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 a first automatic guiding vehicle; the battery pack is placed on the first carrier through the first hole site, a grabbing part and a first butt joint are arranged on the battery pack, and a second butt joint matched with the first butt joint is arranged in the shell; a robot arm; the first control module is connected with the automatic guiding vehicle, the mechanical arm and the battery pack; the battery replacing device comprises a second automatic guiding vehicle with a second control module; the second carrier is provided with N battery placing positions, N is larger than or equal to 2, M battery packs are placed in the N battery placing positions, and M is larger than or equal to 1 and smaller than N; and the first grabbing mechanism is used for being matched with the grabbing part to grab the battery pack. According to the technical scheme, the battery pack in the robot can be replaced through the battery replacing device, manual participation is not needed, and the labor cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of material handling, in particular to a material handling system. Background Art

[0002] With the development of automation technology, in order to save labor, more and more production lines begin to use robots to replace human work to improve production efficiency. Among them, during the operation of the robot, when the battery pack of the robot runs out of power, the battery pack on the robot will be replaced through a battery swapping device.

[0003] Currently, in order to further improve production efficiency, when the robot is swapping batteries, the battery swapping device moves to the position of the robot with a fully charged battery pack to replace the battery pack. Specifically, after the battery swapping device brings the battery pack to the position of the robot, the battery pack in the robot is replaced manually. Although it can save the time for the robot to move between the production line and the battery swapping position, however, manual participation is still required, resulting in high labor costs.

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

[0005] In view of the above deficiencies of the prior art, the purpose of the present utility model is to provide a material handling system to solve the problem that although the battery swapping device can save the time for the robot to move between the production line and the battery swapping position when moving to the position of the robot with a battery pack to replace the battery pack, however, manual participation is still required, resulting in high labor costs.

[0006] The technical solution adopted by the present utility model to solve its technical problems is: providing a material handling system, including: a robot with a battery pack and a battery swapping device, the robot is used for handling materials, and the battery swapping device is used for replacing the battery pack in the robot and transporting the replaced battery pack to a charging position for charging;

[0007] The robot includes:

[0008] A first automatic guided vehicle;

[0009] A housing, arranged on the first automatic guided vehicle, a first hole is opened on the side wall of the housing penetrating through the housing, a first carrier is arranged inside the housing, the battery pack installed in the robot is placed on the first carrier through the first hole, a grasping part and a first docking head for grasping the battery pack are arranged on the battery pack, and a second docking head matching with the first docking head is arranged inside the housing;

[0010] A robotic arm, arranged on the housing;

[0011] A first control module, which is used to control the automatic guided vehicle and the robotic arm, and is also used to collect the remaining power value of the battery pack. When the first docking head is connected to the second docking head, the first control module is respectively connected to the automatic guided vehicle, the robotic arm, and the battery pack;

[0012] The battery swapping device includes:

[0013] A second automatic guided vehicle with a second control module;

[0014] A second load carrier, which is arranged on the second automatic guided vehicle. The second load carrier is provided with battery placement positions for placing battery packs. There are N battery placement positions, where N is greater than or equal to 2. Among the N battery placement positions, M charged battery packs are placed, where M is less than N and greater than or equal to 1;

[0015] A first grasping mechanism, which is arranged on the second load carrier and is used to cooperate with the grasping part to grasp the battery pack;

[0016] Wherein, when the robot needs to replace the battery pack, the second automatic guided vehicle moves to the position of the robot that needs to replace the battery pack. The second control module controls the first grasping mechanism to grasp the battery pack in the robot to an empty battery placement position, and further grasps the charged battery pack on the battery placement position into the housing to complete the replacement of the battery pack of the robot.

[0017] A further setting of the present utility model, the grasping part includes: a first adsorbent for grasping the battery pack, the first adsorbent is arranged on the battery pack and is located at the first end, and the first end is the end of the battery pack that is far from the end that first enters the housing when the battery pack is placed in the housing;

[0018] The first grasping mechanism includes:

[0019] A second load carrier for carrying the battery pack, the second load carrier is arranged on the second automatic guided vehicle;

[0020] A linear motion sub-mechanism, which is arranged on the second load carrier, and the linear motion sub-mechanism includes a moving part that performs linear motion;

[0021] A first electromagnet for adsorbing with the first adsorbent to grasp the battery pack onto the second load carrier, the first electromagnet is arranged on the moving part;

[0022] Among them, the first electromagnet loses its magnetism when powered off and generates magnetism when powered on, or the first electromagnet generates magnetism when powered off and loses its magnetism when powered on.

[0023] A further setting of the present utility model is that the second carrier includes:

[0024] A first support platform, which is arranged on the second automatic guided vehicle;

[0025] A first fence, which is arranged on the first support platform. N battery placement positions are arranged inside the first fence, and a first opening for the battery pack to enter or exit is arranged on the first fence;

[0026] A first partition block, and the first partition block is arranged between every two adjacent battery placement positions.

[0027] A further setting of the present utility model is that the linear motion sub-mechanism is a double-rail screw linear module, and the slider on the double-rail screw linear module is the moving part.

[0028] A further setting of the present utility model is that a plurality of rotating columns are arranged on each battery placement position in sequence. The central axis of the rotating column is perpendicular to the moving direction of the moving part. Among them, the battery pack adsorbed by the first electromagnet to the battery storage position is placed on the rotating column.

[0029] A further setting of the present utility model is that a plurality of rotating columns are arranged inside the housing. The central axis of the rotating column is perpendicular to the moving direction of the moving part when grasping the battery pack from inside the housing or placing the battery pack into the housing. Among them, the plurality of rotating columns inside the housing are the first carrier.

[0030] Or, a first transmission mechanism is arranged inside the housing. The first transmission mechanism is connected to the first control module, and the first transmission mechanism is used to drive the battery pack. Among them, the first transmission mechanism is the first carrier.

[0031] A further setting of the present utility model is that a first docking head is arranged at the end of the battery pack that first enters the housing;

[0032] Among them, when the battery pack is placed on the first carrier, the first docking head is connected to the second docking head.

[0033] A further setting of the present utility model is that a second electromagnet is arranged at the end of the battery pack that first enters the housing, and a second adsorbing member for adsorbing the second electromagnet is arranged inside the housing;

[0034] Alternatively, a second adsorbent is provided at one end of the battery pack that first enters the housing, and a second electromagnet that adsorbs to the second adsorbent is provided inside the housing;

[0035] Wherein, when the second electromagnet adsorbs to the second adsorbent, the battery pack is fixed.

[0036] In a further arrangement of the present utility model, a first horn is provided on the first automatic guided vehicle, and the first horn is connected to the first control module;

[0037] A second horn is provided on the second automatic guided vehicle, and the second horn is connected to the second control module.

[0038] In a further arrangement of the present utility model, a material placement position for placing materials is provided at the top of the housing.

[0039] The beneficial effects of the present utility model:

[0040] The present utility model discloses a material handling system, which includes: a robot with a battery pack and a battery swapping device. The robot is used for handling materials, and the battery swapping 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 includes: a first automated guided vehicle; a housing disposed on the first automated guided vehicle. A first hole is provided on the side wall of the housing penetrating through the housing. A first loading rack is disposed inside the housing. The battery pack installed in the robot is placed on the first loading rack through the first hole. A grasping portion and a first docking head for grasping the battery pack are provided on the battery pack. A second docking head matching the first docking head is disposed inside the housing; a robotic arm disposed on the housing; a first control module. 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 docking head is connected to the second docking head, the first control module is respectively connected to the automated guided vehicle, the robotic arm, and the battery pack. The battery swapping device includes: a second automated guided vehicle with a second control module; a second loading rack disposed on the second automated guided vehicle. A battery placement position for placing a battery pack is provided on the second loading rack. There are N battery placement positions, where N is greater than or equal to 2. Among the N battery placement positions, M fully charged battery packs are placed, where M is less than N and greater than or equal to 1; a first grasping mechanism disposed on the second loading rack. The first grasping mechanism is used to cooperate with the grasping portion to grasp the battery pack. When the robot needs to replace the battery pack, the second automated guided vehicle moves to the position of the robot that needs to replace the battery pack. The second control module controls the first grasping mechanism to grasp the battery pack in the robot to an empty battery placement position, and further grasps the fully charged battery pack on the battery placement position into the housing to complete the replacement of the battery pack in the robot. In the technical solution of the present utility model, when replacing the battery pack in the robot, the battery swapping device can replace the underpowered battery pack in the robot without manual participation, reducing labor costs. Brief Description of the Drawings

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0042] Figure 1 It is a structural diagram of the material handling system of the present utility model.

[0043] Figure 2 It is a structural diagram of a battery swapping device in an embodiment of the present utility model.

[0044] Figure 3 It is a structural diagram of a robot without a battery pack installed in an embodiment of the present utility model.

[0045] Figure 4 It is a structural diagram of a battery pack in an embodiment of the present utility model.

[0046] Figure 5 It is a structural diagram of a robot provided with a second docking head in an embodiment of the present utility model.

[0047] Reference numerals in the drawings: 1, robot; 11, battery pack; 111, first docking head; 112, second electromagnet; 12, first automatic guided vehicle; 13, housing; 131, first hole position; 132, second docking head; 133, first transmission mechanism; 14, robotic arm; 15, material placement position; 2, battery swapping device; 21, second automatic guided vehicle; 22, second carrier; 221, first fence; 222, first partition; 223, first support platform; 23, first grasping mechanism; 231, linear motion sub-mechanism; 232, first electromagnet; 24, rotating column. Detailed implementation manners

[0048] For a clearer understanding of the technical features, objectives, and effects of the present utility model, the detailed implementation manners of the present utility model will now be described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientation or positional relationships indicated by "front", "rear", "upper", "lower", "left", "right", "longitudinal", "transverse", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail", etc. are based on the orientation or positional relationships shown in the accompanying drawings, with a specific orientation structure and operation, and are only for the convenience of describing the present technical solution, rather than indicating that the indicated devices or elements must have a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0049] As Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 shown, a material handling system provided by the present utility model may include a robot 1 having a battery pack 11 and a battery swapping device 2. The robot 1 is used for handling materials, and the battery swapping device 2 is used for replacing the battery pack 11 in the robot 1 and transporting the replaced battery pack 11 to a charging position for charging.

[0050] The robot 1 may include a first automatic guided vehicle 12, a housing 13, a robotic arm 14, and a first control module. Among them, the housing 13 is disposed on the first automatic guided vehicle 12. A first hole 131 penetrating the side wall of the housing 13 is formed in the housing 13. A first carrier is disposed inside the housing 13. The battery pack 11 installed in the robot 1 is placed on the first carrier through the first hole 131. A grasping portion for grasping the battery pack 11 and a first docking head 111 are provided on the battery pack 11. A second docking head 132 matching the first docking head 111 is disposed inside the housing 13. The robotic arm 14 is disposed on the housing 13. The first control module is used to control the automatic guided vehicle and the robotic arm 14. The first control module is further used to collect the remaining power value of the battery pack 11. Among them, when the first docking head 111 is connected to the second docking head 132, the first control module is respectively connected to the first automatic guided vehicle 12, the robotic arm 14, and the battery pack 11.

[0051] The battery swapping device 2 may include a second automatic guided vehicle 21 having a second control module, a second carrier 22, and a first grasping mechanism 23. Among them, the second carrier 22 is disposed on the second automatic guided vehicle 21. A battery placement position for placing the battery pack 11 is provided on the second carrier 22. The number of battery placement positions is N, where N is greater than or equal to 2. Among the N battery placement positions, M charged battery packs 11 are placed, where M is less than N and greater than or equal to 1. The first grasping mechanism 23 is disposed on the second carrier 22. The first grasping mechanism 23 is used to cooperate with the grasping portion to grasp the battery pack 11.

[0052] Among them, 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 formed, the first hole 131 may be formed on any side wall of the housing 13. Those skilled in the art can determine the specific formation position of the first hole 131 according to actual needs, and no further limitation is made here.

[0053] Here, it should be noted that when the second docking head 132 is disposed, the formation position of the first hole 131 needs to be considered, that is, the first docking head 111 on the battery pack 11 installed in the housing 13 through the first hole 131 can be connected to the second docking head 132.

[0054] In this embodiment, during the operation of the robot 1, the first control module can obtain the remaining power value of the battery pack 11 in the robot 1. When the power of the battery pack 11 is insufficient, the second automatic guided vehicle 21 is controlled by the second control module to move to the position of the robot 1 that needs to replace the battery pack 11 (the position where the battery pack 11 with insufficient power in the robot 1 can be replaced by the power exchange device 2). After the second automatic guided vehicle 21 moves to the position of the robot 1 that needs to replace the battery pack 11, the second control module controls the first grasping mechanism 23 to grasp the battery pack 11 in the robot 1 to the empty battery placement position. Then, the charged battery pack 11 on the battery placement position is grasped into the housing 13 to complete the replacement of the battery pack 11 of the robot 1. It can be seen that when the power exchange device 2 replaces the battery pack 11 in the robot 1, no manual participation is required, and the labor cost is reduced.

[0055] In some embodiments, the grasping part may include a first adsorbent for grasping the battery pack 11. The first adsorbent is arranged on the battery pack 11 and located at the first end, and the first end is the end of the battery pack 11 that is far from the end that first enters the housing 13 when the battery pack 11 is placed in the housing 13.

[0056] As Figure 2 shown, the first grasping mechanism 23 may include a second carrier 22 for carrying the battery pack 11, a linear motion sub-mechanism 231, and a first electromagnet 232. Among them, the second carrier 22 is arranged on the second automatic guided vehicle 21. The linear motion sub-mechanism 231 is arranged on the second carrier 22, and the linear motion sub-mechanism 231 includes a moving part that performs linear motion. The first electromagnet 232 is used to adsorb with the first adsorbent to grasp the battery pack 11 onto the second carrier 22. The first electromagnet 232 is arranged on the moving part. Among them, the magnetic force of the first electromagnet 232 disappears when powered off and generates magnetic force when powered on, or the first electromagnet 232 generates magnetic force when powered off and the magnetic force disappears when powered on.

[0057] Specifically, the battery pack 11 may include a first end and a second end. Among them, the second end is the end that first enters the housing 13 when the battery pack 11 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 far from the end that first enters the housing 13 when the battery pack 11 is placed in the housing 13.

[0058] When grasping the battery pack 11 by the first grasping mechanism 23, the moving part on the linear motion sub-mechanism 231 drives the first electromagnet 232 to move, so that the first electromagnet 232 adsorbs with the first adsorbent. After adsorption, due to the adsorption force between the first electromagnet 232 and the first adsorbent, the battery pack 11 is grasped by the adsorption force between the first electromagnet 232 and the first adsorbent.

[0059] In a specific embodiment, the first electromagnet 232 loses its magnetism when powered off and generates magnetism when powered on. When the first grasping mechanism 23 grasps the battery pack 11, the second control module can be used to control the first electromagnet 232 to be powered on. At this time, the first electromagnet 232 has magnetism and can adsorb to the first adsorbent to grasp the battery pack 11. Subsequently, the grasped battery pack 11 is placed on the first carrier or the second carrier 22. At this time, the second control module can be used to control the first electromagnet 232 to be powered off, the magnetism of the first electromagnet 232 disappears, and the first electromagnet 232 is separated from the first adsorbent to place the battery pack 11 on the first carrier or the second carrier 22.

[0060] In another specific embodiment, the first electromagnet 232 generates magnetism when powered off and loses its magnetism when powered on. For how to take out or place the battery pack 11 when the first electromagnet 232 generates magnetism when powered off and loses its magnetism when powered on, reference can be made to the working process of how to take out or place the battery pack 11 when the first electromagnet 232 loses its magnetism when powered off and generates magnetism when powered on, which will not be elaborated here.

[0061] In this embodiment, the controllable magnetism of the first electromagnet 232 enables the first grasping mechanism 23 to quickly place the battery pack 11 when placing the battery pack 11, without being affected by the adsorption force between the first electromagnet 232 and the first adsorbent.

[0062] Among them, the first electromagnet 232 can be powered by an independent power source or by the power source on the second automatic guided vehicle 21, and no more limitations are made here.

[0063] In this embodiment, the first adsorbent can be, but is not limited to, an adsorbent made of iron; among them, several first electromagnets 232 are provided.

[0064] Specifically, two first electromagnets 232 are provided, and the two first electromagnets 232 are arranged at intervals on the moving part in sequence; correspondingly, two first adsorbents can be provided (the two first adsorbents are grasping parts), and when setting the first adsorbents, the setting position of the first electromagnet 232 needs to be considered, that is, it is necessary to ensure that each first electromagnet 232 can adsorb a first adsorbent. Other numbers of first electromagnets 232 and first adsorbents can also be set. Those skilled in the art can determine the specific number of the first electromagnets 232 according to actual needs. For example, when the weight of the battery pack 11 is relatively heavy, more first electromagnets 232 can be provided (multiple first adsorbents are grasping parts), and correspondingly, more first adsorbents are also set. Therefore, the specific setting numbers of the first electromagnets 232 and the first adsorbents are not limited here.

[0065] Of course, the first adsorbent can also be arranged in other forms. For example, an adsorption layer (the adsorption layer is the grasping part) made of the first adsorbent material can be integrally arranged 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 to the first electromagnet 232. In this setting method, when adsorbing the battery pack 11, there is no need to align between the first electromagnet 232 and the first adsorbent, which improves the grasping speed of the battery pack 11.

[0066] In some embodiments, as Figure 2 shown, the second carrier 22 may include a first support platform 223, a first fence 221, and a first partition 222; wherein, the first support platform 223 is arranged on the second automatic guided vehicle 21; the first fence 221 is arranged on the first support platform 223, and N battery placement positions are arranged inside the first fence 221. A first opening for the battery pack 11 to enter or exit is arranged on the first fence 221; a first partition 222 is arranged between each adjacent battery placement position.

[0067] Specifically, the first support platform 223 can be installed on the second automatic guided vehicle 21 by, but not limited to, welding, bolt connection, etc. After the first support platform 223 is installed, n first grasping mechanisms 23 are arranged side by side on the first support platform 223, and each first grasping mechanism 23 corresponds to a battery placement position. Among them, when the first grasping mechanism 23 is arranged on the first support platform 223, it can be installed in a detachable manner (for example, by bolt connection) so that it can be replaced when the first grasping mechanism 23 fails. Among them, the first fence 221 can be a portal enclosure. When the portal enclosure is installed, the two sides of the portal enclosure are parallel to the movement direction of the moving part on the linear motion sub-mechanism 231, and the opening of the portal enclosure is the first opening, that is, during the replacement process of the battery pack 11, it enters or exits through the opening of the portal enclosure. The first partition 222 can be a plate-like structure. When the first partition 222 is arranged, it can be arranged on the first support platform 223 by, but not limited to, welding, and a first partition 222 is arranged between each adjacent battery placement position. Among them, the height of the first partition 222 can be higher than the thickness of the battery pack 11.

[0068] In this embodiment, the setting of the first fence 221 avoids the problem that the battery pack 11 slides off the second automatic guided vehicle during the process of the second automatic guided vehicle driving the battery pack 11 to move; the setting of the first partition 222 avoids the problem of collision between adjacent battery packs 11 during the process of the second automatic guided vehicle driving the battery pack 11 to move.

[0069] Further, the linear motion sub-mechanism 231 can be a double-rail lead screw linear module. Among them, the slider on the double-rail lead screw linear module is the moving part. Of course, the linear motion sub-mechanism 231 can also be any other linear motion mechanism that can meet the above-mentioned requirement of driving the first electromagnet 232 to move. Those skilled in the art can select linear motion mechanisms with other structures according to actual needs.

[0070] Further, as Figure 2 shown, a plurality of rotating columns 24 arranged in sequence are provided on each battery placement position. The central axis of the rotating column 24 is perpendicular to the moving direction of the moving part. Among them, the battery pack 11 adsorbed by the first electromagnet 232 to the battery placement position is placed on the rotating column 24.

[0071] Specifically, a plurality of rotating columns 24 can be arranged side by side in sequence. When the rotating column 24 is arranged, when installing the rotating column 24 on the outermost battery placement position (the battery placement position between the side of the first enclosure and the adjacent first partition 222), one end of the rotating column 24 is rotatably connected to the side of the first enclosure, and the other end of the rotating column 24 is rotatably connected to the first partition 222 adjacent to the side of the first enclosure. When installing the rotating column 24 on the battery placement position between two first partitions 222, one end of the rotating column 24 is rotatably connected to one first partition 222 on this battery placement position, and the other end of the rotating column 24 is rotatably connected to the other first partition 222 on this battery placement position.

[0072] Here, it should be noted that the plurality of rotating columns 24 for placing a battery pack 11 are one battery placement position.

[0073] In this embodiment, the way of arranging the rotating column 24 on the battery placement position can reduce the influence of friction on the grasping speed of the battery pack 11 when the first grasping mechanism 23 grasps the battery pack 11 from the battery placement position to the housing 13 or grasps the battery pack 11 from the housing 13 to the battery placement position.

[0074] In some embodiments, a plurality of rotating columns 24 are arranged in the housing 13. The central axis of the rotating column 24 is perpendicular to the moving direction of the moving part when grasping the battery pack 11 from the housing 13 or placing the battery pack 11 into the housing 13. Among them, the plurality of rotating columns 24 in the housing 13 are the first carrier; or, a first transmission mechanism 133 is arranged in the housing 13. The first transmission mechanism 133 is connected to the first control module. The first transmission mechanism 133 is used to drive the battery pack 11. Among them, the first transmission mechanism 133 is the first carrier.

[0075] In a specific embodiment, a plurality of rotating columns 24 are arranged inside the housing 13. When arranging the rotating columns 24 inside the housing 13, one end of the rotating column 24 is rotatably connected to a 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 column 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).

[0076] In this embodiment, the plurality of rotating columns 24 arranged inside the housing 13 as the setting mode of the first carrier can reduce the influence of friction on the grasping speed of the battery pack 11 when the battery pack 11 is grasped from inside the housing 13 or placed into the housing 13 by the first grasping mechanism 23.

[0077] In another specific embodiment, a first transmission mechanism 133 may also be arranged inside the housing 13. The first transmission mechanism 133 is connected to the first control module and is used to drive the battery pack 11. Herein, the first transmission mechanism 133 is the first carrier.

[0078] In this embodiment, 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. Among them, 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 through 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 limitation is made here.

[0079] Here, it should be noted that when installing the first transmission mechanism 133, it needs to be installed in combination with the specific opening position of the first hole 131, and the transmission direction of the installed first transmission mechanism 133 needs to ensure that the battery pack 11 can be transmitted into the housing 13 through the first hole 131.

[0080] In some embodiments, as Figure 4 、 Figure 5 shown, a first docking head 111 is arranged at one end of the battery pack 11 that first enters the housing 13. Among them, when the battery pack 11 is placed on the first carrier, the first docking head 111 is connected to the second docking head 132.

[0081] In this embodiment, the first docking head 111 is arranged at the second end of the battery pack 11, that is, a first docking head 111 is arranged at one end of the battery pack 11 that first enters the housing 13. Among them, when setting the second docking head 132, the specific setting position of the second docking head 132 needs to be determined in combination with the setting position of the first docking head 111, that is, to ensure that when the battery pack 11 is placed into the housing 13 on the first carrier, the first docking head 111 is connected to the second docking head 132.

[0082] Here, it should be noted that when the first docking head 111 can be connected to the second docking head 132 when the battery pack 11 is placed on the first carrier, the first docking head 111 can be set at any position on the battery pack 11, and those skilled in the art can adjust the specific setting positions of the first docking head 111 and the second docking head 132 according to actual needs, and no excessive limitation is made here.

[0083] In some embodiments, as Figure 4 shown, a second electromagnet 112 is provided at one end of the battery pack 11 that first enters the housing 13, and a second adsorbent for adsorbing the second electromagnet 112 is provided inside the housing 13; or, a second adsorbent is provided at one end of the battery pack 11 that first enters the housing 13, and a second electromagnet 112 for adsorbing with the adsorbent is provided inside the housing 13; wherein, when the second electromagnet 112 adsorbs with the second adsorbent, the battery pack 11 is fixed.

[0084] Specifically, the second adsorbent can be, but is not limited to, an adsorbent made of iron.

[0085] In one embodiment, the second electromagnet 112 loses its magnetism when powered off and generates magnetism when powered on. Specifically, the second electromagnet 112 can be connected to the battery pack 11 through the first docking head 111 and the second docking head 132, that is, the battery pack 11 supplies power to the second electromagnet 112. Among them, when the battery pack 11 needs to be replaced, the battery pack 11 is powered off by the first control module. At this time, the second electromagnet 112 is in a powered-off state and loses its magnetism, avoiding the influence on the grasping speed of the battery pack 11 due to the attraction between the second electromagnet 112 and the second adsorbent; after the battery pack 11 is replaced, the battery pack 11 can be powered on by the first control module. At this time, the second electromagnet 112 is powered on and generates magnetism, generating an attraction with the second adsorbent to fix the battery pack 11.

[0086] In another embodiment, the second electromagnet 112 generates magnetism when powered off and loses its magnetism when powered on. Specifically, the second electromagnet 112 can be connected to the battery pack 11 through the first docking head 111 and the second docking head 132, that is, the battery pack 11 supplies power to the second electromagnet 112. Among them, when the battery pack 11 needs to be replaced, the battery pack 11 can be powered on by the first control module. At this time, the second electromagnet 112 is powered on and loses its magnetism, avoiding the influence on the grasping speed of the battery pack 11 due to the attraction between the second electromagnet 112 and the second adsorbent; after the battery pack 11 is replaced, the battery pack 11 is powered off by the first control module. At this time, the second electromagnet 112 is in a powered-off state and generates magnetism, generating an attraction with the second adsorbent to fix the battery pack 11.

[0087] In some embodiments, a first horn is provided on the first automated guided vehicle 12, and the first horn is connected to the first control module; a second horn is provided on the second automated guided vehicle, and the second horn is connected to the second control module.

[0088] In this embodiment, when the first automated guided vehicle 12 encounters an obstacle during movement, the horn can be controlled by the first control module to give a voice prompt, so that on-site personnel can remove the obstacle in time. When a pedestrian is the obstacle, after the first horn gives a voice prompt, the pedestrian can avoid it in time.

[0089] When the second automated guided vehicle 21 encounters an obstacle during movement, the horn can be controlled by the second control module to give a voice prompt, so that on-site personnel can remove the obstacle in time. When a pedestrian is the obstacle, after the second horn gives a voice prompt, the pedestrian can avoid it in time.

[0090] In some embodiments, a material placement position 15 is further provided at the top of the housing 13.

[0091] In this embodiment, the material placement groove can be a square groove, which can be integrally formed with the housing 13 or provided at the top of the housing 13 by means of welding or the like.

[0092] In some embodiments, the first control module can be a controller, and the controller can be any controller capable of realizing the functions to be realized by the above-mentioned first control module, and no more limitations are made here.

[0093] In some embodiments, the second control module can be a controller, and the controller can be any controller capable of realizing the functions to be realized by the above-mentioned second control module, and no more limitations are made here.

[0094] When the battery pack 11 needs to be replaced in the material handling system, the computer equipped with the robot scheduling system is communicatively connected to the first control module and the second control module. The robot scheduling system in the computer sends an instruction to the second control module. The second control module controls the second automatic guided vehicle 21 to move to the position of the robot 1 according to the instruction and sends a in-position signal to the robot scheduling system in the computer. After receiving the in-position signal, the robot scheduling system in the computer issues an instruction to the first control module, and the first control module controls the robot 1 to stop working. Further, the robot scheduling system in the computer sends an instruction to the second control module, and the second control module controls the first electromagnet 232 on the first grasping mechanism 23 at the empty battery placement position to adsorb to the first adsorption member on the battery pack 11. After adsorption, the robot scheduling system sends an instruction to the first control module, and through the first control module, the battery pack 11 is controlled to supply power or cut off power to the second electromagnet 112 (if the second electromagnet 112 has magnetism when powered off and the magnetism disappears when powered off, the first control module controls the battery pack 11 to supply power to the second electromagnet 112; if the second electromagnet 112 has magnetism when powered on and the magnetism disappears when powered off, the first control module controls the battery pack 11 to stop supplying power to the second electromagnet 112). The first electromagnet 2211 is driven to move by the linear motion sub-mechanism 2212, so that the first docking head 111 is separated from the second docking head 132, and the underpowered battery pack 11 is taken out from the housing 13 and placed on the empty battery placement position. Thereafter, the second control module controls the second automatic guided vehicle 21 to move, so that the battery placement position where the charged battery pack 11 is placed is docked with the first hole position 131. Further, the second control module controls the first grasping mechanism 23 at the battery placement position where the charged battery pack 11 is placed and docked with the first hole position 131 to grasp the charged battery pack 11 and place it in the housing 13 of the robot 1. Under the action of the linear motion sub-mechanism 2212 (when the linear motion sub-mechanism 2212 grasps the battery pack 11 and moves it to the housing 13, a forward thrust will be generated), the first docking head 111 is connected to the second docking head 132. At this time, the robot scheduling system sends an instruction to the second control module, and through the second control module, the first electromagnet 2211 is controlled to be powered on or off (when the first electromagnet 2211 has magnetism when powered on and the magnetism disappears when powered off, the second control module controls the first electromagnet 2211 to be powered off; when the first electromagnet 2211 has magnetism when powered off and the magnetism disappears when powered on, the second control module controls the first electromagnet 2211 to be powered on). At the same time, the robot scheduling system sends an instruction to the first control module, and through the first control module, the second electromagnet 112 is controlled to be powered on or off (when the second electromagnet 112 has magnetism when powered on and the magnetism disappears when powered off, the first control module controls the second electromagnet 112 to be powered on;When the second electromagnet 112 is powered off and has magnetism, and the electromagnetic property disappears, the first control module controls the second electromagnet 112 to be powered off). At this point, the replacement of the battery pack 11 in the robot 1 is completed, and the robot 1 can be powered on and continue to work. ;

[0095] Here, it should be noted that the robot scheduling system in the computer is any robot scheduling system in the prior art that can realize the above functions, and no further elaboration will be made here.

[0096] In summary, the utility model provides a material handling system, which has the following beneficial effects:

[0097] During the operation of the robot 1, the first control module can obtain the remaining power value of the battery pack 11 in the robot 1. When the power of the battery pack 11 is insufficient, the second control module controls the second automatic guided vehicle 21 to move to the position of the robot 1 where the battery pack 11 needs to be replaced (the battery exchange device 2 can replace the position of the battery pack 11 with insufficient power in the robot 1). After the second automatic guided vehicle 21 moves to the position of the robot 1 where the battery pack 11 needs to be replaced, the second control module controls the first grasping mechanism 23 to grasp the battery pack 11 in the robot 1 to the vacant battery placement position, and then grasps the charged battery pack 11 on the battery placement position into the shell 13 to complete the replacement of the battery pack 11 of the robot 1; it can be seen that the battery exchange device 2 does not require manual participation when replacing the battery pack 11 in the robot 1, and the labor cost is reduced.

[0098] 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 material handling system, characterized in that, Including: A robot with a battery pack and a battery swapping device, where the robot is used for transporting 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; The robot includes: A first automated guided vehicle; A housing disposed on the first automated guided vehicle. A first hole is provided in the side wall of the housing that penetrates the housing. A first load rack is disposed inside the housing. The battery pack installed in the robot is placed on the first load rack through the first hole. A grasping portion and a first docking head for grasping the battery pack are provided on the battery pack. A second docking head matching the first docking head is disposed inside the housing; A robotic arm disposed on the housing; A first control module that 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 docking head is connected to the second docking head, the first control module is respectively connected to the automated guided vehicle, the robotic arm, and the battery pack; The battery swapping device includes: A second automated guided vehicle with a second control module; A second load rack disposed on the second automated guided vehicle. A battery placement position for placing a battery pack is provided on the second load rack. There are N battery placement positions, where N is greater than or equal to 2. Among the N battery placement positions, M fully charged battery packs are placed, where M is less than N and greater than or equal to 1; A first grasping mechanism disposed on the second load rack, and the first grasping mechanism is used to cooperate with the grasping portion to grasp the battery pack; Wherein, when the robot needs to replace the battery pack, the second automated guided vehicle moves to the position of the robot that needs to replace the battery pack. The second control module controls the first grasping mechanism to grasp the battery pack in the robot to an empty battery placement position, and further grasps the fully charged battery pack on the battery placement position into the housing to complete the replacement of the battery pack of the robot.

2. The material handling system according to claim 1, wherein The grasping portion includes: a first adsorbent for grasping the battery pack. The first adsorbent is disposed on the battery pack and is located at the first end. The first end is the end of the battery pack that is far from the end that first enters the housing when the battery pack is placed in the housing; The first grasping mechanism includes: A second load rack for carrying the battery pack, and the second load rack is disposed on the second automated guided vehicle; A linear motion sub-mechanism disposed on the second load rack. The linear motion sub-mechanism includes a moving member that performs linear motion; A first electromagnet for adsorbing with the first adsorbent to grasp the battery pack onto the second load rack. The first electromagnet is disposed on the moving member; Wherein, the first electromagnet loses its magnetism when powered off and generates magnetism when powered on, or, the first electromagnet generates magnetism when powered off and loses its magnetism when powered on.

3. The material handling system according to claim 2, wherein, The second load rack includes: A first support platform disposed on the second automated guided vehicle; The first fence is arranged on the first support platform, and N battery placement positions are arranged within the first fence. A first opening for the battery pack to enter or exit is provided on the first fence. The first partition baffle is arranged between every two adjacent battery placement positions.

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

5. The material handling system according to claim 4, characterized in that, A number of rotating columns arranged in sequence are provided on each battery placement position. The central axis of the rotating column is perpendicular to the moving direction of the moving part. Among them, the battery pack adsorbed by the first electromagnet to the battery placement position is placed on the rotating column.

6. The material handling system according to claim 2, wherein A number of rotating columns are arranged within the housing. The central axis of the rotating column is perpendicular to the moving direction of the moving part when grasping the battery pack from within the housing or placing the battery pack into the housing. Among them, the number of rotating columns within the housing is the first carrier. Alternatively, a first transmission mechanism is arranged within the housing. The first transmission mechanism is connected to the first control module, and the first transmission mechanism is used to drive the battery pack. Among them, the first transmission mechanism is the first carrier.

7. The material handling system according to claim 1, characterized in that, A first docking head is provided at the end of the battery pack that first enters the housing. Among them, when the battery pack is placed on the first carrier, the first docking head is connected to the second docking head.

8. The material handling system according to claim 1, wherein, A second electromagnet is provided at the end of the battery pack that first enters the housing, and a second adsorbing member for adsorbing the second electromagnet is arranged within the housing. Alternatively, a second adsorbing member is provided at the end of the battery pack that first enters the housing, and a second electromagnet for adsorbing the second adsorbing member is arranged within the housing. Among them, the battery pack is fixed when the second electromagnet adsorbs to the second adsorbing member.

9. The material handling system according to claim 1, wherein A first speaker is provided on the first automatic guided vehicle, and the first speaker is connected to the first control module. A second speaker is provided on the second automatic guided vehicle, and the second speaker is connected to the second control module.

10. The material handling system according to claim 1, characterized in that, A material placement position for placing materials is provided at the top of the housing.

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