Battery replacement device and robot

Abstract

The utility model discloses a battery replacing device and a robot. The battery replacing device comprises a first automatic guiding vehicle, a second automatic guiding vehicle and a battery replacing device, the first rack is arranged on the first automatic guide vehicle, N battery placement positions are arranged on the first rack, N is larger than or equal to 2, M charged battery packs are placed in the N battery placement positions, and M is smaller than N and larger than or equal to 1; wherein when the robot needs to replace the battery pack, the first automatic guide vehicle moves to the position of the robot where the battery pack needs to be replaced, so that the battery pack can be replaced at the working position of the robot. According to the technical scheme, when the battery pack is replaced, the battery pack in the robot can be detached and placed on the vacant battery placing position, and then the charged battery pack is further replaced into the robot, so that the moving time of the robot between a production line and a battery replacing position is saved, and the production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of material handling, and in particular to a battery replacement device and a robot. Background Art

[0002] With the development of automation technology, more and more production lines are beginning to use robots to replace manual work in order to save manpower and improve production efficiency.

[0003] At present, when the battery pack of the robot is running low during operation, the robot will move to the location where the battery pack is replaced, and the battery pack on the robot will be manually removed, and then replaced with a charged battery pack to allow the robot to continue working. Compared with the method of charging the battery pack on the robot, this method further improves production efficiency. However, during the process of replacing the battery pack, the robot needs to move to the location where the battery pack is replaced and move to the production line after the battery pack is replaced before it can continue to operate, which affects production efficiency during the process of replacing the battery pack.

[0004] Therefore, the prior art still needs to be improved and developed. Utility Model Content

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the present utility model is to provide a battery replacement device and a robot to solve the problem in the prior art that the robot needs to move to the position for replacing the battery pack and move to the production line after replacing the battery pack before it can continue to work, which affects the production efficiency during the battery pack replacement process.

[0006] The technical solution adopted by the utility model to solve the technical problem is: to provide a battery replacement device for replacing a battery pack in a robot, the battery replacement device comprising:

[0007] a first automated guided vehicle having a first control module;

[0008] A first rack is provided on the first automatic guided vehicle, wherein a battery placement position is provided on the first rack, wherein the battery placement position is used to place a battery pack, wherein N battery placement positions are provided, wherein N is greater than or equal to 2, and wherein M charged battery packs are placed in the N battery placement positions, wherein M is less than N and greater than or equal to 1;

[0009] When the battery pack of the robot needs to be replaced, the first automatic guided vehicle moves to the position of the robot where the battery pack needs to be replaced, so that the battery pack can be replaced at the working position of the robot.

[0010] A further configuration of the utility model is that a plurality of first transmission mechanisms arranged side by side are provided on the first rack, the first transmission mechanisms are connected to the first control module, each of the first transmission mechanisms is a battery placement position, the first transmission mechanism is used to transmit the charged battery pack to the outside of the first rack when the battery pack is replaced, and is also used to transmit the battery pack with low power to the first rack when the battery pack is replaced.

[0011] The utility model also provides a robot for replacing a battery pack using the battery replacement device as described above, the robot comprising:

[0012] A battery pack, wherein the battery pack is provided with a first pair of connectors;

[0013] a second automated guided vehicle;

[0014] a first shell installed on the second automatic guided vehicle, a second pair of joints being arranged in the first shell, a first hole penetrating through a side wall of the first shell being opened on the first shell, a second transmission mechanism being arranged in the first shell, the second transmission mechanism being used to place the battery pack, the second transmission mechanism being used to transmit the battery pack to the outside of the first shell through the first hole when the battery pack needs to be replaced, and the second transmission mechanism being used to transmit the replaced battery pack to the inside of the first shell through the first hole;

[0015] A mechanical arm mounted on the first shell, the mechanical arm is used to grab materials;

[0016] a second control module, connected to the automatic guided vehicle, the robotic arm, the second transmission mechanism and the battery pack, respectively, the second control module is used to control the second automatic guided vehicle, the robotic arm and the second transmission mechanism, and the second control module is also used to collect the remaining power value of the battery pack;

[0017] Wherein, when the first pair of connectors is connected to the second pair of connectors, the battery pack is connected to the automatic guided vehicle and the first control module respectively.

[0018] A further configuration of the utility model is that when the battery pack is transferred from outside the first shell to inside the first shell, a first pair of connectors is provided at one end that first enters the first shell;

[0019] Wherein, when the battery pack is located in the first shell, the first pair of connectors are connected to the second pair of connectors.

[0020] The utility model further configures the first pair of connectors to be magnetic plugs or magnetic connectors.

[0021] The utility model is further configured that when the battery pack is transferred from outside the first shell to inside the first shell, an electromagnet is further provided at the end that first enters the first shell, and an adsorption member for adsorption of the electromagnet is provided inside the first shell, and the electromagnet is used to fix the battery pack when the first pair of connectors are connected to the second pair of connectors;

[0022] Alternatively, when the battery pack is transferred from outside the first shell to inside the first shell, an adsorption component is further provided at the end that first enters the first shell, and an electromagnet adsorbed by the adsorption component is provided inside the first shell, and the electromagnet is used to fix the battery pack when the first pair of connectors are connected to the second pair of connectors.

[0023] The utility model is further configured that the magnetism of the electromagnet disappears when the power is off, and generates magnetism when the power is on;

[0024] Or, the electromagnet generates magnetism when the power is off, and the magnetism disappears when the power is on.

[0025] The utility model is further provided that a material placement position for placing materials is provided on the top of the first shell, and the material placement position is provided with a plurality of partition blocks, and the partition blocks are distributed in an n×m manner;

[0026] The material placement position is provided with a plurality of grooves, and a partition block is provided in each of the grooves;

[0027] The partition block includes a first block piece and a second block piece, one end of the first block piece is connected to one end of the second block piece, and the first block piece and the second block piece are in an inverted eight shape, and the other end of the first block piece and the other end of the second block piece are inserted in the groove.

[0028] The beneficial effects of the utility model are:

[0029] The utility model discloses a battery replacement device and a robot, wherein the battery replacement device is used to replace a battery pack in the robot, and comprises: a first automatic guided vehicle having a first control module; a first frame, which is arranged on the first automatic guided vehicle, wherein a battery placement position is arranged on the first frame, wherein the battery placement position is used to place a battery pack, wherein N battery placement positions are arranged, wherein N is greater than or equal to 2, and wherein M charged battery packs are placed in the N battery placement positions, wherein M is less than N and greater than or equal to 1; wherein, when the battery pack of the robot needs to be replaced, the first automatic guided vehicle moves to the position of the robot where the battery pack needs to be replaced, so that the battery pack can be replaced at the working position of the robot. In the technical solution of the utility model, when the robot needs to replace the battery pack, the charged battery pack can be moved to the robot's operating position by the first automatic guided vehicle. Since the battery placement position set by the first automatic guided vehicle is larger than the charged battery pack placed, there is at least one vacant battery placement position among the battery placement positions. Therefore, when replacing the battery pack, the battery pack in the robot can be removed first and placed on the vacant battery placement position, and then the charged battery pack can be further replaced in the robot, which saves the time of the robot moving between the production line and the battery replacement position and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary personnel in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0031] Figure 1 It is a structural diagram of the battery replacement device of the utility model.

[0032] Figure 2 This is a structural diagram showing a battery pack placed on a battery placement position on a battery replacement device in one embodiment of the utility model.

[0033] Figure 3 It is a main structural diagram of the utility model robot.

[0034] Figure 4 This is a structural diagram of a robot without a battery pack installed in one embodiment of the utility model.

[0035] Figure 5 This is a front view structural diagram of a robot without a battery pack installed in one embodiment of the utility model.

[0036] Figure 6 It is a structural diagram of a battery pack in one embodiment of the utility model.

[0037] Figure 7 It is a partition block in an embodiment of the utility model.

[0038] Figure 8 This is a docking diagram of a robot and a battery exchange device in one embodiment of the utility model.

[0039] The marks in the accompanying drawings are: 1. robot; 11. battery pack; 111. electromagnet; 112. first pair of joints; 12. second automatic guided vehicle; 13. first shell; 131. first hole position; 132. second pair of joints; 133. first transmission mechanism; 14. robotic arm; 15. material placement position; 151. dividing block; 1511. first baffle; 1512. second baffle; 2. battery exchange device; 21. first automatic guided vehicle; 22. first frame; 221. enclosure; 222. anti-collision block; 223. battery placement position; 23. first transmission mechanism. DETAILED DESCRIPTION

[0040] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation methods of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "up", "down", "left", "right", "longitudinal", "horizontal", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, are constructed and operated in a specific direction, and are only for the convenience of describing the present technical solution, rather than indicating that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation to the present invention.

[0041] like Figure 1 , Figure 2 As shown, a battery replacement device 2 provided by the utility model is used to replace the battery pack 11 in the robot 1. The battery replacement device 2 may include: a first automatic guided vehicle 21 with a first control module and a first frame 22; the first frame 22 is arranged on the first automatic guided vehicle 21, and a battery placement position 223 is arranged on the first frame 22, and the battery placement position 223 is used to place the battery pack 11. There are N battery placement positions 223, N is greater than or equal to 2, and M charged battery packs 11 are placed in the N battery placement positions 223, M is less than N and greater than or equal to 1; wherein, when the robot 1 needs to replace the battery pack 11, the first automatic guided vehicle 21 moves to the position of the robot 1 where the battery pack 11 needs to be replaced, so that the battery pack 11 can be replaced at the working position of the robot 1.

[0042] In this embodiment, when the robot 1 needs to replace the battery pack 11, the charged battery pack 11 can be moved to the operating position of the robot 1 by the first automatic guided vehicle 21. Since the battery placement position 223 set by the first automatic guided vehicle 21 is larger than the charged battery pack 11 placed, there is at least one vacant battery placement position 223 in the battery placement position 223. Therefore, when replacing the battery pack 11, the battery pack 11 in the robot 1 can be removed first and placed on the vacant battery placement position 223, and then the charged battery pack 11 can be further replaced in the robot 1, which saves the time of the robot 1 moving between the production line and the battery replacement position and improves production efficiency.

[0043] Furthermore, when there are more robots 1 on the production line, when setting the battery placement positions 223, multiple battery placement positions 223 can be set according to the number of robots 1. For example, when there are ten robots 1 on the production line, five robots may need to be replaced at the same time when replacing the batteries. At this time, when the number of battery placement positions 223 is greater than or equal to six, five charged battery packs 11 can be placed at a time, so that the battery packs 11 of five robots 1 can be replaced at one time (for example, when two battery placement positions 223 are set, if five robots 1 need to replace the battery packs 11, the battery packs 11 need to be moved from the battery replacement position five times to complete the replacement work).

[0044] When setting the battery placement positions 223, the number of battery placement positions 223 can be determined according to actual conditions. It can be seen that the battery exchange device 2 has high scalability and flexibility.

[0045] In some embodiments, Figure 1 , Figure 2 As shown, a plurality of first transmission mechanisms 23133 arranged side by side are provided on the first rack 22, each of the first transmission mechanisms 23133 is a battery placement position 223, the first transmission mechanism 23133 is connected to the first control module, the first transmission mechanism 23133 is used to transmit the charged battery pack 11 to the first rack 22 when the battery pack 11 is replaced, and is also used to transmit the battery pack 11 with insufficient power to the first rack 22 when the battery pack 11 is replaced.

[0046] Specifically, when replacing the battery pack 11, the first control module can be used to control the first transmission mechanism 23133 so that the first transmission mechanism 23133 transmits the battery pack 11 to the outside of the first rack 22, and when placing the battery in the battery placement position 223, the first control module can be used to control the first transmission mechanism 23133 to transmit the battery pack 11 with insufficient power to the battery placement position 223.

[0047] It can be seen that when the battery pack 11 is replaced manually, the provision of the first transmission mechanism 23133 can save manpower.

[0048] Among them, the first transmission mechanism 23133 can be any transmission structure that can realize the above-mentioned functions. For example, the first transmission mechanism 23133 can be an electric roller transmission mechanism with a built-in motor, and the built-in motor of the electric roller transmission mechanism is connected to the first control module, so that the first control module can control the electric roller transmission mechanism; for another example, the first transmission mechanism 23133 can also be a guide rail transmission mechanism, and the motor of the guide rail transmission mechanism is connected to the first control module, so that the first control module can control the guide rail transmission mechanism. Therefore, the specific structure of the first transmission mechanism 23133 is not limited too much here.

[0049] In order to prevent the battery pack 11 from slipping when the first automatic guided vehicle 21 moves the battery pack 11, further, as Figure 1 , Figure 2 As shown, an enclosure 221 is provided on the frame, wherein the enclosure 221 is a door-type enclosure 221, and the first transmission mechanism 23133 is arranged side by side in the door-type enclosure 221, and the two side edges of the door-type enclosure 221 are parallel to the transmission direction of the first transmission mechanism 23133.

[0050] Furthermore, if Figure 1 , Figure 2 As shown, a crash barrier 222 is also provided in the door-type enclosure 221 , wherein a crash barrier 222 is provided between each adjacent battery pack 11 to prevent collision between two battery packs 11 during movement of the first automatic guided vehicle 21 .

[0051] In some embodiments, a second speaker is provided on the battery exchange device 2. The second speaker is provided on the first automatic guided vehicle 21 and is connected to the first control module. When the first automatic guided vehicle 21 encounters an obstacle during its movement, the speaker can be controlled by the first control module to give a voice prompt so that on-site personnel can clear the obstacle in time.

[0052] In some embodiments, the first control module may be a controller, and the controller may be any controller capable of implementing the above functions, which is not limited herein.

[0053] In some embodiments, Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 8 As shown, the utility model also provides a robot 1 for replacing a battery pack 11 using the battery replacement device 2 as described above. The robot 1 may include a battery pack 11, a second automatic guided vehicle 12, a first shell 13, a robotic arm 14 and a second control module.

[0054] Specifically, the battery pack 11 is provided with a first pair of joints 112; the first shell 13 is installed on the second automatic guided vehicle 12, and a second pair of joints 132 matching the first pair of joints 112 is provided in the first shell 13, and a first hole 131 penetrating through the side wall of the first shell 13 is opened on the first shell 13, and a second transmission mechanism is provided in the first shell 13, and the second transmission mechanism is used to place the battery pack 11, and the second transmission mechanism is also used to transmit the battery pack 11 (battery pack 11 with insufficient power) to the outside of the first shell 13 through the first hole 131 when the battery pack 11 needs to be replaced, and the second transmission mechanism is also used to replace the battery pack 11 (battery pack 11 after charging) The battery pack 11) is transmitted to the first shell 13 through the first hole 131; the robotic arm 14 is installed on the first shell 13, and the robotic arm 14 is used to grab the material; the second control module is respectively connected to the second automatic guided vehicle 12, the robotic arm 14, the second transmission mechanism and the battery pack 11 (the battery pack 11 in the first shell 13), and the second control module is used to control the second automatic guided vehicle 12, the robotic arm 14 and the second transmission mechanism; the second control module is also used to collect the remaining power value of the battery pack 11; wherein, when the first pair of connectors 112 and the second pair of connectors 132 are connected, the battery pack 11 is respectively connected to the second automatic guided vehicle 12 and the second control module.

[0055] In this embodiment, when the battery pack 11 on the robot 1 is low on power, the first control module can be used to control the first automatic guided vehicle 21 to move to a first position, where the battery pack 11 in the robot 1 can be transferred to an empty battery placement position 223; at this time, the second transmission mechanism can be controlled by the second control module, and the first transmission mechanism 23133 can be controlled by the first control module at the same time, so that under the joint action of the first transmission mechanism 23133 and the second transmission mechanism, the disassembly work of the battery pack 11 in the robot 1 is completed (the second transmission mechanism transfers the battery pack 11 to the outside of the first shell 13, and the first transmission mechanism 23133 connects to the battery pack 11 transferred to the outside of the first shell 13 by the second transmission mechanism, and transfers it to the battery placement position 223). Among them, after the disassembly of the battery pack 11 in the robot 1 is completed, the first control module continues to control the first automatic guided vehicle 21 to move to the second position. The second position is a battery placement position 223. The charged battery pack 11 can be transmitted to the robot 1. At this time, the first transmission mechanism 23133 can be controlled by the first control module, and the second transmission mechanism can be controlled by the second control module. Under the joint action of the first transmission mechanism 23133 and the second transmission mechanism, the charged battery pack 11 is transmitted to the first shell 13 (the first transmission mechanism 23133 transmits the battery pack 11 to the first shell 13, and the second transmission mechanism connects the battery pack 11 transmitted by the first transmission mechanism 23133 to the first shell 13, and transmits it to the first shell 13). After connecting the first pair of connectors 112 and the second pair of connectors 132, the replacement of the battery pack 11 can be completed.

[0056] It can be seen that this battery replacement method further saves labor costs, and during the process of replacing the battery pack 11, there is no need to manually carry the battery pack 11, and safety is improved (the battery pack 11 is heavy, and when carried manually, the battery pack 11 often falls and affects personal safety).

[0057] Among them, when setting up the robotic arm 14, a six-joint robotic arm 14 or an eight-joint robotic arm 14 can be used. Technical personnel in this field can determine the robotic arm 14 according to actual needs, and no excessive restrictions are made here.

[0058] The first shell 13 may be a roughly square shell, wherein when the first hole 131 is opened, the position for installing the battery pack 11 needs to be considered, that is, to ensure that the first transmission mechanism 23133 can transmit the battery pack 11 to the outside of the first shell 13 through the first hole 131, and can also install the battery pack 11 into the first shell 13 through the first hole 131. The specific opening position of the first hole 131 is not excessively limited, and those skilled in the art can determine the specific position of the first hole 131 and the opening size of the first hole 131 according to actual needs.

[0059] When the second control module is set, it can be but is not limited to being set in the first shell 13, wherein the second control module can be a controller, and the controller can be any controller that can achieve the above functions, for example, the controller used by other robots 1 in the prior art, and no further limitations are made here.

[0060] In some embodiments, Figure 5 , Figure 6 As shown, when the battery pack 11 is transferred from outside the first shell 13 to inside the first shell 13, a first pair of connectors 112 is provided at one end that first enters the first shell 13; wherein, when the battery pack 11 is located in the first shell 13, the first pair of connectors 112 is connected to the second pair of connectors 132.

[0061] Specifically, the first pair of connectors 112 can be fixedly disposed at one end of the battery pack 11 (when the battery pack 11 is transferred from outside the first shell 13 to inside the first shell 13, it first enters one end of the first shell 13). For example, the first pair of connectors 112 can be fixed at one end of the battery pack 11 by bolt connection.

[0062] When setting the second pair of connectors 132, it is necessary to consider the setting position of the first pair of connectors 112, that is, when the battery pack 11 is transferred to the first shell 13, the first pair of connectors 112 can be connected to the second pair of connectors 132; wherein, the second pair of connectors 132 can be fixed in the first shell 13 by bolt connection.

[0063] In this embodiment, the first pair of connectors 112 and the second pair of connectors 132 are arranged so that when the second transmission mechanism transmits the battery pack 11 to the first shell 13, the second control module, the second transmission mechanism, the second automatic guided vehicle 12 and the battery pack 11 can be automatically connected without manual connection, thereby further improving the speed of battery replacement and saving labor costs.

[0064] In one embodiment, the first pair of connectors 112 are magnetic plugs, and correspondingly, the second pair of connectors 132 are magnetic connectors that match the magnetic plugs; wherein, when the battery pack 11 is located in the first shell 13, the magnetic plug is connected to the magnetic connector, and when the magnetic plug is connected to the magnetic connector, the battery pack 11 is connected to the second control module and the second automatic guided vehicle 12, and the second control module is connected to the second transmission mechanism and the second automatic guided vehicle 12.

[0065] Specifically, when setting the magnetic plug, the number of magnetic plugs needs to be set according to actual conditions (the number of magnetic plugs is related to the number of signal transmission paths and the number of power supply circuits, and a magnetic connector and a magnetic plug can form a signal transmission path or a power supply circuit). Correspondingly, the number of magnetic connectors can be determined according to the number of magnetic plugs, and no further restrictions are imposed here.

[0066] In another embodiment, the first pair of connectors 112 are magnetic connectors, and correspondingly, the second pair of connectors 132 are magnetic plugs that match the magnetic connectors. The specific setting method can refer to the installation method when the first pair of connectors 112 are magnetic plugs and the second pair of connectors 132 are magnetic connectors, and will not be repeated here.

[0067] In this embodiment, the connection method between the magnetic plug and the magnetic connector makes the connection speed between the battery pack 11 and the second control module and the second automatic guided vehicle 12, and the second control module and the second automatic guided vehicle 12 and the second transmission mechanism faster (an attractive force will be generated between the magnetic connector and the magnetic plug, and the generated attractive force can be regarded as power).

[0068] In order to fix the battery pack 11 in the first shell 13 to prevent the robot 1 from stopping running due to the displacement of the battery pack 11 during use, further, when the battery pack 11 is transferred from outside the first shell 13 to inside the first shell 13, an electromagnet 111 is provided at one end that first enters the first shell 13, and an adsorption piece for adsorption of the electromagnet 111 is provided in the first shell 13. The electromagnet 111 is used to fix the battery pack 11 after the first pair of connectors 112 and the second pair of connectors 132 are connected; or, when the battery pack 11 is transferred from outside the first shell 13 to inside the first shell 13, an adsorption piece is provided at one end that first enters the first shell 13, and an electromagnet 111 adsorbed by the adsorption piece is provided in the first shell 13. The electromagnet 111 is used to fix the battery pack 11 after the first pair of connectors 112 and the second pair of connectors 132 are connected.

[0069] Specifically, the adsorption member may be, but is not limited to, an adsorption member made of iron.

[0070] In one embodiment, the electromagnet 111 is an electromagnet 111 whose magnetism disappears when the power is off and generates magnetism when the power is on. Specifically, the electromagnet 111 can be connected to the battery pack 11 through a magnetic suction connector and a magnetic suction plug corresponding to the magnetic suction connector, that is, the electromagnet 111 is powered by the battery pack 11, wherein when the battery pack 11 needs to be replaced, the battery pack 11 is powered off by the second control module, at which time the electromagnet 111 is in a power-off state and the magnetism disappears, thereby avoiding the transmission speed of the battery pack 11 being affected by the attraction between the electromagnet 111 and the adsorbent; after the battery pack 11 is replaced, the battery pack 11 can be powered on by the second control module, at which time the electromagnet 111 is powered on, generates magnetism, and generates attraction with the adsorbent to fix the battery pack 11.

[0071] In another embodiment, the electromagnet 111 is an electromagnet 111 that generates magnetism when it is powered off and disappears when it is powered on. Specifically, the electromagnet 111 can be connected to the battery pack 11 through a magnetic suction connector and a magnetic suction plug corresponding to the magnetic suction connector, that is, the electromagnet 111 is powered by the battery pack 11, wherein, when the battery pack 11 needs to be replaced, the battery pack 11 can be powered on by the second control module, at which time, the electromagnet 111 is powered on and the magnetism disappears, thereby avoiding the transmission speed of the battery pack 11 being affected by the attraction between the electromagnet 111 and the adsorbent; after the battery pack 11 is replaced, the battery pack 11 is powered off by the second control module, at which time, the electromagnet 111 is in a power-off state, generates magnetism, and generates attraction with the adsorbent to fix the battery pack 11.

[0072] In this embodiment, compared with the electromagnet 111 which loses its magnetism when powered off and generates magnetism when powered on, after the battery pack 11 is replaced, the purpose of fixing the battery pack 11 can be achieved without supplying power to the electromagnet 111, thereby extending the power supply time of the battery pack 11.

[0073] In some embodiments, Figure 3 , Figure 4 and Figure 7 As shown, a material placement position 15 for placing materials is provided on the top of the first shell 13, and a plurality of partition blocks are provided at the material placement position 15, and the partition blocks are distributed in an n×m manner; a plurality of grooves are provided at the material placement position 15, and a partition block is provided in each groove; the partition block includes a first baffle 1511 and a second baffle 1512, one end of the first baffle 1511 is connected to one end of the second baffle 1512, and the first baffle 1511 and the second baffle 1512 are in an inverted eight shape, and the other end of the first baffle 1511 and the other end of the second baffle 1512 are inserted in the groove.

[0074] Specifically, the material placement position 15 can be set to be but not limited to a square groove, wherein when the square groove is set, the specific size of the square groove can be set according to the material to be placed, such as the groove width and groove depth of the square groove.

[0075] When installing the partition, a number of grooves are opened in the square groove, and the grooves are arranged in an n×m manner. For example, fifteen grooves can be set (arranged and distributed in the form of 3×5); for another example, eighteen grooves can be set (arranged and distributed in the form of 3×6). Those skilled in the art can determine the number of grooves to be set according to actual conditions, and no excessive restrictions are made here.

[0076] Among them, a partition block is installed in each groove, and when the partition block is set, the inverted eight-shaped setting method can fix the material when enough materials are placed in the partition blocks of two adjacent rows, so as to prevent the material from shaking during transportation. Here, enough materials refer to that the materials placed between the partition blocks 151 of two adjacent rows can squeeze the partition blocks in the two adjacent rows respectively. Since the partition blocks are in an inverted eight-shaped structure, after being squeezed, the partition blocks will also generate a force in the opposite direction of the extrusion to fix the material.

[0077] In some embodiments, the robot 1 is also provided with a first speaker, which is arranged on the second automatic guided vehicle 12 and connected to the second control module. When the second automatic guided vehicle 12 encounters an obstacle during its movement, the speaker can be controlled by the second control module to give a voice prompt so that on-site personnel can clear the obstacle in time (the obstacle may be a pedestrian. When a pedestrian is an obstacle, the pedestrian can avoid it in time after the first speaker gives a voice prompt).

[0078] In some embodiments, the present invention further provides a battery replacement method for the robot as described above, and the battery replacement method may include the steps of:

[0079] S1. Obtain the power value of the battery pack in the robot;

[0080] S2, determining whether the power value is less than or equal to a first preset value;

[0081] S3, when the power value is less than or equal to the first preset value, sending a first instruction to the first control module, the first control module controls the first automatic guided vehicle to move to the first position according to the first instruction, and sends a positioning signal, the first position is the position where the battery pack in the robot can be transferred to the vacant battery placement position;

[0082] S4, receiving the in-place signal;

[0083] S5, sending a second instruction to the second control module, sending a third instruction to the first control module, the second control module controls the second transmission mechanism according to the second instruction, and the first control module controls the first transmission mechanism according to the third instruction, so that the battery pack in the robot is transmitted to the vacant battery placement position;

[0084] S6, when the battery pack in the robot is transferred to the vacant battery placement position, a fourth instruction is sent to the first control module, and the first control module controls the first automatic guided vehicle to move according to the fourth instruction, so that the first automatic guided vehicle moves to a second position, and the second position is a battery placement position in which the charged battery pack can be transferred to the robot;

[0085] S7. After the first guide vehicle moves to the second position, the fifth instruction is sent to the first control module, and the sixth instruction is sent to the second control module. The first control module controls the first transmission mechanism according to the fifth instruction, and the second control module controls the second transmission mechanism according to the sixth instruction, so that the charged battery pack in a battery placement position is transmitted to the robot to complete the replacement of the battery pack.

[0086] In this embodiment, the battery replacement method can be implemented through a scheduling system, which is installed on a terminal device capable of human-computer interaction, such as a computer, a laptop computer, a tablet, an industrial computer, etc. In order to understand the process of the above-mentioned battery replacement method, a computer is used as an example for explanation.

[0087] Specifically, the scheduling system is installed in the computer, and the computer is communicatively connected to the first control module and the second control module. The computer can obtain the power value of the battery pack in the robot through the second control module, and determine whether the power value is less than or equal to a first preset value (the first preset value is preset in advance in the scheduling system of the computer). When the power value is less than or equal to the first preset value, it is considered that the battery pack is insufficient in power, and a charged battery pack needs to be replaced.

[0088] Among them, when the battery pack needs to be replaced, the scheduling system in the computer sends a first instruction to the first control module, the first control module controls the first automatic guided vehicle to move to the first position according to the first instruction, and sends an in-place signal to the scheduling system in the computer. After receiving the in-place signal, the scheduling system in the computer sends a second instruction to the second control module, and sends a third instruction to the first control module. The second control module controls the second transmission mechanism according to the second instruction, and the first control module controls the first transmission mechanism (the vacant battery placement position and the first transmission mechanism that can dock with the second transmission mechanism to transmit the battery pack) according to the third instruction. Under the joint action of the first transmission mechanism and the second transmission mechanism, the battery pack in the robot is removed and transmitted to the vacant battery placement position. At this time, the disassembly of the battery pack in the robot is completed.

[0089] After the disassembly work in the robot is completed, a charged battery pack needs to be installed in the robot. The specific process is: the scheduling system in the computer sends the fourth instruction to the first control module, and the first control module controls the first automatic guided vehicle to move to the second position according to the fourth instruction. After the first automatic guided vehicle moves to the second position, the scheduling system in the computer further sends the fifth instruction to the first control module, and at the same time sends the sixth instruction to the second control module. The first control module controls the first transmission mechanism according to the fifth instruction (with a charged battery pack placed and capable of docking with the second transmission mechanism to transfer the charged battery pack to the robot), and the second control module controls the second transmission mechanism according to the sixth instruction. Under the joint action of the first transmission mechanism and the second transmission mechanism, the charged battery pack in a battery placement position is transferred to the robot to complete the replacement of the battery pack.

[0090] It can be seen that this battery replacement method not only enables the robot to replace the battery pack at the working position, but also the entire process of replacing the battery pack does not require human participation, saving labor costs and improving production efficiency, while also being highly safe.

[0091] Here, it should be noted that the automated guided vehicle has environmental perception. Therefore, when determining whether the first automated guided vehicle has reached the first position or the second position, the environmental perception function of the first automated guided vehicle can be used to make a judgment, and the perception signal can be fed back to the first control module. The first control module outputs an arrival signal based on the perception signal fed back by the first automated guided vehicle.

[0092] Furthermore, when an electromagnet is provided on the battery pack or an electromagnet is provided in the first shell, the scheduling system of the computer may send a sixth instruction to the second control module to control the electromagnet to cut off power when the second transmission mechanism transmits the battery pack to the outside of the first shell, so that the electromagnet does not affect the speed of the second transmission mechanism in transmitting the battery pack; when the replaced battery pack is transmitted to the first shell, the scheduling system in the computer sends a seventh instruction to the second control module to control the electromagnet to be energized, so as to fix the battery pack through the electromagnet.

[0093] Furthermore, after the battery pack is replaced, the scheduling system in the computer can also send an eighth instruction to the first control module, and control the first guide vehicle to move to the charging pile position through the first control module to charge the replaced battery pack with insufficient power.

[0094] The utility model also provides a dispatching system, which is used for the battery replacement method as described above. The specific embodiments of the battery replacement method as described above are not repeated here.

[0095] In summary, the utility model provides a battery replacement device and a robot, which have the following beneficial effects:

[0096] When the robot needs to replace the battery pack, the charged battery pack can be moved to the robot's operating position by the first automatic guided vehicle. Since the battery placement position set by the first automatic guided vehicle is larger than the charged battery pack, there is at least one vacant battery placement position among the battery placement positions. Therefore, when replacing the battery pack, the battery pack in the robot can be removed first and placed on the vacant battery placement position, and then the charged battery pack can be further replaced in the robot, which saves the time of the robot moving between the production line and the battery replacement position and improves production efficiency.

[0097] It can be understood that the above embodiments only express the preferred implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the utility model. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the utility model, the above-mentioned technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the utility model. Therefore, all equivalent changes and modifications made to the scope of the claims of the utility model should belong to the scope covered by the claims of the utility model.

Claims

1. A battery replacement device for replacing a battery pack in a robot, characterized in that: The power exchange device comprises: a first automated guided vehicle having a first control module; A first rack is provided on the first automatic guided vehicle, wherein a battery placement position is provided on the first rack, wherein the battery placement position is used to place a battery pack, wherein N battery placement positions are provided, wherein N is greater than or equal to 2, and wherein M charged battery packs are placed in the N battery placement positions, wherein M is less than N and greater than or equal to 1; When the battery pack of the robot needs to be replaced, the first automatic guided vehicle moves to the position of the robot where the battery pack needs to be replaced, so that the battery pack can be replaced at the working position of the robot.

2. The battery replacement device according to claim 1, characterized in that: The first rack is provided with a plurality of first transmission mechanisms arranged side by side, the first transmission mechanisms are connected to the first control module, each of the first transmission mechanisms is a battery placement position, the first transmission mechanism is used to transmit the charged battery pack to the outside of the first rack when the battery pack is replaced, and is also used to transmit the battery pack with low power to the first rack when the battery pack is replaced.

3. A robot for replacing a battery pack using the battery replacement device as claimed in claim 2, characterized in that: The robot comprises: A battery pack, wherein the battery pack is provided with a first pair of connectors; a second automated guided vehicle; a first shell installed on the second automatic guided vehicle, a second pair of joints being arranged in the first shell, a first hole penetrating through a side wall of the first shell being opened on the first shell, a second transmission mechanism being arranged in the first shell, the second transmission mechanism being used to place the battery pack, the second transmission mechanism being used to transmit the battery pack to the outside of the first shell through the first hole when the battery pack needs to be replaced, and the second transmission mechanism being used to transmit the replaced battery pack to the inside of the first shell through the first hole; A mechanical arm mounted on the first housing, the mechanical arm being used to grab materials; a second control module, connected to the automatic guided vehicle, the robotic arm, the second transmission mechanism and the battery pack, respectively, the second control module is used to control the second automatic guided vehicle, the robotic arm and the second transmission mechanism, and the second control module is also used to collect the remaining power value of the battery pack; Wherein, when the first pair of connectors is connected to the second pair of connectors, the battery pack is connected to the automatic guided vehicle and the first control module respectively.

4. The robot according to claim 3, characterized in that: When the battery pack is transferred from outside the first shell to inside the first shell, the end that first enters the first shell is provided with a first pair of connectors; Wherein, when the battery pack is located in the first shell, the first pair of connectors are connected to the second pair of connectors.

5. The robot according to claim 4, characterized in that: The first pair of connectors are magnetic plugs or magnetic connectors.

6. The robot according to claim 4, characterized in that: When the battery pack is transferred from outside the first shell to inside the first shell, an electromagnet is further provided at the end that first enters the first shell, and an adsorption member for adsorption of the electromagnet is provided inside the first shell, and the electromagnet is used to fix the battery pack when the first pair of connectors are connected to the second pair of connectors; Alternatively, when the battery pack is transferred from outside the first shell to inside the first shell, an adsorption component is further provided at the end that first enters the first shell, and an electromagnet adsorbed by the adsorption component is provided inside the first shell, and the electromagnet is used to fix the battery pack when the first pair of connectors are connected to the second pair of connectors.

7. The robot according to claim 6, characterized in that: The electromagnet loses its magnetism when the power is off, and generates magnetism when the power is on; Or, the electromagnet generates magnetism when the power is off, and the magnetism disappears when the power is on.

8. The robot according to any one of claims 3 to 7, characterized in that: A material placement position for placing materials is provided on the top of the first shell, and the material placement position is provided with a plurality of partition blocks, and the partition blocks are distributed in an n×m manner; The material placement position is provided with a plurality of grooves, and a partition block is provided in each of the grooves; The partition block includes a first block piece and a second block piece, one end of the first block piece is connected to one end of the second block piece, and the first block piece and the second block piece are in an inverted eight shape, and the other end of the first block piece and the other end of the second block piece are inserted in the groove.

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