A robot automatic battery changing device and a battery changing method

Abstract

The application provides a robot automatic battery replacing device and a battery replacing method, and relates to the technical field of robot power supply.The robot automatic battery replacing device comprises a robot bearing table, a telescopic box, a battery replacing mechanical arm, an upper layer battery compartment and a lower layer battery compartment.The robot bearing table is used for robot parking and positioning, and an abdominal battery replacing opening is arranged in the middle of the robot bearing table.The telescopic box is movably arranged in the robot bearing table.The battery replacing mechanical arm is arranged outside the telescopic box and is used for transferring batteries between the robot battery compartment, the upper layer battery compartment and the lower layer battery compartment.The upper layer battery compartment comprises two elastically connected upper layer battery compartment side plates and is used for limiting and guiding batteries of different sizes.Through the multi-stage position compensation mechanism from coarse to fine, the application can reduce the dependence on the robot parking accuracy, effectively improve the battery replacing success rate and the environmental adaptability of the device.

Description

Technical Field

[0001] This invention relates to the field of robot power supply technology, and in particular to an automatic battery swapping device and method for robots. Background Technology

[0002] The robotics industry is developing rapidly, with robots used in many areas such as inspection, military applications, and daily life. However, most robots currently have relatively low battery efficiency, limiting their operational time and requiring long charging periods, which significantly impacts their work efficiency. Therefore, to improve robot efficiency and ensure work quality, research has been conducted on robot battery usage and replacement technologies. This has led to the implementation of an automatic battery replacement process, reducing the time wasted on charging and greatly improving robot efficiency.

[0003] Existing automated battery swapping systems for robots typically include a docking platform for positioning and supporting the robot, a battery compartment for storing and transferring batteries, and a battery swapping actuator for performing battery retrieval and placement operations. In some existing solutions, the docking platform only serves as a support surface for the robot, with the battery swapping actuator positioned on one side of the platform. A multi-axis robotic arm or linear motion module drives a gripping mechanism to the robot's battery compartment to retrieve empty batteries and insert fully charged batteries. Regarding battery storage, some existing solutions employ a single-layer battery compartment structure, with the compartment fixed relative to the battery swapping actuator. Battery entry and exit rely on conveyor belts or pusher mechanisms. In terms of battery swapping process control, existing solutions typically execute each action sequentially: battery removal, battery transfer, and battery insertion.

[0004] However, current automated battery swapping devices for robots are highly dependent on the robot's initial docking position. Existing devices generally lack active position guidance and compensation structures on the docking platform, and the range of motion of the battery swapping actuator is fixed. When the robot's docking position deviates, the battery swapping actuator struggles to accurately align with the robot's battery compartment, easily leading to battery retrieval failures or even damage to the battery interface structure. Furthermore, the battery storage structure, battery swapping execution structure, and battery transport structure in existing devices are independently configured, resulting in long transfer paths and numerous intermediate steps for the battery between these structures. This not only increases the overall size and production cost of the device but also reduces battery swapping efficiency and operational reliability. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an automatic battery changing device for robots.

[0006] The technical solutions provided by the embodiments of the present invention are as follows: The first aspect of the present invention provides an automatic battery swapping device for a robot, comprising: a robot support platform, a telescopic housing, a battery swapping robotic arm, an upper battery compartment, and a lower battery compartment; The robot platform is used for robot docking and positioning, and an abdominal battery swapping opening is provided in the middle of the robot platform. The telescopic housing is movably installed inside the robot platform; The battery swapping robotic arm is located on the outside of the telescopic housing and is used to transfer batteries between the robot battery compartment, the upper battery compartment, and the lower battery compartment. The upper battery compartment includes two elastically connected upper battery compartment side panels, which are used to limit and guide batteries of different sizes.

[0007] Optionally, one end of the robot platform is sloped, and an eighth motor is provided on the back of the robot platform. The output end of the eighth motor is connected to the drive end of the conveyor belt to drive the conveyor belt to transport batteries. A ninth motor is provided on the back of the robot platform through a ninth motor flange. The output end of the ninth motor is fixedly connected to a ninth motor connector. The ninth motor connector is connected to a first micro push rod to drive the first micro push rod to change its working direction, and the first micro push rod pushes the batteries on the conveyor belt into the lower battery compartment.

[0008] Optionally, a second motor and an external gear for the housing are provided on one side of the robot platform; the second motor is used to drive the external gear for the housing to rotate, so as to drive the telescopic housing to move in the direction of the robot entering and exiting the robot platform.

[0009] Optionally, the battery swapping robotic arm includes a first linear module, a sixth motor bracket, a sixth motor, a robotic arm, and a gripping device; the first linear module drives the robotic arm to move laterally, the sixth motor drives the robotic arm to rotate, and the gripping device is used to pick up and place batteries.

[0010] Optionally, the clamping device is slidably connected to the clamping guide rail; the end of the robotic arm is provided with a seventh motor, and the output end of the seventh motor is connected to the clamping device through a seventh motor connector to drive the clamping device to open and close along the clamping guide rail; the clamping device is used to act on the battery latch when clamping the battery to release or restore the battery lock.

[0011] Optionally, the second, eighth, ninth, sixth, seventh, fourth, and fifth motors operate sequentially, causing the telescopic box, the battery swapping robotic arm, the upper battery compartment, the lower battery compartment, and the conveyor belt to cooperate in completing the battery swapping.

[0012] Optionally, the upper battery compartment includes a third linear module, a fourth motor, a fourth motor flange, a lower base plate of the upper battery compartment, an upper base plate slider, a lifting mechanism linkage, an upper base plate slide rail of the upper battery compartment, an upper base plate of the upper battery compartment, an upper battery compartment side plate, and a second micro push rod; one side of the third linear module is fixedly connected to the telescopic box, and the other side is fixedly connected to the lower base plate of the upper battery compartment; the lower base plate of the upper battery compartment is used to support the fourth motor and the lifting mechanism linkage, and serves as the lifting support base for the upper battery compartment; the third linear module drives the upper battery compartment to move back and forth relative to the telescopic box through the lower base plate of the upper battery compartment; the fourth motor drives the upper base plate of the upper battery compartment to rise and fall through the fourth motor flange and the lifting mechanism linkage; the upper base plate slider cooperates with the upper base plate slide rail of the upper battery compartment; the two upper battery compartment side plates are elastically connected for lateral positioning of the battery; the second micro push rod acts on the battery latch of the robot battery compartment.

[0013] Optionally, the lower battery compartment includes a fifth motor base, a fifth motor connector, a first link of the flipping mechanism, a second link of the flipping mechanism, a flipping platform, and a fifth motor. The fifth motor is fixed to the fifth motor base and drives the flipping platform to switch between a receiving posture and a pick-up / placement posture through the fifth motor connector, the first link of the flipping mechanism, and the second link of the flipping mechanism. The flipping platform is used to receive batteries fed in by the conveyor belt and to provide batteries to be loaded into the robot to the battery swapping robotic arm.

[0014] A second aspect of the present invention provides a lateral battery swapping method based on the above-described robot automatic battery swapping device, comprising: the robot docking at the robot support platform; a second motor driving the telescopic housing to extend; a clamping device releasing and gripping an empty battery; a battery swapping robotic arm transferring the empty battery to an upper or lower battery compartment; a conveyor belt providing a fully charged battery; the battery swapping robotic arm inserting the fully charged battery into the robot's lateral battery compartment; and the telescopic housing retracting.

[0015] A third aspect of the present invention provides a method for abdominal battery swapping based on the above-mentioned robot automatic battery swapping device, comprising: the robot docking at the robot support platform, so that the robot's abdominal battery compartment corresponds to the opening in the middle of the robot support platform; a third linear module driving the upper battery compartment to move forward; a fourth motor driving the upper bottom plate of the upper battery compartment to rise through the fourth motor flange and the lifting mechanism linkage; a second micro push rod releasing the lock of the empty battery; the battery swapping robotic arm transferring the empty battery and the fully charged battery; the upper bottom plate of the upper battery compartment rising again, and the second micro push rod pushing the fully charged battery into the robot's abdominal battery compartment.

[0016] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: (1) In this embodiment of the invention, the robot's docking position is initially guided by the slope structure of the robot support platform. The overall extension and retraction of the telescopic box is driven by the second motor to achieve a coarse positioning of the battery swapping position. The battery swapping robot arm is then finely positioned in the horizontal and rotational directions by the first linear module and the sixth motor, forming a multi-level position compensation mechanism from coarse to fine. Even if there is a certain deviation in the initial docking position of the robot, the overall movement of the telescopic box and the multi-axis adjustment of the battery swapping robot arm can still ensure that the clamping device is accurately aligned with the robot's battery compartment, reducing the dependence on the robot's docking accuracy and effectively improving the battery swapping success rate and the environmental adaptability of the device.

[0017] (2) In this embodiment of the invention, the battery swapping robotic arm, the upper battery compartment and the lower battery compartment are all integrated on a telescopic box that can be moved as a whole. The entire process of battery extraction, temporary storage, attitude adjustment and insertion is completed between the functional modules on the telescopic box. The battery transfer path is short and there are few intermediate links. The overall size of the device is small and the structure is compact, which helps to reduce production costs and save installation space.

[0018] (3) In this embodiment of the invention, the third linear module, the fourth motor, the lifting mechanism linkage and the upper bottom plate of the upper battery compartment form a lifting docking structure, which can realize the lifting docking with the battery compartment on the robot's abdomen; the flipping platform in the lower battery compartment realizes the attitude switching of the battery between the conveyor belt and the battery swapping robot arm, so that the device can be compatible with robot models with battery compartments set in two different positions on the side and abdomen of the robot, and has good versatility and adaptability.

[0019] (4) In this embodiment of the invention, through the coordinated cooperation of the conveyor belt, the first micro push rod, the flipping platform, the lower battery compartment and the battery swapping robot arm, the fully charged battery can be transported to the flipping platform by the conveyor belt in advance and the attitude adjustment can be completed during the process of the battery swapping robot arm taking out the empty battery. The preparation process of the fully charged battery and the process of taking out the empty battery are carried out in parallel, eliminating the time gap of waiting for the fully charged battery to be transported in the traditional solution, effectively shortening the overall time of a single battery swap and improving the battery swapping efficiency.

[0020] (5) In this embodiment of the invention, the second motor, the eighth motor, the ninth motor, the sixth motor, the seventh motor, the fourth motor and the fifth motor are controlled by the battery swapping control box in a predetermined sequence, so that the telescopic box extension action, the conveyor belt conveying action, the first micro push rod pushing action, the battery swapping robotic arm picking and placing action, the upper battery compartment lifting and docking action and the lower battery compartment flipping action are connected and coordinated in an orderly manner, ensuring the coordination and stability of the mechanical structure actions during the battery swapping process, and avoiding the risk of equipment failure or battery damage caused by action conflict or timing disorder. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of an automatic battery changing device for robots provided in an embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram of the front structure of a robot support platform provided in an embodiment of the present invention.

[0024] Figure 3 This is a schematic diagram of the back structure of a robot support platform provided in an embodiment of the present invention.

[0025] Figure 4 This is a schematic diagram of the internal structure of a telescopic box provided in an embodiment of the present invention.

[0026] Figure 5 This is a schematic diagram of the structure of a telescopic box external battery swapping robotic arm provided in an embodiment of the present invention.

[0027] Figure 6 This is a schematic diagram of the structure of an internal upper battery compartment provided in an embodiment of the present invention.

[0028] Figure 7 This is a top view of an internal lower battery compartment provided in an embodiment of the present invention.

[0029] Figure 8 This is a schematic diagram of the structure of an internal lower battery compartment after partially concealing the casing, as provided in an embodiment of the present invention.

[0030] Reference numerals: 1-Robot support platform; 2-Telescopic housing; 3-Battery swapping robotic arm; 4-Upper battery compartment; 5-Lower battery compartment; 101-Support platform; 102-Second motor; 103-Ninth motor connector; 104-Conveyor belt; 105-External gear of housing; 106-Eighth motor; 107-First micro push rod; 108-Ninth motor; 109-Ninth motor flange; 301-First linear module; 302-Sixth motor bracket; 303-Sixth motor; 304-Robotic arm; 305-Seventh motor; 306-Seventh motor connector; 307-Clamping guide rail; 308-Clamping device; 401-Third linear module; 402-Fourth motor; 403-Fourth motor flange; 404-Lower base plate of upper battery compartment; 405-Upper base plate slider; 406-Lifting mechanism link; 407-Upper base plate slide rail of upper battery compartment; 408-Upper base plate of upper battery compartment; 409-Side plate of upper battery compartment; 410-Second micro push rod; 501-Fifth motor base; 502-Fifth motor connector; 503-Tilting mechanism link 1; 504-Tilting mechanism link 2; 505-Tilting platform; 506-Fifth motor; 507-Tilting platform tray.

[0031] As shown in the figure, specific structures and devices are marked in the figure to clearly illustrate the structure of the embodiments of the present invention. However, this is only for illustrative purposes and is not intended to limit the present invention to this specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs. Detailed Implementation

[0032] The technical solutions of the present invention will now be described with reference to the accompanying drawings. It should also be noted that, to make the embodiments more detailed, the following embodiments are the best and preferred embodiments. For some well-known technologies, those skilled in the art can also use other alternative methods to implement the invention; moreover, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0033] like Figures 1 to 8 As shown, an embodiment of the present invention provides an automatic battery swapping device for robots, comprising: a robot support platform 1, a telescopic housing 2, a battery swapping robotic arm 3, an upper battery compartment 4, and a lower battery compartment 5.

[0034] The robot platform 1 is used for robot docking and positioning. One end of the robot platform 1 is sloped to guide the robot into and dock at the designated battery swapping area. A belly-type battery swapping opening is provided in the middle of the robot platform 1 to allow the upper battery compartment 4 to dock with the robot's belly battery compartment. Through the slope and central opening of the robot platform 1, the robot can dock at a suitable location for subsequent battery swapping operations without relying entirely on high-precision navigation and positioning.

[0035] The telescopic housing 2 is movably mounted inside the robot platform 1. The second motor 102 drives the external gear 105 of the housing to rotate, causing the telescopic housing 2 to move closer to or further away from the robot's battery compartment.

[0036] The battery swapping robotic arm 3 is located on the outside of the telescopic housing 2 and is used to transfer batteries between the robot battery compartment, the upper battery compartment 4 and the lower battery compartment 5, so that the battery pick-up, placement, temporary storage and handover positions can be adjusted as a whole and the battery transfer path can be shortened.

[0037] The upper battery compartment 4 includes two elastically connected upper battery compartment side panels 409, which are used to limit and guide batteries of different sizes.

[0038] Furthermore, an eighth motor 106 is provided on the back of the robot platform 1. The output end of the eighth motor 106 is connected to the drive end of the conveyor belt 104 to drive the conveyor belt 104 to transport batteries. A ninth motor 108 is provided on the back of the robot platform 1 through a ninth motor flange 109. The output end of the ninth motor 108 is fixedly connected to a ninth motor connector 103. The ninth motor connector 103 is connected to a first micro push rod 107 to drive the first micro push rod 107 to change its working direction, and the first micro push rod 107 pushes the batteries on the conveyor belt 104 into the lower battery compartment 5.

[0039] Furthermore, a second motor 102 and an external gear 105 are provided on one side of the robot platform 1. The second motor 102 is used to drive the external gear 105 to rotate, so as to drive the telescopic box 2 to move in the direction of the robot entering and leaving the robot platform 1.

[0040] Furthermore, the battery swapping robotic arm 3 includes a first linear module 301, a sixth motor bracket 302, a sixth motor 303, a robotic arm 304, and a gripping device 308. The first linear module 301 drives the robotic arm 304 to move laterally, the sixth motor 303 drives the robotic arm 304 to rotate, and the gripping device 308 is used to pick up and put in the battery.

[0041] Furthermore, the clamping device 308 is slidably connected to the clamping guide rail 307. A seventh motor 305 is provided at the end of the robotic arm 304. The output end of the seventh motor 305 is connected to the clamping device 308 via a seventh motor connector 306 to drive the clamping device 308 to open and close along the clamping guide rail 307. The clamping device 308 is used to act on the battery latch when clamping the battery to release or restore the battery lock.

[0042] Furthermore, the second motor 102, the eighth motor 106, the ninth motor 108, the sixth motor 303, the seventh motor 305, the fourth motor 402, and the fifth motor 506 operate in sequence, causing the telescopic box 2, the battery swapping robotic arm 3, the upper battery compartment 4, the lower battery compartment 5, and the conveyor belt 104 to work together to complete the battery swapping.

[0043] Furthermore, the upper battery compartment 4 includes a third linear module 401, a fourth motor 402, a fourth motor flange 403, an upper battery compartment bottom plate 404, an upper bottom plate slider 405, a lifting mechanism link 406, an upper battery compartment upper bottom plate slide rail 407, an upper battery compartment upper bottom plate 408, an upper battery compartment side plate 409, and a second micro push rod 410. One side of the third linear module 401 is fixedly connected to the telescopic housing 2, and the other side is fixedly connected to the upper battery compartment bottom plate 404. The upper battery compartment bottom plate 404 is used to support the fourth motor 402 and the lifting mechanism link 406, and serves as the lifting support base for the upper battery compartment 4. The third linear module 401 drives the upper battery compartment 4 to move back and forth relative to the telescopic housing 2 through the upper battery compartment bottom plate 404. The fourth motor 402 drives the upper battery compartment upper bottom plate 408 to rise and fall through the fourth motor flange 403 and the lifting mechanism link 406. The upper base plate slider 405 engages with the upper base plate slide rail 407 of the upper battery compartment. Two upper battery compartment side plates 409 are elastically connected for lateral battery positioning. The second micro push rod 410 acts on the battery latches in the robot's battery compartment.

[0044] Furthermore, the lower battery compartment 5 includes a fifth motor base 501, a fifth motor connector 502, a first link 503 of the flipping mechanism, a second link 504 of the flipping mechanism, a flipping platform 505, and a fifth motor 506. The fifth motor 506 is fixed to the fifth motor base 501 and drives the flipping platform 505 to switch between a receiving posture and a pick-up / placement posture via the fifth motor connector 502, the first link 503 of the flipping mechanism, and the second link 504 of the flipping mechanism. The flipping platform 505 is used to receive batteries fed in by the conveyor belt 104 and to provide batteries to be installed into the robot by the battery swapping robotic arm 3.

[0045] The automatic battery swapping device with the above structure can replace batteries for both side-mounted and belly-mounted battery swapping robots. The specific operation is as follows.

[0046] The side-mounted battery swapping robot is docked on the robot support platform 1. The second motor 102 pushes out the telescopic housing 2 through the external gear 105. The sixth motor 303 drives the robotic arm 304 to lift up, and the first linear module 301 drives the sixth motor support 302 to move laterally, so that the clamping device 308 is aligned with the robot's side battery compartment.

[0047] The second motor 102 continues to drive the telescopic housing 2 forward. The seventh motor 305, through the seventh motor connector 306, drives the clamping device 308 to open and act on the battery latch of the side-mounted battery swapping robot, releasing the empty battery. After the clamping device 308 picks up the empty battery, the second motor 102 drives the telescopic housing 2 backward, while the third linear module 401 drives the upper battery compartment 4 to move to the predetermined position. The sixth motor 303 drives the robotic arm 304 to rotate, placing the empty battery into the upper battery compartment 4. Subsequently, the seventh motor 305 drives the clamping device 308 to release the empty battery.

[0048] The third linear module 401 drives the upper battery compartment 4 to reset, and the eighth motor 106 drives the conveyor belt 104 to transport fully charged batteries. The ninth motor 108 drives the first micro push rod 107 through the ninth motor connector 103 to push the fully charged batteries into the flipping platform 505.

[0049] The fifth motor 506 drives the tilting platform 505 to tilt, and the robotic arm 304 drives the gripping device 308 to grasp the fully charged battery. The second motor 102 drives the telescopic box 2 to move forward, and the gripping device 308 pushes the fully charged battery into the robot's side battery compartment and locks it.

[0050] During abdominal battery swapping, the abdominal battery swapping robot rests on the robot support platform 1, and the third linear module 401 drives the upper battery compartment 4 to move forward to a predetermined position. The fourth motor 402 drives the fourth motor flange 403 to move, which in turn moves the lifting mechanism linkage 406, causing the upper base plate 408 of the upper battery compartment to rise and dock with the abdominal battery compartment of the abdominal battery swapping robot. Subsequently, the second micro push rod 410 rises and acts on the battery latch of the abdominal battery swapping robot, releasing the empty battery. After the second micro push rod 410 retracts, the empty battery falls into the upper battery compartment 4.

[0051] The fourth motor 402 drives the fourth motor flange 403 to move in the reverse direction, which in turn moves the lifting mechanism linkage 406, causing the upper battery compartment bottom plate 408 to descend. The second motor 102 drives the telescopic box 2 to move backward, the sixth motor 303 drives the robotic arm 304 to lift, and the seventh motor 305 drives the clamping device 308 to clamp the empty battery in the upper battery compartment 4. The robotic arm 304 puts the empty battery into the lower battery compartment 5, and the fifth motor 506 drives the tilting platform 505 to transfer the empty battery to the conveyor belt 104. The eighth motor 106 drives the conveyor belt 104 to transport the fully charged battery to the middle position, and the ninth motor 108, through the ninth motor connector 103, rotates the first micro push rod 107 to the side, and the first micro push rod 107 pushes the fully charged battery into the tilting platform 505. The fifth motor 506 drives the tilting platform 505 to tilt, the clamping device 308 clamps the fully charged battery from the tilting platform 505, and the robotic arm 304 puts the fully charged battery into the upper battery compartment 4.

[0052] The upper battery compartment 4, carrying a fully charged battery, moves to the bottom of the robot's abdominal battery compartment. The fourth motor 402 drives the upper base plate 408 of the upper battery compartment to rise via the fourth motor flange 403 and the lifting mechanism linkage 406. The second micro push rod 410 pushes the fully charged battery into the robot's abdominal battery compartment and locks it in place, completing the abdominal battery swapping.

[0053] An embodiment of the present invention provides a lateral battery swapping method based on the above-described robot automatic battery swapping device, comprising: the robot docking at the robot support platform 1; a second motor 102 driving the telescopic housing 2 to extend; a clamping device 308 releasing and clamping an empty battery; a battery swapping robotic arm 3 transferring the empty battery to the upper battery compartment 4 or the lower battery compartment 5; a conveyor belt 104 providing a fully charged battery; the battery swapping robotic arm 3 inserting the fully charged battery into the robot's lateral battery compartment; and the telescopic housing 2 retracting.

[0054] An embodiment of the present invention provides a method for abdominal battery swapping based on the above-mentioned automatic battery swapping device for robots, comprising: the robot docking at the robot support platform 1, so that the battery compartment in the robot's abdomen corresponds to the opening in the middle of the robot support platform 1; a third linear module 401 driving the upper battery compartment 4 to move forward; a fourth motor 402 driving the upper base plate 408 of the upper battery compartment to rise through a fourth motor flange 403 and a lifting mechanism linkage 406; a second micro push rod 410 releasing the lock of the empty battery; the battery swapping robotic arm 3 transferring the empty battery and the fully charged battery; the upper base plate 408 of the upper battery compartment rising again, and the second micro push rod 410 pushing the fully charged battery into the robot's abdominal battery compartment.

[0055] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the preferred embodiments, while those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0056] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic battery changing device for robots, characterized in that, include: Robot support platform (1), telescopic box (2), battery swapping robotic arm (3), upper battery compartment (4) and lower battery compartment (5); The robot carrier platform (1) is used for robot docking and positioning, and an abdominal battery swapping opening is opened in the middle of the robot carrier platform (1). The telescopic box (2) is movably disposed within the robot carrier platform (1); The battery swapping robotic arm (3) is located on the outside of the telescopic box (2) and is used to transfer batteries between the robot battery compartment, the upper battery compartment (4) and the lower battery compartment (5); The upper battery compartment (4) includes two elastically connected upper battery compartment side plates (409) for limiting and guiding batteries of different sizes.

2. The automatic battery changing device for robots according to claim 1, characterized in that, One end of the robot carrier platform (1) is sloping. An eighth motor (106) is provided on the back of the robot carrier platform (1). The output end of the eighth motor (106) is connected to the drive end of the conveyor belt (104) to drive the conveyor belt (104) to transport batteries. A ninth motor (108) is provided on the back of the robot carrier platform (1) through a ninth motor flange (109). The output end of the ninth motor (108) is fixedly connected to the ninth motor connector (103). The ninth motor connector (103) is connected to the first micro push rod (107) to drive the first micro push rod (107) to change its working direction, and the first micro push rod (107) pushes the batteries on the conveyor belt (104) into the lower battery compartment (5).

3. The automatic battery changing device for robots according to claim 1, characterized in that, A second motor (102) and an external gear (105) are provided on one side of the robot platform (1); the second motor (102) is used to drive the external gear (105) to rotate, so as to drive the telescopic box (2) to move in the direction of the robot entering and leaving the robot platform (1).

4. The automatic battery changing device for robots according to claim 1, characterized in that, The battery swapping robotic arm (3) includes a first linear module (301), a sixth motor bracket (302), a sixth motor (303), a robotic arm (304), and a clamping device (308); the first linear module (301) drives the robotic arm (304) to move laterally, the sixth motor (303) drives the robotic arm (304) to rotate, and the clamping device (308) is used to pick up and put down the battery.

5. The automatic battery changing device for robots according to claim 4, characterized in that, The clamping device (308) is slidably connected to the clamping guide rail (307); the end of the robotic arm (304) is provided with a seventh motor (305), and the output end of the seventh motor (305) is connected to the clamping device (308) through the seventh motor connector (306) to drive the clamping device (308) to open and close along the clamping guide rail (307); the clamping device (308) is used to act on the battery buckle when clamping the battery to release or restore the battery lock.

6. The automatic battery changing device for robots according to claim 2, characterized in that, The second motor (102), the eighth motor (106), the ninth motor (108), the sixth motor (303), the seventh motor (305), the fourth motor (402), and the fifth motor (506) operate in sequence, so that the telescopic box (2), the battery swapping robotic arm (3), the upper battery compartment (4), the lower battery compartment (5), and the conveyor belt (104) cooperate to complete the battery swapping.

7. The automatic battery changing device for robots according to claim 1, characterized in that, The upper battery compartment (4) includes a third linear module (401), a fourth motor (402), a fourth motor flange (403), a lower base plate (404) of the upper battery compartment, an upper base plate slider (405), a lifting mechanism link (406), an upper base plate slide rail (407) of the upper battery compartment, an upper base plate (408) of the upper battery compartment, a side plate (409) of the upper battery compartment, and a second micro push rod (410). One side of the third linear module (401) is fixedly connected to the telescopic box (2), and the other side is fixedly connected to the lower base plate (404) of the upper battery compartment. The lower base plate (404) of the upper battery compartment is used to support the fourth motor (402) and the lifting mechanism link (406). The upper battery compartment (4) serves as the lifting support base for the upper battery compartment (4); the third linear module (401) drives the upper battery compartment (4) to move back and forth relative to the telescopic box (2) through the lower bottom plate (404) of the upper battery compartment; the fourth motor (402) drives the upper bottom plate (408) of the upper battery compartment to move up and down through the fourth motor flange (403) and the lifting mechanism connecting rod (406); the upper bottom plate slider (405) cooperates with the upper bottom plate slide rail (407) of the upper battery compartment; the two upper battery compartment side plates (409) are elastically connected to limit the battery laterally; the second micro push rod (410) is used to act on the battery buckle of the robot battery compartment.

8. The automatic battery changing device for robots according to claim 2, characterized in that, The lower battery compartment (5) includes a fifth motor base (501), a fifth motor connector (502), a flipping mechanism link 1 (503), a flipping mechanism link 2 (504), a flipping platform (505), and a fifth motor (506). The fifth motor (506) is fixed on the fifth motor base (501) and drives the flipping platform (505) to switch between receiving posture and picking and placing posture through the fifth motor connector (502), the flipping mechanism link 1 (503), and the flipping mechanism link 2 (504). The flipping platform (505) is used to receive the batteries fed in by the conveyor belt (104) and provide the batteries to be loaded into the robot to the battery swapping robot arm (3).

9. A lateral battery swapping method based on the robot automatic battery swapping device according to any one of claims 1 to 8, characterized in that, include: The robot stops at the robot platform (1); the second motor (102) drives the telescopic box (2) to extend; The clamping device (308) releases and clamps the empty battery; the battery swapping robot arm (3) transfers the empty battery to the upper battery compartment (4) or the lower battery compartment (5); the conveyor belt (104) provides the fully charged battery; the battery swapping robot arm (3) inserts the fully charged battery into the robot's side battery compartment; the telescopic box (2) retracts.

10. A method for abdominal battery swapping based on the robotic automatic battery swapping device according to any one of claims 1 to 8, characterized in that, include: The robot stops at the robot support platform (1), aligning the robot's abdominal battery compartment with the opening in the middle of the robot support platform (1); the third linear module (401) drives the upper battery compartment (4) to move forward; the fourth motor (402) drives the upper base plate (408) of the upper battery compartment to rise through the fourth motor flange (403) and the lifting mechanism linkage (406); the second micro push rod (410) releases the lock of the empty battery; the battery swapping robot arm (3) transfers the empty battery and the fully charged battery; the upper base plate (408) of the upper battery compartment rises again, and the second micro push rod (410) pushes the fully charged battery into the robot's abdominal battery compartment.

Images