Material handling system

Abstract

The utility model discloses a material carrying system which comprises a robot with a battery pack and a battery replacing device. The robot comprises an automatic guiding vehicle. The shell is arranged on the automatic guide vehicle, a first hole position is formed in the shell, a first carrier is arranged in the shell, a battery pack installed in the robot is placed on the first carrier through the first hole position, a grabbing part and a first butt joint are arranged on the battery pack, and a second butt joint is arranged in the shell; the mechanical arm is arranged on the shell; a first control module; the battery replacing device comprises a battery cabinet and is provided with a plurality of battery storage positions, each battery storage position is provided with a third butt joint, when the battery packs are stored, the battery packs are placed on the battery storage positions, and the first butt joints are connected with the third butt joints; a first grabbing mechanism is arranged on the first conveying mechanism; and a second control module. And when the battery pack of the robot is replaced and charged, manual participation is not needed, and the labor cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of material handling technology, and in particular to a material handling system. Background Technology

[0002] To improve the efficiency of material handling, the robot's battery pack is designed to be detachable. When the battery pack is low, it can be replaced to allow the robot to continue working. Compared to the traditional design where the battery pack and robot are integrated (in which the robot moves to a charging location to recharge when the battery is low), this design greatly improves the efficiency of material handling.

[0003] Currently, the existing method for replacing battery packs on robots is manual. That is, when the battery pack is low on power, the robot moves to the charging position, and a pre-charged battery pack is manually replaced on the robot so that the robot can continue to operate. This method requires manual replacement of battery packs, which increases labor costs.

[0004] Therefore, existing technologies still need to be improved and developed. Utility Model Content

[0005] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a material handling system to solve the problem that the method of replacing battery packs in the prior art results in high labor costs.

[0006] The technical solution adopted by this utility model to solve its technical problem is: to provide a material handling system, including: a robot with a battery pack and a battery swapping device, wherein the robot is used to handle materials, and the battery swapping device is used to replace the battery pack in the robot and transport the replaced battery pack to a charging position for charging;

[0007] The robot includes:

[0008] Automated Guided Vehicle;

[0009] A housing is disposed on the automated guided vehicle. The housing has a first hole that penetrates the side wall of the housing. A first carrying rack is disposed inside the housing. The battery pack installed in the robot is placed on the first carrying rack through the first hole. The battery pack is provided with a gripping part for gripping the battery pack and a first connector. A second connector that matches the first connector is disposed inside the housing.

[0010] A robotic arm is mounted on the housing;

[0011] The first control module is used to control the automated guided vehicle and the robotic arm, and is also used to collect the remaining power value of the battery pack. When the first connector and the second connector are connected, the first control module is connected to the automated guided vehicle, the robotic arm and the battery pack respectively.

[0012] The battery swapping device includes:

[0013] The battery cabinet has several battery storage slots, and each battery storage slot is provided with a third connector that matches the first connector. When the battery pack is stored, the battery pack is placed on the battery storage slot, and the first connector is connected to the third connector.

[0014] A first transmission mechanism is provided with a first gripping mechanism, which is used to cooperate with the gripping part to grip the battery pack, and the first transmission mechanism is used to drive the first gripping mechanism to move.

[0015] The second control module is connected to the first transmission mechanism, the first gripping mechanism, and the battery pack on the battery storage location. The second control module is used to control the first transmission mechanism and the first gripping mechanism to complete the replacement and charging of the battery pack. It is also used to collect the remaining power value of the battery pack on the battery storage location and control the charging source to charge the battery pack according to the remaining power value of the battery pack on the battery storage location.

[0016] In a further embodiment of this invention, the gripping part includes: a first adsorption member for gripping the battery pack, the first adsorption member being disposed on the battery pack and located at a first end, the first end being the end of the battery pack that is furthest from the end that first enters the housing when the battery pack is placed inside the housing;

[0017] The first grasping mechanism includes:

[0018] A second carrier for supporting the battery pack is disposed on the first transmission mechanism;

[0019] A linear motion submechanism is disposed on the second carrier frame, and the linear motion submechanism includes a moving component that performs linear motion;

[0020] A first electromagnet is used to attract the first adsorption element to grasp the battery pack onto the second carrier, and the first electromagnet is disposed on the moving element;

[0021] Wherein, the first electromagnet loses its magnetism when the power is off and generates magnetism when the power is on, or the first electromagnet generates magnetism when the power is off and loses its magnetism when the power is on.

[0022] In a further embodiment of this invention, the linear motion submechanism is a double-rail lead screw linear module, and the slider of the double-rail lead screw linear module is the moving component.

[0023] In a further embodiment of this invention, the second carrier is provided with a plurality of rotating columns, and the battery pack adsorbed onto the second carrier is placed on the rotating columns, wherein the central axis of the rotating columns is perpendicular to the direction of movement of the moving component.

[0024] A further provision of this utility model is that a plurality of rotating columns are provided inside the housing, and the central axis of the rotating columns is perpendicular to the direction of movement of the moving component when the battery pack is grasped from or placed into the housing. The plurality of rotating columns inside the housing constitute the first carrying frame.

[0025] Alternatively, a second transmission mechanism may be provided inside the housing, the second transmission mechanism being connected to the first control module, the second transmission mechanism being used to drive the battery pack, wherein the second transmission mechanism is the first carrying rack.

[0026] In a further embodiment of this invention, the battery storage compartment is provided with a plurality of rotating columns arranged in sequence. The central axis of the rotating columns is perpendicular to the direction of movement of the moving component when the battery pack is picked up from or placed into the battery storage compartment. The battery pack placed in the battery storage compartment is placed on the rotating columns.

[0027] A further feature of this invention is that a first pair of connectors is provided at the end of the battery pack that first enters the housing;

[0028] When the battery pack is placed on the first shelf, the first connector is connected to the second connector.

[0029] A further feature of this invention is that a second electromagnet is provided at one end of the battery pack that first enters the housing, and a second adsorption element for the second electromagnet to attract is provided inside the housing;

[0030] Alternatively, the battery pack may have a second adsorption element at one end that first enters the housing, and a second electromagnet that is attracted to the second adsorption element may be provided inside the housing;

[0031] The battery pack is fixed when the second electromagnet is attracted to the second adsorption element.

[0032] In a further embodiment of this invention, the first transmission mechanism includes: a first transmission unit, a second transmission unit, and a first steering unit;

[0033] The first transmission unit is connected to the second control module. The first transmission unit is provided with a first support frame. The first transmission unit is used to drive the first support frame to move in the horizontal direction.

[0034] The second transmission unit is connected to the second control module. The second transmission unit is disposed on the first steering unit, and the first gripping mechanism is disposed on the second transmission unit. The second transmission unit is used to drive the first gripping mechanism to move in the vertical direction.

[0035] The first steering unit is mounted on the first support frame and is used to drive the second transmission unit to rotate so that the first gripping mechanism can be steered.

[0036] In a further embodiment of this invention, the top of the housing is provided with a material placement position for placing materials.

[0037] The beneficial effects of this utility model are as follows:

[0038] This utility model discloses a material handling system. A first control module collects the remaining power of the battery pack in the robot. When the battery pack's power is insufficient, the first control module controls an automated guided vehicle to move to the battery cabinet. A second control module controls a first transmission mechanism to drive a first gripping mechanism, which then works with the gripping part on the battery pack to remove it from the housing. After removal, the first transmission mechanism drives the first gripping mechanism to place the removed battery pack in an empty battery storage position to recharge the low-powered battery pack. Subsequently, the first transmission mechanism drives the first gripping mechanism to move from the battery storage position to grab a recharged battery pack, and then the first gripping mechanism places the recharged battery pack into the housing, allowing the robot to continue operating. Therefore, replacing and recharging the robot's battery packs requires no manual intervention, reducing labor costs. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0040] Figure 1This is a structural diagram of the material handling system of this utility model.

[0041] Figure 2 This is an installation structure diagram of the first transmission mechanism and the first gripping mechanism in one embodiment of the present invention.

[0042] Figure 3 This is a structural diagram of a robot equipped with a battery pack in one embodiment of the present invention.

[0043] Figure 4 This is a structural diagram of a robot without a battery pack in one embodiment of the present invention.

[0044] Figure 5 This is a structural diagram of a robot with a second pair of connectors in one embodiment of the present invention.

[0045] Figure 6 This is a structural diagram of the battery pack in one embodiment of the present invention.

[0046] Figure 7 This is a diagram showing the docking of the robot and the battery swapping device in one embodiment of this utility model.

[0047] The following are the labels in the attached diagram: 1. Robot; 11. Battery pack; 111. First connector; 112. Second electromagnet; 12. Automated guided vehicle; 13. Housing; 131. First hole; 132. Second connector; 133. Second transmission mechanism; 14. Robotic arm; 15. Material placement position; 2. Battery swapping device; 21. Battery cabinet; 211. Battery storage position; 22. First transmission mechanism; 221. First gripping mechanism; 2211. First electromagnet; 22 12. Linear motion submechanism; 2213. Second carrying frame; 222. First transmission unit; 2221. Second support frame; 2222. First guide rail; 2223. First motor; 223. Second transmission unit; 2231. Third support frame; 2232. Fourth support frame; 2233. Second motor; 2234. Second guide rail; 224. First steering unit; 225. First support frame; 23. Enclosure; 231. Interface; 24. Rotating column. Detailed Implementation

[0048] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, the specific embodiments of this utility model are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "front," "rear," "upper," "lower," "left," "right," "longitudinal," "horizontal," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," and "tail" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing this technical solution and do not indicate that the device or component referred to must have a specific orientation; therefore, they should not be construed as limitations on this utility model.

[0049] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, this utility model provides a material handling system, which may include a robot 1 with a battery pack 11 and a battery swapping device 2. The robot 1 is used to handle materials, and the battery swapping device 2 is used to replace the battery pack 11 in the robot 1 and transport the replaced battery pack 11 to the charging position for charging.

[0050] The robot 1 may include an automated guided vehicle 12, a housing 13, a robotic arm 14, and a first control module. The housing 13 is mounted on the automated guided vehicle 12 and has a first hole 131 penetrating the side wall of the housing 13. A first carrying rack is provided inside the housing 13, and a battery pack 11 installed in the robot 1 is placed on the first carrying rack through the first hole 131. The battery pack 11 is provided with a gripping part for gripping the battery pack 11 and a first connector 111. A second connector 132 matching the first connector 111 is provided inside the housing 13. The robotic arm 14 is mounted on the housing 13. The first control module is used to control the automated guided vehicle 12 and the robotic arm 14. The first control module is also used to collect the remaining power value of the battery pack 11. When the first connector 111 is connected to the second connector 132, the first control module is connected to the automated guided vehicle 12, the robotic arm 14, and the battery pack 11 respectively.

[0051] The battery swapping device 2 may include a battery cabinet 21, a first transmission mechanism 22, a first gripping mechanism 221, and a second control module. The battery cabinet 21 is provided with a plurality of battery storage slots 211, and each battery storage slot 211 is provided with a third connector that matches the first connector 111. When the battery pack 11 is stored, the battery pack 11 is placed on the battery storage slot 211, and the first connector 111 is connected to the third connector. The first transmission mechanism 22 is provided with a first gripping mechanism 221, which is used to cooperate with the gripping part to grip the battery pack 1. 1. The first transmission mechanism 22 is used to drive the first gripping mechanism 221 to move; the second control module is connected to the first transmission mechanism 22, the first gripping mechanism 221 and the battery pack 11 on the battery storage position 211. The second control module is used to control the first transmission mechanism 22 and the first gripping mechanism 221 to complete the replacement and charging of the battery pack 11. The second control module is also used to collect the remaining power value of the battery pack 11 on the battery storage position 211 and control the charging source according to the remaining power value of the battery pack 11 on the battery storage position 211 to charge the battery pack 11.

[0052] The housing 13 may be, but is not limited to, a cubic housing. The robotic arm 14 may be installed on one side wall of the housing. When the first hole 131 is opened, the first hole 131 may be opened on any side wall of the housing 13. Those skilled in the art can determine the specific opening position of the first hole 131 according to actual needs, without making too many restrictions here.

[0053] It should be noted that when setting the second connector 132, the opening position of the first hole 131 should be considered, that is, the first connector 111 installed on the battery pack 11 inside the housing 13 through the first hole 131 can be connected to the second connector 132.

[0054] Specifically, during the operation of robot 1, the first control module can obtain the remaining power value of the battery pack 11 in robot 1. When the power of the battery pack 11 is insufficient, the first control module controls the automatic guide vehicle 12 to move so that the automatic guide vehicle 12 moves to the charging position, that is, robot 1 moves to the charging position. Subsequently, the second control module controls the first transmission mechanism 22 to move, causing the first gripping mechanism 221 to dock with the robot 1. That is, the second gripping mechanism can grip the battery pack 11 in the robot 1 and remove the battery pack 11 from the housing 13. After the first gripping mechanism 221 docks with the robot 1, the second control module further controls the first gripping mechanism 221 to grip the battery pack 11 in the robot 1 and remove the battery pack 11 from the housing 13. After the first gripping mechanism 221 removes the battery pack 11 from the housing 13, the second control module controls the first transmission mechanism 22 to drive the first gripping mechanism 221 to move, causing the first gripping mechanism 221 to dock with the empty battery storage position 211 and control the first gripping mechanism 221 to place the gripped battery pack 11 on the empty battery storage position 211 to charge the battery pack 11 with insufficient power.

[0055] Furthermore, after the battery pack 11 with insufficient power is placed in the battery storage position 211, the second control module continues to control the first transmission mechanism 22 to drive the first gripping mechanism 221 to move, so that the first gripping mechanism 221 docks with the battery storage position 211 where the charged battery pack 11 is placed, and controls the first gripping mechanism 221 to take out a charged battery pack 11 from the battery storage position 211. After the first gripping mechanism 221 takes out the charged battery pack 11, the second control module continues to control the first transmission mechanism 22 to drive the first gripping mechanism 221 to move, so that the first gripping mechanism 221 docks with the robot 1, and further controls the first gripping mechanism 221 to place the gripped charged battery pack 11 on the first carrier, that is, the replacement of the battery pack 11 in the robot 1 is completed.

[0056] It can be seen that no human intervention is required when replacing battery pack 11 or charging battery pack 11 on robot 1, thus reducing labor costs.

[0057] It should be noted that the charging position refers to the position where the robot 1 can dock with the first gripping mechanism 221. That is, the first gripping mechanism 221 can take the battery pack 11 out from the first shelf in the shell 13 of the robot 1, and can also place a battery pack 11 on the first shelf in the shell 13.

[0058] In some embodiments, as Figure 2As shown, the gripping part may include a first adsorption member for gripping the battery pack 11. The first adsorption member is disposed on the battery pack 11 and located at a first end. The first end is the end of the battery pack 11 that is away from the first entry point into the housing 13 when the battery pack 11 is placed inside the housing 13. The first gripping mechanism 221 may include a second carrier 2213 for supporting the battery pack 11. The second carrier 2213 is disposed on the first transmission mechanism 22. A linear motion submechanism 2212 is disposed on the second carrier 2213. The linear motion submechanism 2212 includes a moving member that performs linear motion. A first electromagnet 2211 is used to adsorb with the first adsorption member to grip the battery pack 11 onto the second carrier 2213. The first electromagnet 2211 is disposed on the moving member. The first electromagnet 2211 loses its magnetism when the power is off and generates magnetism when the power is on, or the first electromagnet 2211 generates magnetism when the power is off and loses its magnetism when the power is on.

[0059] Specifically, the battery pack 11 may include a first end and a second end, wherein the second end is the end of the battery pack 11 that enters the housing 13 first when it enters the housing 13; the first end is the end opposite to the second end, that is, the first end is the end of the battery pack 11 that is away from the end of the housing 13 when it is placed inside the housing 13.

[0060] When the battery pack 11 is grasped by the first grasping mechanism 221, the moving part on the linear motion submechanism 2212 drives the first electromagnet 2211 to move, so that the first electromagnet 2211 is attracted to the first adsorption member. After adsorption, due to the adsorption force between the first electromagnet 2211 and the first adsorption member, the battery pack 11 is grasped by the adsorption force between the first electromagnet 2211 and the first adsorption member. That is, the battery pack 11 is attracted by the adsorption force between the first electromagnet 2211 and the first adsorption member, and the battery pack 11 can be taken out from the first carrier by moving the first electromagnet 2211 through the linear motion submechanism 2212.

[0061] In one specific embodiment, the first electromagnet 2211 loses its magnetism when the power is off and generates magnetism when the power is on. When the first gripping mechanism 221 grips the battery pack 11, the first electromagnet 2211 can be energized by the second control module. At this time, the first electromagnet 2211 has magnetism and can be attracted to the first adsorption member to grip the battery pack 11. Afterwards, the gripped battery pack 11 is placed on the first shelf or the second shelf 2213. At this time, the first electromagnet 2211 can be de-energized by the second control module, the magnetism of the first electromagnet 2211 disappears, and the first electromagnet 2211 separates from the first adsorption member to place the battery pack 11 on the first shelf or the second shelf 2213.

[0062] In another specific embodiment, the first electromagnet 2211 generates magnetism when the power is off and loses magnetism when the power is on. The process of removing or placing the battery pack 11 when the first electromagnet 2211 generates magnetism when the power is off and loses magnetism when the power is on can be referred to the above-described working process of removing or placing the battery pack 11 when the first electromagnet 2211 loses magnetism when the power is off and generates magnetism when the power is on, and will not be repeated here.

[0063] In this embodiment, the controllable magnetism of the first electromagnet 2211 enables the first gripping mechanism 221 to quickly place the battery pack 11 without being affected by the adsorption force between the first electromagnet 2211 and the first adsorption element.

[0064] The first electromagnet 2211 can be powered by an independent power source or by the power source on the battery cabinet 21; no further restrictions are imposed here.

[0065] In this embodiment, the first adsorption element may be, but is not limited to, an adsorption element made of iron; wherein, a plurality of first electromagnets 2211 are provided.

[0066] Specifically, two first electromagnets 2211 are provided, and the two first electromagnets 2211 are arranged alternately on the moving part. Correspondingly, two first adsorption elements can be provided (the two first adsorption elements are gripping parts). When setting the first adsorption elements, the placement position of the first electromagnets 2211 needs to be considered, that is, it needs to be ensured that each first electromagnet 2211 can adsorb one first adsorption element. Other numbers of first electromagnets 2211 and first adsorption elements can also be provided. Those skilled in the art can determine the specific number of first electromagnets 2211 according to actual needs. For example, when the battery pack 11 is heavy, more first electromagnets 2211 can be provided (multiple first adsorption elements are gripping parts), and correspondingly, more first adsorption elements can also be provided. Therefore, the specific number of first electromagnets 2211 and first adsorption elements is not limited here.

[0067] Of course, the first adsorption element can also be set in other forms. For example, an adsorption layer made of the material of the first adsorption element (the adsorption layer is the gripping part) can be set as a whole at the first end of the battery pack 11, that is, any position at the first end of the battery pack 11 can be adsorbed with the first electromagnet 2211. When adsorbing the battery pack 11, this setting method does not require the first electromagnet 2211 and the first adsorption element to be aligned, which improves the gripping speed of the battery pack 11.

[0068] In some embodiments, the linear motion submechanism 2212 may be a double-rail lead screw linear module, wherein the slider on the double-rail lead screw linear module is a moving part.

[0069] Specifically, if Figure 2As shown, the second shelf 2213 can be, but is not limited to, a generally concave support frame. One guide rail of the dual-rail lead screw linear module is located inside one upwardly extending wall of the concave support frame, and the other guide rail is located inside the other upwardly extending wall of the concave support frame; that is, the two guide rails are arranged opposite each other. One end of the slider in the dual-rail lead screw linear module is connected to one guide rail, and the other end of the slider is connected to the other guide rail. The battery pack 11, gripped by the first gripping mechanism 221, is placed at the bottom of the concave support frame.

[0070] Furthermore, such as Figure 2 As shown, the second shelf 2213 is provided with several rotating columns 24. The battery pack 11 adsorbed onto the second shelf 2213 is placed on the rotating columns 24, wherein the central axis of the rotating column 24 is perpendicular to the direction of movement of the moving part.

[0071] Specifically, a plurality of rotating columns 24 are provided on the concave support frame. When the plurality of rotating columns 24 are provided, one end of the rotating column 24 is rotatably mounted on an upwardly extending wall of the concave support frame, and the other end of the rotating column 24 is rotatably mounted on another upwardly extending wall of the concave support frame. The plurality of rotating columns 24 are arranged in sequence so that when the first gripping mechanism 221 grips the battery pack 11, the frictional force generated by the second carrier 2213 on the battery pack 11 is reduced.

[0072] Furthermore, the housing 13 is provided with a plurality of rotating columns 24 arranged in sequence, the central axis of the rotating columns 24 being perpendicular to the direction of movement of the moving parts when grabbing the battery pack 11 from or placing the battery pack 11 into the housing 13; wherein, the plurality of rotating columns 24 in the housing 13 constitute a first carrying rack; or, a second transmission mechanism 133 may also be provided in the housing 13, the second transmission mechanism 133 being connected to the first control module, the second transmission mechanism 133 being used to drive the battery pack 11 into the housing 13, wherein, the second transmission mechanism 133 constitutes a first carrying rack.

[0073] In one specific embodiment, when a rotating post 24 is provided inside the housing 13, one end of the rotating post 24 is rotatably connected to one side wall of the housing 13 (the side wall adjacent to the side wall where the first hole 131 is opened), and the other end of the rotating post 24 is rotatably connected to another side wall of the housing 13 (the other side wall adjacent to the side wall where the first hole 131 is opened).

[0074] In this embodiment, the arrangement of several rotating columns 24 inside the housing 13 as the first carrying rack can reduce the frictional force generated by the first carrying rack on the battery pack 11 when the battery pack 11 is grabbed from or placed into the housing 13 by the first gripping mechanism 221.

[0075] In another specific embodiment, a second transmission mechanism 133 may also be provided inside the housing 13. The second transmission mechanism 133 is connected to the first control module and is used to drive the battery pack 11. The second transmission mechanism 133 is a first carrying rack.

[0076] In this embodiment, the second transmission mechanism 133 can be any transmission mechanism that can satisfy the above functions. For example, the second transmission mechanism 133 can be a belt transmission mechanism. The belt transmission mechanism can be an electric roller 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 second transmission mechanism 133 according to actual needs, and no further limitations are made here.

[0077] It should be noted that when installing the second transmission mechanism 133, it is necessary to install it in conjunction with the specific opening position of the first hole 131. The transmission direction of the installed second transmission mechanism 133 must ensure that the battery pack 11 can be transmitted to the housing 13 through the first hole 131.

[0078] Among them, setting the rotating column 24 inside the housing 13 is less costly than setting the second transmission mechanism 133 inside the housing 13 (the second transmission mechanism 133 requires a power mechanism, while the rotating column 24 does not).

[0079] Furthermore, the battery storage compartment 211 is provided with a number of rotating columns 24 arranged in sequence. The central axis of the rotating column 24 is perpendicular to the direction of movement of the moving part when grabbing the battery pack 11 from the battery storage compartment 211 or placing the battery pack 11 into the battery storage compartment 211. The battery pack 11 placed in the battery storage compartment 211 is placed on the rotating column 24.

[0080] Specifically, the battery cabinet 21 can be a cubic cabinet with several square slots (the size of the square slots is related to the size of the battery pack 11, that is, the square slots must be able to accommodate the battery pack 11). Each square slot is a battery storage position 211. When the square slots are made, the several square slots all penetrate the same wall of the cubic cabinet. The number of square slots can be set in an n×m manner (n and m can be determined according to actual needs, and are not limited here). Each square slot is provided with a third pair of connectors. When the battery pack 11 is located in the square slot, the third pair of connectors is connected to the first pair of connectors 111.

[0081] When a rotating column 24 is set on the battery storage position 211, several rotating columns 24 are set in each square slot. One end of the rotating column 24 is rotatably set on one side wall of the square slot, and the other end of the rotating column 24 is rotatably set on the other side wall of the square slot.

[0082] In this embodiment, the rotating column 24 is provided on the battery storage position 211 to reduce the frictional force generated by the battery storage position 211 on the battery pack 11 when the battery pack 11 is placed on the battery storage position 211.

[0083] In some embodiments, as Figure 5 , Figure 6 As shown, a first connector 111 is provided at the end of the battery pack 11 that first enters the housing 13; wherein, when the battery pack 11 is placed on the first shelf, the first connector 111 is connected to the second connector 132.

[0084] In this embodiment, a first connector 111 is provided at the second end of the battery pack 11, that is, the first connector 111 is provided at the end of the battery pack 11 that first enters the housing 13. When the second connector 132 is provided, the specific position of the second connector 132 needs to be determined in conjunction with the position of the first connector 111, that is, to ensure that the first connector 111 and the second connector 132 are connected when the battery pack 11 is placed into the housing 13 to the first shelf.

[0085] It should be noted that, provided that the first connector 111 can be connected to the second connector 132 when the battery pack 11 is placed on the first shelf, the first connector 111 can be set at any position on the battery pack 11. Those skilled in the art can adjust the specific positions of the first connector 111 and the second connector 132 according to actual needs, and no further limitations are made here.

[0086] In some embodiments, as Figure 6 As shown, a second electromagnet 112 is provided at one end of the battery pack 11 that first enters the housing 13, and a second adsorption element is provided inside the housing 13 for the second electromagnet 112 to be attracted; or, a second adsorption element is provided at one end of the battery pack 11 that first enters the housing 13, and a second electromagnet 112 is provided inside the housing 13 to be attracted to the adsorption element; wherein, the battery pack 11 is fixed when the second electromagnet 112 is attracted to the second adsorption element.

[0087] Specifically, the second adsorption element may be, but is not limited to, an adsorption element made of iron.

[0088] In one embodiment, the second electromagnet 112 loses its magnetism when power is off and generates magnetism when power is on. Specifically, the second electromagnet 112 can be connected to the battery pack 11 via the first connector 111 and the second connector 132, that is, the battery pack 11 supplies power to the second electromagnet 112. When the battery pack 11 needs to be replaced, the first control module controls the battery pack 11 to be powered off. At this time, the second electromagnet 112 is in a powered-off state and loses its magnetism, thus avoiding the attraction between the second electromagnet 112 and the second adsorption element affecting the gripping speed of the battery pack 11. After the battery pack 11 is replaced, the first control module controls the battery pack 11 to be powered on. At this time, the second electromagnet 112 is energized, generates magnetism, and generates an attraction between itself and the second adsorption element to fix the battery pack 11.

[0089] In another embodiment, the second electromagnet 112 generates magnetism when power is off and loses magnetism when power is on. Specifically, the second electromagnet 112 can be connected to the battery pack 11 via the first connector 111 and the second connector 132, that is, the battery pack 11 supplies power to the second electromagnet 112. When the battery pack 11 needs to be replaced, the first control module can control the battery pack 11 to be powered on. At this time, the second electromagnet 112 is powered on and loses magnetism, avoiding the impact of the attraction between the second electromagnet 112 and the second adsorption element on the gripping speed of the battery pack 11. After the battery pack 11 is replaced, the first control module controls the battery pack 11 to be powered off. At this time, the second electromagnet 112 is in a powered-off state, generates magnetism, and generates an attraction between itself and the second adsorption element to fix the battery pack 11.

[0090] In some embodiments, as Figure 2 As shown, the first transmission mechanism 22 may include a first transmission unit 222, a second transmission unit 223, and a first steering unit 224. The first transmission unit 222 is connected to the second control module, and a first support frame 225 is provided on the first transmission unit 222. 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 provided on the first steering unit 224. A first gripping mechanism 221 is provided on the second transmission unit 223, and the second transmission unit 223 is used to drive the first gripping mechanism 221 to move in the vertical direction. The first steering unit 224 is provided on the first support frame 225, and the first steering unit 224 is used to drive the second transmission unit 223 to rotate, so that the first gripping mechanism 221 turns.

[0091] Specifically, the first transmission unit 222 may include a second support frame 2221, a first guide rail 2222 disposed on the second support frame 2221, a first rack, a first motor 2223, and a first gear; wherein, there are two first guide rails 2222, which are symmetrically arranged and arranged in a horizontal direction; the first support frame 225 is provided with a first sliding groove that matches the first guide rail 2222, and each first sliding groove is slidably mounted 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 is disposed on the second support frame 2221 and is arranged parallel to the first guide rail 2222; the first motor 2223 is mounted on the first support frame 225 and is connected to the second control module; the first gear is mounted on the output shaft of the first motor 2223 and meshes with the first rack.

[0092] Specifically, the second support frame 2221 can be an elongated groove with its opening facing upwards. The first guide rail 2222 is positioned on two symmetrical arms of the elongated groove, with one guide rail 2222 on each arm, and both guide rails 2222 are located on the inner side of the arm. The first rack is positioned on the inner side of one arm and is parallel to the first guide rail 2222.

[0093] 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.

[0094] In this embodiment, when the first motor 2223 rotates, it drives the first gear to rotate. Since the first gear meshes with the first rack, when the first motor 2223 rotates, it can drive the first support frame 225 to move horizontally, thereby driving the first gripping mechanism 221 to move in the horizontal direction.

[0095] 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; the fourth support frame 2232 is provided with two symmetrical second sliding grooves, each second sliding 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; the third support frame 2231 is provided with a second rack, and the second rack is arranged parallel to the second guide rail 2234; the second motor 2233 is mounted on the fourth support frame 2232 and connected to the second control module; the second gear is mounted on the output shaft of the second motor 2233 and meshes with the second rack; and the first gripping mechanism 221 is mounted on the fourth support frame 2232.

[0096] Specifically, the third support frame 2231 can be a longitudinally elongated 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 provided on the two symmetrical side walls of the cubic support frame, and the second guide rails 2234 can be symmetrically arranged. Correspondingly, the fourth support frame 2232 can be a square sleeve, which is fitted onto the third support frame 2231, and a second sliding groove is provided on the inner wall of the square sleeve at a position corresponding to the second guide rail 2234, through which the steering sleeve is mounted on the cubic support frame. A second rack is also provided on one side wall of the cubic support frame. The second rack is arranged parallel to the second guide rail 2234. A second motor 2233 is provided on the square sleeve. A second gear is provided on the output shaft of the second motor 2233. The second gear meshes with the second rack so that the second motor 2233 can drive the square sleeve to move in the vertical direction when it rotates. The first gripping mechanism 221 is installed on the square sleeve.

[0097] In this embodiment, when the second motor 2233 rotates, it drives the second gear to rotate. Since the second output wheel meshes 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 gripping mechanism 221 to move in the vertical direction.

[0098] The first steering unit 224 can be any steering mechanism capable of achieving steering function, such as the commonly used gear mechanism. Those skilled in the art can determine the specific structure of the first steering unit 224 according to the actual situation, and no further limitations are imposed here.

[0099] It should be noted that when determining the specific structure of the first steering unit 224, those skilled in the art need to consider the specific angle of rotation, such as 90°, 180°, etc. Different rotation angles may correspond to different specific structures of the first steering unit 224.

[0100] In this embodiment, the battery cabinet 21 is placed on one side of the first transmission unit 222. When the robot 1, which is used to transport materials, replaces the battery pack 11, the automated guided vehicle 12 moves to the end of the first transmission unit 222 (located on the same side of the third support frame 2231 as the first gripping mechanism 221).

[0101] When replacing the battery pack 11, the first transmission unit 222 drives the first gripping mechanism 221 to move horizontally. After the horizontal position is reached (the second transmission unit 223 drives the first gripping mechanism 221 to move vertically. After the vertical position is reached, the moving part on the linear motion mechanism drives the electromagnet to move and attract it), the second control module controls the linear motion mechanism to cooperate with the electromagnet to remove the battery pack 11 with insufficient power from the housing 13.

[0102] When the first gripping mechanism 221 grips a battery pack 11 with insufficient power, it continues to move horizontally via the first transmission unit 222. After the horizontal position is reached (after the first gripping mechanism 221 moves up and down or moves vertically after turning, the battery pack 11 with insufficient power can be placed in the empty battery storage position 211), if it is necessary to turn the first gripping mechanism 221, the first turning unit 224 drives the second transmission unit 223 to rotate, which in turn drives the first gripping mechanism 221 to rotate. After turning, the first gripping mechanism 221 moves up and down, and the second control module controls the linear motion submechanism 2212 to place the battery pack 11 in the empty battery storage position 211.

[0103] In some embodiments, as Figure 7 As shown, the battery swapping device 2 also includes a enclosure 23, which is a cubic enclosure. A docking interface 231 is provided on the enclosure 23 at the position where the robot 1 docks with the battery swapping device 2. The robot 1 docks with the battery swapping device 2 through this interface 231. Of course, the enclosure 23 can also be configured with other structures. Those skilled in the art can determine the specific structure of the enclosure 23 according to actual needs, and no further limitations are made here.

[0104] In some embodiments, as Figure 3 , Figure 4 As shown, a material placement position 15 is also provided on the top of the housing 13.

[0105] In this embodiment, the material placement trough can be a square trough.

[0106] In some embodiments, the first control module may be a controller, which may be any controller capable of implementing the functions to be implemented by the first control module, without further limitations.

[0107] In some embodiments, the second control module may be a controller, which may be any controller capable of implementing the functions to be performed by the second control module, without further limitations.

[0108] When replacing the battery pack 11, robot 1 in the material handling system communicates with the first and second control modules via a computer equipped with a robot scheduling system. The robot scheduling system in the computer sends instructions to the first control module, which controls the automated guided vehicle 12 to move to the charging cabinet. Subsequently, the robot scheduling system in the computer sends instructions to the second control module, which controls the first transmission mechanism 22 to move the first gripping mechanism 221. When the first gripping mechanism 221 moves to a position where it can grip the battery pack 11 from the shell 13 of robot 1, the second control module further controls the linear motion submechanism 2212 to make the first electromagnet 2211 interact with the electric current. The first adsorption element on the battery pack 11 adsorbs the battery. After adsorption, the robot scheduling system sends a command to the first control module. The first control module controls the battery pack 11 to supply power to or de-energize the second electromagnet 112. (If the second electromagnet 112 is magnetic when de-energized and its electromagnetic property disappears, the first control module controls the battery pack 11 to supply power to the second electromagnet 112; if the second electromagnet 112 is magnetic when energized and its electromagnetic property disappears when de-energized, the first control module controls the battery pack 11 to stop supplying power to the second electromagnet 112.) The linear motion submechanism 2212 drives the first electromagnet 2211 to move, causing the first connector 111 to separate from the second connector 132, and the battery pack 11 is removed from the shell 13 of the robot 1. The retrieved battery pack 11 is placed into an empty battery storage slot 211 (this process requires the second control module to control the first transmission mechanism 22 and the first gripping mechanism 221; the specific control process will not be described here). Subsequently, the second control module continues to control the first transmission mechanism 22 and the first gripping mechanism 221 to retrieve the charged battery pack 11 from the battery storage slot 211 on the battery cabinet 21. The second control module further controls the first transmission mechanism 22 and the first gripping mechanism 221 to place the charged battery pack 11 into the shell 13 of the robot 1. Under the action of the linear motion submechanism 2212 (when the linear motion submechanism 2212 grips the battery pack 11 into the shell 13, it generates a...), A forward thrust connects the first connector 111 to the second connector 132. At this time, the robot scheduling system sends a command to the second control module, which controls the first electromagnet 2211 to be energized or de-energized (when the first electromagnet 2211 is energized and magnetic, the second control module controls the first electromagnet 2211 to be de-energized; when the first electromagnet 2211 is de-energized and magnetic, the second control module controls the first electromagnet 2211 to be energized). Simultaneously, the robot scheduling system sends a command to the first control module, which controls the second electromagnet 112 to be energized or de-energized (when the second electromagnet 112 is energized and magnetic, the first control module controls the second electromagnet 112 to be energized).When the second electromagnet 112 is de-energized but still magnetic, the first control module controls the second electromagnet 112 to de-energize. This completes the replacement of battery pack 11 in robot 1, and robot 1 can then be powered on and continue operating.

[0109] It should be noted that the robot scheduling system can be any existing robot scheduling system capable of performing the above functions, and no further restrictions are imposed here.

[0110] In summary, this utility model provides a material handling system with the following beneficial effects:

[0111] The first control module collects the remaining power value of the battery pack 11 in robot 1. When the battery pack 11 in robot 1 has insufficient power, the first control module controls the automated guided vehicle 12 to move to the battery cabinet 21. The second control module controls the first transmission mechanism 22 to drive the first gripping mechanism 221, and further controls the first gripping mechanism 221 to cooperate with the gripping part on the battery pack 11 to remove the battery pack 11 from the housing 13. After removing the battery, the first transmission mechanism 22 drives the first gripping mechanism 221 to place the removed battery pack 11 into the housing 13. The battery pack 11 is placed in an empty battery storage compartment 211 to charge the battery pack 11 when it is low on power. Then, by controlling the first transmission mechanism 22 to drive the first gripping mechanism 221 from the battery storage compartment 211 to grab a charged battery pack 11, the first gripping mechanism 221 is driven to place the retrieved charged battery pack 11 into the housing 13 so that the robot 1 can continue to work. It can be seen that no human intervention is required when replacing the battery pack 11 and charging the battery pack 11 of the robot 1, thus reducing labor costs.

[0112] It is understood that the above embodiments only illustrate preferred embodiments of the present utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present utility model patent. It should be noted that for those skilled in the art, the above technical features can be freely combined, and several modifications and improvements can be made without departing from the concept of the present utility model, all of which fall within the protection scope of the present utility model. Therefore, all equivalent transformations and modifications made within the scope of the claims of the present utility model should fall within the coverage of the claims of the present utility model.

Claims

1. A material handling system, characterized in that: include: A robot with a battery pack and a battery replacement device, wherein the robot is used to carry materials, and the battery replacement device is used to replace the battery pack in the robot and carry the replaced battery pack to a charging position for charging; The robot comprises: Automated Guided Vehicles; a shell, arranged on the automatic guided vehicle, the shell being provided with a first hole penetrating through a side wall of the shell, the shell being provided with a first carrier, the battery pack installed in the robot being placed on the first carrier through the first hole, the battery pack being provided with a gripping portion and a first pair of joints for gripping the battery pack, and the shell being provided with a second pair of joints matching the first pair of joints; A mechanical arm, disposed on the housing; a first control module, the first control module being used to control the automatic guided vehicle and the robotic arm, and also being 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 first control module is connected to the automatic guided vehicle, the robotic arm, and the battery pack, respectively; The power exchange device comprises: A battery cabinet is provided with a plurality of battery storage positions, each of the battery storage positions is provided with a third pair of connectors matching the first pair of connectors, and when the battery pack is stored, the battery pack is placed on the battery storage position, and the first pair of connectors is connected to the third pair of connectors; A first transmission mechanism, wherein a first grabbing mechanism is disposed on the first transmission mechanism, the first grabbing mechanism is used to cooperate with the grabbing portion to grab the battery pack, and the first transmission mechanism is used to drive the first grabbing mechanism to move; A second control module, the second control module is connected to the first transmission mechanism, the first gripping mechanism and the battery pack on the battery storage position, the second control module is used to control the first transmission mechanism and the first gripping mechanism to complete the replacement and charging of the battery pack, and is also used to collect the remaining power value of the battery pack on the battery storage position, and control the charging source according to the remaining power value of the battery pack on the battery storage position to charge the battery pack.

2. The material handling system according to claim 1, characterized in that: The gripping portion comprises: a first adsorption member for gripping the battery pack, the first adsorption member being disposed on the battery pack and located at a first end, the first end being an end of the battery pack away from the end that first enters the shell when the battery pack is placed in the shell; The first grasping mechanism comprises: a second carrier for carrying the battery pack, the second carrier being disposed on the first transmission mechanism; A linear motion sub-mechanism is disposed on the second carrier, and the linear motion sub-mechanism includes a moving part that performs linear motion; a first electromagnet for adsorbing with the first adsorbing member to grab the battery pack onto the second carrier, wherein the first electromagnet is disposed on the moving member; Wherein, the magnetism of the first electromagnet disappears when the power is off and generates magnetism when the power is on, or the magnetism of the first electromagnet generates magnetism when the power is off and disappears when the power is on.

3. The material handling system according to claim 2, characterized in that: The linear motion sub-mechanism is a double-track screw linear module, and the slider of the double-track screw linear module is the moving part.

4. The material handling system according to claim 2 or 3, characterized in that: The second carrier is provided with a plurality of rotating columns, and the battery pack adsorbed onto the second carrier is placed on the rotating columns, wherein the central axis of the rotating columns is perpendicular to the moving direction of the moving part.

5. The material handling system according to claim 2, characterized in that: A plurality of rotating columns are arranged in the shell, and the central axis of the rotating columns is perpendicular to the movement direction of the moving part when the battery pack is grabbed from the shell or placed in the shell, wherein the plurality of rotating columns in the shell are the first carrier; Alternatively, a second transmission mechanism is disposed in the shell, the second transmission mechanism is connected to the first control module, and the second transmission mechanism is used to drive the battery pack, wherein the second transmission mechanism is the first carrier.

6. The material handling system according to claim 2, characterized in that: A plurality of rotating columns arranged in sequence are provided in the battery storage position, and the central axis of the rotating column is perpendicular to the movement direction of the moving part when the battery pack is grabbed from the battery storage position or placed in the battery storage position, wherein the battery pack placed in the battery storage position is placed on the rotating column.

7. The material handling system according to claim 1, characterized in that: A first pair of connectors is provided on the end of the battery pack that first enters the shell; Wherein, when the battery pack is placed on the first carrier, the first pair of connectors are connected to the second pair of connectors.

8. The material handling system according to claim 1, characterized in that: A second electromagnet is provided at one end of the battery pack that first enters the shell, and a second adsorption member for adsorption by the second electromagnet is provided in the shell; Alternatively, the second adsorption member is provided at the end of the battery pack that first enters the shell, and a second electromagnet adsorbed to the second adsorption member is provided in the shell; Wherein, the second electromagnet fixes the battery pack when adsorbed onto the second adsorbing member.

9. The material handling system according to claim 1, characterized in that: The first transmission mechanism 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 grabbing mechanism is arranged on the second transmission unit, and the second transmission unit is used to drive the first grabbing mechanism 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 grabbing mechanism turn.

10. The material handling system according to claim 1, characterized in that: A material placement position for placing materials is arranged on the top of the shell.

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