Robot for carrying materials and battery replacing device

Abstract

The utility model discloses a robot used for carrying materials and a battery replacing device, the robot used for carrying the materials comprises a battery pack, and the battery pack is provided with a first butt joint; an automated guided vehicle; the first shell is installed on the automatic guide vehicle, a first hole site penetrating through the side wall of the first shell is formed in the first shell, a first conveying mechanism is arranged in the first shell, and the first conveying mechanism is used for containing a battery pack; the mechanical arm is installed on the first shell and used for grabbing materials; and the first control module is connected with the automatic guiding vehicle, the mechanical arm, the first conveying mechanism and the battery pack, and when the first butt joint is connected with the second butt joint, the battery pack is connected with the automatic guiding vehicle and the first control module. When the electric quantity of the battery pack of the robot is insufficient, the battery pack with the insufficient electric quantity can be disassembled and replaced with a charged battery pack, so that the robot can continue to work after the battery pack is replaced, the time for occupying labor is shortened, and the labor cost is reduced.

Description

Technical Field

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

[0002] Automated guided vehicles have been widely used in production lines because of their functions such as environmental perception, planning and decision-making, and unmanned automatic control. They save labor costs and improve work efficiency. Especially after the automated guided vehicles are equipped with robotic arms, their functions are further powerful.

[0003] At present, when the automatic guided vehicle is in use, when the power is insufficient, the automatic guided vehicle needs to be charged. During the charging process, in order to make the production line operate normally, manual labor is required to replace the automatic guided vehicle equipped with a robotic arm while the automatic guided vehicle is charging. Although this method can ensure the normal operation of the production line, it leads to higher labor costs.

[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 robot and a battery replacement device for handling materials, so as to solve the problem in the prior art that when the automatic guided vehicle is charging, manual labor is required to replace the automatic guided vehicle equipped with a robotic arm, resulting in high labor costs.

[0006] The technical solution adopted by the utility model to solve the technical problem is: to provide a robot for carrying materials, comprising:

[0007] A battery pack, wherein the battery pack is provided with a first pair of connectors;

[0008] Automated Guided Vehicles;

[0009] A first shell installed on the automatic guided vehicle, a second pair of joints is arranged in the shell, a first hole penetrating through a side wall of the first shell is opened on the first shell, a first transmission mechanism is arranged in the first shell, the first transmission mechanism is used to place the battery pack, the first transmission mechanism is also 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 first transmission mechanism is also used to transmit the replaced battery pack to the inside of the first shell through the first hole;

[0010] A mechanical arm mounted on the first shell, the mechanical arm is used to grab materials;

[0011] a first control module, connected to the automatic guided vehicle, the robotic arm, the first transmission mechanism and the battery pack, respectively, the first control module is used to control the automatic guided vehicle, the robotic arm and the first transmission mechanism, and the first control module is also used to collect the remaining power value of the battery pack;

[0012] 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.

[0013] 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;

[0014] Wherein, when the battery pack is located in the first shell, the first pair of connectors are connected to the second pair of connectors.

[0015] In a further configuration of the utility model, the first pair of connectors are magnetic plugs or magnetic connectors.

[0016] 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, an electromagnet is further provided at one 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;

[0017] 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.

[0018] According to a further configuration of the utility model, the magnetism of the electromagnet disappears when the power is off, and magnetism is generated when the power is on;

[0019] Or, the electromagnet generates magnetism when the power is off, and the magnetism disappears when the power is on.

[0020] According to a further configuration of the utility model, 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 partitions, and the partitions are distributed in an n×m manner;

[0021] The material placement position is provided with a plurality of grooves, and a partition block is provided in each of the grooves;

[0022] 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.

[0023] The utility model also provides a battery replacement device for replacing a battery pack of the robot for handling materials as described above, the battery replacement device comprising:

[0024] A battery cabinet is provided with a plurality of battery storage positions, wherein the battery storage positions are used to store battery packs, and each of the battery storage positions is provided with a third pair of connectors, and when the battery pack is located in the battery storage position, the third pair of connectors is connected to the first pair of connectors;

[0025] A second transmission mechanism is disposed in the battery storage position, and each battery storage position is provided with a second transmission mechanism, the second transmission mechanism is used to transmit the battery pack from the battery storage position to the outside of the battery cabinet, or, is used to transmit the battery pack from the outside of the battery cabinet to the battery storage position;

[0026] a third transmission mechanism, wherein the third transmission mechanism is provided with a first docking unit, the first docking unit is used to dock the battery pack, the first docking unit is also used to transfer the docked battery pack to the first transmission mechanism or the second transmission mechanism, the third transmission mechanism is used to drive the first docking unit to dock the battery pack transferred to the outside of the first shell by the first transmission mechanism when the battery pack needs to be replaced, and drive the first docking unit so that the first docking unit transfers the docked battery pack to the second transmission mechanism in the vacant battery storage position; the third transmission mechanism is also used to drive the first docking unit to dock the charged battery pack transferred by the second transmission mechanism in the battery storage position, and drive the first docking unit so that the first docking unit transfers the docked charged battery pack to the first transmission mechanism, so that the robot completes the replacement of the battery pack;

[0027] A second control module is connected to the second transmission mechanism, the third transmission mechanism and the first docking unit. The second control module is used to collect the remaining power value of the battery pack in the battery storage position, and control the charging source according to the remaining power value of the battery pack in the battery storage position, so that the charging source charges the battery pack in the battery storage position through the third pair of connectors and the first pair of connectors. The second control module is also used to control the second transmission mechanism to transmit the battery pack, control the third transmission mechanism to drive the first docking unit to move, and control the first docking unit to dock the battery pack.

[0028] In a further configuration of the utility model, the third transmission mechanism further includes: a first transmission unit, a second transmission unit and a first steering unit;

[0029] The first transmission unit is connected to the second control module, and a first support frame is provided on the first transmission unit, and the first transmission unit is used to drive the first support frame to move in a horizontal direction;

[0030] The second transmission unit is connected to the second control module, the second transmission unit is arranged on the first steering unit, the first docking unit is arranged on the second transmission unit, and the second transmission unit is used to drive the first docking unit to move in a vertical direction;

[0031] The first steering unit is disposed on the first supporting frame, and is used for driving the second transmission unit to rotate so as to make the first docking unit turn.

[0032] The beneficial effects of the utility model are:

[0033] The utility model discloses a robot, a battery replacement device, a method and a dispatching system for handling materials, a battery pack, a first pair of connectors being arranged on the battery pack; an automatic guided vehicle; a first shell installed on the automatic guided vehicle, a second pair of connectors matching the first pair of connectors being arranged in the first shell, a first hole penetrating the side wall of the first shell being opened on the first shell, a first transmission mechanism being arranged in the first shell, the first transmission mechanism being used for placing the battery pack, the first transmission mechanism being also used for transmitting the battery pack to the outside of the first shell through the first hole when the battery pack needs to be replaced, and the first transmission mechanism being also used for transmitting the replaced battery pack to the inside of the first shell through the first hole; a mechanical arm installed on the first shell, the mechanical arm being used for grabbing materials; a first control module being respectively connected to the automatic guided vehicle, the mechanical arm, the first transmission mechanism and the battery pack, the first control module being used for controlling the automatic guided vehicle, the mechanical arm and the first transmission mechanism, and the first control module being also used for collecting the remaining power value of the battery pack; wherein, when the first pair of connectors are connected to the second pair of connectors, the battery pack is respectively connected to the automatic guided vehicle and the first control module. In the technical solution of the utility model, when the battery pack of the robot is low on power, the low-power battery pack can be removed and replaced with a charged battery pack, so that the robot can continue to work after the battery pack is replaced, which greatly shortens the time that the robot used to transport materials stops working due to replacing the battery pack, that is, shortens the manpower time taken to ensure the normal operation of the production line, and reduces labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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.

[0035] Figure 1 This is a main structural diagram of a robot for transporting materials according to the utility model.

[0036] Figure 2 This is a structural diagram of a robot for handling materials in one embodiment of the utility model without a battery pack installed.

[0037] Figure 3 This is a front structural diagram of a robot for handling materials in one embodiment of the utility model without a battery pack installed.

[0038] Figure 4 It is a structural diagram of a battery pack in one embodiment of the utility model.

[0039] Figure 5 It is a partition block in an embodiment of the utility model.

[0040] Figure 6 This is a docking diagram of a robot for handling materials and a power exchange device of the utility model.

[0041] Figure 7 This is a docking diagram of a robot for handling materials and a power exchange device for installing a fence in one embodiment of the utility model.

[0042] Figure 8 It is a front view of the third transmission mechanism in one embodiment of the utility model.

[0043] Fig. 9 It is a structural diagram from another perspective of the third transmission mechanism in one embodiment of the utility model.

[0044] The marks in the attached drawings are: 1. robot; 11. battery pack; 111. electromagnet; 112. first pair of joints; 12. 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 replacement device; 21. battery cabinet; 211. battery storage position; 22. third transmission mechanism ; 221, the first docking unit; 222, the first transmission unit; 2221, the second support frame; 2222, the first guide rail; 2223, the first rack; 2224, the first motor; 2225, the first gear; 223, the second transmission unit; 2231, the third support frame; 2232, the fourth support frame; 2233, the second motor; 2234, the second guide rail; 224, the first steering unit; 225, the first support frame; 23, the enclosure; 231, the docking port. DETAILED DESCRIPTION

[0045] 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.

[0046] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a robot 1 for handling materials provided by the present invention is provided. The robot 1 may include a battery pack 11, an automatic guided vehicle 12, a first shell 13, a robotic arm 14 and a first control module.

[0047] Specifically, a first pair of connectors 112 is provided on the battery pack 11; the first shell 13 is installed on the automatic guided vehicle 12, and a second pair of connectors 132 matching the first pair of connectors 112 is provided in the first shell 13. A first hole 131 penetrating the side wall of the first shell 13 is opened on the first shell 13, and a first transmission mechanism 133 is provided in the first shell 13. The first transmission mechanism 133 is used to place the battery pack 11. The first transmission mechanism 133 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. The first transmission mechanism 133 is also used to replace the battery pack 11. (The charged 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 materials; the first control module is respectively connected to the automatic guided vehicle 12, the robotic arm 14, the first transmission mechanism 133 and the battery pack 11 (the battery pack 11 in the first shell 13), and the first control module is used to control the automatic guided vehicle 12, the robotic arm 14 and the first transmission mechanism 133; the first control module is also used to collect the remaining power value of the battery pack 11; wherein, when the first pair of connectors 112 is connected to the second pair of connectors 132, the battery pack 11 is respectively connected to the automatic guided vehicle 12 and the first control module.

[0048] In this embodiment, when the battery pack 11 on the robot 1 is low on power, the first control module in the robot 1 can control the first transmission mechanism 133 to drive the battery pack 11 through the first transmission mechanism 133, and transmit the battery pack 11 to the outside of the first shell 13 to remove the battery pack 11 with insufficient power; after the battery with insufficient power is removed, one end of a battery pack 11 with sufficient power can be placed on the first transmission mechanism 133, and the battery pack 11 with sufficient power can be transmitted to the first shell 13 through the first transmission mechanism 133, and the battery pack 11 can be connected to the automatic guided vehicle 12 and the first control module respectively.

[0049] It can be seen that when the battery pack 11 in the robot 1 for handling materials is low on power, the battery pack 11 can be replaced by a battery pack 11 with sufficient power replaced in the first shell 13, so that the robot 1 can continue to work after the battery pack 11 is replaced, which greatly shortens the time that the robot 1 for handling materials stops working due to the replacement of the battery pack 11, that is, shortens the manpower time taken to ensure the normal operation of the production line, thereby reducing labor costs.

[0050] 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.

[0051] 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 133 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 here, 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.

[0052] The first control module may be, but is not limited to, disposed in the first housing 13 .

[0053] The first transmission mechanism 133 can be any transmission mechanism that can meet the above functions. For example, the first transmission mechanism 133 can be a belt transmission mechanism, wherein the belt transmission mechanism can adopt an electric roller-type belt transmission mechanism with a built-in motor. The built-in motor is connected to the first control module, and the built-in motor can be controlled by the first control module. Those skilled in the art can determine the specific structure of the first transmission mechanism 133 according to actual needs, and no excessive restrictions are made here.

[0054] Here, it should be noted that the first transmission mechanism 133 can transmit the battery pack 11 when it is necessary to transmit the battery pack 11, and can also serve as a support to support the battery pack 11 when it is not necessary to transmit the battery pack 11. When the first transmission mechanism 133 transmits the battery pack 11 into the first shell 13, when it is transmitted to the position where the first pair of connectors 112 and the second pair of connectors 132 are connected, it is considered that the battery pack 11 is transmitted into the first shell 13. At this time, the first control module controls the first transmission mechanism 133 to stop transmission.

[0055] In some embodiments, Figure 4 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.

[0056] 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.

[0057] 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.

[0058] In this embodiment, the first pair of connectors 112 and the second pair of connectors 132 are arranged so that when the first transmission mechanism 133 transmits the battery pack 11 to the first shell 13, the first control module, the first transmission mechanism 133, the 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.

[0059] 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 first control module and the automatic guided vehicle 12, and the first control module is connected to the first transmission mechanism 133 and the automatic guided vehicle 12.

[0060] 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.

[0061] 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.

[0062] 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 first control module and the automatic guided vehicle 12, and the first control module and the automatic guided vehicle 12 and the first transmission mechanism 133 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).

[0063] In order to fix the battery pack 11 in the first housing 13 to prevent the robot 1 for handling materials from stopping operation due to displacement of the battery pack 11 during use, further, as Figure 4As shown, when the battery pack 11 is transferred from outside the first shell 13 to inside the first shell 13, an electromagnet 111 is also provided at the end that first enters the first shell 13, and an adsorption member for adsorbing 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 member is also provided at the end that first enters the first shell 13, and an electromagnet 111 adsorbed by the adsorption member 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.

[0064] Specifically, the adsorption member may be, but is not limited to, an adsorption member made of iron.

[0065] 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 first 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 adsorption part; after the battery pack 11 is replaced, the battery pack 11 can be powered on by the first control module, at which time the electromagnet 111 is powered on, generates magnetism, generates attraction with the adsorption part, and fixes the battery pack 11.

[0066] 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 first 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 first 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.

[0067] 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.

[0068] In some embodiments, Figure 1 , Figure 2 and Figure 5 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] In some embodiments, the robot 1 for handling materials is also provided with a first speaker, which is arranged on the automatic guided vehicle 12 and connected to the first control module. When the automatic guided vehicle 12 encounters an obstacle during its movement, the speaker can be controlled by the first control module to give voice prompts 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).

[0073] In some embodiments, the first control module may be a controller, and the controller may be any controller capable of realizing the above functions, for example, a controller used by other robots 1 for handling materials in the prior art, which is not limited here.

[0074] In some embodiments, Figure 6, Figure 7 , Figure 8 and Fig. 9 As shown, the utility model also provides a battery replacement device 2 for replacing the battery pack 11 of the above-mentioned robot 1 for handling materials. The battery replacement device 2 may include a battery cabinet 21, a second transmission mechanism, a third transmission mechanism 22 and a second control module.

[0075] The battery cabinet 21 is provided with a plurality of battery storage positions 211, the battery storage positions 211 are used to store the battery packs 11, each battery storage position 211 is provided with a third pair of connectors, when the battery pack 11 is located in the battery storage position 211, the third pair of connectors is connected to the first pair of connectors 112; the second transmission mechanism is provided in the battery storage position 211, and each battery storage position 211 is provided with a second transmission mechanism, the second transmission mechanism is used to transmit the battery pack 11 from the battery storage position 211 to the outside of the battery cabinet 21, or, from the outside of the battery cabinet 21 to the battery storage position 21 1; the third transmission mechanism 22 is provided with a first docking unit 221, the first docking unit 221 is used to connect the battery pack 11, and the first docking unit 221 is also used to transmit the connected battery pack 11 to the first transmission mechanism 133 or the second transmission mechanism. The third transmission mechanism 22 is used to drive the first docking unit 221 to connect the first transmission mechanism 133 in the robot 1 for handling materials to transmit the battery pack 11 outside the first shell 13 when the battery pack 11 needs to be replaced, and drive the first docking unit 221 so that the first docking unit 221 The connected battery pack 11 is transferred to the second transfer mechanism in the vacant battery storage position 211; the third transfer mechanism 22 is also used to drive the first docking unit 221 to connect the charged battery pack 11 transferred by the second transfer mechanism in the battery storage position 211, and drive the first docking unit 221 so that the first docking unit 221 transfers the connected charged battery pack 11 to the first transfer mechanism 133, so that the robot 1 for handling materials completes the replacement of the battery pack 11; the second control module is connected to the second transfer mechanism, the third transfer mechanism 22 and the first docking unit 221. The first docking unit 221 is connected to the battery pack 11, and the second control module is used to collect the remaining power value of the battery pack 11 in the battery storage position 211, and control the charging source according to the remaining power value of the battery pack 11 in the battery storage position 211, so that the charging source charges the battery pack 11 in the battery storage position 211 through the third pair of connectors and the first pair of connectors 112; the second control module is also used to control the transmission of the battery pack 11, the second control module is also used to control the third transmission mechanism 22 to drive the first docking unit 221 to move, and the second control module is also used to control the first docking unit 221 to dock the battery pack 11.

[0076] Specifically, when the robot 1 for handling materials needs to replace the battery pack 11, it is divided into two steps. The first step is to take out the low-power battery pack 11 from the first shell 13 and move it to the battery storage position 211 for charging; the second step is to take out the charged battery pack 11 from the battery storage position 211 and move it to the first shell 13, so that the robot 1 for handling materials can continue to work.

[0077] In the first step, the automatic guided vehicle 12 is controlled by the first control module to move to the battery replacement position. After the automatic guided vehicle 12 moves to the position where the robot 1 and the battery replacement device 2 are docked when replacing the battery pack 11, the third transmission mechanism 22 is controlled by the second control module, and the first docking unit 221 is driven by the third transmission mechanism 22 to move to the position where the first docking unit 221 can be connected to the first transmission mechanism 133 to transmit to the battery pack 11 outside the first shell 13. At this time, the first control module controls the first transmission mechanism 133 to transfer the battery pack 11 with insufficient power to the outside of the first shell 13. The battery pack 11 is transferred to the first docking unit 221. At the same time, the first docking unit 221 is controlled by the second control module (there is a certain distance between the first docking unit 221 and the first transmission mechanism 133, and the first transmission mechanism 133 cannot completely transfer the battery pack 11 to the first docking unit 221. At this time, if the first docking unit 221 is driven to move by the third transmission mechanism 22, there may be a risk of the battery pack 11 falling. Therefore, the battery pack 11 needs to be driven by the first docking unit 221 to be transferred to a safe position (the first docking unit 221 can be The battery pack 11 is moved to a position where the battery pack 11 will not fall when the battery pack 11 is moved by the third transmission mechanism 22, so that the first docking unit 221 is connected to the battery pack 11 with insufficient power. The third transmission mechanism 22 is further controlled by the second control module to drive the first docking unit 221 to move to a position where the first docking unit 221 can transfer the connected battery pack 11 to an empty battery storage position 211 on the battery cabinet 21. At this time, the second control module controls the first docking unit 221 to connect the battery pack 11 with insufficient power. 1 starts to transfer the low-power battery pack 11 to the vacant battery storage position 211. At the same time, the second control module also controls the second transmission mechanism. Under the joint action of the second transmission mechanism and the first docking unit 221, the low-power battery pack 11 is transferred to the vacant battery storage position 211. After the battery pack 11 is transferred to the battery storage position 211, the first pair of connectors 112 on the battery pack 11 is connected to the third pair of connectors in the battery storage position 211. The second control module controls the charging source to start charging. At this time, the charging work of the low-power battery pack 11 is completed.

[0078] In the second step, the second control module controls the third transmission mechanism 22 to drive the first docking unit 221 to the position where the second transmission mechanism corresponding to the charged battery pack 11 on the battery cabinet 21 can transmit the charged battery pack 11 to the first docking unit 221. Thereafter, the second control module controls the second transmission mechanism to transmit the charged battery pack 11 to the first docking unit 221. At the same time, the second control module also controls the first docking unit 221, so that the charged battery pack 11 is docked to the first docking unit 221 under the joint action of the first docking unit 221 and the second transmission mechanism. Unit 221, further, the second control module controls the third transmission mechanism 22 to move the first docking unit 221 to the position where the first docking unit 221 can transmit the battery pack 11 (the charged battery pack 11) to the first transmission mechanism 133. At this time, the second control module controls the first docking unit 221 so that the first docking unit 221 transmits the charged battery pack 11 to the first transmission mechanism 133. At the same time, the first control module controls the first transmission mechanism 133 to further transmit the charged battery pack 11 to the first shell 13 to complete the replacement of the battery pack 11.

[0079] It can be seen that the battery replacement device 2 does not require manual operation when replacing the battery pack 11 of the above-mentioned robot 1 for handling materials, which further saves labor costs and has high safety (because the battery pack 11 is heavy, there is a safety problem caused by the battery pack 11 falling when the battery pack 11 is replaced manually).

[0080] The second control module may be, but is not limited to, arranged in the battery cabinet 21. When the third pair of connectors is arranged, the specific structure of the first pair of connectors 112 needs to be considered, which will not be described in detail here.

[0081] In some embodiments, Figure 8 , Fig. 9 As shown, the third transmission mechanism 22 also includes a first transmission unit 222, a second transmission unit 223 and a first steering unit 224; wherein the first transmission unit 222 is connected to the second control module, and a first support frame 225 is arranged on the first transmission unit 222, and the first transmission unit 222 is used to drive the first support frame 225 to move in the horizontal direction; the second transmission unit 223 is connected to the second control module, and the second transmission unit 223 is arranged on the first steering unit 224, and the first docking unit 221 is arranged on the second transmission unit 223, and the second transmission unit 223 is used to drive the first docking unit 221 to move in the vertical direction; the first steering unit 224 is arranged on the first support frame 225, and the first steering unit 224 is used to drive the second transmission unit 223 to rotate so as to turn the first docking unit 221.

[0082] like Figure 8 , Fig. 9As shown, the first transmission unit 222 may include a second support frame 2221, a first guide rail 2222 arranged on the second support frame 2221, a first rack 2223, a first motor 2224 and a first gear 2225; wherein, two first guide rails 2222 are provided, the two first guide rails 2222 are symmetrically arranged, and the first guide rail 2222 is arranged in the horizontal direction; a first slide groove matching the first guide rail 2222 is provided on the first support frame 225, and each first slide groove is slidably installed on a first guide rail 2222 so that the first support frame 225 can slide relative to the second support frame 2221; the first rack 2223 is arranged on the second support frame 2221 and is arranged parallel to the first guide rail 2222; the first motor 2224 is installed on the first support frame 225 and is connected to the second control module; the first gear 2225 is installed on the output shaft of the first motor 2224, and the first gear 2225 is meshed with the first rack 2223.

[0083] Specifically, the second support frame 2221 can be a longitudinal groove, and the groove of the longitudinal groove is upward, wherein the first guide rail 2222 is set on two symmetrical groove arms of the longitudinal groove, each groove arm is set with a first guide rail 2222, and the two first guide rails 2222 are set on the inner side of the groove arm. When the first rack 2223 is set, the first rack 2223 is set on the inner side of a groove arm and is set parallel to the first guide rail 2222.

[0084] Of course, the first transmission unit 222 may also adopt other transmission structures that can achieve the above functions, such as a belt output mechanism.

[0085] In this embodiment, when the first motor 2224 rotates, it drives the first gear 2225 to rotate. Since the first gear 2225 is meshed with the first rack 2223, when the first motor 2224 rotates, it can drive the first support frame 225 to move horizontally, thereby driving the first docking unit 221 to move in the horizontal direction.

[0086] like Figure 8 , Fig. 9As shown, the second transmission unit 223 may include a third support frame 2231, a fourth support frame 2232 slidably mounted on the third support frame 2231, a second motor 2233, a second gear, a second rack and a second guide rail 2234; wherein, two second guide rails 2234 are provided, and the two second guide rails 2234 are symmetrically arranged on opposite sides of the third support frame 2231; two symmetrical second slide grooves are provided on the fourth support frame 2232, and each second slide groove is installed to a second guide rail 2234, so that the fourth support frame 2232 is slidably mounted on the third support frame 2231; a second rack is provided on the third support frame 2231, and the second rack is arranged parallel to the second guide rail 2234; the second motor 2233 is installed on the fourth support frame 2232 and is connected to the second control module; the second gear is installed on the output shaft of the second motor 2233 and is meshed with the second rack; the first docking unit 221 is installed on the fourth support frame 2232.

[0087] Specifically, the third support frame 2231 can be a vertically long cubic support frame, wherein the bottom of the cubic support frame is mounted on the first steering unit 224, and a second guide rail 2234 is respectively arranged on two symmetrical side walls of the cubic support frame, and the second guide rail 2234 can be symmetrically arranged. Correspondingly, the fourth support frame 2232 can be a square sleeve, which is sleeved on the third support frame 2231, and a second slide groove is arranged on the inner wall of the square sleeve at a position corresponding to the second guide rail 2234, and the direction sleeve is mounted on the cubic support frame through the second slide groove. A second rack is also provided on one side wall of the cubic support frame, and the second rack is arranged parallel to the second guide rail 2234. A second motor 2233 is provided on the square sleeve, and a second gear is provided on the output shaft of the second motor 2233, which is meshed with the second rack through the second gear, so that the second motor 2233 can drive the square sleeve to move in the vertical direction when rotating; wherein, the first docking unit 221 is installed on the square sleeve.

[0088] In this embodiment, when the second motor 2233 rotates, it drives the second gear to rotate. Since the second output wheel is engaged with the second rack, when the second motor 2233 rotates, it can drive the fourth support frame 2232 to move up and down, thereby driving the first docking unit 221 to move in the vertical direction.

[0089] The first steering unit 224 can be any steering mechanism that can achieve a steering function, such as an existing commonly used gear mechanism. Those skilled in the art can determine the specific structure of the first steering unit 224 according to actual conditions, and no further limitations are made here.

[0090] Here, it should be noted that when determining the specific structure of the first steering unit 224, technical personnel in this field need to consider the specific angle to be rotated, for example, 90°, 180°, etc. Different rotation angles may correspond to different specific structures of the first steering unit 224.

[0091] The first docking unit 221 can be an electric roller-type belt transmission mechanism with a built-in motor, and the built-in motor is connected to the second control module. Of course, the first docking unit 221 can also be other transmission mechanisms, such as a guide rail transmission structure, a belt transmission structure, etc., which are not limited here.

[0092] In this embodiment, the battery cabinet 21 is placed on one side of the first transmission unit 222. When the robot 1 for handling materials replaces the battery pack 11, the automatic guided vehicle 12 moves to the end of the first transmission unit 222 (on the same side of the third support frame 2231 as the first docking unit 221).

[0093] When replacing the battery pack 11, the first connecting unit 221 is driven to move in the horizontal direction by the first transmission unit 222. After the horizontal position is in place (the first connecting unit 221 can dock with the first transmission mechanism 133 after moving up and down), the first connecting unit 221 is driven to move in the vertical direction by the second transmission unit 223. After the up and down positions are in place, the first control module can control the first transmission mechanism 133 to transmit the low-power battery pack 11 to the outside of the first shell 13. At the same time, the second control module controls the first connecting unit 221 to transmit the low-power battery pack 11. Under the joint action of the first connecting unit 221 and the first transmission mechanism 133, the first connecting unit 221 is docked to the low-power battery pack 11.

[0094] When the first docking unit 221 is docked to the battery pack 11 with insufficient power, the first transfer unit 222 continues to drive the first docking unit 221 to move in the horizontal direction. After the horizontal position is in place (after the first docking unit 221 moves up and down or moves in the vertical direction after turning, it can dock with the second transfer mechanism in the empty battery storage position 211), the first docking unit 221 needs to be turned. At this time, the second transfer unit 223 is driven to rotate by the first turning unit 224, and then the second transfer unit 223 drives the first docking unit 221 to rotate. Since the battery cabinet 21 is placed on one side of the first transfer unit 222, the required rotation angle is 90°, that is, the first docking unit 221 is driven to rotate 90° by the first turning unit 224; after turning, the first docking unit 221 is driven to move in the vertical direction by the second transfer unit 223, so that the first docking unit 221 can dock with the second transfer mechanism, and the battery pack 11 with insufficient power is transferred to the empty battery storage position 211 for charging.

[0095] Afterwards, it is necessary to install a charged battery pack 11 into the first shell 13. The process of the first docking unit 221 turning, moving in the horizontal direction, moving in the vertical direction, docking with the second transmission structure, and docking with the first transmission mechanism 133 can refer to the above-mentioned process of transporting a low-power battery pack 11 from the first shell 13 to the vacant battery storage position 211, and will not be repeated here.

[0096] In some embodiments, the second control module may be a controller, and the controller may be any controller capable of implementing the above functions, and no further limitation is given herein.

[0097] In some embodiments, Figure 6 As shown, the battery exchange device 2 also includes an enclosure 23, which is a cubic enclosure 23, wherein a docking hole is provided at the position where the robot 1 and the battery exchange device 2 are docked on the enclosure 23. Of course, the enclosure 23 can also be set to other structures. The technical personnel in this field can determine the specific structure of the enclosure 23 according to actual needs, and no excessive restrictions are made here.

[0098] In some embodiments, the present invention further provides a method for applying the battery replacement device as described above, and the battery replacement method may include the following steps:

[0099] S1. Obtain the power value of the battery pack in the robot;

[0100] S2, determining whether the power value is less than or equal to a first preset value;

[0101] S3. When the power value is less than or equal to a first preset value, a first instruction is sent to a first control module. The first control module controls the automatic guided vehicle to move to a first position according to the first instruction and sends an in-position signal. The first position is the position where the robot and the battery replacement device are docked when replacing the battery pack.

[0102] S4, receiving the in-place signal, sending a second instruction to the second control module, the second control module controls the third transmission mechanism according to the second instruction, so that the third transmission mechanism drives the first docking unit to the second position, the second position is the position where the first docking unit can dock with the battery pack transmitted to the outside of the first housing by the first transmission mechanism, or the first docking unit can transmit the docked battery pack to the first transmission mechanism;

[0103] S5, issuing a third instruction to the first control module, issuing a fourth instruction to the second control module, the first control module controls the first transmission mechanism to transmit the battery pack in the robot to the outside of the first shell according to the third instruction, and the second control module controls the first docking unit to connect the battery pack transmitted to the outside of the first shell by the first transmission mechanism according to the fourth instruction;

[0104] S6, after the first docking unit is docked to the battery pack that is transmitted to the outside of the first housing by the first transmission mechanism, a fifth instruction is sent to the second control module, and the second control module controls the third transmission mechanism to drive the first docking unit to the second position according to the fifth instruction;

[0105] S7, when the first docking unit moves to the second position, a sixth instruction is sent to the second control module, and the second control module controls the first docking unit and the second transmission mechanism according to the sixth instruction, so that the battery pack docked by the first docking unit is transmitted to the second transmission mechanism in the battery storage position;

[0106] S8, after the battery pack is transferred to the battery storage position, the seventh instruction is sent to the second control module, and the second control module controls the third transmission mechanism to drive the first docking unit to the third position according to the seventh instruction, and the third position is a position where the second transmission mechanism on the battery storage position can transfer the charged battery pack to the first docking unit;

[0107] S9, when the first docking unit moves to the third position, an eighth instruction is sent to the second control module, and the second control module controls the second transmission mechanism and the first docking unit according to the eighth instruction, so that the first docking unit is docked to the charged battery pack;

[0108] S10, after the first docking unit is docked to the charged battery pack, a ninth instruction is sent to the second control module, and the second control module controls the third transmission mechanism to drive the first docking unit to move to the first position according to the ninth instruction;

[0109] S11. After the first docking unit connected to the charged battery pack moves to the first position, the tenth instruction is sent to the second control module, and the eleventh instruction is sent to the first control module. The first control module controls the first transmission mechanism according to the eleventh instruction, and the second control module controls the first docking unit according to the tenth instruction, so that the charged battery pack on the first docking unit is transmitted to the first shell to complete the replacement of the battery pack.

[0110] 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.

[0111] 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 first 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.

[0112] Further, the scheduling system in the computer sends a first instruction to the first control module, and the first control module controls the automatic guided vehicle to move to the first position (the first position is the position where the robot and the battery replacement device are docked when replacing the battery pack) according to the first instruction. After the automatic guided vehicle moves to the first position, the first control module sends a positioning signal to the scheduling system in the computer; thereafter, the scheduling system in the computer sends a second instruction to the second control module, and the second control module controls the third transmission mechanism according to the second instruction to drive the first docking unit to move to the position (second position) where the first docking unit can dock with the battery pack transmitted by the first transmission mechanism to the outside of the first shell. At this time, the scheduling system in the computer sends a third instruction to the first control module and a fourth instruction to the second control module. The first control module controls the first transmission mechanism according to the third instruction to transfer the low-power battery pack to the first docking unit. At the same time, the second control module controls the first docking unit according to the fourth instruction so that the first docking unit can dock with the low-power battery pack.

[0113] At this time, it is necessary to move the connected battery pack with low power to an empty battery storage position for charging. Specifically, the scheduling system in the computer sends the fifth instruction to the second control module. The second control module controls the third transmission mechanism according to the fifth instruction to drive the first docking unit to move to a position (second position) where the first docking unit can transmit the connected battery pack to an empty battery storage position on the battery cabinet. At this time, the scheduling system in the computer sends the sixth instruction to the second control module. The second control module controls the first docking unit and the second transmission mechanism according to the sixth instruction to start transmitting the battery pack with low power to the empty battery storage position. Under the joint action of the second transmission mechanism and the first docking unit, the battery pack with low power is transmitted to the empty battery storage position. After the battery pack is transmitted to the battery storage position, it is connected to the third pair of connectors in the battery storage position. The second control module controls the charging source to start charging. At this time, the charging of the battery pack with low power is completed.

[0114] Furthermore, it is necessary to move a charged battery pack into the first shell, specifically, the scheduling system in the computer sends the seventh instruction to the second control module, and the second control module controls the third transmission mechanism according to the seventh instruction to drive the first docking unit to the position (third position) of the second transmission mechanism on the battery storage position that can transmit the charged battery pack to the first docking unit; thereafter, the scheduling system in the computer sends the eighth instruction to the second control module, and the second control module controls the second transmission mechanism and the first docking unit according to the eighth instruction, so that the first docking unit is docked to the charged battery pack (under the joint action of the second transmission mechanism and the first docking unit); further, the scheduling system in the computer sends the ninth instruction to the second control module, and the second control module controls the third transmission mechanism according to the ninth instruction to drive the first docking unit to move to the first position; finally, the tenth instruction is sent to the second control module, and the eleventh instruction is sent to the first control module, and the second control module controls the first docking unit according to the tenth instruction, and the first control module controls the first transmission mechanism according to the eleventh instruction, and under the joint action of the first docking unit and the first transmission mechanism, the charged battery pack is replaced into the first shell of the robot, so that the robot continues to work.

[0115] It can be seen that when replacing a battery pack, the battery replacement method using the above-mentioned battery replacement device replaces a battery pack with sufficient power into the first shell, so that the robot can continue to work after the battery pack is replaced, which greatly shortens the time that the robot used to transport materials stops working due to replacing the battery pack, that is, it shortens the manpower time taken to ensure the normal operation of the production line, reduces labor costs, and the entire process of replacing the battery pack does not require human participation, which further saves labor costs and improves production efficiency.

[0116] Here, it should be noted that the automatic guided vehicle has environmental perception. Therefore, when determining whether the automatic guided vehicle has reached the first position, the environmental perception function of the automatic guided vehicle can be used for judgment, and the perception signal can be fed back to the first control module. The first control module outputs a position signal based on the perception signal fed back by the automatic guided vehicle.

[0117] In addition, it should be noted that the relative position between the battery cabinet and the third transmission mechanism is fixed, and the docking position between the first docking unit and the robot is also relatively fixed. Therefore, when the movement of the first docking unit is controlled by the scheduling system in the computer, the movement of the first docking unit can be accurately controlled according to the positions of the battery cabinet, the third transmission mechanism, the first docking unit and the robot. The first docking unit can accurately move the low-power battery pack from the docking position with the robot to the vacant battery storage position for charging, and the first docking unit can accurately move the charged battery pack to the docking position with the robot to complete the replacement of the battery pack.

[0118] 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 twelfth instruction to the first control module to control the electromagnet to cut off power when the first transmission mechanism transmits the battery pack to the outside of the first shell, so that the electromagnet does not affect the speed of the first 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 thirteenth instruction to the first control module to control the electromagnet to be energized, so as to fix the battery pack through the electromagnet.

[0119] The utility model also provides a dispatching system, which is used to execute the above-mentioned battery replacement method. The specific embodiments of the above-mentioned battery replacement method are described in detail, and will not be repeated here.

[0120] In summary, the utility model provides a robot and a battery replacement device for handling materials, which have the following beneficial effects:

[0121] When the battery pack in the robot for handling materials is low on power, the battery pack can be replaced by a battery pack with sufficient power replaced in the first shell, so that the robot can continue to work after the battery pack is replaced, which greatly shortens the time that the robot for handling materials stops working due to replacing the battery pack, that is, shortens the manpower time taken to ensure the normal operation of the production line, and reduces labor costs.

[0122] 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 robot for transporting materials, characterized in that: include: A battery pack, wherein the battery pack is provided with a first pair of connectors; Automated guided vehicles; A first shell installed on the automatic guided vehicle, a second pair of joints is arranged in the first shell, a first hole penetrating through a side wall of the first shell is opened on the first shell, a first transmission mechanism is arranged in the first shell, the first transmission mechanism is used to place the battery pack, the first transmission mechanism is also 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 first transmission mechanism is also 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 first control module, connected to the automatic guided vehicle, the robotic arm, the first transmission mechanism and the battery pack, respectively, the first control module is used to control the automatic guided vehicle, the robotic arm and the first transmission mechanism, and the first 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.

2. The robot for handling materials according to claim 1, 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.

3. The robot for handling materials according to claim 2, characterized in that: The first pair of connectors are magnetic plugs or magnetic connectors.

4. The robot for handling materials according to claim 2, 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 is 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 also provided at the end that first enters the first shell, and an electromagnet adsorbed by the adsorption component is provided inside the first shell. The electromagnet is used to fix the battery pack when the first pair of connectors are connected to the second pair of connectors.

5. The robot for handling materials according to claim 4, 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.

6. The robot for handling materials according to any one of claims 1 to 5, 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.

7. A battery replacement device, used for replacing a battery pack of a robot for handling materials as claimed in any one of claims 1 to 6, characterized in that: The power exchange device comprises: A battery cabinet is provided with a plurality of battery storage positions, wherein the battery storage positions are used to store battery packs, and each of the battery storage positions is provided with a third pair of connectors, and when the battery pack is located in the battery storage position, the third pair of connectors is connected to the first pair of connectors; A second transmission mechanism is disposed in the battery storage position, and each battery storage position is provided with a second transmission mechanism, the second transmission mechanism is used to transmit the battery pack from the battery storage position to the outside of the battery cabinet, or, is used to transmit the battery pack from the outside of the battery cabinet to the battery storage position; a third transmission mechanism, wherein the third transmission mechanism is provided with a first docking unit, the first docking unit is used to dock the battery pack, the first docking unit is also used to transfer the docked battery pack to the first transmission mechanism or the second transmission mechanism, the third transmission mechanism is used to drive the first docking unit to dock the battery pack transferred to the outside of the first shell by the first transmission mechanism when the battery pack needs to be replaced, and drive the first docking unit so that the first docking unit transfers the docked battery pack to the second transmission mechanism in the vacant battery storage position; the third transmission mechanism is also used to drive the first docking unit to dock the charged battery pack transferred by the second transmission mechanism in the battery storage position, and drive the first docking unit so that the first docking unit transfers the docked charged battery pack to the first transmission mechanism, so that the robot completes the replacement of the battery pack; A second control module is connected to the second transmission mechanism, the third transmission mechanism and the first docking unit. The second control module is used to collect the remaining power value of the battery pack in the battery storage position, and control the charging source according to the remaining power value of the battery pack in the battery storage position, so that the charging source charges the battery pack in the battery storage position through the third pair of connectors and the first pair of connectors. The second control module is also used to control the second transmission mechanism to transmit the battery pack, control the third transmission mechanism to drive the first docking unit to move, and control the first docking unit to dock the battery pack.

8. The battery replacement device according to claim 7, characterized in that: The third transmission mechanism further includes: a first transmission unit, a second transmission unit and a first steering unit; The first transmission unit is connected to the second control module, and a first support frame is provided on the first transmission unit, and the first transmission unit is used to drive the first support frame to move in a horizontal direction; The second transmission unit is connected to the second control module, the second transmission unit is arranged on the first steering unit, the first docking unit is arranged on the second transmission unit, and the second transmission unit is used to drive the first docking unit to move in a vertical direction; The first steering unit is disposed on the first supporting frame, and is used for driving the second transmission unit to rotate so as to make the first docking unit turn.

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