Robot self-body battery changing structure, device and method

Abstract

The invention provides a robot self-electricity-changing structure, device and method, the robot self-electricity-changing structure comprises a robot body, an end effector and at least two battery units, the robot body comprises a skeleton structure and a first clamping assembly arranged on the skeleton structure; the first clamping assembly comprises a first feedback part which abuts against the end effector in a matched mode and a first clamping part which clamps the battery unit to the framework structure in a matched mode, the battery unit comprises a battery body and a connecting plate, a second clamping assembly is arranged on the end side of the connecting plate, and the second clamping assembly comprises a sliding frame and an elastic part; the end effector responds to the abutting of the sliding frame to control the grabbing and releasing of the battery unit. When the battery is replaced, the battery which is not taken out can provide energy for the robot body and the end effector. When the end effector takes and places the battery, the end effector is in contact with the first feedback part and the sliding frame, whether installation is in place or not is detected through the sensor, and the battery replacement process of the end effector is safer.

Description

Technical Field

[0001] The present invention belongs to the field of robotics technology, and more specifically, relates to a robot self-battery replacement structure, device and method. Background Art

[0002] With the rapid development of humanoid robots, the need for robots to operate continuously is increasing. However, robots have limited battery capacity and cannot operate for long periods of time. When the battery is low or exhausted, the robot needs to stop working and require staff to replace the battery, which increases the staff's workload and may not be able to replace the battery in time. Alternatively, the robot needs to be plugged into a charger to operate, and the charger's power cord can easily affect the robot's movement, limiting its operation. Summary of the Invention

[0003] The purpose of the embodiments of the present invention is to provide a robot self-battery replacement structure, device and method to solve the technical problem in the prior art that staff assistance is required to replace batteries.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: providing a robot self-power replacement structure, comprising:

[0005] an end effector having a sensor for detecting pressure;

[0006] A robot body having a battery cavity for accommodating a battery, the robot body comprising a skeleton structure and a first clamping assembly disposed on the skeleton structure, the first clamping assembly comprising a first feedback portion cooperating to press against an end effector and a first clamping portion cooperating to clamp the battery to the skeleton structure, wherein in response to the end effector abutting against the first feedback portion, the first feedback portion moves in a first direction, and the first clamping portion follows the first feedback portion in moving in the first direction;

[0007] A battery cell, the battery cell includes a battery body and a connecting plate located on one side of the battery body, a second clamping assembly is provided on the end side of the connecting plate, the second clamping assembly includes a sliding frame that cooperates to press the end actuator and an elastic part located on one side of the sliding frame, and the end actuator controls the grasping and releasing of the battery cell in response to the pressure of the sliding frame.

[0008] In the above solution, the robot's self-replacement battery structure includes a robot body, an end effector, and a battery unit. The battery is clipped onto the robot body. The end effector can remove the battery from the robot body and then install a fully charged battery from the battery cabinet into the robot body. Furthermore, when removing or placing the battery, the end effector contacts the first feedback unit and the sliding frame. Sensors detect whether the clipping structure is properly connected and whether the battery is properly installed, thereby making the end effector's battery replacement process safer.

[0009] Optionally, the first snap-fit assembly includes a snap-fit shell, a first elastic member, a second elastic member and a first snap-fit portion; the snap-fit shell has the first feedback portion, the two ends of the first elastic member are respectively connected to the robot body and the snap-fit shell, the telescopic direction of the first elastic member is the first direction, and the first feedback portion is slidably arranged on the robot body along the first direction; the two ends of the second elastic member are respectively connected to the snap-fit shell and the first snap-fit portion, the telescopic direction of the second elastic member is the second direction, and the first direction and the second direction are arranged at an angle.

[0010] In the above solution, the first elastic member enables the first feedback portion to move in a first direction. When the first feedback portion is squeezed, the first elastic member contracts, increasing the pressure between the first feedback portion and the end effector. The pressure value can then be used to determine whether the end effector is correctly positioned. The second elastic member enables the first engaging portion to move in a second direction, allowing the battery to be removed or locked.

[0011] Optionally, the first clamping portion has a first guide surface facing into the battery cavity and a second guide surface facing out of the battery cavity, and the first guide surface and the second guide surface are both arranged at an acute angle to the second direction.

[0012] In the above solution, the first guide surface allows the first engaging portion to be smoothly retracted into the frame housing when the battery is pushed into the battery cavity. The second guide surface allows the first engaging portion to be smoothly retracted into the frame housing when the battery is withdrawn from the battery cavity.

[0013] Optionally, a slide rail is provided on a protruding surface of the battery, and a slide groove cooperating with the slide rail is provided in the battery cavity. When the battery is located in the battery cavity, the first clamping portion stops at one end of the slide rail.

[0014] In the above solution, the slide rail protruding from the battery surface can not only cooperate with the slide groove of the battery cavity, but can also be stopped and limited by the first clamping portion, thereby limiting the battery in the battery cavity.

[0015] Optionally, the first feedback portion has a third guide surface for contacting the end effector, and the third guide surface is arranged at an acute angle to the first direction.

[0016] In the above solution, by providing the third guide surface, when the end effector moves in the second direction to clamp the battery, it pushes the first feedback part to move in the first direction.

[0017] Optionally, the sliding frame is provided with a second feedback portion for cooperating to press against the end effector and a second clamping portion extending from the second feedback portion, the elastic portion is used to move the second clamping portion relative to the skeleton structure, and the skeleton structure has a third clamping portion for mutually clamping with the second clamping portion.

[0018] Optionally, two ends of the elastic portion are respectively connected to the battery body and the second clamping portion, and the expansion and contraction direction of the elastic portion is the same as the clamping direction of the end effector.

[0019] In the above solution, the expansion and contraction direction of the elastic part is the same as the clamping direction of the end effector. When the end effector clamps the battery, the elastic part is compressed, so that the battery and the skeleton structure are unlocked from each other.

[0020] Optionally, the battery body includes a battery shell and a battery cover covering the battery shell, the elastic part, the second feedback part and the second clamping part are all located between the battery shell and the battery cover, and the battery cover or the battery shell is provided with an opening to expose one end of the second feedback part.

[0021] In the above solution, the battery body is provided as a battery shell and a battery cover, and the space between the battery shell and the battery cover is utilized to install the second clamping assembly, which is separated from the power storage part of the battery.

[0022] Optionally, the battery unit has a first contact surface for contacting the end effector, and the end effector has a second contact surface for contacting the battery unit, and the first contact surface and the second contact surface are arranged in a concave-convex manner.

[0023] In the above solution, when the end effector clamps the battery, the first contact surface and the second contact surface are in close contact with each other. When the concave and convex parts of the two are matched, the supporting force on the battery unit can be increased, and the battery unit is less likely to slip.

[0024] The present invention provides a robot self-battery replacement device, including the above-mentioned robot self-battery replacement structure, and also including a battery cabinet, wherein the battery cabinet has a plurality of battery compartments for placing batteries. In response to the low power state of the robot body, the end effector moves between the battery cavity and the battery compartment to perform the battery replacement operation of grabbing and releasing the battery unit.

[0025] In the above solution, the end effector can move back and forth between the battery cabinet and the battery cavity of the robot body, realizing the robot's self-battery replacement.

[0026] The present invention also provides a robot self-battery replacement method, which is applied to the above-mentioned robot self-battery replacement structure and robot self-battery replacement device, and includes the following steps:

[0027] When the end effector is ready to clamp the battery in the robot body, it presses the first feedback part;

[0028] Obtaining a pressure detected by the sensor; if the pressure value is greater than a first threshold, the first clamping portion is unlocked from the skeleton structure, and the end effector continues to clamp the battery unit and press the sliding frame; if the pressure value is greater than a second threshold, the end effector continues to clamp the battery unit to unlock the sliding frame and the skeleton structure;

[0029] The end effector moves the battery unit into the battery cabinet and presses the sliding frame when preparing to clamp other battery units in the battery cabinet;

[0030] obtaining a pressure detected by a sensor; if the pressure value is greater than the second threshold, the end effector continues to clamp the battery unit, removes the battery unit from the battery cabinet, and inserts the battery unit into the battery cavity of the robot body;

[0031] The end effector presses the first feedback part to obtain the pressure detected by the sensor. If the pressure value is greater than a first threshold, the end effector releases the battery unit, and the sliding frame and the skeleton structure are locked with each other.

[0032] In the above solution, when the end effector takes or places the battery, it will contact the first feedback part and the sliding frame, and detect through the sensor whether the snap-fit structure is structured and whether the installation is in place, thereby making the battery replacement process of the end effector safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A three-dimensional structural diagram of a robot self-battery replacement device provided by an embodiment of the present invention;

[0035] Figure 2 A three-dimensional structural diagram of a robot self-power replacement structure provided by an embodiment of the present invention;

[0036] Figure 3 A three-dimensional structural diagram of a robot body provided by an embodiment of the present invention;

[0037] Figure 4 for Figure 3 A partial enlarged view of point A in the middle;

[0038] Figure 5 A three-dimensional structural diagram of a first clamping assembly provided in an embodiment of the present invention;

[0039] Figure 6 An exploded structural diagram of a battery provided in an embodiment of the present invention;

[0040] Figure 7 A three-dimensional structural diagram of a second clamping assembly provided in an embodiment of the present invention;

[0041] Figure 8 A three-dimensional structural diagram of the end effector provided in an embodiment of the present invention.

[0042] Among them, the reference numerals in the figures are:

[0043] 100 - robot self-replacement structure; 10 - robot body; 101 - battery cavity; 11 - skeleton structure; 111 - slideway; 112 - mounting bracket; 1121 - third clamping portion; 12 - first clamping assembly; 121 - buckle housing; 1211 - first connecting plate; 1212 - second connecting plate; 123 - first feedback portion; 1231 - third guide surface; 124 - first clamping portion; 1241 - first guide surface; 1242 - second guide surface 125-first elastic member; 126-second elastic member; 127-limiting pin; 20-end effector; 21-second contact surface; 30-battery unit; 31-battery body; 311-battery housing; 312-battery cover; 3121-opening; 313-connecting plate; 32-second clamping assembly; 321-sliding frame; 3211-second feedback portion; 3212-second clamping portion; 322-elastic portion; 33-slide rail; 34-first contact surface;

[0044] 200-battery cabinet. DETAILED DESCRIPTION

[0045] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0046] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0047] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0048] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0049] With the rapid development of humanoid robots, the need for robots to operate continuously is increasing. However, robots have limited battery capacity and cannot operate for long periods of time. When the battery is low or exhausted, the robot needs to stop working and require staff to replace the battery, which increases the staff's workload and may not be able to replace the battery in time. Alternatively, the robot needs to be plugged into a charger to operate, and the charger's power cord can easily affect the robot's movement, limiting its operation.

[0050] In order to alleviate and solve the above technical problems, the present invention proposes a robot self-battery replacement structure 100, device and method, including a robot body 10, an end effector 20 and at least two battery cells 30, the end effector 20 is connected to the robot body 10, and the end effector 20 can remove the battery cell 30 on the robot body 10, and remove the battery cell 30 from the position where the battery cell 30 is stored and install it on the robot body 10, thereby completing the robot's self-battery replacement. During the robot's self-battery replacement process, the sensor of the end effector 20 is in the process of clamping the battery cell 30, and the first feedback part 123 and the sliding frame 321 contact the end effector 20 in the corresponding battery replacement step. The sensor can determine whether each battery replacement step is in place by detecting the size of the pressure, thereby improving the safety factor during the battery replacement process.

[0051] The robot self-battery replacement structure 100 provided in an embodiment of the present invention is now described.

[0052] Please also refer to Figures 1 to 5 , the robot self-battery replacement structure 100 includes:

[0053] The end effector 20 has a sensor for feedback pressure;

[0054] The robot body 10 has a battery cavity 101 for accommodating the battery unit 30. The robot body 10 includes a skeleton structure 11 and a first clamping assembly 12 disposed on the skeleton structure 11. The first clamping assembly 12 includes a first feedback portion 123 for pressing against the end effector 20 and a first clamping portion 124 for clamping the battery unit 30 to the skeleton structure 11. In response to the end effector 20 abutting against the first feedback portion 123, the first feedback portion 123 moves in a first direction, and the first clamping portion 124 follows the first feedback portion 123 in the first direction.

[0055] The battery unit 30 includes a battery body 31 and a connecting plate 313 located on one side of the battery body 31. A second clamping assembly 32 is provided on the end side of the connecting plate 313. The second clamping assembly 32 includes a sliding frame 321 that cooperates with the end actuator 20 to press and an elastic part 322 located on one side of the sliding frame 321. The end actuator 20 controls the grasping and releasing of the battery unit 30 in response to the pressure of the sliding frame 321.

[0056] The robot body 10 is the primary structure of the robot. Multiple battery cavities 101 are located within the robot body 10, each of which can accommodate a battery cell 30. The first engaging assembly 12 of the robot body 10 includes a first engaging portion 124 and a first feedback portion 123. The first engaging portion 124 and the first feedback portion 123 move synchronously in a first direction. Specifically, when the end effector 20 contacts the first feedback portion 123, the first feedback portion 123 moves in the first direction, and accordingly, the first engaging portion 124 also moves in the first direction, thereby disengaging the first engaging portion 124 from the battery cell 30.

[0057] The sensor of the end effector 20 can detect the pressure applied to the end effector 20. The change in pressure or the specific pressure value can be used to determine whether the end effector 20 is in contact with the first feedback portion 123, the second feedback portion 3211, etc. The end effector 20 functions similarly to a robotic arm, capable of picking up and placing the battery cell 30 and moving between the battery cavity 101 and the storage location of the battery cell 30.

[0058] When the end effector 20 clamps the battery unit 30, the sliding frame 321 and the end effector 20 are pressed against each other. Whether the end effector 20 is clamping the battery unit 30 can be determined by detecting the pressure of the sensor on the end effector 20. The sliding frame 321 moves when pressed by the end effector 20. When the sliding frame 321 is pressed, the elastic portion 322 is compressed, and the clamping structure between the sliding frame 321 and the skeleton structure 11 is loosened, allowing the battery unit 30 to be removed. When the sliding frame 321 is not pressed, the clamping structure between the sliding frame 321 and the skeleton structure 11 is locked.

[0059] The workflow of the robot's self-battery replacement is as follows: the end effector 20 moves to the battery unit 30 that needs to be replaced, and the end effector 20 touches the first feedback part 123. When the pressure detected by the sensor is greater than the first threshold, it means that the position of the end effector 20 is correct, and the first clamping part 124 follows the first feedback part 123 to move along the first direction, and the end effector 20 continues to apply force to clamp the battery unit 30. The end effector 20 touches the sliding frame 321 of the battery unit 30. When the pressure detected by the sensor is greater than the second threshold, it means that the battery unit 30 is clamped in place, and the sliding frame 321 is disengaged from the skeleton structure 11. At this time, the battery unit 30 can be taken out. After the battery cell 30 is removed, it is placed in the battery cabinet 200 via the end effector 20. The end effector 20 grabs the other fully charged battery cells 30 in the battery cabinet 200 and contacts the sliding frame 321 of the battery cell 30. When the pressure detected by the sensor exceeds the second threshold, the battery cell 30 is securely clamped in place. The battery cell 30 can then be removed from the battery cabinet 200, carried, and inserted into the battery cavity 101 of the robot body 10. The end effector 20 contacts the first feedback portion 123. When the pressure detected by the sensor exceeds the first threshold, the battery cell 30 is securely installed. The end effector 20 releases the battery cell 30, and the sliding frame 321 engages and locks with the skeleton structure 11. This completes the robot's self-replacing battery cell 30 process.

[0060] The robot self-battery replacement structure 100 in the above embodiment includes a robot body 10, an end effector 20, and a battery unit 30. The battery unit 30 is snap-connected to the robot body 10. The end effector 20 can remove the battery unit 30 from the robot body 10 and install the fully charged battery unit 30 in the robot body 10 after removing it from the battery cabinet 200. Moreover, when the end effector 20 takes and places the battery unit 30, it contacts the first feedback part 123 and the sliding frame 321, and uses sensors to detect whether the snap-connection structure is in place and whether the installation is in place, thereby making the battery replacement process of the end effector 20 safer.

[0061] In some embodiments of the present invention, the number of the battery units 30 is at least two. When one of the battery units 30 is removed, the other battery units 30 can provide power for the robot body 10 and the end effector 20 .

[0062] In some embodiments of the present invention, the sensor is a six-dimensional force sensor.

[0063] In some embodiments of the present invention, see Figure 4 and Figure 5 The first snap assembly 12 includes a snap housing 121, a first elastic member 125, a second elastic member 126, and a first snap portion 124. The snap housing 121 has a first feedback portion 123. The first elastic member 125 has two ends connected to the robot body 10 and the snap housing 121, respectively. The first elastic member 125 extends and contracts in a first direction, and the first feedback portion 123 is slidably disposed on the robot body 10 along the first direction. The second elastic member 126 has two ends connected to the snap housing 121 and the first snap portion 124, respectively. The second elastic member 126 extends and contracts in a second direction, and the first and second directions are arranged at an angle. The snap housing 121 can move relative to the skeleton structure 11 in the first direction. Specifically, when the first feedback portion 123 is squeezed by the end effector 20, the first feedback portion 123 moves in the first direction, and the first snap portion 124 also moves in the first direction, thereby separating the first snap portion 124 from the skeleton structure 11, and disengaging the battery unit 30 from the skeleton structure 11. When the battery unit 30 is installed, the battery unit 30 pushes the first clamping portion 124 to move in the second direction, thereby enabling the first clamping portion 124 to be smoothly clamped with the skeleton structure 11 .

[0064] The first elastic member 125 is configured to move the first feedback portion 123 in the first direction. When the first feedback portion 123 is squeezed, the first elastic member 125 contracts, increasing the pressure between the first feedback portion 123 and the end effector 20. The pressure value can then be used to determine whether the end effector 20 is correctly positioned. The second elastic member 126 is configured to move the first engaging portion 124 in the second direction, allowing the battery unit 30 to be removed or locked.

[0065] In some embodiments, the first direction and the second direction are perpendicular to each other. The first direction is the direction when the first feedback portion 123 is squeezed by the end effector 20 , and the second direction is the movement direction of the first clamping portion 124 when the battery unit 30 is disengaged from the skeleton structure 11 .

[0066] In some embodiments, the plugging direction of the battery unit 30 is a horizontal direction, and the first direction may be parallel to the plugging direction of the battery unit 30 .

[0067] In some embodiments, see Figure 4The skeleton structure 11 has a first through-hole extending through the skeleton structure 11 in a first direction. The first feedback portion 123 is disposed through the first through-hole, allowing the first feedback portion 123 to slide relative to the skeleton structure 11 in the first direction. When the first feedback portion 123 slides, the entire first clamping assembly 12 slides in the first direction. The first through-hole can have the same cross-sectional dimensions as the first feedback portion 123, ensuring stable sliding of the first feedback portion 123.

[0068] In some embodiments, see Figure 4 The skeleton structure 11 is provided with a second through-hole that extends through the skeleton housing in the second direction. The first engaging portion 124 passes through the second through-hole, allowing the first engaging portion 124 to slide relative to the skeleton housing in the second direction. The second through-hole is larger in the first direction than the cross-sectional dimension of the first engaging portion 124, allowing the first engaging portion 124 to move in the first direction along with the first feedback portion 123.

[0069] In some embodiments, see Figure 5 The snap housing 121 includes a first connecting plate 1211 and a second connecting plate 1212 vertically connected, the first clamping portion 124 is slidably connected to the first connecting plate 1211 along the second direction, and the first feedback portion 123 is disposed on the second connecting plate 1212 .

[0070] In some embodiments, see Figure 5 The first clamping assembly 12 further includes a limiting pin 127, which is mounted on the skeleton structure 11, and the first elastic member 125 is sleeved on the limiting pin 127. The setting of the limiting pin 127 facilitates the connection between the first elastic member 125 and the skeleton structure 11, and can also limit the first elastic member 125.

[0071] In some embodiments of the present invention, see Figure 5The first engaging portion 124 has a first guide surface 1241 facing into the battery cavity 101 and a second guide surface 1242 facing out of the battery cavity 101. Both the first guide surface 1241 and the second guide surface 1242 are arranged at an acute angle with the second direction. When the battery cell 30 is pushed into the battery cavity 101, the battery cell 30 contacts the first guide surface 1241, and the first feedback portion 123 moves in the first direction. The first engaging portion 124 also moves in the first direction until it disengages from the skeleton structure 11. The battery cell 30 pushes the first guide surface 1241, causing the first engaging portion 124 to move in the second direction while moving in the first direction. After the battery cell 30 fully enters the battery cavity 101, the first engaging portion 124 rebounds under the action of the second elastic member 126. After the end effector 20 releases the battery cell 30, the first feedback portion 123 rebounds under the action of the first elastic member 125, and the first engaging portion 124 is engaged with the skeleton structure 11. When the battery unit 30 is pulled out of the battery cavity 101, the first feedback portion 123 is squeezed by the end effector 20 and moves in the first direction, and the second guide surface 1242 is squeezed by the inner wall of the battery cavity 101, so that the first clamping portion 124 moves in the second direction while moving in the first direction, so that the first clamping portion 124 is retracted to the inside of the skeleton structure 11, until the battery unit 30 is pulled out, and the first clamping portion 124 rebounds to the inside of the battery cavity 101.

[0072] The first guide surface 1241 allows the battery unit 30 to be pushed into the battery cavity 101 while smoothly pushing the first engaging portion 124 back into the frame structure 11. The second guide surface 1242 allows the battery unit 30 to be pulled out of the battery cavity 101 while smoothly pushing the first engaging portion 124 back into the frame structure 11.

[0073] In some embodiments of the present invention, see Figures 3 to 5 The surface of the battery cell 30 is provided with a protruding slide rail 33, and the battery cavity 101 is provided with a slide groove 111 that cooperates with the slide rail 33. When the battery cell 30 is located in the battery cavity 101, the first clamping portion 124 stops at one end of the slide rail 33. The slide rail 33 on the surface of the battery cell 30 and the slide groove 111 in the battery cavity 101 cooperate with each other, which can make the pushing and pulling of the battery cell 30 more stable and smooth. After the battery cell 30 is fully pushed into the battery cavity 101, the first clamping portion 124 is clamped with the frame of the battery cell 30, and the end of the slide rail 33 of the battery cell 30 is stopped by the first clamping portion 124, thereby limiting the clamping of the battery cell 30 to the interior of the battery cavity 101. In this embodiment, the first clamping portion 124 is located inside the slide groove 111 and at the end of the slide groove 111.

[0074] The slide rail 33 protruding from the surface of the battery unit 30 can not only cooperate with the slide groove 111 of the battery cavity 101 , but can also be stopped and limited by the first clamping portion 124 , thereby limiting the battery unit 30 in the battery cavity 101 .

[0075] In some embodiments, the chute 111 may be formed by a depression in the wall of the battery cavity 101 or may be formed by two strip-shaped protrusions. The specific structure of the chute 111 is not limited herein.

[0076] In some embodiments of the present invention, first clamping assemblies 12 are provided on both sides of the battery cavity 101 , so that the battery unit 30 can be stably clamped in the battery cavity 101 .

[0077] Optionally, slide grooves 111 are provided on both sides of the battery cavity 101 , and slide rails 33 are correspondingly provided on the opposite sides of the battery unit 30 .

[0078] In some embodiments of the present invention, see Figure 5 The first feedback portion 123 includes a third guide surface 1231 for contacting the end effector 20. The third guide surface 1231 is arranged at an acute angle with the first direction. When the end effector 20 clamps the battery cell 30, the clamping action is in the second direction. Therefore, when the end effector 20 contacts the third guide surface 1231 of the first feedback portion 123, the movement of the end effector 20 in the second direction can be converted into movement of the first feedback portion 123 in the first direction.

[0079] By disposing the third guide surface 1231 , when the end effector 20 moves in the second direction to clamp the battery unit 30 , the first feedback portion 123 is pushed to move in the first direction.

[0080] It should be noted that when the first feedback part 123 is not subjected to force, the external force is outside the skeleton structure 11 and is set near the opening of the battery cavity 101. In this way, when the end effector 20 clamps the battery unit 30, it will touch the first feedback part 123.

[0081] In some embodiments of the present invention, the sliding frame 321 is provided with a second feedback portion 3211 that cooperates with and presses against the end effector 20, and a second engaging portion 3212 extending from the second feedback portion 3211. The elastic portion 322 is configured to move the second engaging portion 3212 relative to the skeleton structure 11. The skeleton structure 11 is provided with a third engaging portion 1121 configured to engage with the second engaging portion 3212. The second engaging portion 3212 and the second feedback portion 3211 move synchronously when pressed by the end effector 20. When the second feedback portion 3211 is pressed, the second engaging portion 3212 and the third engaging portion 1121 are disengaged, allowing the battery unit 30 to be removed. When the second feedback portion 3211 is released, the second engaging portion 3212 and the third engaging portion 1121 are locked together, securing the battery unit 30 to the battery cavity 101.

[0082] The workflow of the robot's self-battery replacement is as follows: the end effector 20 moves to the battery unit 30 that needs to be replaced, and the end effector 20 touches the first feedback part 123. When the pressure detected by the sensor is greater than the first threshold, it means that the position of the end effector 20 is correct, and the first feedback part 123 and the first clamping part 124 move along the first direction at the same time, and the end effector 20 continues to apply force to clamp the battery unit 30. The end effector 20 touches the second feedback part 3211 of the battery unit 30. When the pressure detected by the sensor is greater than the second threshold, it means that the battery unit 30 is clamped in place, and the second clamping part 3212 and the third clamping part 1121 are disengaged. At this time, the battery unit 30 can be removed. After the battery cell 30 is removed, it is placed in the battery cell 30 storage location via the end effector 20. The end effector 20 then grabs another fully charged battery cell 30. The end effector 20 contacts the second feedback portion 3211 of the battery cell 30. When the pressure detected by the sensor exceeds the second threshold, the battery cell 30 is securely clamped in place. The battery cell 30 can then be removed from the battery cell 30 storage location, carried, and inserted into the battery cavity 101 of the robot body 10. The end effector 20 contacts the first feedback portion 123. When the pressure detected by the sensor exceeds the first threshold, the battery cell 30 is securely installed. The end effector 20 releases the battery cell 30, and the second engaging portion 3212 and the third engaging portion 1121 engage and lock together. This completes the robot's self-replacing battery cell 30 process.

[0083] In some embodiments of the present invention, see Figure 6 and Figure 7The two ends of the elastic portion 322 are respectively connected to the battery body 31 and the second clamping portion 3212. The elastic portion 322 extends and contracts in the same direction as the clamping direction of the end effector 20. When the end effector 20 clamps the battery cell 30, the elastic portion 322 is compressed, the first feedback portion 123 is pressed, and a feedback signal is sent to the host computer. At the same time, the second clamping portion 3212 and the first feedback portion 123 move synchronously in the clamping direction, the second clamping portion 3212 and the third clamping portion 1121 are released from each other, and the battery cell 30 can be removed from the battery cavity 101.

[0084] The expansion and contraction direction of the elastic portion 322 is the same as the clamping direction of the end effector 20 . When the end effector 20 clamps the battery unit 30 , the elastic portion 322 is compressed, so that the battery unit 30 and the skeleton structure 11 are unlocked from each other.

[0085] In some embodiments, the clamping direction of the end effector 20 and the second direction are parallel to each other, and the second direction and the first direction are perpendicular to each other.

[0086] In some embodiments of the present invention, see Figure 3 and Figure 4 The frame structure 11 is fixedly provided with a hanging frame 112, and the third clamping portion 1121 is provided on the hanging frame 112. The hanging frame 112 is frame-shaped, and the second clamping portion 3212 can be clamped on the hanging frame 112.

[0087] In some embodiments of the present invention, see Figure 6 and Figure 7 The battery body 31 includes a battery housing 311 and a battery cover 312 disposed on the battery housing 311. The elastic portion 322, the second feedback portion 3211, and the second clamping portion 3212 are all located between the battery housing 311 and the battery cover 312. The battery cover 312 or the battery housing 311 defines an opening 3121 that exposes one end of the second feedback portion 3211. A space is formed between the battery cover 312 and the battery housing 311 for mounting the second clamping assembly 32. The second feedback portion 3211 is exposed through the opening 3121, allowing the end effector 20 to contact and compress the second feedback portion 3211.

[0088] The battery body 31 is provided as a battery shell 311 and a battery cover 312 , and the second clamping assembly 32 is installed in the space between the battery shell 311 and the battery cover 312 , so as to be separated from the power storage part of the battery unit 30 .

[0089] In some embodiments, the second clamping assembly 32 is mounted on the battery housing 311, specifically, the sliding frame 321 is mounted on the battery housing 311. Alternatively, the second clamping assembly 32 is mounted on the battery cover 312, specifically, the sliding frame 321 is mounted on the battery cover 312. When the battery cover 312 is removed, the second clamping assembly 32 is also removed, facilitating installation and maintenance.

[0090] In some embodiments, the second feedback portion 3211 is located inside the battery body 31, and the end effector 20 has a protrusion structure that passes through the opening 3121, extends into the interior of the battery body 31, and contacts the second feedback portion 3211. Alternatively, the second feedback portion 3211 extends outside the battery body 31, and the end effector 20 can directly contact the second feedback portion 3211.

[0091] In some embodiments of the present invention, see Figure 8 The battery cell 30 has a first contact surface 34 for contacting the end effector 20, and the end effector 20 has a second contact surface 21 for contacting the battery cell 30. The first contact surface 34 and the second contact surface 21 are arranged in a concave-convex manner. When the end effector 20 clamps the battery cell 30, the first contact surface 34 and the second contact surface 21 are in close contact with each other. The concave-convex arrangement between the first contact surface 34 and the second contact surface 21 can increase the supporting force on the battery cell 30, making the battery cell 30 less likely to slip.

[0092] In some embodiments, the first contact surface 34 has a convex structure and the second contact surface 21 has a concave structure. Alternatively, the first contact surface 34 has a concave structure and the second contact surface 21 has a convex structure.

[0093] In some embodiments, the second contact surface 21 of the end effector 20 is provided with a protruding positioning step. When the battery unit 30 is clamped, the positioning step supports the battery unit 30 .

[0094] See also Figure 1 The present invention also provides a robot self-battery replacement device, which includes the robot self-battery replacement structure 100 in any of the above embodiments, and also includes a battery cabinet 200. The battery cabinet 200 has a plurality of battery compartments for placing battery cells 30. In response to the low power state of the robot body 10, the end effector 20 moves between the battery cavity 101 and the battery compartment to perform the battery replacement operation of grabbing and releasing the battery cell 30. The battery cabinet 200 is used to store the battery cell 30 and charge the battery cell 30. The above-mentioned battery cell 30 storage position is located in the battery cabinet 200. The end effector 20 can move back and forth between the battery cabinet 200 and the battery cavity 101 of the robot body 10.

[0095] The robot self-battery replacement device provided by the present invention adopts the above-mentioned robot self-battery replacement structure 100. The robot self-battery replacement structure 100 includes a robot body 10, an end effector 20, and a battery unit 30. The battery unit 30 is snap-connected to the robot body 10. The end effector 20 can remove the battery unit 30 from the robot body 10 and install the fully charged battery unit 30 in the robot body 10 after removing it from the battery cabinet 200. Moreover, when the end effector 20 takes and places the battery unit 30, it contacts the first feedback part 123 and the sliding frame 321. The sensor detects whether the snap-connection structure is in place and whether the installation is in place, thereby making the battery replacement process of the end effector 20 safer.

[0096] In some embodiments of the present invention, the battery cavity 101 of the battery cabinet 200 for placing the battery unit 30 has the same structure as the battery cavity 101 in the skeleton structure 11, and the battery cabinet 200 is also provided with a first clamping component 12 and a second clamping component 32, which can clamp the battery unit 30 in the battery cabinet 200.

[0097] The present invention also provides a robot self-battery replacement method, which is applied to the robot self-battery replacement structure 100 and the robot self-battery replacement device in any of the above embodiments. The robot self-battery replacement device includes the following steps:

[0098] When the end effector 20 is ready to clamp the battery unit 30 in the robot body 10 , it presses the first feedback portion 123 ;

[0099] The pressure detected by the sensor is obtained. If the pressure value is greater than a first threshold, the first clamping portion 124 is unlocked from the skeleton structure 11, and the end effector 20 continues to clamp the battery unit 30 and press the sliding frame 321. If the pressure value is greater than a second threshold, the end effector 20 continues to clamp the battery unit 30 so that the sliding frame 321 and the skeleton structure 11 are unlocked from each other.

[0100] When the end effector 20 moves the battery unit 30 into the battery cabinet 200 and is ready to clamp other battery units 30 in the battery cabinet 200 , it presses the sliding frame 321 ;

[0101] Obtaining the pressure detected by the sensor, if the pressure value is greater than a second threshold, the end effector 20 continues to clamp the battery unit 30, removes the battery unit 30 from the battery cabinet 200, and inserts it into the battery cavity 101 of the robot body 10;

[0102] The end effector 20 presses the first feedback portion 123 to obtain the pressure detected by the sensor. If the pressure value is greater than the first threshold, the end effector 20 releases the battery unit 30 to lock the sliding frame 321 and the skeleton structure 11 with each other.

[0103] When removing the battery unit 30 from the robot body 10, the end effector 20 first contacts the first feedback part 123 to unlock the first clamping part 124 from the skeleton structure 11, and then the end effector 20 clamps the battery unit 30 and contacts the second feedback part 3211 to disengage and unlock the second clamping part 3212 and the third clamping part 1121 from each other. At this time, the battery unit 30 can be pulled out.

[0104] After the fully charged battery unit 30 is installed into the robot body 10, the end effector 20 contacts the first feedback part 123. If the pressure value is greater than the first threshold, the end effector 20 releases the battery unit 30, the sliding frame 321 and the skeleton structure 11 are locked with each other, and the first clamping part 124 is also clamped to the skeleton structure 11.

[0105] In the robot self-battery replacement method in the above embodiment, the end effector 20 will contact the first feedback part 123 and the sliding frame 321 when taking and placing the battery unit 30, and detect whether the snap-fit structure is structured and installed in place through the sensor, thereby making the battery replacement process of the end effector 20 safer.

[0106] In some embodiments of the present invention, the sliding frame 321 is provided with a second feedback portion 3211 that cooperates with and presses against the end effector 20, and a second clamping portion 3212 extending from the second feedback portion 3211. The elastic portion 322 is used to move the second clamping portion 3212 relative to the skeleton structure 11. The skeleton structure 11 has a third clamping portion 1121 for mutually clamping with the second clamping portion 3212. The robot self-power replacement device includes the following steps:

[0107] The pressure detected by the sensor is obtained. If the pressure value is greater than a first threshold, the first clamping portion 124 is unlocked from the skeleton structure 11, and the end effector 20 continues to clamp the battery unit 30, pressing the second feedback portion 3211. If the pressure value is greater than a second threshold, the end effector 20 continues to clamp the battery unit 30 so that the second clamping portion 3212 and the third clamping portion 1121 are unlocked from each other.

[0108] When the end effector 20 moves the battery unit 30 into the battery cabinet 200 and is ready to clamp other battery units 30 in the battery cabinet 200 , it presses the second feedback portion 3211 ;

[0109] Obtaining the pressure detected by the sensor, if the pressure value is greater than a second threshold, the end effector 20 continues to clamp the battery unit 30, removes the battery unit 30 from the battery cabinet 200, and inserts it into the battery cavity 101 of the robot body 10;

[0110] The end effector 20 presses the first feedback portion 123 to obtain the pressure detected by the sensor. If the pressure value is greater than the first threshold, the end effector 20 releases the battery unit 30, and the second clamping portion 3212 and the third clamping portion 1121 are locked with each other.

[0111] When removing the battery unit 30 from the robot body 10, the end effector 20 first contacts the first feedback part 123 to unlock the first clamping part 124 from the skeleton structure 11, and then the end effector 20 clamps the battery unit 30 and contacts the second feedback part 3211 to disengage and unlock the second clamping part 3212 and the third clamping part 1121 from each other. At this time, the battery unit 30 can be pulled out.

[0112] After the fully charged battery unit 30 is installed into the robot body 10, the end effector 20 contacts the first feedback part 123. If the pressure value is greater than the first threshold, the end effector 20 releases the battery unit 30, the second clamping part 3212 and the third clamping part 1121 are locked with each other, and the first clamping part 124 is also clamped to the skeleton structure 11.

[0113] When removing the battery unit 30 from the robot body 10, the end effector 20 first contacts the first feedback part 123 to unlock the first clamping part 124 from the skeleton structure 11, and then the end effector 20 clamps the battery unit 30 and contacts the second feedback part 3211 to disengage and unlock the second clamping part 3212 and the third clamping part 1121 from each other. At this time, the battery unit 30 can be pulled out.

[0114] After the fully charged battery unit 30 is installed into the robot body 10, the end effector 20 contacts the first feedback part 123. If the pressure value is greater than the first threshold, the end effector 20 releases the battery unit 30, the second clamping part 3212 and the third clamping part 1121 are locked with each other, and the first clamping part 124 is also clamped to the skeleton structure 11.

[0115] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robot self-power replacement structure, characterized in that: include: an end effector having a sensor for detecting pressure; A robot body having a battery cavity for accommodating a battery, the robot body comprising a skeleton structure and a first clamping assembly disposed on the skeleton structure, the first clamping assembly comprising a first feedback portion cooperating to press against an end effector and a first clamping portion cooperating to clamp the battery to the skeleton structure, wherein in response to the end effector abutting against the first feedback portion, the first feedback portion moves in a first direction, and the first clamping portion follows the first feedback portion in moving in the first direction; A battery cell, the battery cell includes a battery body and a connecting plate located on one side of the battery body, a second clamping assembly is provided on the end side of the connecting plate, the second clamping assembly includes a sliding frame that cooperates to press the end actuator and an elastic part located on one side of the sliding frame, and the end actuator controls the grasping and releasing of the battery cell in response to the pressure of the sliding frame.

2. The robot self-power replacement structure according to claim 1, characterized in that: The first snap-fit assembly includes a snap-fit shell, a first elastic member, a second elastic member and a first snap-fit portion; the snap-fit shell has the first feedback portion, the two ends of the first elastic member are respectively connected to the robot body and the snap-fit shell, the telescopic direction of the first elastic member is the first direction, and the first feedback portion is slidably arranged on the robot body along the first direction; the two ends of the second elastic member are respectively connected to the snap-fit shell and the first snap-fit portion, the telescopic direction of the second elastic member is the second direction, and the first direction and the second direction are arranged at an angle.

3. The robot self-power replacement structure according to claim 2, characterized in that: The first clamping portion has a first guide surface facing the inside of the battery cavity and a second guide surface facing the outside of the battery cavity. The first guide surface and the second guide surface are both arranged at an acute angle to the second direction.

4. The robot self-power replacement structure according to claim 2, characterized in that: The surface protrusion of the battery is provided with a slide rail, and the battery cavity is provided with a slide groove matched with the slide rail. When the battery is located in the battery cavity, the first clamping portion stops at one end of the slide rail.

5. The robot self-power replacement structure according to claim 2, characterized in that: The first feedback portion has a third guide surface for contacting the end effector, and the third guide surface is arranged at an acute angle to the first direction.

6. The robot self-battery replacement structure according to any one of claims 1 to 5, characterized in that: The sliding frame is provided with a second feedback portion for cooperating and pressing the end effector and a second clamping portion extending from the second feedback portion. The elastic portion is used to move the second clamping portion relative to the skeleton structure. The skeleton structure has a third clamping portion for mutually clamping with the second clamping portion.

7. The robot self-power replacement structure according to claim 6, characterized in that: Two ends of the elastic portion are respectively connected to the battery body and the second clamping portion, and the expansion and contraction direction of the elastic portion is the same as the clamping direction of the end effector.

8. The robot self-power replacement structure according to claim 7, characterized in that: The battery body includes a battery shell and a battery cover covering the battery shell. The elastic portion, the second feedback portion and the second clamping portion are all located between the battery shell and the battery cover. The battery cover or the battery shell is provided with an opening for exposing one end of the second feedback portion.

9. The robot self-battery replacement structure according to any one of claims 1 to 5, characterized in that: The battery unit has a first contact surface for contacting the end effector, and the end effector has a second contact surface for contacting the battery unit. The first contact surface and the second contact surface are arranged in a concave-convex manner.

10. A robot self-battery replacement device, characterized in that: It includes the robot self-battery replacement structure according to any one of claims 1 to 9, and also includes a battery cabinet, wherein the battery cabinet has a plurality of battery compartments for placing battery cells. In response to the low power state of the robot body, the end effector moves between the battery cavity and the battery compartment to perform the battery replacement operation of grabbing and releasing the battery cell.

11. A robot self-battery replacement method, applied to the robot self-battery replacement structure according to any one of claims 1 to 9 and the robot self-battery replacement device according to claim 10, characterized in that: The following steps are involved: When the end effector is ready to clamp the battery in the robot body, it presses the first feedback part; Obtaining a pressure detected by the sensor; if the pressure value is greater than a first threshold, the first clamping portion is unlocked from the skeleton structure, and the end effector continues to clamp the battery unit and press the sliding frame; if the pressure value is greater than a second threshold, the end effector continues to clamp the battery unit to unlock the sliding frame and the skeleton structure; The end effector moves the battery unit into the battery cabinet and presses the sliding frame when preparing to clamp other battery units in the battery cabinet; obtaining a pressure detected by a sensor; if the pressure value is greater than the second threshold, the end effector continues to clamp the battery unit, removes the battery unit from the battery cabinet, and inserts the battery unit into the battery cavity of the robot body; The end effector presses the first feedback part to obtain the pressure detected by the sensor. If the pressure value is greater than a first threshold, the end effector releases the battery unit, and the sliding frame and the skeleton structure are locked with each other.

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