Battery electricity plugging and replacing device and method applied to autonomous endurance of robot

Abstract

The invention discloses a battery electric plugging and replacing device and method applied to autonomous endurance of a robot, and the device comprises a bottom plate, the left side of the bottom plate is provided with a weighing platform, a weighing sensor is installed in a groove in the top of the weighing platform, the top of the weighing sensor is provided with a weighing plate, the right side of the bottom plate is provided with a battery storage shell, and the bottom of the bottom plate is provided with a battery. And two camera bodies are mounted on the left side of the top of the bottom plate through two brackets. Through cooperation of the driving switching assembly and the clamping buffering assembly, a switching motor drives a gear to drive a rotating shaft to turn over, a square clamping block or an arc-shaped clamping block can be rapidly switched to a working position, manual component replacement is not needed, batteries with different shapes such as a formula shape and a cylindrical shape can be adapted, and the working efficiency is improved. And a buffer spring of the clamping buffer assembly is matched with a positioning rod, elastic buffering is formed during clamping, a pressure sensor monitors clamping force in real time and controls an electric push rod to start and stop, and battery shell breakage caused by rigid clamping is avoided.

Description

Technical Field

[0001] This invention relates to the field of electric battery swapping technology for robots, specifically to an electric battery swapping device and method for autonomous robot operation. Background Technology

[0002] With the widespread application of robotics technology in industrial production, logistics and distribution, public services and other fields, its autonomous endurance has become the core bottleneck restricting continuous operation. Automatic battery swapping devices, due to their high energy replenishment efficiency, are gradually replacing manual battery swapping and traditional charging modes, becoming the mainstream endurance solution.

[0003] According to application number CN202222570208.X, a lithium battery assembly, disassembly, replacement and maintenance rack is disclosed, including a support frame and a fixed frame. The inner sides of the four support frames are equipped with lifting and lowering shelves. The shelves have two horizontally parallel slots. A fixing rod is fixedly installed on the inner side wall of one slot and slides through two sliders. A rotating rod is rotatably installed on the inner side wall of the other slot through a bearing. The left and right halves of the rotating rod are provided with external threads with opposite thread directions, and the left and right halves of the rotating rod do not screw through the two sliders.

[0004] The aforementioned case uses a fixed gripper structure, which can only grasp square batteries and is completely unsuitable for cylindrical batteries. This results in a narrow range of applications for the battery swapping device, requiring companies to configure multiple sets of equipment for different types of robots, significantly increasing investment costs. Moreover, the positioning accuracy is low, and battery insertion and removal are achieved through adjustment in only one dimension. This makes the battery casing prone to wear due to posture deviations. Furthermore, the gripping structure lacks a buffer design, and the rigid gripping force acts directly on the battery casing. Especially for plastic-cased batteries, this can easily cause casing cracking and damage to the internal cells, affecting battery safety and lifespan. Therefore, we provide a battery electric insertion and removal device and method for autonomous robot operation. Summary of the Invention

[0005] The purpose of this invention is to provide a battery plug-and-play replacement device and method for autonomous robot operation, in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a battery plug-and-play replacement device for autonomous robot operation, comprising a base plate, a weighing platform mounted on the left side of the base plate, a weighing sensor mounted in a groove at the top of the weighing platform, a weighing plate mounted on top of the weighing sensor, a battery storage case mounted on the right side of the base plate, two camera bodies mounted on the top left side of the base plate via two brackets, a position adjustment component mounted on the top of the base plate, an angle adjustment component mounted on the position adjustment component, a drive switching component mounted on the angle adjustment component, and a clamping buffer component mounted on the drive switching component.

[0007] Optionally, the position adjustment assembly includes a movable plate, which is disposed above the base plate. Two fixed shells are provided on both the front and back of the movable plate. The bottom of the fixed shells is fixedly connected to the top of the base plate. A servo motor is installed on the top of each of the two rear fixed shells. The bottom end of the output shaft of the servo motor passes through the fixed shell and extends into it to install a threaded rod.

[0008] Optionally, a threaded block is threadedly connected to the surface of the threaded rod and at the position corresponding to the movable plate. The top and bottom of the inner walls of the two fixed shells on the front side are fixedly connected by a slide rod. A slider is slidably connected to the surface of the slide rod and at the position corresponding to the movable plate. A drive motor is installed on the left side of the movable plate.

[0009] Optionally, the right end of the drive motor output shaft passes through the movable plate and extends into the groove at the top of the movable plate. An adjusting rod is installed at the right end of the drive motor output shaft. An adjusting block is threaded onto the surface of the adjusting rod. A movable plate is installed on the top of the adjusting block.

[0010] Optionally, the angle adjustment assembly includes a rotary motor, which is installed in a groove on the top of the movable plate. An annular plate is installed at the top of the output shaft of the rotary motor, and a concave plate is installed on the top of the annular plate via a support plate. A first tilting motor is installed on the front of the concave plate, and the rear end of the output shaft of the first tilting motor passes through the concave plate and extends into it. An adjustment plate is installed on the surface of the output shaft of the first tilting motor.

[0011] Optionally, an annular shell is installed on the left side of the adjusting plate, a second flip motor is installed on the right side of the inner wall of the annular shell, a rotating plate is installed on the left end of the output shaft of the second flip motor, an RFID reader is installed on the left side of the rotating plate, a fixing groove is provided at the top and bottom of the left side of the rotating plate, an electric push rod is installed at the top and bottom of the rotating plate, a pressure sensor is installed at the output end of the electric push rod through the fixing groove and extends into it, and a guide plate is installed on the side of the pressure sensor away from the electric push rod.

[0012] Optionally, the drive switching assembly includes two fixed columns, each installed on the left side of two guide plates. A rotating shaft is rotatably connected to the groove on the left side of the fixed column via a bearing. A switching motor is installed on the fixed column. A drive gear is installed on the surface of the output shaft of the switching motor. A driven gear that meshes with the drive gear is installed on the surface of the rotating shaft at a position corresponding to the drive gear. An annular positioning sleeve is installed on the surface of the rotating shaft and on the surface of the fixed column.

[0013] Optionally, the clamping buffer assembly includes two flip plates, which are respectively installed on the left ends of two rotating shafts. The top and bottom of each flip plate are provided with connecting grooves. A stabilizing plate is installed on the inner wall of the connecting groove. A baffle is provided on the opposite side of each of the two stabilizing plates on the same side. Four positioning rods are installed on the side of the baffle close to the stabilizing plate.

[0014] Optionally, the end of the positioning rod away from the baffle passes through the stabilizing plate and the connecting groove in sequence and extends to the outside of the connecting groove. The ends of the four positioning rods on the same side away from the baffle are fixedly connected by the mounting plate. The surface of the positioning rod is sleeved with a buffer spring. The two mounting plates are respectively provided with a square clamping block and an arc-shaped clamping block.

[0015] A method for electrically pluggable and swappable battery replacement for autonomous robot operation, the method being applicable to the aforementioned electrically pluggable and swappable battery replacement device for autonomous robot operation, specifically including the following replacement method: S1. Robot autonomous docking and battery swapping trigger: The robot moves to the weighing plate of the weighing platform through the preset navigation path. The weight of the robot triggers the weighing sensor, which sends a docking signal to the control system. The control system activates the two cameras to take real-time pictures of the robot's battery installation area, initially identify the shape and installation position of the battery, and send a battery swapping preparation command to each execution component. S2. Positioning Calibration and Clamping Posture Adjustment: The camera body acquires battery image data, and the image recognition algorithm calculates the deviation between the battery's actual coordinates and the reference coordinates. The control system activates the position adjustment component, and the servo motor drives the threaded rod to rotate, causing the threaded block and movable plate to rise and fall vertically. The slider slides synchronously along the slide rod to ensure stability. The drive motor drives the adjustment rod to rotate, causing the adjustment block and movable plate to move horizontally, thereby achieving X and Y axis position calibration. The angle adjustment component is activated, and the rotary motor drives the annular plate to rotate horizontally. The first flip motor drives the adjustment plate to flip around the horizontal axis, and the second flip motor drives the rotating plate to flip around the vertical axis, adjusting the spatial angle of the clamping buffer component so that the clamping block is aligned with the battery clamping surface. S3. Clamping Block Switching and Old Battery Clamping: The control system activates the drive switching component based on the battery shape (square or round) identified by the camera. The switch motor drives the drive gear to rotate, which in turn drives the driven gear and rotating shaft. The annular positioning sleeve assists in positioning, causing the rotating shaft to rotate the flip plate 180 degrees. The corresponding square or arc-shaped clamping block is rotated to the working position, so that the two clamping blocks of the corresponding shape are positioned relative to each other. The output end of the electric push rod extends, pushing the guide plate closer to the battery. The positioning rod slides along the stabilizing plate, and the clamping block contacts the battery. The buffer spring is compressed. When the pressure sensor detects that the pressure has reached the preset threshold, the electric push rod stops extending, completing the flexible clamping of the old battery. At the same time, the RFID reader reads the old battery tag information, uploads it to the control system for confirmation, and records the remaining power and health status of the old battery. S4. Unlocking and removing old battery: The control system sends a battery unlocking command to the robot. After the robot receives feedback that the battery lock has been unlocked, the position adjustment component moves in the opposite direction. The drive motor drives the adjustment rod to rotate in the opposite direction. The moving plate pulls out the old battery held in the horizontal direction smoothly. The servo motor drives the moving plate to rise and fall. The drive motor adjusts the position of the moving plate. The motor on the angle adjustment component starts at the same time to move the old battery to the top of the battery storage shell. The electric push rod retracts, releasing the old battery. The old battery falls into the battery storage shell, completing the storage of the old battery. S5. New Battery Grabbing and Posture Adjustment: Based on the position of the new battery in the battery storage case, the control system drives the movable plate and the moving plate to the corresponding compartment of the battery storage case through the position adjustment component. At the same time, the RFID reader reads the new battery tag information and compares it with the robot's compatible model. If the comparison matches, the grabbing is performed. If the comparison does not match, the battery is re-selected, and the angle adjustment component is activated again. The rotary motor, the first flip motor, and the second flip motor work together to adjust the posture of the new battery so that it is consistent with the installation angle of the robot's battery interface. S6. New battery installation and locking confirmation: The position adjustment component drives the moving plate to move towards the robot battery interface, smoothly inserting the new battery into the interface. The control system sends a battery locking command to the robot. After the robot responds that the locking is completed, the electric push rod retracts, the guide plate resets, the clamping block disengages from the new battery, and the position adjustment component and angle adjustment component drive each component back to its initial position. S7. Battery swap complete and robot leaves the station: Battery swap successful. Send a battery swap complete signal to the robot. After receiving the signal, the robot performs a power-on self-test. After passing the self-test, it leaves the weighing platform along the navigation path and resumes autonomous operation. The battery swap process ends.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention utilizes a drive switching component and a clamping buffer component in synergy. The switching motor drives the gear transmission to rotate the shaft, which can quickly switch the square or arc-shaped clamping block to the working position without the need for manual replacement of parts. This allows it to adapt to batteries of different shapes, such as square and cylindrical. Furthermore, the buffer spring of the clamping buffer component works in conjunction with the positioning rod to form an elastic buffer during clamping. The pressure sensor monitors the clamping force in real time and controls the start and stop of the electric push rod, thus avoiding the battery casing from breaking due to rigid clamping.

[0017] 2. This invention enables precise bidirectional adjustment of the servo motor and drive motor along the X and Y axes by setting a position adjustment component. The slider and slide bar work together to ensure smooth lifting and translation. The angle adjustment component achieves horizontal rotation and multi-dimensional flipping through a rotary motor, a first flip motor, and a second flip motor, ensuring precise alignment between the clamping block and the battery interface. This avoids the posture deviation caused by traditional single-dimensional adjustment, reduces wear on the casing and collision with the interface during battery insertion and removal, improves battery swapping reliability, and enhances the automation level of battery replacement.

[0018] 3. By setting up an RFID reader and a camera, this invention can read core information such as the model, voltage, power, and health status of the battery's built-in tag. It can achieve dual protection of appearance recognition and core verification, avoiding the installation of incompatible batteries into the robot and eliminating safety hazards such as short circuits and component damage. At the same time, it can trace the battery's usage trajectory and health status, providing data support for battery maintenance and life management, and improving the intelligence and safety of the battery swapping process. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural schematic diagram of the side view of the present invention; Figure 3 This is a three-dimensional structural schematic diagram of the rear view of the present invention; Figure 4 This is a three-dimensional cross-sectional view of the present invention; Figure 5 This is a three-dimensional structural diagram of the movable plate, angle adjustment component, drive switching component, and clamping buffer component of the present invention; Figure 6 This is a three-dimensional cross-sectional view of the movable plate, angle adjustment component, drive switching component, and clamping buffer component of the present invention. Figure 7 This is a three-dimensional structural schematic diagram of the annular shell, drive switching component, and clamping buffer component of the present invention from a bottom view. Figure 8 This is a three-dimensional cross-sectional view of the annular shell, drive switching component, and clamping buffer component of the present invention. Figure 9This is a three-dimensional structural diagram of the drive switching component and the clamping buffer component of the present invention; Figure 10 This is a three-dimensional cross-sectional view of the drive switching component and clamping buffer component of the present invention.

[0020] In the diagram: 1. Base plate; 100. Weighing platform; 101. Weighing sensor; 102. Weighing plate; 103. Battery storage case; 104. Camera body; 2. Position adjustment assembly; 21. Movable plate; 22. Fixed shell; 23. Servo motor; 24. Threaded rod; 25. Threaded block; 26. Slide rod; 27. Slider; 28. Drive motor; 29. ​​Adjusting rod; 210. Adjusting block; 211. Moving plate; 3. Angle adjustment assembly; 31. Rotary motor; 32. Annular plate; 33. Support plate; 34. Concave plate; 35. First flip motor; 36. Adjusting plate; 37. Annular shell; 38. Second flip motor; 39. Rotating plate; 310. 1. RFID reader; 311. Fixing slot; 312. Electric push rod; 313. Pressure sensor; 314. Guide plate; 4. Drive switching assembly; 41. Fixing column; 42. Rotating shaft; 43. Switching motor; 44. Drive gear; 45. Driven gear; 46. Annular positioning sleeve; 5. Clamping buffer assembly; 51. Flipping plate; 52. Connecting slot; 53. Stabilizing plate; 54. Baffle; 55. Positioning rod; 56. Mounting plate; 57. Buffer spring; 58. Square clamping block; 59. Arc-shaped clamping block; 6. Annular groove; 7. Annular frame; 8. Square rubber pad; 9. Arc-shaped rubber pad; 11. Slot; 12. Insert block; 13. Fastening bolt. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see Figure 1-10A battery plug-and-play replacement device for autonomous robot operation includes a base plate 1. A weighing platform 100 is mounted on the left side of the base plate 1. A weighing sensor 101 is installed in a groove on the top of the weighing platform 100. A weighing plate 102 is mounted on top of the weighing sensor 101. A battery storage shell 103 is mounted on the right side of the base plate 1. A separator is installed on the inner wall of the battery storage shell 103 to separate the old and new batteries in the battery storage shell 103. Two camera bodies 104 are mounted on the top left side of the base plate 1 via two brackets. The camera bodies 104 collect battery image data, calculate the deviation between the actual coordinates of the battery and the reference coordinates using an image recognition algorithm, and simultaneously collect the shape of the battery.

[0023] A position adjustment assembly 2 is provided on the top of the base plate 1. The position adjustment assembly 2 includes a movable plate 21, which is positioned above the base plate 1. Two fixed shells 22 are provided on the front and back of the movable plate 21. The side of the movable plate 21 closest to the fixed shell 22 is in sliding contact with the fixed shell 22. The bottom of the fixed shell 22 is fixedly connected to the top of the base plate 1. Servo motors 23 are installed on the top of the two fixed shells 22 on the rear side. The bottom end of the output shaft of the servo motor 23 passes through the fixed shell 22 and extends into it to install a threaded rod 24. The two servo motors 23 and the two threaded rods 24 are of the same model and size, thereby ensuring that the movable plate 21 can be driven to move up and down stably. A threaded block 25 is threadedly connected to the surface of the threaded rod 24 at the position corresponding to the movable plate 21. The front of the threaded block 25 is welded and fixedly connected to the back of the movable plate 21. The top and bottom of the inner walls of the two fixed shells 22 on the front side are fixedly connected by a slide rod 26. A slider 27 is slidably connected to the surface of the slide rod 26 at the position corresponding to the movable plate 21. The back of the slider 27 is connected to the front of the movable plate 21. The front of the two fixed shells 22 on the front side is fixedly connected by a controller. By setting the sliding rod 26 and the slider 27, the stability of the moving plate 21 when moving up and down is improved, and it plays a guiding role. This allows the force of the rotating motion of the threaded rod 24 to be converted into the force that drives the threaded block 25 to move up and down. The left side of the moving plate 21 is equipped with a drive motor 28. Both the servo motor 23 and the drive motor 28 are forward and reverse motors with self-locking function. The right end of the output shaft of the drive motor 28 passes through the moving plate 21 and extends into the groove at the top of the moving plate 21. The right end of the output shaft of the drive motor 28 is equipped with an adjusting rod 29. The surface of the adjusting rod 29 is threadedly connected to an adjusting block 210. The surface of the adjusting block 210 slides in contact with the groove at the top of the moving plate 21, playing a guiding role. This allows the force of the rotating motion of the adjusting rod 29 to be converted into the force that drives the adjusting block 210 to move left and right. The top of the adjusting block 210 is welded and installed with a moving plate 211. The bottom of the moving plate 211 slides in contact with the top of the moving plate 21, playing a guiding role.

[0024] The controller integrates a control module, an image recognition module, a motor drive module, a sensor signal acquisition module, a communication module, and a power management module. The control module, an STM32H743 microcontroller, serves as the central control unit for the entire device, responsible for parsing signals transmitted from all modules, executing the battery swapping process logic, and outputting coordinated control commands. The image recognition module features an image acquisition interface and a built-in YOLOv8 algorithm. Its core function is to receive image data from the cameras, identify the battery shape, locate marker points, and calculate positional deviation values. It connects to two camera bodies (104) via a USB 3.0 interface, receiving real-time image data streams. After algorithm processing, the deviation data is transmitted to the core. The core control module and motor drive module convert the digital instructions from the core control module into drive signals that the motors can recognize, controlling the start, stop, speed, and angle of various motors. The sensor signal acquisition module is used to collect analog or digital signals from various sensors and convert them into digital quantities that the core control module can recognize. The communication module consists of 4G and WiFi modules, which are responsible for the information interaction between the controller and external devices. It establishes wireless communication with the robot through the 4G module, sends commands such as battery unlocking, locking, and battery replacement completion, and receives status feedback from the robot. The power management module is equipped with a DC-DC converter and overcurrent and overvoltage protection circuits to provide stable and adaptable power supply for the controller and all external components.

[0025] An angle adjustment component 3 is provided on the position adjustment component 2. The angle adjustment component 3 includes a rotary motor 31, which is installed in a groove on the top of the moving plate 211. An annular plate 32 is installed at the top of the output shaft of the rotary motor 31. The bottom of the annular plate 32 is in rotatable contact with the top of the moving plate 211. A concave plate 34 is installed on the top of the annular plate 32 via a support plate 33. A first tilting motor 35 is installed on the front of the concave plate 34. The rear end of the output shaft of the first tilting motor 35 passes through the concave plate 34 and extends into it. An adjustment plate 36 is installed on the surface of the output shaft of the first tilting motor 35. An annular shell 37 is installed on the left side of the adjustment plate 36. A second tilting motor 38 is installed on the right side of the inner wall of the annular shell 37. The rotary motor 31, the first tilting motor 35, and the second tilting motor 38 are all forward and reverse motors with self-locking function. A rotating plate 39 is installed on the left end of the output shaft of the second tilting motor 38. The left side of the annular shell 37... An annular groove 6 is provided, and an annular frame 7 adapted to the annular groove 6 is installed on the right side of the rotating plate 39. The right side of the annular frame 7 passes through the annular groove 6 and extends into it, making rotational contact with the inner wall of the annular groove 6. By setting the annular groove 6 and the annular frame 7, the stability of the rotating plate 39 during rotation is improved. An RFID reader 310 is installed on the left side of the rotating plate 39. The RFID reader 310 reads the core information such as the model, voltage, power, and health status of the battery tag. Fixing grooves 311 are provided at the top and bottom of the left side of the rotating plate 39. Electric push rods 312 are installed at the top and bottom of the rotating plate 39. The output end of the electric push rod 312 passes through the fixing groove 311 and extends into it, where a pressure sensor 313 is installed. A guide plate 314 is installed on the side of the pressure sensor 313 away from the electric push rod 312. The surface of the guide plate 314 slides in contact with the inner wall of the fixing groove 311, which plays a guiding role.

[0026] Angle adjustment assembly 3 is equipped with a drive switching assembly 4. The drive switching assembly 4 includes two fixed posts 41, which are respectively installed on the left side of two guide plates 314. A rotating shaft 42 is rotatably connected to the groove on the left side of the fixed post 41 via a bearing. A switching motor 43 is installed on the fixed post 41. The switching motor 43 is a forward and reverse motor with a self-locking function. A drive gear 44 is installed on the surface of the output shaft of the switching motor 43. A driven gear 45 that meshes with the drive gear 44 is installed on the surface of the rotating shaft 42 at the position corresponding to the drive gear 44. An annular positioning sleeve 46 is installed on the surface of the rotating shaft 42 and on the surface of the fixed post 41. The annular positioning sleeve 46 is shaped like an annular concave block. The inner wall of the annular positioning sleeve 46 is in rotatable contact with the surface of the fixed post 41, which improves the stability of the rotating shaft 42 during rotation.

[0027] The drive switching assembly 4 is equipped with a clamping buffer assembly 5, which includes two flip plates 51, each mounted on the left end of one of the two rotating shafts 42. Each flip plate 51 has a connecting groove 52 at its top and bottom. A stabilizing plate 53 is mounted on the inner wall of the connecting groove 52. A baffle 54 is provided on the opposite side of each of the two stabilizing plates 53. The baffle 54 is in contact with the stabilizing plate 53 on the side closest to it. Four positioning rods 55 are mounted on the side of the baffle 54 closest to the stabilizing plate 53. The end of each positioning rod 55 away from the baffle 54 passes through the stabilizing plate 53 and the connecting groove 52, extending to the connecting... Outside the slot 52, four positioning rods 55 located on the same side and their ends away from the baffle 54 are fixedly connected by a mounting plate 56. A buffer spring 57 is sleeved on the surface of the positioning rod 55. The elastic force of the buffer spring 57 can absorb the impact force when in contact with the battery, reducing the damage to the battery. The two ends of the buffer spring 57 are respectively connected to the mounting plate 56 and the stabilizing plate 53. A square clamping block 58 and an arc-shaped clamping block 59 are respectively provided on the two mounting plates 56. The side of the square clamping block 58 close to the mounting plate 56 is in contact with the mounting plate 56, and the side of the arc-shaped clamping block 59 close to the mounting plate 56 is in contact with the mounting plate 56.

[0028] Square rubber pads 8 and arc-shaped rubber pads 9 are respectively adhered to the square clamping block 58 and the arc-shaped clamping block 59. The square rubber pads 8 and the arc-shaped rubber pads 9 increase the friction and further buffer the clamping pressure, which is especially suitable for plastic-cased batteries, effectively protecting the internal cells and extending the battery life. Two slots 11 are opened on opposite sides of the square clamping block 58 and the arc-shaped clamping block 59. An insert block 12 is installed on the side of the mounting plate 56 near the slot 11 and corresponding to the position of the slot 11. The side of the insert block 12 near the slot 11 passes through the slot 11 and extends into its interior. The two mounting plates 56 are respectively provided with fastening bolts 13 that are threadedly connected to the square clamping block 58 and the arc-shaped clamping block 59, and the inner wall of the slot 11 is in contact with each other. By setting the slot 11, the insert block 12 and the fastening bolts 13 as detachable, the clamping blocks can be replaced individually after wear, resulting in low maintenance costs. Loosen the fastening bolts 13 and then pull the clamping blocks to move the square clamping block 58 and the arc-shaped clamping block 59 away from the mounting plate 56, so that the insert block 12 is separated from the slot 11, and the disassembly is completed. The installation connection between the various structures is by welding or bolt connection.

[0029] A method for electrically pluggable and pluggable battery replacement for autonomous robot operation, applicable to battery replacement devices used in autonomous robot operation, specifically including the following replacement method: S1. Robot autonomous docking and battery swapping trigger: The robot moves to the weighing plate 102 of the weighing platform 100 through a preset navigation path. The weight of the robot triggers the weighing sensor 101, which sends a docking signal to the control system. The control system activates the two camera bodies 104 to take real-time pictures of the robot's battery installation area, initially identify the shape and installation position of the battery, and send a battery swapping preparation command to each execution component.

[0030] S2. Positioning Calibration and Clamping Posture Adjustment: The camera body 104 acquires battery image data, calculates the deviation between the battery's actual coordinates and the reference coordinates using an image recognition algorithm, and controls the system to activate the position adjustment component 2. The servo motor 23 drives the threaded rod 24 to rotate, causing the threaded block 25 and the movable plate 21 to rise and fall vertically. The slider 27 slides synchronously along the slide bar 26 to ensure stability. The drive motor 28 drives the adjustment rod 29 to rotate, causing the adjustment block 210 and the moving plate 211 to move horizontally, thus achieving X and Y axis position calibration. The angle adjustment component 3 is activated, and the rotary motor 31 drives the annular plate 32 to rotate horizontally. The first flip motor 35 drives the adjustment plate 36 to flip around the horizontal axis, and the second flip motor 38 drives the rotating plate 39 to flip around the vertical axis, adjusting the spatial angle of the clamping buffer component 5 so that the clamping block is aligned with the battery clamping surface.

[0031] S3. Clamping Block Switching and Old Battery Clamping: Based on the battery shape (square or round) identified by the camera body 104, the control system activates the drive switching component 4. The switching motor 43 drives the drive gear 44 to rotate, which in turn drives the driven gear 45 and the rotating shaft 42 to rotate. The annular positioning sleeve 46 assists in positioning, causing the rotating shaft 42 to drive the flip plate 51 to rotate 180 degrees. The corresponding square clamping block 58 or arc-shaped clamping block 59 is rotated to the working position, so that the positions of the two clamping blocks of the corresponding shapes are relative. The output end of the electric push rod 312 extends, pushing the guide plate 314 closer to the battery. The positioning rod 55 slides along the stabilizing plate 53 for guidance. The clamping block and the battery come into contact, and the buffer spring 57 is compressed. When the pressure sensor 313 detects that the pressure has reached the preset threshold, the electric push rod 312 stops extending, completing the flexible clamping of the old battery. At the same time, the RFID reader 310 reads the old battery tag information, uploads it to the control system for confirmation, and records the remaining power and health status of the old battery.

[0032] S4. Unlocking and Removing the Old Battery: The control system sends a battery unlocking command to the robot. After the robot receives feedback that the battery lock has been unlocked, the position adjustment component 2 moves in the opposite direction. The drive motor 28 drives the adjustment rod 29 to rotate in the opposite direction. The moving plate 211 pulls out the old battery held in the horizontal direction smoothly. The servo motor 23 drives the movable plate 21 to rise and fall. The drive motor 28 adjusts the position of the moving plate 211. The motor on the angle adjustment component 3 starts at the same time, moving the old battery to the top of the battery storage shell 103. The electric push rod 312 retracts, releasing the old battery. The old battery falls into the storage shell 103, completing the storage of the old battery.

[0033] S5. New Battery Grabbing and Posture Adjustment: Based on the position of the new battery within the storage housing 103, the control system drives the movable plate 21 and the moving plate 211 to the corresponding compartment in the battery storage housing 103 via the position adjustment component 2. Simultaneously, the RFID reader 310 reads the new battery tag information and compares it with the robot's compatible model. If the comparison matches, the battery is grasped. If the comparison does not match, the battery is re-selected, and the angle adjustment component 3 activates again. The rotary motor 31, the first flip motor 35, and the second flip motor 38 work together to adjust the posture of the new battery so that it is consistent with the installation angle of the robot's battery interface.

[0034] S6. New battery installation and locking confirmation: Position adjustment component 2 drives moving plate 211 to move towards robot battery interface, smoothly inserts new battery into interface, control system sends battery locking command to robot, after robot feedback lock completion, electric push rod 312 retracts, guide plate 314 resets, clamping block disengages from new battery, position adjustment component 2 and angle adjustment component 3 drive each component back to initial position.

[0035] S7. Battery swapping complete and robot leaves the station: Battery swapping is successful. A battery swapping complete signal is sent to the robot. After receiving the signal, the robot performs a power-on self-test. After passing the self-test, it leaves the weighing platform 100 along the navigation path and resumes autonomous operation. The battery swapping process ends.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A battery plug-and-play replacement device for autonomous robot operation, characterized in that: Includes a base plate (1), a weighing platform (100) is installed on the left side of the base plate (1), a weighing sensor (101) is installed in the groove at the top of the weighing platform (100), a weighing plate (102) is installed on the top of the weighing sensor (101), a battery storage shell (103) is installed on the right side of the base plate (1), two camera bodies (104) are installed on the left side of the top of the base plate (1) by two brackets, a position adjustment component (2) is provided on the top of the base plate (1), an angle adjustment component (3) is provided on the position adjustment component (2), a drive switching component (4) is provided on the angle adjustment component (3), and a clamping buffer component (5) is provided on the drive switching component (4).

2. The battery plug-and-play replacement device for autonomous robot operation according to claim 1, characterized in that: The position adjustment component (2) includes a movable plate (21) which is located above the base plate (1). The movable plate (21) has two fixed shells (22) on its front and back sides. The bottom of the fixed shells (22) is fixedly connected to the top of the base plate (1). A servo motor (23) is installed on the top of the two fixed shells (22) on the rear side. The bottom end of the output shaft of the servo motor (23) passes through the fixed shell (22) and extends into it to install a threaded rod (24).

3. The battery plug-and-play replacement device for autonomous robot operation according to claim 2, characterized in that: The threaded rod (24) is threaded with a threaded block (25) at the position corresponding to the movable plate (21). The top and bottom of the inner walls of the two front fixed shells (22) are fixedly connected by a slide rod (26). The slide rod (26) is slidably connected with a slider (27) at the position corresponding to the movable plate (21). A drive motor (28) is installed on the left side of the movable plate (21).

4. The battery plug-and-play replacement device for autonomous robot operation according to claim 3, characterized in that: The right end of the output shaft of the drive motor (28) passes through the movable plate (21) and extends into the groove at the top of the movable plate (21). An adjusting rod (29) is installed at the right end of the output shaft of the drive motor (28). An adjusting block (210) is threaded onto the surface of the adjusting rod (29). A movable plate (211) is installed on the top of the adjusting block (210).

5. The battery plug-and-play replacement device for autonomous robot operation according to claim 4, characterized in that: The angle adjustment assembly (3) includes a rotary motor (31), which is installed in a groove on the top of the movable plate (211). An annular plate (32) is installed at the top of the output shaft of the rotary motor (31). A concave plate (34) is installed on the top of the annular plate (32) via a support plate (33). A first flip motor (35) is installed on the front of the concave plate (34). The rear end of the output shaft of the first flip motor (35) passes through the concave plate (34) and extends into it. An adjustment plate (36) is installed on the surface of the output shaft of the first flip motor (35).

6. The battery plug-and-play replacement device for autonomous robot operation according to claim 5, characterized in that: An annular shell (37) is installed on the left side of the adjusting plate (36). A second flip motor (38) is installed on the right side of the inner wall of the annular shell (37). A rotating plate (39) is installed on the left end of the output shaft of the second flip motor (38). An RFID reader (310) is installed on the left side of the rotating plate (39). A fixing groove (311) is provided at the top and bottom of the left side of the rotating plate (39). An electric push rod (312) is installed at the top and bottom of the rotating plate (39). A pressure sensor (313) is installed inside the fixing groove (311) at the output end of the electric push rod (312). A guide plate (314) is installed on the side of the pressure sensor (313) away from the electric push rod (312).

7. The battery plug-and-play replacement device for autonomous robot operation according to claim 6, characterized in that: The drive switching assembly (4) includes two fixed columns (41) installed on the left side of two guide plates (314). A rotating shaft (42) is rotatably connected to the groove on the left side of the fixed column (41) via a bearing. A switching motor (43) is installed on the fixed column (41). A drive gear (44) is installed on the surface of the output shaft of the switching motor (43). A driven gear (45) that meshes with the drive gear (44) is installed on the surface of the rotating shaft (42) at the position corresponding to the drive gear (44). An annular positioning sleeve (46) is installed on the surface of the rotating shaft (42) and on the surface of the fixed column (41).

8. The battery plug-and-play replacement device for autonomous robot operation according to claim 7, characterized in that: The clamping buffer assembly (5) includes a flip plate (51). There are two flip plates (51) and they are respectively installed on the left end of two rotating shafts (42). The top and bottom of the flip plate (51) are provided with connecting grooves (52). A stabilizing plate (53) is installed on the inner wall of the connecting groove (52). A baffle (54) is provided on the opposite side of the two stabilizing plates (53) on the same side. Four positioning rods (55) are installed on the side of the baffle (54) near the stabilizing plate (53).

9. The battery plug-and-play replacement device for autonomous robot operation according to claim 8, characterized in that: The end of the positioning rod (55) away from the baffle (54) passes through the stabilizing plate (53) and the connecting groove (52) in sequence and extends to the outside of the connecting groove (52). The ends of the four positioning rods (55) on the same side away from the baffle (54) are fixedly connected by the mounting plate (56). The surface of the positioning rod (55) is fitted with a buffer spring (57). The two mounting plates (56) are respectively provided with a square clamping block (58) and an arc-shaped clamping block (59).

10. A method for electrically plugging and unplugging batteries for autonomous robot operation, characterized in that: The replacement method is applicable to the battery plug-and-play replacement device for autonomous robot endurance as described in any one of claims 1-9, and specifically includes the following replacement method: S1. Robot autonomous docking and battery swapping trigger: The robot moves to the weighing plate (102) of the weighing platform (100) through a preset navigation path. The weight of the robot triggers the weighing sensor (101). The weighing sensor (101) sends a docking signal to the control system. The control system activates the two camera bodies (104) to take real-time pictures of the robot's battery installation area, initially identify the shape and installation position of the battery, and at the same time send a battery swapping preparation command to each execution component. S2, Positioning Calibration and Clamping Posture Adjustment: The camera body (104) collects battery image data, calculates the deviation between the actual coordinates of the battery and the reference coordinates through the image recognition algorithm, controls the system to start the position adjustment component (2), the servo motor (23) drives the threaded rod (24) to rotate, driving the threaded block (25) and the movable plate (21) to rise and fall in the vertical direction, the slider (27) slides synchronously along the slide bar (26) to ensure stability, the drive motor (28) drives the adjustment rod (29) to rotate, driving the adjustment block (210) and the moving plate (211) to move in the horizontal direction, realizing the X and Y axis position calibration, the angle adjustment component (3) is started, the rotary motor (31) drives the ring plate (32) to rotate horizontally, the first flip motor (35) drives the adjustment plate (36) to flip around the horizontal axis, the second flip motor (38) drives the rotating plate (39) to flip around the vertical axis, adjust the spatial angle of the clamping buffer component (5) so that the clamping block is aligned with the battery clamping surface; S3. Clamping Block Switching and Old Battery Clamping: Based on the battery shape identified by the camera body (104), such as square or round, the control system activates the drive switching component (4). The switching motor (43) drives the drive gear (44) to rotate, which in turn drives the driven gear (45) and the rotating shaft (42) to rotate. The annular positioning sleeve (46) assists in positioning, causing the rotating shaft (42) to drive the flip plate (51) to rotate 180 degrees, rotating the corresponding square clamping block (58) or arc-shaped clamping block (59) to the working position, so that the corresponding shape... The two clamping blocks are positioned opposite each other. The output end of the electric push rod (312) extends and pushes the guide plate (314) closer to the battery. The positioning rod (55) slides along the stabilizing plate (53) and guides the clamping blocks and the battery. The buffer spring (57) is compressed. When the pressure sensor (313) detects that the pressure reaches the preset threshold, the electric push rod (312) stops extending, completing the flexible clamping of the old battery. At the same time, the RFID reader (310) reads the old battery tag information, uploads it to the control system for confirmation, and records the remaining power and health status of the old battery. S4. Unlocking and removing the old battery: The control system sends a battery unlocking command to the robot. After the robot receives feedback on the battery lock unlocking, the position adjustment component (2) moves in the opposite direction. The drive motor (28) drives the adjustment rod (29) to rotate in the opposite direction. The moving plate (211) pulls out the old battery held in the horizontal direction smoothly. The servo motor (23) drives the moving plate (21) to rise and fall. The drive motor (28) adjusts the position of the moving plate (211). The motor on the angle adjustment component (3) starts at the same time, and the old battery is moved to the top of the battery storage shell (103). The electric push rod (312) retracts, releases the old battery, and the old battery falls into the battery storage shell (103), completing the storage of the old battery. S5. New battery grasping and attitude adjustment: The control system drives the movable plate (21) and the moving plate (211) to the corresponding compartment of the battery storage shell (103) according to the position of the new battery in the battery storage shell (103) through the position adjustment component (2). At the same time, the RFID reader (310) reads the new battery tag information and compares it with the robot's compatible model. If the comparison is consistent, the grasping is performed. If the comparison is inconsistent, the filter is re-selected, and the angle adjustment component (3) moves again. The rotary motor (31), the first flip motor (35), and the second flip motor (38) work together to adjust the attitude of the new battery so that it is consistent with the installation angle of the robot's battery interface. S6. Installation and locking confirmation of new battery: The position adjustment component (2) drives the moving plate (211) to move towards the robot battery interface, inserts the new battery smoothly into the interface, and the control system sends a battery locking command to the robot. After the robot reports that the locking is completed, the electric push rod (312) retracts, the guide plate (314) resets, the clamping block disengages from the new battery, and the position adjustment component (2) and the angle adjustment component (3) drive each component back to its initial position. S7. Battery swapping completed and robot leaves the station: Battery swapping is successful. A battery swapping completion signal is sent to the robot. After receiving the signal, the robot performs a power-on self-test. After passing the self-test, it leaves the weighing platform (100) along the navigation path and resumes autonomous operation. The battery swapping process ends.

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