Robot battery installation and performance monitoring device

Abstract

A robot battery installation and performance monitoring device comprises a storage battery mechanism, a photoelectric switch, an electric quantity detection circuit, a wireless receiving circuit and a positioning mechanism. Each set of storage battery mechanism comprises a storage battery, a shell and a charging socket, and the storage battery, the charging socket, the electric quantity detection circuit and the photoelectric switch are arranged in the shell; guide grooves and positioning grooves are formed in the two side ends of the shell respectively, a fixing bin is arranged at the lower end of a vehicle body of the automated guided vehicle, and the positioning mechanisms are installed on the two sides in the fixing bin. And the storage battery mechanism is movably mounted in the fixed bin. According to the storage battery mechanism, the charged storage battery mechanism can be conveniently replaced for the automatic guided vehicle, the time for waiting for charging of the storage battery mechanism is shortened, and the working efficiency is correspondingly improved; when a corresponding set of storage battery mechanism is out of power and the unmanned carrying robot turns over or overturns due to various accidents, workers not on the site can be prompted in a wireless mode immediately, the workers can go to the site for processing or charging in time, and therefore the working efficiency is correspondingly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned handling robot auxiliary equipment, in particular to a robot battery installation and performance monitoring device. Background Art

[0002] Automated Guided Vehicle (AGV), also known as unmanned transport robot, is equipped with electromagnetic or optical automatic guidance devices, can automatically travel along the specified guide path, has safety protection and various transportation functions, and uses rechargeable batteries as its power source. Unmanned transport robots are characterized by wheeled or tracked movement, and have the advantages of fast action, high work efficiency, simple structure, strong controllability, and good safety. When working, they go back and forth between loading and unloading stations (loading stations are automatically loaded by other equipment or manually loaded, and unloading stations are unloaded by other equipment or manually unloaded). Compared with other equipment commonly used in material transportation, the activity area of ​​unmanned transport robots does not need to lay tracks, support frames and other fixed devices, and is not restricted by sites, roads and space. Therefore, in the automated logistics system, it can best reflect its automation and flexibility, and realize efficient, economical and flexible unmanned production.

[0003] In the application of unmanned transport robots, the battery needs to be charged after a period of time. In the prior art, the staff generally inserts the power plug of the charger into the jack of the power socket at the outer end of the shell of the unmanned transport robot (the power socket and the battery in the robot are connected by wires). In this way, the unmanned transport robot can only be used again after the battery is fully charged. Therefore, the unmanned transport robot cannot work during the waiting time for charging, which will have an adverse effect on the working efficiency of the equipment and is correspondingly not conducive to the utilization rate of the equipment. In addition, the existing unmanned transport robots are affected by poor ground conditions and other obstacles (such as stones or parts left by other transport vehicles falling on the ground) during the process of loading and unloading. For example, they are hit by other equipment, and there is a probability that they can overturn or overturn (some or all wheels are off the ground) and cannot drive normally. Because in the current technology, when the unmanned transport robot is in the above situation, it is impossible to promptly remind the remote staff who are not on site and go to the site to deal with it in time, which will also have an adverse effect on the work efficiency. In summary, it is particularly necessary to provide a device that can facilitate the replacement and installation of batteries for unmanned transport robots, and can alert off-site staff when the unmanned transport robot overturns or overturns during driving and cannot drive normally, or when it is out of power. Utility Model Content

[0004] In order to overcome the disadvantages of the existing unmanned transport robots, such as the batteries are fixedly installed, resulting in a long charging time, and failing to promptly remind the staff when the unmanned transport robot itself tilts or overturns, which will have an adverse effect on work efficiency, the utility model provides a robot battery installation and performance monitoring device for collaborative use with an unmanned transport robot. When the battery of the unmanned transport robot is out of power or turns over or overturns due to various accidents, it can immediately wirelessly remind the staff who are not on site to promptly go to the site for processing or charging. During charging, the battery shell can be conveniently pulled out to charge the battery separately, and another charged battery can be replaced for the unmanned transport robot, thereby correspondingly improving the work efficiency.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] A robot battery installation and performance monitoring device includes a battery mechanism and a photoelectric switch, and is characterized in that it also has a power detection circuit, a wireless receiving circuit, and a positioning mechanism; there are at least two sets of the battery mechanism, the power detection circuit, and the photoelectric switch, each set of the battery mechanism includes a battery, a shell, and a charging socket, and each set of the battery mechanism is equipped with a set of power detection circuits and photoelectric switches, and the battery and the charging socket, the power detection circuit, and the photoelectric switch are installed in the shell; there are guide grooves on both side ends of the shell, and the inner side ends of the guide grooves have multiple positioning grooves at each interval, the lower end of the body of the unmanned handling robot has a fixed warehouse, and the rear side end of the fixed warehouse is an open mechanism, there are multiple sets of positioning mechanisms, and the multiple sets of positioning mechanisms are installed on both side ends of the fixed warehouse at front and rear intervals; the battery mechanism is movably installed in the fixed warehouse; the signal output end of each set of photoelectric switches is electrically connected to the signal input end of the power detection circuit.

[0007] Furthermore, the detection head of the photoelectric switch is vertically located outside the lower end of the shell and is aligned with the ground.

[0008] Furthermore, the positioning mechanism includes a positioning ball, a spring, and a guide tube. The spring and the positioning ball are movably sleeved in the guide tube in sequence. The radius of the steel ball is smaller than the inner diameter of one side of the guide tube, and the length of the spring is greater than the internal length of the guide tube.

[0009] Furthermore, after the battery mechanism is installed in the fixed compartment, the inner ends of the positioning beads of the multiple sets of positioning mechanisms are respectively located in the multiple positioning grooves at the two side ends of the shell.

[0010] Furthermore, the power detection circuit includes an electrically connected three-terminal voltage detector, an adjustable resistor, a resistor, a transistor, and a wireless transmitting circuit module, one end of the adjustable resistor is connected to one end of the first resistor and one end of the second resistor, the positive power supply input end of the three-terminal voltage detector is connected to the other end of the first resistor, the output end of the three-terminal voltage detector is connected to one end of the third resistor, the other end of the third resistor is connected to the base of the transistor, the other end of the second resistor is connected to the negative power supply input end of the three-terminal voltage detector and the negative power supply input end of the wireless transmitting circuit module, the collector of the transistor is connected to the positive power supply input end of the wireless transmitting circuit module, the other end of the adjustable resistor is connected to the emitter of the transistor, and two contacts under one of the signal transmission buttons of the wireless transmitting circuit module are connected together.

[0011] Furthermore, the wireless receiving circuit includes a battery A, a wireless receiving circuit module, a resistor, a transistor and an audible and visual alarm that are electrically connected and installed in a component box. The positive electrode of the battery A is connected to the positive power input terminal of the wireless receiving circuit module and the positive power input terminal of the audible and visual alarm. The negative electrode of the battery is connected to the negative power input terminal of the wireless receiving circuit module and the emitter of the transistor. The output end of the wireless receiving circuit module is connected to one end of the resistor, the other end of the resistor is connected to the base of the transistor, and the collector of the transistor is connected to the negative power input terminal of the audible and visual alarm.

[0012] The beneficial effects of the utility model are as follows: (1) the utility model is used in conjunction with an unmanned transport vehicle, and has at least two sets of battery mechanisms. Usually, one set is installed together with the unmanned transport robot, and the other set is pre-charged and kept in standby mode. Since the corresponding set of battery mechanisms is fixed by plugging and unplugging, the unmanned transport robot can be conveniently replaced with a charged battery mechanism, thereby reducing the time for the battery mechanism to wait for charging and correspondingly improving work efficiency; (2) when the corresponding set of battery mechanisms is out of power, or when the unmanned transport robot overturns or tips over due to various accidents, it can immediately wirelessly remind the staff who are not on site and promptly go to the site to handle or charge the battery, thereby correspondingly improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0015] Figure 2 It is a partial structural schematic diagram of the utility model.

[0016] Figure 3 This is a circuit diagram of the utility model. DETAILED DESCRIPTION

[0017] Figure 1 ,2 3, a robot battery installation and performance monitoring device includes a battery mechanism 4, a photoelectric switch A3, and also has a power detection circuit 2, a wireless receiving circuit, and a positioning mechanism 1; the battery mechanism 4, the power detection circuit 2, and the photoelectric switch A2 are respectively at least two sets, each set of the battery mechanism includes a battery G1, a shell 41, and a charging socket CZ, and each set of the battery mechanism is equipped with a set of power detection circuit 2 and photoelectric switch A3. The battery G1 and the charging socket CZ, the power detection circuit 2, and the photoelectric switch A3 are installed in the shell 41 (the power detection circuit and the charging socket and the photoelectric switch A3 are installed separately on the circuit board, and there is a The wireless receiving circuit is carried by the staff; there is a transversely distributed semicircular guide groove 411 in the middle of the left and right sides of the shell 41, and the inner side of the guide groove 411 has multiple semicircular positioning grooves 412 at a certain distance; the lower end of the body of the unmanned handling robot 5 has a rectangular hollow battery fixing compartment 51, and the rear side end of the fixing compartment 51 is an open mechanism, and there are six sets of positioning mechanisms 4, and every three sets of positioning mechanisms 4 are installed at the left and right sides of the fixing compartment 51 at a distance from each other; the battery mechanism 1 is installed in the fixing compartment 51 from back to front (the inner diameter of the fixing compartment is slightly larger than the outer diameter of the shell). The socket of the charging socket CZ is located outside the rear end of the shell 41, which is convenient for inserting the main power plug of the unmanned handling robot 5 into the socket of the charging socket CZ to power the unmanned handling robot 5.

[0018] Figure 1 , 2 As shown in Figure 3, the detection head of the photoelectric switch A3 is vertically located outside the opening at the lower end of the housing and the fixed chamber 51 and is aligned with the ground. Each set of positioning mechanism 1 includes a steel ball 101, a spring 102, and a guide tube 103. The outer end of the guide tube 103 is a closed structure and the inner end is a circular open structure. The spring 102 and the steel ball 101 are movably sleeved in the guide tube 103 in sequence. The inner side of the steel ball 101 is located at the inner outer end of the guide tube 103, and the radius of the steel ball 101 is slightly smaller than the inner diameter of the guide tube 103. The length of the spring 102 is greater than the inner length of the guide tube 103. The number of sets of the positioning mechanism 1 is consistent with the number of the positioning grooves 412 of the arc-shaped guide grooves in the middle of the left and right side ends of the shell. The six sets of positioning mechanisms are respectively installed on the left and right side ends of the fixed warehouse 51. In the positioning mechanisms 1 on the two side ends of the fixed warehouse, the steel balls 101 of every two sets of positioning mechanisms 1 on the two side ends are in a face-to-face structure, and the distance between the steel balls 101 of the two sets of positioning mechanisms is smaller than the distance between the positioning grooves 412 on the two side ends of the shell. After the battery mechanism 4 is installed in the fixed warehouse 51 from back to front, the inner ends of the steel balls 103 of the six sets of positioning mechanisms are respectively located in the positioning grooves 412 on the two side ends of the shell.

[0019] Figure 1 , 2As shown in Figure 3, the power detection circuit includes a three-terminal voltage detector A1, an adjustable resistor RP, resistors R1, R2, and R3, a transistor Q1, and a wireless transmitting circuit module A2 connected via circuit board wiring. One end of the adjustable resistor RP is connected to one end of the first resistor R2 and one end of the second resistor R1. Pin 2 of the positive power input terminal of the three-terminal voltage detector A1 is connected to the other end of the first resistor R2. Pin 1 of the output terminal of the three-terminal voltage detector A1 is connected to one end of the third resistor R3. The other end of the third resistor R3 is connected to the base of the transistor Q1. The other end of the second resistor R1 is connected to pin 3 of the negative power input terminal of the three-terminal voltage detector A1 and pin 2 of the negative power input terminal of the wireless transmitting circuit module A2. The collector of the transistor Q1 is connected to pin 1 of the positive power input terminal of the wireless transmitting circuit module A2. The other end of the adjustable resistor RP is connected to the emitter of the transistor Q1. The two contacts under the first signal transmitting button D1 of the wireless transmitting circuit module A2 are connected together. The wireless receiving circuit includes a battery AG2, a charging socket ACZ1, a power switch S1, a wireless receiving circuit module A3, a resistor R4, a transistor Q2 and an audible and visual alarm BX, which are connected via circuit board wiring and installed in a component box 61. The two poles of the battery AG2 and the two ends of the charging socket CZ1 are respectively connected via wires (when the battery AG2 is out of power, an external power charger plug can be inserted into the charging socket CZ1 to charge the battery AG2), and are connected in series via the power switch S1 to the positive power input terminal 1 pin of the wireless receiving circuit module A3 and the positive power input terminal of the audible and visual alarm BX, the negative pole of the battery AG2 is connected to the negative power input terminal 2 pin of the wireless receiving circuit A3 and the emitter of the transistor Q2, the output terminal 3 pin of the wireless receiving circuit module A3 is connected to one end of the resistor R4, the other end of the resistor R4 is connected to the base of the transistor Q2, and the collector of the transistor Q2 is connected to the negative power input terminal of the audible and visual alarm BX. In each set of battery mechanism 4, photoelectric switch A3, and power detection circuit 2, the two poles of the battery G1, the two ends of the charging socket CZ, the other end of the adjustable resistor RP at the power input end of the power detection circuit, the other end of the resistor R1, and the power input ends 1 and 2 of the photoelectric switch A3 are connected via wires respectively, and the signal output end 3 of the photoelectric switch A3 and the collector of the transistor Q1 at the signal input end of the power detection circuit are connected via wires.

[0020] Figure 1 , 2As shown in Figure 3, the new type of cooperative unmanned handling robot has at least two sets of battery mechanisms. Usually, one set is installed together with the unmanned handling robot (the main power plug of the unmanned handling robot 5 is inserted into the charging socket CZ to power the unmanned handling robot 5), and the other set is pre-charged and ready for use (the plug of the other power charger is inserted into the charging socket CZ to pre-charge the battery G1). Since the corresponding set of battery mechanisms is fixed by plugging and unplugging, it is convenient to replace the charged battery for the unmanned handling robot, thus reducing the time for the battery mechanism to wait for charging and correspondingly improving the work efficiency. Specifically, when the staff pulls out the main power plug of the unmanned handling robot 5 by hand, and then pulls the handle 413 of the housing 41 toward the rear outer end by hand, the steel balls 101 of the six sets of positioning mechanisms 1 overcome the elastic force of the spring and move toward the outer end along the guide tube 103, and come out of the corresponding positioning groove 412 and move toward the rear side end along the guide groove 411, so that the staff can easily take out the battery mechanism that has run out of power. After the staff removes the corresponding set of battery mechanisms, they install another set of battery mechanisms in the fixed compartment 51 from back to front. When the handle 413 of the outer shell 41 is pushed toward the forward inner side, the steel balls 101 of the six positioning mechanisms 1 overcome the elastic force of the spring and move toward the outer side along the guide tube 103, and move toward the forward side along the guide groove 411. In this way, the steel balls 101 of the six positioning mechanisms 1 enter the six positioning grooves 412 respectively under the elastic force of the spring to position the battery mechanisms (the battery mechanisms will not fall out of the fixed compartment 51 without pulling the outer shell backward with force).

[0021] Figure 1 , 2As shown in Figure 3, in a corresponding battery mechanism, when the battery G1 is fully charged (for example, above 12V), the power output by the battery G1 is divided by the adjustable resistor RP and the resistor R1, and the resistor R2 steps down the voltage and limits the current. The voltage at the pin 2 of the three-terminal voltage detector A1 is higher than the 4.75V threshold voltage inside the three-terminal voltage detector A1, and the pin 1 of the three-terminal voltage detector A1 outputs a high level, the transistor Q1 will not be turned on, and the wireless transmitting circuit module A2 will not transmit a wireless signal. When the battery G1 is low on power (for example, below 12V), the power output by the battery G1 is divided by the adjustable resistor RP and the resistor R1, and the resistor R2 steps down the voltage and limits the current. The voltage at pin 2 of the three-terminal voltage detector A1 is lower than the 4.75V threshold voltage inside the three-terminal voltage detector A1, and pin 1 of the three-terminal voltage detector A1 outputs a low level (resistor R3 steps down the voltage and limits the current). The transistor Q1 conducts and the collector outputs a high level and enters the positive power input terminal of the wireless transmitting circuit module A2. Since the two contacts under the first signal transmitting button D1 of the wireless transmitting circuit module A2 are connected together, the wireless transmitting circuit module A2 is powered to transmit the first wireless closing signal. When the unmanned transport robot moves normally without turning over or overturning, the infrared light beam emitted by the transmitter head of the photoelectric switch A3 is vertically aimed at the ground with a spacing of about 7 cm, and the 3rd pin of the photoelectric switch A3 will not output a high level, and the wireless transmitting circuit module A2 will not be powered to transmit a wireless signal; when the unmanned transport robot moves abnormally and turns over or over, the infrared light beam emitted by the transmitter head of the photoelectric switch A3 is no longer vertically aimed at the ground with a spacing of more than 7 cm, and the 3rd pin of the photoelectric switch A3 will output a high level and enter the positive power input terminal of the wireless transmitting circuit module A2, so the wireless transmitting circuit module A2 is powered to transmit the first wireless closing signal.

[0022] Figure 1 , 2 As shown in Figure 3, in actual application, after the staff turns on the power switch S1 of the wireless receiving circuit carried by the staff, the wireless receiving circuit module A4 is powered on and starts working. When the voltage of the battery G1 of the battery mechanism is too low or the unmanned handling robot overturns or tips over due to abnormal movement, the wireless transmitting circuit module A2 transmits the first wireless closing signal. Within a range of 3000 meters, after the wireless receiving circuit module A3 receives the signal, its 3rd pin will output a high level, which enters the base of the transistor Q2 through the resistor R4 to reduce the voltage and limit the current. The transistor Q2 conducts and the collector outputs a low level, which enters the negative power input terminal of the sound and light alarm BX. The sound and light alarm BX is powered on and sends out sound and light signals to remind the relevant management personnel who are not on site. Through the above, when the corresponding battery mechanism of the new type is out of power, or when the unmanned handling robot overturns or tips over due to various accidents, it can immediately wirelessly remind the staff who are not on site to go to the site in time for processing or charging, thereby correspondingly improving the work efficiency. Figure 2 , 3The resistance values ​​of resistors R1, R2, R3, and R4 are 7K, 10K, 4.7K, and 10K respectively; transistor Q1 is a PNP transistor of model 9012; transistor Q2 is an NPN transistor of model 9013; the sound and light alarm is a finished sound and light alarm of model ad16-22smLED (12V); battery G1 is a lithium battery of model 12V / 300Ah; battery G2 is a lithium battery of model 12V / 20Ah; three-terminal voltage detector A1 is AN051A; wireless transmitting circuit module A2, wireless The receiving circuit module A3 is a finished product of a 3000-meter four-button wireless remote control transmitting and receiving component with a model of 2262 / 315Mhz; the photoelectric switch A3 is a finished product of an NPN type photoelectric switch with a model of E3F-DS30C4. The photoelectric switch A3 has two power input terminals and a signal output terminal. When there is an obstacle at the front end of the detection head of the photoelectric switch A3, the signal output terminal outputs power, otherwise it does not output power (there is a distance adjustment knob on the outside of the housing of the photoelectric switch. Adjusting it to the left will shorten the detection distance, and adjusting it to the right will make the detection distance farther. The new model can be adjusted to about 7 cm respectively).

[0023] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0025] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A robot battery installation and performance monitoring device, including a battery mechanism and a photoelectric switch, characterized in that: It also has a power detection circuit, a wireless receiving circuit, and a positioning mechanism; there are at least two sets of the battery mechanism, the power detection circuit, and the photoelectric switch, each of which includes a battery, a shell, and a charging socket. Each set of the battery mechanism is equipped with a set of power detection circuit and photoelectric switch, and the battery and the charging socket, the power detection circuit, and the photoelectric switch are installed in the shell; there are guide grooves on both sides of the shell, and the inner ends of the guide grooves have multiple positioning grooves at each interval. The lower end of the body of the unmanned handling robot has a fixed warehouse, and the rear end of the fixed warehouse is an open mechanism. There are multiple sets of positioning mechanisms, and the multiple sets of positioning mechanisms are installed on both sides of the fixed warehouse at front and rear intervals; the battery mechanism is movably installed in the fixed warehouse; the signal output end of each set of photoelectric switches is electrically connected to the signal input end of the power detection circuit.

2. The robot battery installation and performance monitoring device according to claim 1, characterized in that: The detection head of the photoelectric switch is vertically located outside the lower end of the shell and is aligned with the ground.

3. The robot battery installation and performance monitoring device according to claim 1, characterized in that: The positioning mechanism includes a positioning ball, a spring, and a guide tube. The spring and the positioning ball are movably sleeved in the guide tube in sequence. The radius of the steel ball is smaller than the inner diameter of one side of the guide tube, and the length of the spring is greater than the inner length of the guide tube.

4. The robot battery installation and performance monitoring device according to claim 3, characterized in that: After the storage battery mechanism is installed in the fixed compartment, the inner ends of the positioning beads of the plurality of positioning mechanisms are respectively located in the plurality of positioning grooves at the two side ends of the shell.

5. The robot battery installation and performance monitoring device according to claim 1, characterized in that: The power detection circuit includes an electrically connected three-terminal voltage detector, an adjustable resistor, a resistor, a transistor, and a wireless transmitting circuit module. One end of the adjustable resistor is connected to one end of the first resistor and one end of the second resistor. The positive power supply input end of the three-terminal voltage detector is connected to the other end of the first resistor. The output end of the three-terminal voltage detector is connected to one end of the third resistor. The other end of the third resistor is connected to the base of the transistor. The other end of the second resistor is connected to the negative power supply input end of the three-terminal voltage detector and the negative power supply input end of the wireless transmitting circuit module. The collector of the transistor is connected to the positive power supply input end of the wireless transmitting circuit module. The other end of the adjustable resistor is connected to the emitter of the transistor. Two contacts under one of the signal transmission buttons of the wireless transmitting circuit module are connected together.

6. The robot battery installation and performance monitoring device according to claim 1, characterized in that: The wireless receiving circuit includes a battery A, a wireless receiving circuit module, a resistor, a transistor and an audible and visual alarm which are electrically connected and installed in a component box. The positive pole of the battery A is connected to the positive power input terminal of the wireless receiving circuit module and the positive power input terminal of the audible and visual alarm. The negative pole of the battery is connected to the negative power input terminal of the wireless receiving circuit module and the emitter of the transistor. The output terminal of the wireless receiving circuit module is connected to one end of the resistor, the other end of the resistor is connected to the base of the transistor, and the collector of the transistor is connected to the negative power input terminal of the audible and visual alarm.

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