage system shown when it moves to the first position; Figure 5b is Figure 5a the top view of the battery swapping robot after disassembling the power module 220 in the power supply state; Figure 5cFor Figure 5b The top view when the battery swapping robot shown in Figure 5b moves to the second position; Figure 5d For Figure 5c The top view when the battery swapping robot shown in Figure 5c installs the fully charged power module in the power bin; Figure 5e For Figure 5d The top view when the battery swapping robot shown in Figure 5d carries and leaves with the power module in the power - feeding state.

[0089] As Figure 3a 、 Figures 5a to 5e shown, the battery swapping station 312 includes: a first station 3121 and a second station 3122; the first station 3121 is used to accommodate the power module 220 in the power - feeding state, and the second station 3122 is used to accommodate the power module 220 in the fully - charged state.

[0090] The battery swapping robot 300 is used to, through the movement of the vehicle body 310, first move to the first position so that the first station 3121 on the battery swapping platform 311 corresponds to the position of the power bin 211 on the shelf robot 200 to be battery - swapped, and then through the disassembly and assembly mechanism 320, disassemble the power module 220 in the power - feeding state in the power bin 211 and move it to the first station 3121; then, move to the second position through the vehicle body 310 so that the second station 3122 on the battery swapping platform 311 corresponds to the position of the power bin 211 on the shelf robot 200 to be battery - swapped, and then through the disassembly and assembly mechanism 320, move and install the fully - charged power module 220 on the second station 3122 into the power bin 211.

[0091] Specifically, as Figure 5a shown, when the vehicle body 310 moves from the first position to the second position, its moving direction is the x - direction shown in the figure, pointing from the second station 3122 to the first station 3121.

[0092] Figure 5a In the embodiment shown, the first station 3121 and the second station 3122 are arranged front - to - back on the vehicle body 310. When the battery swapping robot 300 picks up and places the power module 220, the vehicle body is parallel to the x - direction.

[0093] In other embodiments of the present application, the first station 3121 and the second station 3122 can also be arranged left - to - right on the vehicle body 310. In this case, when the battery swapping robot 300 picks up and places the power module 220, the vehicle body is perpendicular to the x - direction.

[0094] The present application does not limit the arrangement manner of the first station 3121 and the second station 3122. Subsequently, the front - to - back layout is taken as an example for description.

[0095] In this embodiment, two workstations are provided so that the battery swapping robot 300 can carry both the power module 220 in a power-depleted state and the power module 220 in a fully charged state. The power module 220 in a power-depleted state can be removed and the power module 220 in a fully charged state can be directly installed, enabling the independent replacement of the power module 220. After removing the power module 220 in a power-depleted state, the vehicle body 310 is instructed to directly move to the second position to install the power module 220 in a fully charged state, simplifying the battery swapping process and improving the utilization rate of a single battery swapping robot 300.

[0096] The number of disassembly and assembly mechanisms 320 can be one or more.

[0097] When the number of disassembly and assembly mechanisms 320 is one:

[0098] The first connection portion 321 is used to move to a position corresponding to the power supply bin 211 under the drive of the position adjustment mechanism 322, connect to the second connection portion 221 of the power module 220 in a power-depleted state in the power supply bin 211, and drive the power module 220 in a power-depleted state to move, disassemble the power module 220 in a power-depleted state and move it to the first work station 3121; then, the first connection portion 321 moves to a position corresponding to the second work station 3122, connects to the second connection portion 221 of the power module 220 in a fully charged state on the second work station 3122, and drives the power module 220 in a fully charged state to move, move and install the power module 220 in a fully charged state in the power supply bin 211.

[0099] When the number of disassembly and assembly mechanisms 320 is multiple:

[0100] Each disassembly and assembly mechanism 320 corresponds to pick up and place one power module 220 in a power-depleted state on the first work station 3121 or one power module 220 in a fully charged state on the second work station 3122.

[0101] Taking two as an example, the disassembly and assembly mechanism 320 includes: a first disassembly and assembly mechanism and a second disassembly and assembly mechanism. The first disassembly and assembly mechanism is used to disassemble and move the power module 220 in a power-depleted state in the power supply bin 211 to the first work station 3121; the second disassembly and assembly mechanism is used to move and install the power module 220 in a fully charged state on the second work station 3122 in the power supply bin 211.

[0102] When only one disassembly and assembly mechanism 320 is provided, the structure of the battery swapping robot 300 is simple, but the control is relatively complex. For example, the position adjustment mechanism can drive the first connection portion 321 to extend and retract in a direction perpendicular to the shelf 100 to install or disassemble the power module 220, and can also drive the first connection portion 321 to move in a direction parallel to the shelf 100, that is, the x direction, to switch between the first work station 3121 and the second work station 3122.

[0103] When multiple disassembly and assembly mechanisms 320 are provided, the position adjustment mechanism may not have the ability to drive the first connection portion 321 to move in a direction parallel to the shelf 100, which simplifies the control of the battery swapping robot 300. When replacing the power module 220, after pulling the power module 220 in the power feeding state to the first working position 3121, the step of moving the first connection portion 321 to the second working position 3122 is omitted, improving the battery swapping efficiency.

[0104] In some embodiments of the present application, refer to Figures 6a to 6c , Figure 6a For Figure 1 the top view when the battery swapping robot in the storage system shown in the figure moves to a position corresponding to the charging position; Figure 6b For Figure 6a the top view when the battery swapping robot shown in the figure moves the fully charged power module on the charging position to the first working position; Figure 6c For Figure 6b the top view when the battery swapping robot shown in the figure places the power module in the power feeding state at the second working position on the charging position for charging.

[0105] As Figure 1 , Figures 6a to 6c shown, the storage system further includes: a charging station 500.

[0106] The battery swapping robot 300 is used to move between the shelf robot 200 to be battery swapped and the charging station 500, carry the fully charged power module 220 at the charging station 500 to a position corresponding to the shelf robot 200 to be battery swapped for installation; or carry the power module 220 in the power feeding state disassembled from the shelf robot 200 to be battery swapped to the charging station 500 for charging, realizing the cyclic replenishment of the charging station 500 to the shelf robot 200 to be battery swapped and improving the overall battery swapping efficiency of the storage system.

[0107] There are two charging methods at the charging station 500, which are described separately as follows:

[0108] The charging station 500 includes: a charging pile 510. The battery swapping robot 300 is used to move to a position corresponding to the charging pile 510, electrically connect the power module 220 in the power feeding state to the charging pile 510, and carry the power module 220 for charging. After charging is completed, carry the power module 220 charged to the fully charged state to a position corresponding to the shelf robot 200 to be battery swapped for installation.

[0109] The charging station 500 further includes: a charging position 520; the charging position 520 is electrically connected to the charging pile 510. The battery swapping robot 300 is used to move to a position corresponding to the charging position 520, place the power module 220 in the feed state on the charging position 520 for charging. After that, the battery swapping robot 300 travels to the shelf 100 without load to disassemble the power module 220 in the feed state on the shelf robot 200 to be battery-swapped, or moves to other charging positions 520 to transport the power module 220 charged to the full charge state to a position corresponding to the shelf robot 200 to be battery-swapped for installation.

[0110] The electrical connection between the power module 220 and the charging pile 510 or the charging position 520 is in the form of plug-in connection. In addition, the power module 220 can also be placed on the charging position 520 for wireless charging.

[0111] After the battery swapping robot 300 replaces the power module 220, it can go to the charging station 500 to charge the power module 220 in the feed state and load the power module 220 in the full charge state.

[0112] When there is an empty work position on the battery swapping platform 311, the battery swapping robot 300 after replacing the power module 220 can also go to other shelf robots 200 to be battery-swapped to disassemble the power module 220 in the feed state on the shelf robot 200.

[0113] Figures 6a to 6c The working process of the shown battery swapping robot 300 is as follows: The battery swapping robot 300 after replacing the power module 220 moves to the charging station 500 to make the second work position 3122 correspond to the charging position 520, removes the power module 220 in the full charge state that has been charged on the charging position 520 and temporarily stores it in the second work position 3122; then makes a translation to make the first work position 3121 correspond to the charging position 520, and places the power module 220 in the feed state on the charging position 520 for charging. In other embodiments of the present application, it is also possible to first place the power module 220 in the feed state and then remove the power module 220 in the full charge state. The order of these two steps is not limited in the present application.

[0114] By using the charging position 520 to charge the power module 220, the battery swapping robot 300 does not need to wait for charging, and can put down the power module 220 in the feed state and then go to the next shelf robot 200 to be battery-swapped to continue replacing the power module 220, improving the overall battery swapping efficiency of the warehousing system.

[0115] As Figure 1 and Figure 2 shown, the robot main body 210 of the shelf robot 200 includes: a gantry 212 and a goods picking and placing component 213.

[0116] The gantry 212 is arranged vertically and is movably connected to the shelf 100 horizontally; the loading and unloading component 213 is movably installed on the gantry 212 vertically.

[0117] A power supply compartment 211 is arranged at the bottom of the gantry 212; the power supply module 220 in the power supply compartment 211 is electrically connected to the gantry 212 and the loading and unloading component 213.

[0118] The power supply module 220 is used to provide power for the gantry 212 to drive the loading and unloading component 213 to move horizontally and for the loading and unloading component 213 to move up and down along the gantry 212, so that the loading and unloading component 213 can pick up and place the bins 400 on the shelf 100.

[0119] The gantry 212 drives the loading and unloading component 213 to move horizontally, so that the loading and unloading component 213 can pick up and place different bins 400 in the length direction of the shelf 100. The loading and unloading component 213 moves up and down along the gantry 212, so that the loading and unloading component 213 can pick up and place different bins 400 in the height direction of the shelf 100.

[0120] Since the loading and unloading component 213 can move up and down along the gantry 212, during battery swapping, it is only necessary to ensure that the loading and unloading component 213 moves to a height higher than the battery swapping robot 300 to avoid interference. The battery swapping robot 300 shares a passage with the shelf robot 200, improving the utilization rate of the roadway space in the warehousing system.

[0121] A power supply circuit board can be arranged in the power supply compartment 211, and a socket facing outward is arranged on the power supply circuit board; pins are arranged at corresponding positions on the power supply module 220; when the power supply module 220 is installed in the power supply compartment 211, the pins are inserted into the socket to realize the electrical connection between the power supply module 220 and the power supply circuit board.

[0122] In some embodiments of the present application, refer to Figure 7 and Figure 8 , Figure 7 is the top view of the warehousing system of the second embodiment of the present application; Figure 8 is Figure 7 the side view of the shelf of the warehousing system shown.

[0123] As Figure 8 shown, a plurality of horizontal tracks 110 are fixedly arranged at intervals along the height direction on the shelf 100, and the gantry 212 is slidably connected to the plurality of horizontal tracks 110, so as to realize horizontal movement relative to the shelf 100.

[0124] The shelf 100 includes a storage space 120 and a docking space 130 arranged from top to bottom. The storage space 120 is provided with a plurality of storage layers 121 arranged at intervals; the bottommost part of the storage space 120 is provided with a docking layer 122. The docking layer 122 has a preset height from the ground to form a docking space 130.

[0125] The storage system further includes: a handling robot 700 and a workstation 800.

[0126] The handling robot 700 is configured to move between the shelf 100 and the workstation 800, carry the outbound bin 400 on the shelf 100 to the workstation 800 for packing and outbound, and carry the inbound bin 400 at the workstation 800 to the shelf 100 for storage.

[0127] Specifically, the shelf robot 200 is configured to move the outbound bin 400 on the storage layer 121 to the docking layer 122, and move the inbound bin 400 on the docking layer 122 to the storage layer 121.

[0128] The handling robot 700 can move in the docking space 130 at the bottom of the shelf 100 and the aisle 600, and dock with the docking layer 122 to pick up the outbound bin 400 or place the inbound bin 400.

[0129] The workstation 800 includes at least one sorting table 810 for the staff to sort goods.

[0130] Applying the embodiments of the present application, the shelf robot 200 and the handling robot 700 cooperate to complete the inbound and outbound of the bin 400, which can improve the picking and placing efficiency and handling efficiency of the storage system. The docking space 130 and the aisle 600 of the shelf 100 both allow the handling robot 700 to pass through, increasing the movable path of the handling robot 700, making the handling more flexible, reducing the avoidance between the handling robots 700, and when the handling robot 700 travels in the docking space 130, it will not interfere with the shelf robot 200, improving the picking and placing efficiency and handling efficiency of the handling robot 700, thereby improving the picking and placing efficiency and handling efficiency of the entire storage system.

[0131] In some embodiments of the present application, the storage system further includes: a control device; the control device is communicatively connected to the shelf robot 200 and the battery swapping robot 300.

[0132] The power module 220 includes: a battery 222; the control device is used to obtain the power state of the battery 222 in the power supply bin 211.

[0133] When the power of the battery 222 is lower than the preset capacity threshold, the control device controls the battery swapping robot 300 to disassemble the power module 220 in the powered state on the shelf robot 200 to be battery-swapped, and install the fully-charged power module 220 into the power supply bin 211 on the shelf robot 200 to be battery-swapped.

[0134] The control device is also communicatively connected to the charging pile 510, which will upload the battery power status to the control device in real time to prepare for the next battery swapping operation. After the battery 222 is fully charged, it is taken away by the battery swapping robot 300, and the charging position 520 is vacated to prepare for the next battery swapping.

[0135] It should also be noted that the fully charged state of the power module 220 in this application is not limited to the situation where the battery is fully charged. When the battery power of the battery 222 is higher than the preset value, it can be regarded as the fully charged state.

[0136] Next, the battery swapping method provided by the embodiments of this application will be described in detail.

[0137] The battery swapping method provided by the embodiments of this application is applied to the above control device. Refer to Figure 9 , Figure 9 which is the flowchart of the battery swapping method provided by the embodiments of this application; the process includes the following steps:

[0138] Step S900, obtaining the power status of the batteries in the power supply compartments of each shelf robot;

[0139] When the battery power is lower than the preset capacity threshold,

[0140] Step S910, instructing the battery swapping robot to disassemble the power module in the power supply state on the shelf robot to be battery-swapped;

[0141] Step S920, instructing the battery swapping robot to install the fully charged power module in the power supply compartment of the shelf robot to be battery-swapped.

[0142] It should be noted that the instructions in Step S910 and Step S920 can be for the same battery swapping robot or different battery swapping robots, and this application does not make any limitations in this regard.

[0143] The embodiments of this application are applied to the above storage system. The shelf robot 200 includes a robot main body 210 and a power module 220. The power module 220 is not installed on the shelf 100, but on the robot main body 210, so that there is no need to build a fixed power supply and cables on the shelf 100, saving material costs, installation costs and maintenance costs, thereby reducing the cost of the storage system. The shelf 100 does not need to be connected to strong electricity, reducing the risk of electricity use safety and fire risk, and improving the electricity use safety of the storage system.

[0144] The power supply module 220 is detachably installed in the power supply bin 211 of the robot main body 210. As the power of the power supply module 220 is continuously consumed, the shelf robot 200 switches to the power replacement waiting state. This method instructs the power replacement robot 300 to remove the power supply module 220 in the power supply state from the shelf robot 200 waiting for power replacement, and installs the fully charged power supply module 220 in the power supply bin 211 of the shelf robot 200 waiting for power replacement, so that the shelf robot 200 does not need to be charged for a long time and can resume operation after power replacement, improving the operation rate of the shelf robot 200, reducing the waste of production capacity, and enhancing the operation efficiency of the warehousing system. It should be noted that the operation rate refers to the proportion of the time occupied for creating value within the time that the equipment can provide. Specifically, the operation rate of the shelf robot 200 is: the ratio of the working time of the shelf robot 200 to the sum of the working time and the power replacement time.

[0145] In some embodiments of the present application, the number of power replacement robots is multiple.

[0146] In this case,

[0147] The above step S910 may include:

[0148] Instruct one of the multiple power replacement robots to remove the power supply module in the power supply state from the shelf robot waiting for power replacement.

[0149] The above step S920 may include:

[0150] Instruct another one of the multiple power replacement robots to install the fully charged power supply module in the power supply bin of the shelf robot waiting for power replacement.

[0151] The power replacement method provided by the embodiments of the present application realizes the removal and installation of the power supply module by instructing different power replacement robots.

[0152] In some embodiments of the present application, the power replacement robot includes: a vehicle body and a disassembly and assembly mechanism; a power replacement platform is provided at the top of the vehicle body; the disassembly and assembly mechanism is installed on the power replacement platform; a power replacement work position is provided on the power replacement platform for accommodating the power supply module.

[0153] In this case,

[0154] The above step S910 may include:

[0155] Instruct the vehicle body to move so that the power replacement work position on the power replacement platform corresponds to the position of the power supply bin on the shelf robot waiting for power replacement;

[0156] Instruct the disassembly and assembly mechanism to remove the power supply module in the power supply state in the power supply bin and move it to the power replacement work position.

[0157] Specifically, the disassembly and assembly mechanism includes: a first connection part and a position adjustment mechanism; the first connection part can be telescoped between the power supply compartment and the battery replacement work position driven by the position adjustment mechanism; the power supply module includes: a second connection part; the first connection part and the second connection part are detachably connected; the first connection part is an upwardly disposed hook claw, and the second connection part is a hook groove with a downward opening. The battery replacement platform is a liftable platform, or the position adjustment mechanism can drive the hook claw to move vertically.

[0158] Instruct the disassembly and assembly mechanism to disassemble the power supply module in the power supply state in the power supply compartment and move it to the battery replacement work position. A specific implementation of this step is as follows:

[0159] Instruct the position adjustment mechanism to drive the hook claw to horizontally extend towards the power supply compartment, and extend to below the hook groove of the power supply module in the power supply state in the power supply compartment;

[0160] Instruct the battery replacement platform or the position adjustment mechanism to drive the hook claw to insert upward into the hook groove;

[0161] Instruct the position adjustment mechanism to drive the hook claw to horizontally contract, driving the power supply module in the power supply state to move above the battery replacement work position;

[0162] Instruct the position adjustment mechanism to drive the hook claw to move downward to place the power supply module in the power supply state.

[0163] The above step S920 may include:

[0164] Instruct the vehicle body to move so that the battery replacement work position on the battery replacement platform corresponds to the position of the power supply compartment on the shelf robot to be battery replaced;

[0165] Instruct the disassembly and assembly mechanism to move and install the fully charged power supply module on the battery replacement work position into the power supply compartment. A specific implementation of this step is as follows:

[0166] Instruct the position adjustment mechanism to drive the hook claw to horizontally extend the fully charged power supply module towards the power supply compartment and place the fully charged power supply module into the power supply compartment;

[0167] Instruct the battery replacement platform or the position adjustment mechanism to drive the hook claw to move downward to disengage from the hook groove.

[0168] The battery swapping method provided by the embodiments of the present application aligns the battery swapping position with the power supply compartment by instructing the vehicle body to move, and installs and disassembles by driving the power supply module to move through the disassembly and assembly mechanism. The first connection part uses a claw, and the second connection part uses a claw groove. By instructing the position adjustment mechanism or the battery swapping platform to drive the first connection part, the connection and disconnection between the first connection part and the second connection part are realized, without additionally adding a mechanism for controlling the connection and disconnection, which simplifies the structure of the battery swapping robot.

[0169] In some embodiments of the present application, the battery swapping robot includes: a vehicle body and a disassembly and assembly mechanism; a battery swapping platform is provided at the top of the vehicle body; the disassembly and assembly mechanism is installed on the battery swapping platform; a battery swapping position is provided on the battery swapping platform, and the battery swapping position includes: a first position and a second position; the first position is used to accommodate the power supply module in the power supply state, and the second position is used to accommodate the power supply module in the full charge state.

[0170] In this case,

[0171] The above step S910 may include:

[0172] Instruct the vehicle body to move to the first position so that the first position on the battery swapping platform corresponds to the position of the power supply compartment on the shelf robot to be battery swapped;

[0173] Instruct the disassembly and assembly mechanism to disassemble the power supply module in the power supply state in the power supply compartment and move it to the first position.

[0174] The above step S920 may include:

[0175] Instruct the vehicle body to move to the second position so that the second position on the battery swapping platform corresponds to the position of the power supply compartment on the shelf robot to be battery swapped;

[0176] Instruct the disassembly and assembly mechanism to move the power supply module in the full charge state on the second position and install it in the power supply compartment.

[0177] The battery swapping method provided by the embodiments of the present application realizes the disassembly and installation of the power supply module by instructing the same battery swapping robot. After executing step S9104, instruct the vehicle body to directly move to the second position to perform the installation, which simplifies the battery swapping process and improves the utilization rate of a single battery swapping robot.

[0178] For specific situations, reference can be made to Figures 5a to 5e the foregoing description. It will not be repeated here.

[0179] In some embodiments of the present application, the warehousing system further includes: a charging station.

[0180] In this case,

[0181] After the above step S910, the following is further included:

[0182] Instruct the battery swapping robot to carry the power module in the power supply state removed from the shelf robot to be battery-swapped to the charging station for charging.

[0183] Before the above step S920, it further includes:

[0184] Instruct the battery swapping robot to carry the power module in the fully charged state at the charging station to the position corresponding to the shelf robot to be battery-swapped for installation.

[0185] The battery swapping method provided by the embodiment of the present application realizes the cyclic replenishment of the charging station to the shelf robot to be battery-swapped by instructing the battery swapping robot to carry the power module in the power supply state removed from the shelf robot to be battery-swapped to the charging station for charging, and carrying the power module in the fully charged state at the charging station to the position corresponding to the shelf robot to be battery-swapped for installation, improving the overall battery swapping efficiency of the warehousing system.

[0186] The embodiment of the present application also provides a control device. Refer to Figure 10 , Figure 10 which is a schematic structural diagram of the control device provided by the embodiment of the present application. As Figure 10 shown, the control device includes:

[0187] A memory 1001 for storing a computer program;

[0188] A processor 1002, when executing the program stored on the memory 1001, realizes the steps of the above battery swapping method:

[0189] Obtain the power state of the battery in the power supply compartment of each shelf robot;

[0190] When the battery power is lower than the preset capacity threshold,

[0191] Instruct the battery swapping robot to remove the power module in the power supply state from the shelf robot to be battery-swapped;

[0192] Instruct the battery swapping robot to install the power module in the fully charged state in the power supply compartment of the shelf robot to be battery-swapped.

[0193] And the above electronic device may further include a communication bus and / or a communication interface, and the processor 1002, the communication interface, and the memory 1001 complete mutual communication through the communication bus.

[0194] In addition, the above control device can be implemented by a computer, and may further include a communication module, for example: a wired network card or a wireless network card for communicating with the handling robot and the shelf robot.

[0195] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity, only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0196] The communication interface is used for communication between the above electronic device and other devices.

[0197] The memory can include a Random Access Memory (RAM), and can also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory can also be at least one storage device located far from the aforementioned processor.

[0198] The above-mentioned processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0199] In another embodiment provided by the present application, a computer-readable storage medium is also provided. A computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of any of the above battery replacement methods are implemented.

[0200] In another embodiment provided by the present application, a computer program product containing instructions is also provided. When it runs on a computer, it causes the computer to execute any of the battery replacement methods in the above embodiments.

[0201] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server, data center, etc. that includes one or more integrated available media. The available media can be magnetic media (such as floppy disks, hard disks, magnetic tapes), optical media (such as DVDs), or solid state disks (SSDs), etc.

[0202] Next, the shelf robot provided by the embodiments of the present application will be described in detail.

[0203] As Figure 1 and Figure 2 shown, the shelf robot 200 is arranged outside the shelf 100 in the length direction and includes: a robot main body 210 and a power module 220.

[0204] The robot main body 210 is used to pick up and place the bins 400 on the shelf 100. A power supply compartment 211 is provided on the robot main body 210; the power module 220 is detachably installed in the power supply compartment 211 of the robot main body 210 to supply power to the robot main body 210.

[0205] The shelf robot 200 is powered by the power module 220. During operation, the power of the power module 220 gradually decreases. When the power is lower than the preset capacity threshold, the power module 220 is in a power feeding state, and the shelf robot 200 is in a state waiting for power replacement. At this time, the power module 220 is replaced by an external power replacement device or a staff member. The types of external power replacement devices are not limited in the present application and can be a movable power replacement robot or a fixed power replacement device.

[0206] The shelf robot 200 provided by the embodiment of the present application includes a robot main body 210 and a power supply module 220. The power supply module 220 is not installed on the shelf 100, but on the robot main body 210, so that there is no need to build a fixed power supply and cables on the shelf 100, saving material costs, installation costs, and maintenance costs, thereby reducing the cost of the warehousing system. The shelf 100 does not need to be connected to strong electricity, reducing the risk of electrical safety and fire risk, and improving the electrical safety of the warehousing system. By replacing the power supply module 220 of the battery-changing robot 300, the endurance is achieved, so that the shelf robot 200 does not need to be charged for a long time and can resume operation after battery change, improving the utilization rate of the shelf robot 200, reducing the waste of production capacity, and enhancing the operating efficiency of the warehousing system.

[0207] In some embodiments of the present application, as Figure 1 and Figure 2 shown, the robot main body 210 includes: a gantry 212 and a picking and placing component 213.

[0208] The gantry 212 is arranged in the vertical direction and is movably connected to the shelf 100 in the horizontal direction; the picking and placing component 213 is movably installed on the gantry 212 in the vertical direction.

[0209] A power supply bin 211 is provided at the bottom of the gantry 212; the power supply module 220 in the power supply bin 211 is electrically connected to the gantry 212 and the picking and placing component 213.

[0210] The power supply module 220 is used to drive the gantry 212 to drive the picking and placing component 213 to move horizontally relative to the shelf 100, and to drive the picking and placing component 213 to move up and down along the gantry 212, so that the picking and placing component 213 can pick and place the bins 400 on the shelf 100.

[0211] Specifically, as Figure 2 shown, the robot main body 210 further includes: a lifting mechanism 214. The lifting mechanism 214 is arranged on the gantry 212 and is connected to the picking and placing component 213 to drive the picking and placing component 213 to lift.

[0212] Applying the embodiment of the present application, the gantry 212 drives the picking and placing component 213 to move horizontally, so that the picking and placing component 213 can pick and place different bins 400 in the length direction of the shelf 100. The picking and placing component 213 moves up and down along the gantry 212, so that the placing component 213 can pick and place different bins 400 in the height direction of the shelf 100.

[0213] In some embodiments of the present application, as Figure 2 shown, a control module 230 is further provided on the robot main body 210; the power supply module 220 includes: a battery 222.

[0214] The control module 230 is configured to send the power status of the battery 222 in the power supply bin 211 to an external control device.

[0215] When the power of the battery 222 is lower than a preset capacity threshold, the external control device controls an external battery swapping device to replace the power module 220 of the shelf robot 200 to be swapped.

[0216] Finally, the battery swapping robot provided by the embodiment of the present application will be described in detail.

[0217] As Figure 3a and Figure 3b shown, the battery swapping robot 300 includes: a vehicle body 310 and a disassembly and assembly mechanism 320; a battery swapping platform 311 is provided at the top of the vehicle body 310; the disassembly and assembly mechanism 320 is installed on the battery swapping platform 311.

[0218] A battery swapping station 312 is provided on the battery swapping platform 311 for accommodating the power module 220.

[0219] With the movement of the vehicle body 310, the battery swapping station 312 on the battery swapping platform 311 corresponds to the position of the power supply bin 211 on the external device to be swapped.

[0220] The disassembly and assembly mechanism 320 is configured to, when the battery swapping station 312 corresponds to the position of the power supply bin 211, disassemble the power module 220 in the power supply bin 211 in a power-fed state and move it to the battery swapping station 312, or move and install the fully charged power module 220 on the battery swapping station 312 into the power supply bin 211.

[0221] For specific situations, reference can be made to Figure 3a and Figure 3b and the foregoing description. It will not be repeated here.

[0222] Applying the embodiment of the present application, alignment is performed by the movement of the vehicle body 310, and the power module 220 is driven to extend and retract by the disassembly and assembly mechanism 320, realizing the disassembly and assembly of the power module 220. When the liftable battery swapping platform 311 is adopted, the movement of the vehicle body 310 and the battery swapping platform 311 can be carried out simultaneously, improving the battery swapping efficiency of the battery swapping robot 300.

[0223] In some embodiments of the present application, as Figure 3a , Figure 3b and Figure 4 shown, the disassembly and assembly mechanism 320 includes: a first connection part 321 and a position adjustment mechanism 322.

[0224] The power module 220 includes: a second connection part 221; the first connection part 321 and the second connection part 221 are detachably connected.

[0225] The first connecting part 321 can be driven by the position adjusting mechanism 322 to extend and retract between the power supply bin 211 and the battery swapping station 312. When the first connecting part 321 is connected to the second connecting part 221, it drives the power supply module 220 to extend and retract towards the power supply bin 211, so as to disassemble the power supply module 220 in the power supply bin 211 in a power feeding state and move it to the battery swapping station 312, or move and install the fully charged power supply module 220 on the battery swapping station 312 into the power supply bin 211.

[0226] The first connecting part 321 is a claw 321A arranged upwards, and the second connecting part 221 is a claw groove 221A with an opening facing downwards.

[0227] The battery swapping platform 311 is a liftable platform, or the position adjusting mechanism 322 can also drive the claw 321A to move vertically.

[0228] When disassembling the power supply module 220 in the power feeding state, the claw 321A is used to horizontally extend towards the power supply bin 211 under the drive of the position adjusting mechanism 322, extend to below the claw groove 221A of the power supply module 220 in the power feeding state in the power supply bin 211, and insert upwards into the claw groove 221A under the drive of the battery swapping platform 311 or the position adjusting mechanism 322. Then, it contracts horizontally, drives the power supply module 220 in the power feeding state to move above the station 312, and then moves downwards to place the power supply module 220 in the power feeding state.

[0229] When installing the fully charged power supply module 220, the claw 321A is used to horizontally extend the fully charged power supply module 220 towards the power supply bin 211 under the drive of the position adjusting mechanism 322, put the fully charged power supply module 220 into the power supply bin 211, and then move downwards to disengage from the claw groove 221A under the drive of the battery swapping platform 311 or the position adjusting mechanism 322.

[0230] Or, as Figure 3c shown, the first connecting part 321 is a pneumatic suction cup 321B, and the second connecting part 221 is an adsorption plane 221B. The battery swapping platform 311 is a liftable platform, or the position adjusting mechanism 322 can drive the pneumatic suction cup 321B to move vertically.

[0231] When disassembling the power supply module 220 in the power feeding state, the pneumatic suction cup 321B is used to horizontally extend towards the power supply bin 211 under the drive of the position adjusting mechanism 322, extend to the adsorption plane 221B of the power supply module 220 in the power feeding state in the power supply bin 211, suck the adsorption plane 221B, then contract horizontally, drive the power supply module 220 in the power feeding state to move to the station 312, and then disconnect from the adsorption plane 221B to place the power supply module 220 in the power feeding state.

[0232] When installing the power module 220 in a fully charged state, the pneumatic suction cup 321B is used to horizontally extend the power module 220 in a fully charged state towards the power bin 211 under the drive of the position adjustment mechanism 322. After placing the power module 220 in a fully charged state into the power bin 211, it disconnects from the adsorption plane 221B of the power module 220 in a fully charged state to place the power module 220 in a fully charged state.

[0233] For specific situations, reference can be made to Figure 3a 、 Figure 3b 、 Figure 3c and Figure 4 and the foregoing descriptions. They will not be repeated here.

[0234] Applying the embodiments of the present application, by using the method of clamping the hook 321A with the hook groove 221A, the connection and disconnection of the first connection portion 321 and the second connection portion 221 can be achieved only through the power exchange platform 311 or the position adjustment mechanism 322, without the need to additionally increase a mechanism for controlling connection and disconnection, simplifying the structure of the power exchange robot 300. By using the method of adsorbing and connecting the pneumatic suction cup with the adsorption plane, the pneumatic suction cup does not need to move up and down to clamp or disengage from the adsorption plane, and the power exchange platform 311 and the position adjustment mechanism 322 may not have a lifting function, thereby simplifying the structure of the power exchange robot 300.

[0235] In some embodiments of the present application, as shown in Figure 3a 、 Figures 5a to 5e , the power exchange station 312 includes: a first station 3121 and a second station 3122; the first station 3121 is used to accommodate the power module 220 in a power-fed state, and the second station 3122 is used to accommodate the power module 220 in a fully charged state.

[0236] The power exchange robot 300 is used to first move to a first position through the movement of the vehicle body 310, so that the first station 3121 on the power exchange platform 311 corresponds to the power bin 211 on the external device to be power-exchanged, and then the power module 220 in the power-fed state in the power bin 211 is disassembled and moved to the first station 3121 through the disassembly and assembly mechanism 320; thereafter, it moves to a second position through the vehicle body 310, so that the second station 3122 on the power exchange platform 311 corresponds to the power bin 211 on the external device to be power-exchanged, and then the power module 220 in the fully charged state on the second station 3122 is moved and installed in the power bin 211 through the disassembly and assembly mechanism 320.

[0237] For specific situations, reference can be made to Figure 3a 、 Figures 5a to 5e and the foregoing descriptions. They will not be repeated here.

[0238] In this embodiment, two workstations are provided, enabling the battery swapping robot 300 to carry both the power module 220 in the power-depleted state and the power module 220 in the fully-charged state. After removing the power module 220 in the power-depleted state, the fully-charged power module 220 can be directly installed, endowing the robot with the ability to independently replace the power module 220. After removing the power module 220 in the power-depleted state, the vehicle body 310 is instructed to directly move to the second position, allowing for the installation of the fully-charged power module 220, which simplifies the battery swapping process and improves the utilization rate of a single battery swapping robot 300.

[0239] The number of disassembly and assembly mechanisms 320 can be one or multiple.

[0240] When the number of disassembly and assembly mechanisms 320 is one:

[0241] The first connection part 321 is used to move to a position corresponding to the power supply bin 211 under the drive of the position adjustment mechanism 322, connect to the second connection part 221 of the power module 220 in the power-depleted state in the power supply bin 211, and drive the power module 220 in the power-depleted state to move, disassembling and moving the power module 220 in the power-depleted state to the first work station 3121; then, the first connection part 321 moves to a position corresponding to the second work station 3122, connects to the second connection part 221 of the power module 220 in the fully-charged state on the second work station 3122, and drives the power module 220 in the fully-charged state to move, moving and installing the power module 220 in the fully-charged state in the power supply bin 211.

[0242] When the number of disassembly and assembly mechanisms 320 is multiple:

[0243] Each disassembly and assembly mechanism 320 corresponds to picking up and placing a power module 220 in the power-depleted state on the first work station 3121 or a power module 220 in the fully-charged state on the second work station 3122.

[0244] Taking two as an example, the disassembly and assembly mechanism 320 includes: a first disassembly and assembly mechanism and a second disassembly and assembly mechanism. The first disassembly and assembly mechanism is used to disassemble and move the power module 220 in the power-depleted state in the power supply bin 211 to the first work station 3121; the second disassembly and assembly mechanism is used to move and install the power module 220 in the fully-charged state on the second work station 3122 in the power supply bin 211.

[0245] When only one disassembly and assembly mechanism 320 is provided according to the embodiments of the present application, the structure of the battery swapping robot 300 is simple; when multiple disassembly and assembly mechanisms 320 are provided, the position adjustment mechanism may not have the ability to drive the first connection part 321 to move in a direction parallel to the shelf 100, which simplifies the control of the battery swapping robot 300. When replacing the power module 220, after pulling the power module 220 in the power feeding state to the first station 3121, the step of moving the first connection part 321 to the second station 3122 is omitted, improving the battery swapping efficiency.

[0246] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0247] Each embodiment in this specification is described in a related manner. The same or similar parts between the embodiments can be referred to each other, and the differences between each embodiment and other embodiments are emphasized. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0248] The above are only the preferred embodiments of the present application and are not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A storage system, characterized in that, Including: A goods shelf (100), a goods shelf robot (200) and a battery swapping robot (300); The goods shelf robot (200) is arranged outside the goods shelf (100) in the length direction thereof, and includes: a robot main body (210) and a power supply module (220); The robot main body (210) runs on the vertical surface of the goods shelf (100) and is used for picking and placing the bins (400) on the goods shelf (100). A power supply bin (211) is arranged on the robot main body (210); the power supply module (220) is detachably installed in the power supply bin (211) of the robot main body (210) to supply power to the robot main body (210); The battery swapping robot (300) runs on the bearing surface where the goods shelf (100) is located and is used for disassembling the power supply module (220) in the power supply state on the goods shelf robot (200) to be battery-swapped, and / or installing the power supply module (220) in the full charge state into the power supply bin (211) on the goods shelf robot (200) to be battery-swapped.

2. The warehousing system according to claim 1, wherein The power supply bin (211) is arranged at the bottom of the robot main body (210); The battery swapping robot (300) includes: a vehicle body (310) and a disassembly and assembly mechanism (320); The top of the vehicle body (310) has a battery swapping platform (311); the disassembly and assembly mechanism (320) is installed on the battery swapping platform (311); A battery swapping work position (312) is arranged on the battery swapping platform (311) for accommodating the power supply module (220); The battery swapping platform (311) moves along with the vehicle body (310) so that the battery swapping work position (312) on the battery swapping platform (311) corresponds to the position of the power supply bin (211) on the goods shelf robot (200) to be battery-swapped; The disassembly and assembly mechanism (320) is used for disassembling the power supply module (220) in the power supply state in the power supply bin (211) and moving it to the battery swapping work position (312), or moving the power supply module (220) in the full charge state on the battery swapping work position (312) and installing it into the power supply bin (211) when the battery swapping work position (312) corresponds to the position of the power supply bin (211).

3. The warehousing system according to claim 2, wherein The battery swapping work position (312) includes: a first work position (3121) and a second work position (3122); the first work position (3121) is used for accommodating the power supply module (220) in the power supply state, and the second work position (3122) is used for accommodating the power supply module (220) in the full charge state; The battery swapping robot (300) is configured to first move to a first position through the movement of the vehicle body (310), so that the first work station (3121) on the battery swapping platform (311) corresponds to the power supply bin (211) on the shelf robot (200) to be battery swapped. Then, the power supply module (220) in the power supply bin (211) in the power feeding state is disassembled by the disassembly and assembly mechanism (320) and moved to the first work station (3121). After that, it moves to a second position through the vehicle body (310), so that the second work station (3122) on the battery swapping platform (311) corresponds to the power supply bin (211) on the shelf robot (200) to be battery swapped. Then, the power supply module (220) in the fully charged state on the second work station (3122) is moved and installed in the power supply bin (211) by the disassembly and assembly mechanism (320).

4. The warehousing system according to claim 2 or 3, characterized in that, The disassembly and assembly mechanism (320) includes: a first connection part (321) and a position adjustment mechanism (322); The power supply module (220) includes: a second connection part (221); the first connection part (321) and the second connection part (221) are detachably connected; The first connection part (321) can expand and contract between the power supply bin (211) and the battery swapping work station (312) under the drive of the position adjustment mechanism (322). When the first connection part (321) is connected to the second connection part (221), it drives the power supply module (220) to move between the power supply bin (211) and the battery swapping work station (312), disassembles the power supply module (220) in the power supply bin (211) in the power feeding state and moves it to the battery swapping work station (312), or moves and installs the power supply module (220) in the fully charged state on the battery swapping work station (312) in the power supply bin (211).

5. The warehousing system according to claim 4, characterized in that, The number of the disassembly and assembly mechanisms (320) is 1. The battery swapping work station (312) includes: a first work station (3121) and a second work station (3122); the first work station (3121) is used to accommodate the power supply module (220) in the power feeding state, and the second work station (3122) is used to accommodate the power supply module (220) in the fully charged state; The first connection part (321) is used to move to a position corresponding to the power supply bin (211) under the drive of the position adjustment mechanism (322), connect to the second connection part (221) of the power supply module (220) in the power supply bin (211) in a power feeding state, drive the power supply module (220) in the power feeding state to move, disassemble the power supply module (220) in the power feeding state and move it to the first working position (3121); then, the first connection part (321) moves to a position corresponding to the second working position (3122), connects to the second connection part (221) of the fully charged power supply module (220) on the second working position (3122), drives the fully charged power supply module (220) to move, and moves and installs the fully charged power supply module (220) in the power supply bin (211).

6. The warehousing system according to claim 4, characterized in that, The number of the disassembly and assembly mechanisms (320) is two, including: a first disassembly and assembly mechanism and a second disassembly and assembly mechanism; the working positions include: a first working position (3121) and a second working position (3122); the first working position (3121) is used to accommodate the power supply module (220) in a power feeding state, and the second working position (3122) is used to accommodate the power supply module (220) in a fully charged state; The first disassembly and assembly mechanism is used to disassemble the power supply module (220) in the power supply bin (211) in a power feeding state and move it to the first working position (3121); the second disassembly and assembly mechanism is used to move and install the fully charged power supply module (220) on the second working position (3122) in the power supply bin (211).

7. The warehousing system according to claim 4, characterized in that, The first connection part (321) is a hook (321A) arranged upward, and the second connection part (221) is a hook groove (221A) with an opening downward; The power swapping platform (311) is a liftable platform, or the position adjustment mechanism (322) can drive the hook (321A) to move vertically; When disassembling the power supply module (220) in the power feeding state, the hook (321A) is used to horizontally extend towards the power supply bin (211) under the drive of the position adjustment mechanism (322), extend to below the hook groove (221A) of the power supply module (220) in the power feeding state in the power supply bin (211), and upwardly insert into the hook groove (221A) under the drive of the power swapping platform (311) or the position adjustment mechanism (322), then horizontally contract, drive the power supply module (220) in the power feeding state to move above the power swapping working position (312), and then move downward to place the power supply module (220) in the power feeding state; When installing the power module (220) in a fully charged state, the hook (321A) is used to horizontally extend the power module (220) in a fully charged state towards the power storage bin (211) under the drive of the position adjustment mechanism (322), place the power module (220) in a fully charged state into the power storage bin (211), and then move downward to disengage from the hook groove (221A) under the drive of the battery swapping platform (311) or the position adjustment mechanism (322).

8. The warehousing system according to claim 4, characterized in that, The first connecting portion (321) is a pneumatic suction cup (321B), and the second connecting portion (221) is a suction plane (221B); The battery swapping platform (311) is a liftable platform, or the position adjustment mechanism (322) can drive the pneumatic suction cup (321B) to move vertically; When disassembling the power module (220) in a power feeding state, the pneumatic suction cup (321B) is used to horizontally extend towards the power storage bin (211) under the drive of the position adjustment mechanism (322), extend to the suction plane (221B) of the power module (220) in a power feeding state in the power storage bin (211), suck the suction plane (221B), then horizontally contract to drive the power module (220) in a power feeding state to move to the battery swapping position (312), and then disconnect from the suction plane (221B) to place the power module (220) in a power feeding state; When installing the power module (220) in a fully charged state, the pneumatic suction cup (321B) is used to horizontally extend the power module (220) in a fully charged state towards the power storage bin (211) under the drive of the position adjustment mechanism (322), and after placing the power module (220) in a fully charged state into the power storage bin (211), disconnect from the suction plane (221B) of the power module (220) in a fully charged state to place the power module (220) in a fully charged state.

9. The warehousing system according to claim 1, characterized in that, The storage system further includes: a charging station (500); The battery swapping robot (300) is used to move between the shelf robot (200) to be battery swapped and the charging station (500), transport the power module (220) in a fully charged state at the charging station (500) to a position corresponding to the shelf robot (200) to be battery swapped for installation; or transport the power module (220) in a power feeding state disassembled from the shelf robot (200) to be battery swapped to the charging station (500) for charging.

10. The warehousing system according to claim 9, wherein The charging station (500) includes: a charging pile (510); The battery swapping robot (300) is used to move to the charging pile (510), electrically connect the power module (220) in a power feeding state to the charging pile (510), and carry the power module (220) for charging.

11. The warehousing system according to claim 10, characterized in that, The charging station (500) further includes: a charging position (520); the charging position (520) is electrically connected to the charging pile (510); The battery swapping robot (300) is configured to move to a position corresponding to the charging position (520), place the power module (220) in the feed state on the charging position (520), and perform charging.

12. The warehousing system according to claim 1, characterized in that, The robot body (210) of the shelf robot (200) includes: a gantry (212) and a picking and placing component (213); The gantry (212) is arranged in the vertical direction and is movably connected to the shelf (100) in the horizontal direction; the picking and placing component (213) is movably installed on the gantry (212) in the vertical direction; A power supply bin (211) is arranged at the bottom of the gantry (212); the power module (220) in the power supply bin (211) is electrically connected to the gantry (212) and the picking and placing component (213); The power module (220) is configured to provide power for the gantry (212) to drive the picking and placing component (213) to move horizontally, and for the picking and placing component (213) to move up and down along the gantry (212), so that the picking and placing component (213) picks and places the bins (400) on the shelf (100).

13. The warehousing system according to any one of claims 1 to 12, characterized in that, The warehousing system further includes: a control device; the control device is communicatively connected to the shelf robot (200) and the battery swapping robot (300); The power module (220) includes: a battery (222); the control device is configured to obtain the power state of the battery (222) in the power supply bin (211); When the power of the battery (222) is lower than a preset capacity threshold, the control device controls the battery swapping robot (300) to disassemble the power module (220) in the feed state on the shelf robot (200) to be battery-swapped, and install the fully-charged power module (220) into the power supply bin (211) on the shelf robot (200) to be battery-swapped.

14. A shelf robot, characterized in that, The shelf robot (200) is arranged outside the shelf (100) in the length direction, and includes: a robot body (210) and a power module (220); The robot body (210) is configured to pick and place the bins (400) on the shelf (100), and a power supply bin (211) is arranged on the robot body (210); the power module (220) is detachably installed in the power supply bin (211) of the robot body (210) to supply power to the robot body (210).

15. The shelf robot according to claim 14, characterized in that, The robot body (210) includes: a gantry (212) and a picking and placing component (213); The gantry (212) is arranged in the vertical direction and is movably connected to the shelf (100) in the horizontal direction; the picking and placing component (213) is movably installed on the gantry (212) in the vertical direction; A power supply bin (211) is arranged at the bottom of the gantry (212); the power module (220) in the power supply bin (211) is electrically connected to the gantry (212) and the picking and placing component (213); The power supply module (220) is configured to drive the gantry (212) to drive the picking and placing component (213) to move horizontally relative to the shelf (100), and to drive the picking and placing component (213) to move up and down along the gantry (212), so that the picking and placing component (213) picks and places the bin (400) on the shelf (100).

16. The shelf robot according to claim 14, wherein A control module (230) is further provided on the robot main body (210); the power supply module (220) includes: a battery (222); The control module (230) is configured to send the power state of the battery (222) in the power supply bin (211) to an external control device; When the power of the battery (222) is lower than a preset capacity threshold, the external control device controls an external power exchange device to replace the power supply module (220) of the shelf robot (200) to be powered exchanged.

17. A power exchange robot, wherein The power exchange robot (300) includes: a vehicle body (310) and a disassembly and assembly mechanism (320); The top of the vehicle body (310) has a power exchange platform (311); the disassembly and assembly mechanism (320) is installed on the power exchange platform (311); A power exchange work position (312) is provided on the power exchange platform (311) for accommodating the power supply module (220); The power exchange platform (311) moves with the vehicle body (310), so that the power exchange work position (312) on the power exchange platform (311) corresponds to the position of the power supply bin (211) on the external device to be powered exchanged; The disassembly and assembly mechanism (320) is configured to, when the power exchange work position (312) corresponds to the position of the power supply bin (211), disassemble the power supply module (220) in the power supply bin (211) in a power supply state and move it to the power exchange work position (312), or move and install the power supply module (220) in a fully charged state on the power exchange work position (312) into the power supply bin (211).

18. The battery swapping robot according to claim 17, wherein The power exchange work position (312) includes: a first work position (3121) and a second work position (3122); the first work position (3121) is used for accommodating the power supply module (220) in a power supply state, and the second work position (3122) is used for accommodating the power supply module (220) in a fully charged state; The battery swapping robot (300) is configured to first move to a first position through the movement of the vehicle body (310), so that the first working position (3121) on the battery swapping platform (311) corresponds to the power supply bin (211) on the external device to be battery swapped. Then, the power module (220) in the power supply bin (211) in the power feeding state is disassembled by the disassembly and assembly mechanism (320) and moved to the first working position (3121). After that, the vehicle body (310) moves to a second position, so that the second working position (3122) on the battery swapping platform (311) corresponds to the power supply bin (211) on the external device to be battery swapped. Then, the fully charged power module (220) on the second working position (3122) is moved and installed in the power supply bin (211) by the disassembly and assembly mechanism (320).

19. The battery swapping robot according to claim 17 or 18, characterized in that, The disassembly and assembly mechanism (320) includes: a first connection part (321) and a position adjustment mechanism (322); The power module (220) includes: a second connection part (221); the first connection part (321) and the second connection part (221) are detachably connected; The first connection part (321) can stretch between the power supply bin (211) and the battery swapping working position (312) driven by the position adjustment mechanism (322). When the first connection part (321) is connected to the second connection part (221), it drives the power module (220) to move between the power supply bin (211) and the battery swapping working position (312), disassembles the power module (220) in the power supply bin (211) in the power feeding state and moves it to the battery swapping working position (312), or moves and installs the fully charged power module (220) on the battery swapping working position (312) in the power supply bin (211).

20. The battery swapping robot according to claim 19, wherein, The number of the disassembly and assembly mechanisms (320) is 1. The battery swapping working position (312) includes: a first working position (3121) and a second working position (3122); the first working position (3121) is used to accommodate the power module (220) in the power feeding state, and the second working position (3122) is used to accommodate the power module (220) in the fully charged state; The first connecting part (321) is used to move to a position corresponding to the power supply bin (211) under the drive of the position adjusting mechanism (322), connect with the second connecting part (221) of the power supply module (220) in the power supply bin (211) in a power feeding state, drive the power supply module (220) in the power feeding state to move, disassemble the power supply module (220) in the power feeding state and move it to the first working position (3121); then, the first connecting part (321) moves to a position corresponding to the second working position (3122), connects with the second connecting part (221) of the fully charged power supply module (220) on the second working position (3122), drives the fully charged power supply module (220) to move, and moves and installs the fully charged power supply module (220) in the power supply bin (211).

21. The battery swapping robot according to claim 19, wherein, The number of the disassembly and assembly mechanisms (320) is two, including: a first disassembly and assembly mechanism and a second disassembly and assembly mechanism; the power replacement working position (312) includes: a first working position (3121) and a second working position (3122); the first working position (3121) is used to accommodate the power supply module (220) in a power feeding state, and the second working position (3122) is used to accommodate the power supply module (220) in a fully charged state; The first disassembly and assembly mechanism is used to disassemble the power supply module (220) in the power supply bin (211) in a power feeding state and move it to the first working position (3121); the second disassembly and assembly mechanism is used to move and install the fully charged power supply module (220) on the second working position (3122) in the power supply bin (211).

22. The battery swapping robot according to claim 19, wherein, The first connecting part (321) is a claw (321A) arranged upward, and the second connecting part (221) is a hook groove (221A) with an opening downward; The power replacement platform (311) is a liftable platform, or the position adjusting mechanism (322) can also drive the claw (321A) to move vertically; When disassembling the power supply module (220) in the power feeding state, the claw (321A) is used to horizontally extend toward the power supply bin (211) under the drive of the position adjusting mechanism (322), extend to below the hook groove (221A) of the power supply module (220) in the power feeding state in the power supply bin (211), and insert upward into the hook groove (221A) under the drive of the power replacement platform (311) or the position adjusting mechanism (322), then horizontally contract, drive the power supply module (220) in the power feeding state to move above the power replacement working position (312), and then move downward to place the power supply module (220) in the power feeding state. When installing the power module (220) in a fully charged state, the claw (321A) is used to horizontally extend the power module (220) in a fully charged state towards the power bin (211) under the drive of the position adjustment mechanism (322), place the power module (220) in a fully charged state into the power bin (211), and then move downward to disengage from the hook groove (221A) under the drive of the battery swapping platform (311) or the position adjustment mechanism (322).

23. The battery swapping robot according to claim 19, wherein The first connection part (321) is a pneumatic suction cup (321B), and the second connection part (221) is an adsorption plane (221B); The battery swapping platform (311) is a liftable platform, or the position adjustment mechanism (322) can drive the pneumatic suction cup (321B) to move vertically; When disassembling the power module (220) in a power feeding state, the pneumatic suction cup (321B) is used to horizontally extend towards the power bin (211) under the drive of the position adjustment mechanism (322), extend to the adsorption plane (221B) of the power module (220) in a power feeding state in the power bin (211), suck the adsorption plane (221B), then horizontally contract, drive the power module (220) in a power feeding state to move to the battery swapping position (312), and then disconnect from the adsorption plane (221B) to place the power module (220) in a power feeding state; When installing the power module (220) in a fully charged state, the pneumatic suction cup (321B) is used to horizontally extend the power module (220) in a fully charged state towards the power bin (211) under the drive of the position adjustment mechanism (322), and after placing the power module (220) in a fully charged state into the power bin (211), disconnect from the adsorption plane (221B) of the power module (220) in a fully charged state to place the power module (220) in a fully charged state.

24. A battery swapping method, characterized in that, A control device applied to the storage system according to claim 12; The method includes: Obtaining the power state of the batteries in the power bins of each shelf robot; When the battery power is lower than the preset capacity threshold, Instructing the battery swapping robot to disassemble the power module in a power feeding state on the shelf robot to be battery swapped; Instructing the battery swapping robot to install the power module in a fully charged state into the power bin of the shelf robot to be battery swapped.

25. According to the battery swapping method described in claim 24, characterized in that The number of the battery swapping robots is multiple; The instruction to the battery swapping robot to disassemble the power module in a power feeding state on the shelf robot to be battery swapped includes: Instructing one of the multiple battery swapping robots to disassemble the power module in a power feeding state on the shelf robot to be battery swapped; The instruction to the battery swapping robot to install the power module in a fully charged state into the power bin of the shelf robot to be battery swapped includes: Instructing another one of the multiple battery swapping robots to install the power module in a fully charged state into the power bin of the shelf robot to be battery swapped.

26. According to the battery swapping method described in claim 24, characterized in that The battery swapping robot includes: a vehicle body and a disassembly and assembly mechanism; the top of the vehicle body has a battery swapping platform; the disassembly and assembly mechanism is installed on the battery swapping platform; a battery swapping work position is provided on the battery swapping platform for accommodating the power supply module; The one for instructing the battery swapping robot to disassemble the power supply module in the power supply state on the shelf robot to be battery swapped includes: Instructing the vehicle body to move so that the battery swapping work position on the battery swapping platform corresponds to the position of the power supply bin on the shelf robot to be battery swapped; Instructing the disassembly and assembly mechanism to disassemble the power supply module in the power supply state in the power supply bin and move it to the battery swapping work position; The one for instructing the battery swapping robot to install the fully charged power supply module into the power supply bin on the shelf robot to be battery swapped includes: Instructing the vehicle body to move so that the battery swapping work position on the battery swapping platform corresponds to the position of the power supply bin on the shelf robot to be battery swapped; Instructing the disassembly and assembly mechanism to move and install the fully charged power supply module at the battery swapping work position into the power supply bin.

27. According to the battery swapping method described in claim 24, wherein, The battery swapping robot includes: a vehicle body and a disassembly and assembly mechanism; the top of the vehicle body has a battery swapping platform; the disassembly and assembly mechanism is installed on the battery swapping platform; a battery swapping work position is provided on the battery swapping platform, and the battery swapping work position includes: a first work position and a second work position; the first work position is used for accommodating the power supply module in the power supply state, and the second work position is used for accommodating the fully charged power supply module; The one for instructing the battery swapping robot to disassemble the power supply module in the power supply state on the shelf robot to be battery swapped includes: Instructing the vehicle body to move to the first position so that the first work position on the battery swapping platform corresponds to the position of the power supply bin on the shelf robot to be battery swapped; Instructing the disassembly and assembly mechanism to disassemble the power supply module in the power supply state in the power supply bin and move it to the first work position; The one for instructing the battery swapping robot to install the fully charged power supply module into the power supply bin on the shelf robot to be battery swapped includes: Instructing the vehicle body to move to the second position so that the second work position on the battery swapping platform corresponds to the position of the power supply bin on the shelf robot to be battery swapped; Instructing the disassembly and assembly mechanism to move and install the fully charged power supply module at the second work position into the power supply bin.

28. The battery swapping method according to claim 26, wherein The disassembly and assembly mechanism includes: a first connection part and a position adjustment mechanism; the first connection part can stretch between the power supply bin and the battery swapping work position under the drive of the position adjustment mechanism; the power supply module includes: a second connection part; the first connection part and the second connection part are detachably connected; the first connection part is an upwardly arranged hook claw, and the second connection part is a hook groove with a downward opening; The battery swapping platform is a liftable platform, or the position adjustment mechanism can drive the hook claw to move vertically; The one for instructing the disassembly and assembly mechanism to disassemble the power supply module in the power supply state in the power supply bin and move it to the battery swapping work position includes: Instructing the position adjustment mechanism to drive the hook claw to horizontally extend towards the power supply bin and extend below the hook groove of the power supply module in the power supply state in the power supply bin; Instruct the battery swapping platform or the position adjustment mechanism to drive the claw to insert upward into the hook groove; Instruct the position adjustment mechanism to drive the claw to contract horizontally, driving the power module in the power supply state to move above the battery swapping position; Instruct the position adjustment mechanism to drive the claw to move downward to place the power module in the power supply state; The instruction that the disassembly and assembly mechanism moves and installs the fully charged power module on the battery swapping position into the power supply bin includes: Instruct the position adjustment mechanism to drive the claw to horizontally extend the fully charged power module towards the power supply bin and place the fully charged power module into the power supply bin; Instruct the battery swapping platform or the position adjustment mechanism to drive the claw to move downward to disengage from the hook groove.

29. The battery swapping method according to claim 24, wherein The storage system further includes: a charging station; After the instruction that the battery swapping robot disassembles the power module in the power supply state on the shelving robot to be battery swapped, it further includes: Instruct the battery swapping robot to carry the power module in the power supply state disassembled from the shelving robot to be battery swapped to the charging station for charging; Before the instruction that the battery swapping robot installs the fully charged power module into the power supply bin on the shelving robot to be battery swapped, it includes: Instruct the battery swapping robot to carry the fully charged power module at the charging station to the position corresponding to the shelving robot to be battery swapped for installation.

30. A control device, characterized in that, It includes: A memory for storing a computer program; A processor, when executing the program stored on the memory, implements the battery swapping method according to any one of claims 24 to 29.

31. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, it implements the battery swapping method according to any one of claims 24 to 29.

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