A body intelligent robot working module automatic reloading system and method thereof

Abstract

The application relates to a body intelligent robot operation module automatic replacement system and a method thereof, and the technical scheme points of the application comprise the following: a robot, which is provided with a first receiving seat, a first docking mechanism and a first electrical connection assembly on the first receiving seat; an operation table, which is provided with a second receiving seat, a second docking mechanism and a second electrical connection assembly on the second receiving seat; an operation module, which is provided with a docking seat, a third docking mechanism and a third electrical connection assembly on the docking seat; and a carrying manipulator, which can grab the operation module and dock the operation module with the first receiving seat or the second receiving seat; the whole system integrates operation module storage, automatic taking and placing, positioning docking, fixing and power supply communication together, and effectively improves the automation degree, reliability and safety of the body intelligent robot operation module replacement.

Description

Technical Field

[0001] This invention relates to a robot dressing system, and more specifically, to an automatic dressing system and method for an embodied intelligent robot working module. Background Technology

[0002] With the development of embodied intelligent robots, quadruped robots, and mobile inspection robots, robots are gradually evolving from single inspection platforms to multi-task operation platforms. To adapt to different task requirements, robots typically need to be equipped with different types of operation modules, such as robotic arm modules, gimbal modules, sensor modules, drone modules, or other functional modules. Different operation modules can endow robots with different operational capabilities, enabling them to have greater task adaptability in scenarios such as inspection, detection, grasping, observation, and communication relay.

[0003] In existing technologies, the replacement of robot operation modules mainly falls into the following categories.

[0004] The first category is quick-change tools for industrial robot end effectors. This type of technology typically involves installing a robot-side quick-change disc at the end of the industrial robotic arm and a tool-side quick-change disc at the tool end. Mechanical locking, pneumatic locking, or electrical connection modules enable the rapid replacement of end effectors such as grippers, grinding heads, and welding torches. This solution is suitable for industrial robotic arms with fixed workstations and can improve the switching efficiency of end effectors. However, this technology is primarily geared towards end effectors and is not suitable for directly addressing the automatic replacement of back-end work modules for quadruped robots or other embodied intelligent robots. This is because embodied intelligent robots are not replacing a single end effector tool, but rather a work module with a certain volume, weight, power supply, and communication requirements. After installation, the work module also needs to withstand the impacts of robot movement, turning, climbing slopes, and vibrations. Therefore, using only a standard quick-change end effector structure cannot simultaneously meet the requirements for module storage, automatic handling, installation and fixation, power supply and communication, and shock resistance and reliability.

[0005] The second category is the robot's quick-change tool library or tool station. This type of technology typically includes a tool library, quick-change base, guiding structure, and locking structure, enabling the robot to change working tools within the tool library. While this approach improves the reliability of tool retrieval and placement, its focus remains on the rapid switching of end-effector tools within the tool library, without forming a complete tool-changing system around the robot's rear-mounted working module. In particular, existing tool libraries often lack a unified interface standard between the module storage side and the robot mounting side. The attitude maintenance of the working module in its stored state, bottom interface protection, robot-side magnetic fixation, and power and communication confirmation after tool change still lack integrated design.

[0006] The third type is the modular robot structure. This technology divides the robot body into several detachable modules, such as drive modules, joint modules, power modules, and control modules, to facilitate robot assembly, maintenance, or repair and replacement. Although this approach incorporates modular concepts, its primary purpose is the combination and maintenance of the robot's main structure, not the automatic replacement of external working modules according to task requirements during robot operation. Therefore, this type of technology typically does not involve the automatic transfer of working modules between the storage side and the robot side, nor does it address the electromagnetic adsorption fixation, power supply conduction, communication handshake, and interlocking control after the working modules are automatically installed.

[0007] The fourth category is automatic charging or battery swapping technology for mobile robots. This type of technology enables robots or vehicles to enter charging stations or battery swapping stations and complete energy replenishment. Automatic charging typically only establishes an electrical connection between the robot and the charging pile, while battery swapping technology is mainly used for retrieving and placing battery boxes. This type of technology solves the energy replenishment problem, not the problem of switching robot operational capabilities. Unlike batteries, operational modules, after installation, not only require mechanical fixation but also need to establish a power supply and communication connection with the robot's control system and maintain stability and reliability during robot movement. Therefore, a simple automatic charging or battery swapping structure cannot directly meet the needs of automatic swapping of multiple operational modules.

[0008] In summary, while existing technologies offer solutions such as quick end-effector tool changing, tool libraries, modular robots, and automatic charging / battery swapping for industrial robots, most of these solutions only address specific problems: some only solve quick end-effector tool changing, some only address robot body modularization, some only address energy replenishment, and some only address tool storage and retrieval. For embodied intelligent robots, there is still a lack of an automated tool changing system that integrates work module storage, automatic module retrieval, robot-side installation, interface positioning, adsorption and fixation, power supply and communication, and status confirmation interlocking.

[0009] Therefore, there is an urgent need for an automated replacement system and method for embodied intelligent robot operation modules, which enables operation modules to be automatically transferred, guided, positioned, attached, fixed, connected to power supply and communication, and interlocked between the storage side and the robot side through a unified standardized interface, thereby improving the automation, reliability and safety of operation module replacement. Summary of the Invention

[0010] This invention provides an automatic replacement system and method for embodied intelligent robot operation modules, which solves the problems of low automation, insufficient reliability and safety in the replacement process of robot operation modules in the prior art.

[0011] The above-mentioned technical objective of the present invention is achieved through the following technical solution: an automatic changing system for a body-worn intelligent robot operation module, comprising: a robot, on which a first receiving seat is provided, the first receiving seat being provided with a first docking mechanism and a first electrical connection component; an operating table, on which a second receiving seat is provided, the second receiving seat being provided with a second docking mechanism and a second electrical connection component; an operation module, on which a docking seat is provided, the docking seat being provided with a third docking mechanism and a third electrical connection component; and a handling robot arm, the handling robot arm being capable of grasping the operation module and docking it with the first receiving seat or the second receiving seat, correspondingly, the third docking mechanism being fixedly docked with the first docking mechanism or the second docking mechanism, and the third electrical connection component being electrically connected with the first electrical connection component or the second electrical connection component.

[0012] Preferably, the third docking mechanism includes a docking bottom surface, a plurality of protruding positioning blocks provided on the docking bottom surface, and an iron component. The first docking mechanism and the second docking mechanism both include a docking top surface, a plurality of recessed positioning grooves provided on the docking top surface, and an electromagnet. The positioning grooves match the shape of the positioning blocks.

[0013] Preferably, the sidewall of the positioning block is inclined inward from its root to its distal end, and the inner wall of the positioning groove matches the sidewall of the positioning block.

[0014] Preferably, when the third docking mechanism docks with the first docking mechanism or the second docking mechanism, the minimum total attraction force generated between the electromagnet and the iron part is F≥K·m·(g+a), where F is the minimum total attraction force in N; m is the mass of the working module in kg; g is the gravitational acceleration, which can be taken as 9.8 m / s²; a is the maximum equivalent vertical acceleration of the working module relative to the first docking mechanism during the movement of the embodied intelligent robot in m / s²; and K is the safety factor, which is between 1 and 1.5 and can be determined according to the weight of the working module and the actual movement conditions.

[0015] Preferably, the positioning block has a conductive contact on its end face, and the positioning groove has a corresponding conductive contact piece. When the positioning block is docked with the positioning groove, the conductive contact and the conductive contact piece are electrically connected and form an electrical channel. All the conductive contacts on the first receiving seat constitute the first electrical connection assembly, all the conductive contacts on the second receiving seat constitute the second electrical connection assembly, and all the conductive contacts on the docking seat constitute the third electrical connection assembly.

[0016] Preferably, the handling robot includes a three-axis servo module and a fork-type lifting mechanism; two lifting blocks adapted to the fork-type lifting mechanism are provided on both sides of the working module.

[0017] Preferably, the system also includes a changing compartment, with the operating table and the handling robot both located inside the changing compartment. The bottom of the operating table is equipped with a charging module and a positioning module. The positioning module can guide the robot to autonomously walk to the charging connection position with the charging module, so that the robot can replenish its power while changing clothes.

[0018] Based on the same inventive concept, the present invention also provides an automatic costume-changing method for an embodied intelligent robot operation module, employing the costume-changing system described in any one of the above claims, wherein the method includes the following steps: S1, the robot stops at the preset changing position; S2, the replacement system determines whether the robot needs to replace the working module. If so, it determines whether the old working module needs to be uninstalled. If so, it proceeds directly to S3; otherwise, it proceeds directly to S4. S3, the fork-type lifting mechanism removes the working module from the robot and places it on the idle second receiving seat; S4, the fork-type lifting mechanism takes the work module from the operating table and installs it onto the first receiving seat on the robot; S5, the third docking mechanism on the docking seat is fixedly docked with the docking mechanism on the first receiving seat, and the third electrical connection component on the docking seat and the electrical connection component on the first receiving seat complete the power supply and communication connection; S6, the fork-type lifting mechanism retracts to a safe position, the robot completes the change and leaves the changing position.

[0019] As a preferred option, S3 specifically includes: S3.1, the fork-type lifting mechanism moves to the vicinity of the working module on the back of the robot; S3.2, the third docking mechanism unlocks and docks with the first docking mechanism, and the third electrical connection component disconnects from the first electrical connection component in terms of power supply and communication. S3.3, the handling robot lifts the entire working module on the back of the robot and transfers it to the empty second receiving seat on the operating table.

[0020] Preferably, the handling robot arm of the changing system is also equipped with a depth camera, and the operation module is equipped with an identification mark; S4 specifically includes: S4.1, the depth camera locates the work module by recognizing the markers, and the forklift mechanism moves to the vicinity of the work module; S4.2, the handling robot lifts the entire work module and transfers it to the first support on the back of the robot.

[0021] The present invention has the following beneficial effects: By setting up a unified and matching docking mechanism and electrical connection components on the robot side, the operating table storage side, and the working module side, the present invention can realize a unified interface benchmark for the working module in the storage state and the robot installation state, and complete the automatic transfer and docking installation of the working module in conjunction with the handling robot; by using the positioning block with tilt angle and positioning groove to achieve guiding positioning, and combined with the adsorption and fixation of electromagnet and iron parts, the anti-vibration requirements during robot movement can be met, while ensuring the reliability of power supply and communication connection; the whole system integrates the storage, automatic picking and placing, positioning and docking, fixing, power supply and communication of the working module, effectively improving the automation, reliability and safety of the changing of the working module of the embodied intelligent robot. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention without the replacement compartment installed; Figure 2 This is a top-down view of the robot being fitted by the dressing system. Figure 3 This is a schematic diagram of the structure of the present invention; Figure 4 This is a side view of the robot. Figure 5 This is a schematic diagram of the docking structure between the first receiving seat and the docking seat; Figure 6 for Figure 5 Enlarged view of part A; Figure 7 This is a structural schematic diagram of the first receiving seat; Figure 8 This is a schematic diagram of the structure of the second support seat; Figure 9 This is a schematic diagram of the docking seat.

[0023] Explanation of reference numerals in the attached figures: 10. Robot; 20-1. First receiving seat; 20-2. Second receiving seat; 30-1. First docking mechanism; 30-2. Second docking mechanism; 31. Top docking surface; 32. Positioning groove; 33. Electromagnet; 34. Conductive contact; 40. Operating table; 50. Working module; 50-1. Robotic arm module; 50-2. Binocular gimbal module; 50-3. Drone module; 51. Lifting block; 60. Docking seat; 70. Third docking mechanism; 71. Bottom docking surface; 72. Positioning block; 73. Iron part; 74. Conductive contact; 80. Handling robot; 81. Three-axis servo module; 82. Fork-type lifting mechanism; 90. Changing compartment; 100. Charging module; 110. Reflective positioning post. Detailed Implementation

[0024] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0025] The present invention will now be described in detail with reference to the accompanying drawings.

[0026] Example: See Figure 1 , Figure 2 and Figure 4 An automatic loading and unloading system for an embodied intelligent robot operation module includes: a robot 10, specifically a quadruped robot, with a first receiving seat 20-1 on its back, a first docking mechanism 30-1 and a first electrical connection component on the first receiving seat 20-1; an operating platform 40, with a second receiving seat 20-2 on the second receiving seat 20-2, a second docking mechanism 30-2 and a second electrical connection component on the second receiving seat 20-2; an operation module 50, with a docking seat 60 on the docking seat 60, a third docking mechanism 70 and a third electrical connection component on the docking seat 60; and a handling robot 80, which can grasp the operation module 50 and dock it with the first receiving seat 20-1 or the second receiving seat 20-2. Correspondingly, the third docking mechanism 70 is fixedly docked with the first docking mechanism 30-1 or the second docking mechanism 30-2, and the third electrical connection component is electrically connected to the first electrical connection component or the second electrical connection component.

[0027] This invention features a docking seat 60 at the bottom of the working module 50, and a second receiving seat 20-2 and a first receiving seat 20-1 that can mate with the docking seat 60, respectively, on the operating table 40 and the robot 10. When the working module 50 docks with the second receiving seat 20-2, it is in a storage state; when the working module 50 docks with the first receiving seat 20-1, it is in an installation state. Stable docking and electrical connection can be achieved in both states.

[0028] The resulting effect is that when the work module 50 is transferred from the operating table 40 to the back of the robot 10, the interface reference remains consistent, reducing the docking error caused by the change in the posture of the work module 50, reducing the dependence on high-precision posture adjustment when the docking seat 60 docks with the first receiving seat 20-1 or the second receiving seat 20-2, and improving the stability of the automatic picking, placing and installing of the work module 50.

[0029] When the work module 50 is stored on the operating table 40, it is not placed directly on a normal flat surface. Therefore, the third electrical connection components and other components are not likely to directly contact the surface of the operating table 40, which can reduce interface wear, contamination and deformation under stress. At the same time, the work module 50 maintains a fixed posture when it is ready to be picked up or placed, which makes it easy for the handling robot 80 to pick up or place it according to the preset path.

[0030] For details, see Figure 7 , Figure 8 and Figure 9 The third docking mechanism 70 includes a docking bottom surface 71, several raised positioning blocks 72 on the docking bottom surface 71, and an iron component 73. The first docking mechanism 30-1 and the second docking mechanism 30-2 both include a docking top surface 31, several recessed positioning grooves 32 on the docking top surface 31, and an electromagnet 33. The positioning grooves 32 and positioning blocks 72 are shaped to match and can form a concave-convex fit. The cooperation of the electromagnet 33 and the iron component 73 improves the reliability of docking and simplifies the docking structure and control difficulty. Thus, when the robot 10 walks, turns, goes up and down slopes, crosses obstacles, or is subjected to vibration, the working module 50 is less likely to shake, loosen, or suffer impact damage, improving the seismic reliability after module installation. This is particularly suitable for robots 10, such as quadruped robots 10, which exhibit significant changes in motion posture.

[0031] Specifically, the sidewall of the positioning block 72 is inclined inward from its root to its distal end, and the inner wall of the positioning groove 32 matches the sidewall of the positioning block 72, so that the positioning block 72 and the positioning groove 32 have a self-correcting effect during the cooperation process.

[0032] For details, see Figure 7 , Figure 8 and Figure 9 There are eight positioning blocks 72 and positioning slots 32, arranged in a 2×4 array. The positioning blocks 72 are frustum-shaped. The iron part 73 is annular and is set on the end face of the positioning block 72. The electromagnet 33 is located at the bottom of the positioning slot 32 and is also annular.

[0033] Specifically, when the third docking mechanism 70 docks with the first docking mechanism 30-1 or the second docking mechanism 30-2, the minimum total attraction force generated between the electromagnet 33 and the iron part 73 is F≥K·m·(g+a), where F is the minimum total attraction force in N; m is the mass of the working module 50 in kg; g is the gravitational acceleration, which can be taken as 9.8 m / s²; a is the maximum equivalent vertical acceleration of the working module 50 relative to the first docking mechanism 30-1 during the movement of the embodied intelligent robot 10, in m / s²; K is the safety factor, which is between 1 and 1.5 and can be determined according to the weight of the working module 50 and the actual movement conditions.

[0034] For details, see Figure 5 and Figure 6Each positioning block 72 has two conductive contacts 74 on its end face, located within the enclosure of the iron part 73. The positioning groove 32 has two corresponding conductive contact pieces 34, located within the enclosure of the electromagnet 33. When the positioning block 72 mates with the positioning groove 32, the conductive contacts 74 and conductive contact pieces 34 are electrically connected, forming an electrical channel. All conductive contact pieces 34 on the first receiving seat 20-1 constitute the first electrical connection assembly, all conductive contact pieces 34 on the second receiving seat 20-2 constitute the second electrical connection assembly, and all conductive contacts 74 on the docking seat 60 constitute the third electrical connection assembly. This scheme achieves power supply and communication. The resulting effect is that after the work module 50 is installed on the back of the robot 10, it can obtain operating power and establish a communication connection with the robot 10 without manual connection of a separate power cord or communication line. This allows the work module 50 to directly enter a working state after replacement, improving the integrity of unmanned replacement.

[0035] For details, see Figure 1 The handling robot 80 includes a three-axis servo module 81 and a fork-type lifting mechanism 82. The three-axis servo module 81 is mounted on the operating table 40. The working module 50 has two lifting blocks 51 on both sides that are adapted to the fork-type lifting mechanism 82.

[0036] For details, see Figure 3 It also includes a changing chamber 90, with an operating table 40 and a handling robot 80 located inside the changing chamber 90. The bottom of the operating table 40 is equipped with a charging module 100 and a positioning module. The positioning module guides the robot 10 to autonomously move to the charging connection position with the charging module 100, facilitating the robot 10 to replenish power while changing clothes. This position is also the changing location. The changing chamber 90 provides protection. The charging module 100 can be any existing mature charging module 100, and the positioning module consists of two vertically arranged reflective positioning posts 110.

[0037] For details, see Figure 2 The operation module 50 includes a robotic arm module 50-1, a binocular gimbal module 50-2, and a drone module 50-3.

[0038] This embodiment also discloses an automatic costume-changing method for an embodied intelligent robot's work module, employing the aforementioned costume-changing system. The method includes the following steps: S1, Robot 10 stops at the preset changing position; S2, the replacement system determines whether the robot 10 needs to replace the work module 50. If so, it determines whether the old work module 50 needs to be uninstalled. If so, it proceeds directly to S3; otherwise, it proceeds directly to S4. S3, the fork lifting mechanism 82 removes the work module 50 from the robot 10 and places it on the idle second receiving seat 20-2; S4, the fork lifting mechanism 82 takes the work module 50 from the operating table 40 and installs it onto the first receiving seat 20-1 on the robot 10; S5, the third docking mechanism 70 on the docking seat 60 is fixedly docked with the docking mechanism on the first receiving seat 20-1, and the third electrical connection component on the docking seat 60 and the electrical connection component on the first receiving seat 20-1 complete the power supply and communication connection; S6, the fork-type lifting mechanism 82 retracts to a safe position, and the robot 10 completes the change and leaves the change position.

[0039] Specifically, S3 includes: S3.1, the fork lifting mechanism 82 moves to the vicinity of the working module 50 on the back of the robot 10; S3.2, the third docking mechanism 70 unlocks and docks with the first docking mechanism 30-1, and the third electrical connection component disconnects from the first electrical connection component in terms of power supply and communication. S3.3, the handling robot 80 lifts the entire working module 50 on the back of the robot 10 and transfers it to the empty second receiving seat 20-2 on the operating table 40.

[0040] Specifically, the handling robot 80 on the changing system is equipped with a depth camera, and the operation module 50 is equipped with identification tags; S4 includes: S4.1, the depth camera locates the required work module 50 by recognizing the marker, and the fork lifting mechanism 82 moves to the vicinity of the required work module 50; S4.2, the handling robot 80 lifts the entire operation module 50 and transfers it to the first support seat 20-1 on the back of the robot 10.

[0041] Specifically, in S1, when robot 10 needs to replace the work module 50, robot 10 enters the replacement chamber 90. Robot 10 completes its docking positioning using the reflective positioning post 110 and docks near the charging module 100 for charging. Before the replacement begins, the replacement system determines the work module 50 to be installed based on the current task requirements. When performing grasping or manipulation tasks, the required work module 50 is the robotic arm module 50-1; when performing visual inspection tasks, the work module 50 is the binocular gimbal module 50-2; and when performing aerial inspection or high-altitude observation tasks, the required work module 50 is the drone module 50-3.

[0042] Specifically, in S5, after the work module 50 is installed on the first receiving seat 20-1, the electromagnet 33 is energized and attracts the iron part 73, so that the work module 50 is attracted and fixed on the back of the robot 10; at the same time, all conductive contacts 74 and all conductive contact pieces 34 establish electrical connection and communication path.

[0043] Specifically, in S6, after the work module 50 is installed, the replacement system confirms the following status: the third docking mechanism 70 docks with the first docking mechanism 30-1, and the electromagnet 33 is in an energized adsorption state; the first electrical connection component is electrically connected to the third electrical connection component; and the fork lifting mechanism 82 has been withdrawn to a safe position.

[0044] Specifically, docking status confirmation: When the robot 10 docks at the preset changing position near the charging module 100 via the reflective positioning post 110, the docking status of the robot 10 can be confirmed by at least one of the following methods: the robot 10 actively outputs a wireless signal; the charging module 100 outputs a contact confirmation signal after forming a charging contact or charging connection with the robot 10; the changing system determines that the robot 10 has reached the preset changing position based on the position feedback of the robot 10 in the changing chamber 90.

[0045] Specifically, the depth camera is positioned above the fork lifting mechanism 82 and moves with the fork lifting mechanism 82 to the vicinity of the work module 50 to identify the identification mark, which can be a QR code, barcode, or visual identification mark.

[0046] Specifically, after the depth camera reads the module identification mark, the changing system determines the type and position of the current working module 50 based on the identification result. At the same time, the depth camera can also capture the relative position of the working module 50 and itself. Therefore, the depth camera is also used to assist in determining the position of the working module 50, providing a positioning basis for the picking and placing actions of the fork lifting mechanism 82.

[0047] Specifically, the adsorption state of electromagnet 33 can be confirmed by at least one of the following methods: The energization state of electromagnet 33; the driving current state of electromagnet 33; the adsorption control feedback of electromagnet 33; whether the current change of electromagnet 33 after being energized is within the preset range. When the adsorption state meets the preset conditions, it indicates that the working module 50 has been fixed to the back of robot 10 by iron part 73 and electromagnet 33.

[0048] Specifically, after the work module 50 is installed on the back of the robot 10, the first electrical connection component and the third electrical connection component are electrically connected. The power supply status can be confirmed by detecting voltage, current, or continuity detection signals. When the voltage, current, or continuity detection signals meet preset conditions, it indicates that the robot 10 and the work module 50 are normally connected to the power supply. After the work module 50 is powered on, the robot 10 and the work module 50 perform a communication handshake. The communication handshake is used to confirm the type, status, and communication status of the currently installed work module 50. When the communication handshake is successful, it indicates that the robot 10 can recognize and control the currently installed work module 50; when the communication handshake fails, it indicates that although the work module 50 may have been mechanically installed, it has not yet met the communication conditions for normal operation.

[0049] Specifically, this also includes a robot 10 docking interlock: when robot 10 has not completed docking confirmation, the three-axis servo module 81 and the fork-type lifting mechanism 82 will not perform the disassembly or installation of the work module 50; only after robot 10 has completed docking confirmation will the changing system allow the three-axis servo module 81 to move to the changing area on the back of robot 10 to perform the disassembly of the old work module 50 or the installation of the new work module 50. This interlock is used to ensure that the first receiving seat 20-1 on the back of robot 10 is in the preset changing position, and to prevent the fork-type lifting mechanism 82 from performing actions when the position of robot 10 is significantly deviated.

[0050] Specifically, it also includes a module identification interlock: before the forklift mechanism 82 picks up or places the work module 50, the depth camera first reads the identification mark on the work module 50. When the identification result matches the work module 50, the changing system allows the forklift mechanism 82 to perform the insertion and lifting action; when the identification result does not match the work module 50, or the depth camera fails to read the identification mark, the forklift mechanism 82 does not perform the lifting action. This interlock is used to prevent accidental picking or installation between the robotic arm module 50-1, the binocular gimbal module 50-2, and the drone module 50-3.

[0051] Specifically, this also includes an interlock for disassembling the old working module 50: When disassembling the old working module 50, the fork-type lifting mechanism 82 first extends under the lifting block 51 on the old working module 50 and supports the old working module 50. After confirming that the fork-type lifting mechanism 82 has supported the old working module 50, the replacement system stops the power supply and communication connection of the old working module 50; after the power supply and communication are stopped, the electromagnet 33 is de-energized and released from its attraction and fixation; if the fork-type lifting mechanism 82 is not in a supporting state, the electromagnet 33 is not allowed to be de-energized. This interlock is used to prevent the old working module 50 from falling off when it is not properly supported, and also to prevent damage to electrical contact points or communication abnormalities caused by disassembly while the power is on.

[0052] Specifically, this also includes the installation of interlocking mechanisms in the new operating module 50: When installing a new work module 50, the fork-type lifting mechanism 82 transfers the work module 50 above the first receiving seat 20-1 on the back of the robot 10, and lowers the docking seat 60 to the docking position. After the docking seat 60 and the first receiving seat 20-1 are docked through the convex-concave mating structure, the replacement system controls the electromagnet 33 to be energized to attract the ferrous part 73. After the electromagnet 33 completes the attraction, the replacement system confirms the power supply and communication connection status of the conductive contact 74 and the conductive contact piece 34. If the docking seat 60 is not properly docked with the first receiving seat 20-1, the electromagnet 33 will not perform the attraction action. If the electromagnet 33 has not completed the attraction and fixation, the system will not enter the power supply and communication confirmation stage. If the power supply is on or the communication connection is not completed, the work module 50 will not enter the normal working state. This interlock is used to ensure that the work module 50 is mechanically docked first, then attracted and fixed, and then powered and communicated, to avoid the module being powered on or put into operation without being fixed or without communication confirmation.

[0053] Specifically, this also includes the disengagement interlock of the fork-type lifting mechanism 82: During the installation of the new working module 50, the fork-type lifting mechanism 82 remains in a supporting state below the working module 50 until all of the following conditions are met: the docking seat 60 and the first receiving seat 20-1 are docked; the electromagnet 33 and the iron part 73 are electromagnetically attracted; and the conductive contact 74 and the conductive contact piece 34 have completed power supply and communication connection. After all the above conditions are met, the fork-type lifting mechanism 82 retracts in the reverse direction of its original insertion; if any condition is not met, the fork-type lifting mechanism 82 remains in a supporting state and does not retract from the bottom area of ​​the working module 50.

[0054] Specifically, this also includes a robot 10 departure interlock: After the work module 50 is installed, before the robot 10 leaves the changing room 90, the system confirms the following conditions: the work module 50 has completed electromagnetic adsorption fixation; the work module 50 has completed power supply conduction; the work module 50 has completed communication connection; the fork lifting mechanism 82 has been retracted to a safe position; and the three-axis servo module 81 is not on the robot 10's departure path. Once all the above conditions are met, the robot 10 leaves the changing room 90; if any condition is not met, the robot 10 remains docked and does not perform the departure action. This interlock is used to prevent the robot 10 from leaving the room carrying an unsecured, unpowered, or unconfirmed work module 50, and to prevent the work module 50 from being prematurely released when it is not secured or its connection is not confirmed.

[0055] Specifically, it also includes anomaly handling logic: during the swapping process, if module identification fails, electromagnetic adsorption fails, power supply fails, or communication connection fails, the system enters an anomaly handling state. In this state, the fork-type lifting mechanism 82 maintains its current supporting state, the robot 10 remains docked, and the three-axis servo module 81 suspends subsequent swapping actions. The swapping system can re-execute the identification, interface docking, adsorption confirmation, power supply confirmation, or communication confirmation of the work module 50. If the re-confirmation still fails to meet the requirements, manual intervention is prompted. This anomaly handling logic is used to maintain the safe state of the work module 50 and the robot 10 when automatic swapping fails, preventing the continued execution of actions that may lead to module detachment, interface damage, or the robot 10 leaving the warehouse with a malfunction.

[0056] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An automatic clothing changing system for an embodied intelligent robot work module, characterized in that, include: The robot (10) is provided with a first receiving seat (20-1), and the first receiving seat (20-1) is provided with a first docking mechanism (30-1) and a first electrical connection assembly; The operating table (40) is provided with a second receiving seat (20-2), and the second receiving seat (20-2) is provided with a second docking mechanism (30-2) and a second electrical connection assembly; The working module (50) is provided with a docking seat (60), and the docking seat (60) is provided with a third docking mechanism (70) and a third electrical connection assembly; The handling robot (80) can grasp the working module (50) and dock it with the first receiving seat (20-1) or the second receiving seat (20-2). Correspondingly, the third docking mechanism (70) is fixedly docked with the first docking mechanism (30-1) or the second docking mechanism (30-2). The third electrical connection component is electrically connected to the first electrical connection component or the second electrical connection component.

2. The automatic clothing changing system for a body-worn intelligent robot operation module according to claim 1, characterized in that: The third docking mechanism (70) includes a docking bottom surface (71), a plurality of protruding positioning blocks (72) provided on the docking bottom surface (71), and an iron part (73). The first docking mechanism (30-1) and the second docking mechanism (30-2) both include a docking top surface (31), a plurality of recessed positioning grooves (32) provided on the docking top surface (31), and an electromagnet (33). The positioning grooves (32) match the shape of the positioning blocks (72).

3. The automatic clothing changing system for a body-worn intelligent robot operation module according to claim 2, characterized in that: The sidewall of the positioning block (72) is inclined inward from its root to its distal end, and the inner wall of the positioning groove (32) matches the sidewall of the positioning block (72).

4. The automatic clothing changing system for a body-worn intelligent robot operation module according to claim 2, characterized in that: When the third docking mechanism (70) docks with the first docking mechanism (30-1) or the second docking mechanism (30-2), the minimum total adsorption force generated between the electromagnet (33) and the iron part (73) is F≥K·m·(g+a), where F is the minimum total adsorption force in N; m is the mass of the working module (50) in kg; g is the gravitational acceleration, which can be taken as 9.8 m / s²; a is the maximum equivalent vertical acceleration of the working module (50) relative to the first docking mechanism (30-1) during the movement of the embodied intelligent robot (10), in m / s²; and K is the safety factor, which is between 1 and 1.

5.

5. The automatic changing system for a body-worn intelligent robot operation module according to claim 2, characterized in that: The positioning block (72) has a conductive contact (74) on its end face, and the positioning groove (32) has a corresponding conductive contact piece (34); when the positioning block (72) is docked with the positioning groove (32), the conductive contact (74) and the conductive contact piece (34) are electrically connected; all the conductive contacts (34) on the first receiving seat (20-1) constitute the first electrical connection assembly, all the conductive contacts (34) on the second receiving seat (20-2) constitute the second electrical connection assembly, and all the conductive contacts (74) on the docking seat (60) constitute the third electrical connection assembly.

6. The automatic changing system for a body-worn intelligent robot operation module according to claim 2, characterized in that: The handling robot (80) includes a three-axis servo module (81) and a fork-type lifting mechanism (82); the working module (50) has two lifting blocks (51) on both sides that are adapted to the fork-type lifting mechanism (82).

7. The automatic changing system for a body-worn intelligent robot operation module according to claim 6, characterized in that: It also includes a changing chamber (90), the operating table (40) and the handling robot (80) are both located inside the changing chamber (90); the bottom of the operating table (40) is provided with a charging module (100) and a positioning module, the positioning module can guide the robot (10) to walk autonomously to the charging connection position with the charging module (100).

8. A method for automatic equipment changing of an embodied intelligent robot's work module, characterized in that: Including the changing system as described in claim 6 or 7, the method of operating the changing system is as follows: S1, the robot (10) stops at the preset changing position; S2, the replacement system determines whether the robot (10) needs to replace the work module (50). If so, it determines whether the old work module (50) needs to be uninstalled. If so, it proceeds directly to S3; otherwise, it proceeds directly to S4. S3, the fork lifting mechanism (82) removes the working module (50) from the robot (10) and places it on the idle second receiving seat (20-2); S4, the fork lifting mechanism (82) takes the work module (50) from the operating table (40) and installs it onto the first receiving seat (20-1) on the robot (10); S5, the third docking mechanism (70) on the docking seat (60) is fixedly docked with the docking mechanism on the first receiving seat (20-1), and the third electrical connection component on the docking seat (60) is connected to the electrical connection component on the first receiving seat (20-1) for power supply and communication. S6, the fork lifting mechanism (82) retracts to a safe position, and the robot (10) completes the change and leaves the change position.

9. The automatic changing method for a body-worn intelligent robot operation module according to claim 8, characterized in that, S3 include: S3.1, the fork lifting mechanism (82) moves to the vicinity of the working module (50) on the back of the robot (10); S3.2, the third docking mechanism (70) unlocks and docks with the first docking mechanism (30-1), and the third electrical connection component disconnects from the first electrical connection component in terms of power supply and communication. S3.3, the handling robot (80) lifts the entire working module (50) on the back of the robot (10) and transfers it to the empty second receiving seat (20-2) on the operating table (40).

10. The automatic changing method for a body-worn intelligent robot work module according to claim 9, characterized in that, The handling robot (80) on the changing system is also equipped with a depth camera, and the operation module (50) is equipped with an identification mark; S4 includes: S4.1, the depth camera locates the required work module (50) by recognizing the marker, and the fork lifting mechanism (82) moves to the vicinity of the required work module (50); S4.2, the handling robot (80) lifts up the entire work module (50) and transfers it to the first support seat (20-1) on the back of the robot (10).

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