Robot battery taking-out mechanism

Abstract

The utility model discloses a robot battery taking-out mechanism. A battery of a robot is arranged on a tray capable of being pulled out of the robot. The robot battery taking-out mechanism comprises a transverse pulling mechanism and a lifting mechanism. The transverse pulling mechanism comprises a fixed seat, a claw seat, a claw and a translation driving unit; the translation driving unit can drive the claw base to translate in the horizontal direction; the claw hand is installed on a movable plate, the movable plate is connected with the claw hand seat through a push-pull execution unit, and the push-pull execution unit can change the distance between the movable plate and the claw hand seat; and the lifting mechanism comprises a lifting supporting plate and a driving mechanism for driving the lifting supporting plate to do lifting motion. According to the taking-out mechanism, the tray can be pulled out of the robot firstly, then the battery is lifted away from the tray, a new battery can be loaded conveniently, by means of the auxiliary function of the battery taking-out mechanism, the difficulty of replacing the battery can be greatly reduced, and the robot can rapidly detach and replace the battery.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot battery removal mechanism. Background Art

[0002] In automated production, traditional robots must return to their charging stations for lengthy recharges when their batteries run low. This not only increases the risk of operational interruptions but also significantly impacts production efficiency. To address this issue, battery replacement has become an effective alternative. The advantage of battery replacement is that it significantly reduces downtime, improving operational continuity and productivity. By quickly swapping batteries, robots can continue their tasks virtually uninterrupted, optimizing production processes.

[0003] In the prior art, patent CN 217572973 U provides a quick-change battery device for a composite mobile robot. In this patent, a drawer that can be pulled out relative to the robot is provided, and the battery is placed in the drawer, so that the battery can be easily removed. However, the above-mentioned battery removal operation still needs to be performed manually, which is not convenient for the subsequent automatic battery installation operation. Utility Model Content

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the utility model provides a robot battery removal mechanism that can quickly remove the battery of a robot to facilitate the installation of a new battery.

[0005] Technical Solution: To achieve the above-mentioned purpose, the present invention provides a robot battery removal mechanism. The robot's battery is placed on a tray that can be pulled out of the robot. The robot has a battery compartment box. The tray and the battery compartment box are connected by a slide rail. The slide rail has a locking function. When the slide rail is subjected to a sufficiently large force, the lock can be released. The robot battery removal mechanism includes a horizontal pulling mechanism and a lifting mechanism.

[0006] The horizontal pulling mechanism includes a fixed base, a gripper base, a gripper, and a translation drive unit; the translation drive unit is capable of driving the gripper base to translate horizontally; the gripper is mounted on a movable plate, and the movable plate is connected to the gripper base via a push-pull actuator unit, and the push-pull actuator unit is capable of changing the distance between the movable plate and the gripper base;

[0007] The lifting mechanism includes a lifting support plate and a driving mechanism for driving the lifting support plate to perform lifting motion.

[0008] Furthermore, the claw hand includes a rotation drive unit and a claw portion that can be driven by the rotation drive unit to rotate relative to the movable plate, and the claw portion can be driven by the rotation drive unit to switch between a horizontal state and a vertical state;

[0009] The edge of the tray has a crossbar, and when the claw is in the upright position, the claw can act on the crossbar.

[0010] Furthermore, there are two claws, which are arranged on the left and right.

[0011] Furthermore, the translation driving unit is an electric push rod, and the push-pull execution unit is an electromagnet.

[0012] In the above structure, the claw is in a horizontal state in the initial state. During the process of pulling out the tray, the push-pull execution unit pushes the claw hand forward so that the claw reaches the other side of the horizontal bar, and then the rotation drive unit makes the claw become vertical, and finally the translation drive unit operates to pull out the tray.

[0013] Furthermore, the lifting pallet is L-shaped, consisting of a horizontal pallet body and vertical side panels. The pallet has a clearance slot on the pallet to allow the pallet body to move out of the way, allowing the pallet body to pass through the clearance slot to reach a position below the pallet. Initially, the pallet body is placed under the pallet. When the pallet is pulled out by the horizontal pulling mechanism, the clearance slot aligns with the pallet body vertically. This allows the pallet body to pass through the clearance slot when it is raised or lowered, thereby lifting the batteries on the pallet.

[0014] Furthermore, the driving mechanism includes a driving motor with a fixed height position, a gear is fixed on the output shaft of the driving motor, and a rack meshing with the gear is fixed on the side plate. In this way, by controlling the operation of the driving motor, the lifting support plate can be lifted and lowered.

[0015] Furthermore, the side panels are also provided with guide rail mechanisms for guiding the lifting and lowering movements thereof.

[0016] Furthermore, the three side edges of the tray are provided with upward-turned flanges; a shift rod is provided on the other side of the tray, and the shift rod can be raised and lowered and slid relative to the tray, and an elastic mechanism for applying an upward force to the shift rod is also installed on the tray; the robot battery removal mechanism also includes a guide plate fixed on the fixed seat, and the guide plate has a guide groove, and the guide groove has a straight groove part and an oblique groove part; the end of the shift rod can slide in the guide groove. When the horizontal pulling mechanism pulls out the tray, the end of the shift rod enters the guide groove, first entering from the end of the straight groove part and moving along the straight groove part. When the batteries on the tray are completely exposed, the end of the shift rod enters the oblique groove part, causing the shift rod to drop. In this way, the shift rod can prevent the battery from detaching from the tray, and after the tray is pulled out, the shift rod can be lowered to a position that does not affect the horizontal translation of the new battery into the tray.

[0017] Beneficial effects: The robot battery removal mechanism of the utility model has the following beneficial effects:

[0018] By adopting the robot battery removal mechanism of the present invention, the tray can be pulled out from the robot first, and then the battery can be lifted off the tray to facilitate the installation of a new battery. With the auxiliary function of the battery removal mechanism, the difficulty of replacing the battery can be greatly reduced, so that the robot can quickly remove and replace the battery. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A diagram showing the combined structure of the battery compartment box, tray, and battery;

[0020] Figure 2 This is a structural diagram of the robot's battery removal mechanism;

[0021] Figure 3 This is the structural diagram of the pallet;

[0022] Figure 4 for Figure 2 Middle AA cross-sectional structural diagram;

[0023] Figure 5 for Figure 2 Middle BB cross-sectional structure diagram;

[0024] Figure 6 This is the state diagram after the pallet is pulled out.

[0025] In the figure: 1-tray; 1a-gap slot; 1b-flange; 11-cross bar; 12-elastic mechanism; 13-gear lever; 2-horizontal pulling mechanism; 21-claw hand seat; 22-claw hand; 221-rotation drive unit; 222-claw part; 23-translation drive unit; 24-movable plate; 25-push-pull execution unit; 27-guide plate; 27a-straight groove part; 27b-oblique groove part; 3-lifting mechanism; 31-lifting support plate; 31a-support plate body; 31b-side plate; 32-drive motor; 33-gear; 34-rack; 35-guide rail mechanism; 4-battery compartment box. DETAILED DESCRIPTION

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] like Figure 1 The robot battery removal mechanism shown in the figure has the robot's battery placed on a tray 1 that can be pulled out from the robot. The robot has a battery compartment box 4 inside. The tray 1 and the battery compartment box 4 are connected by a slide rail. The slide rail has a locking function in place and can be unlocked when the slide rail is subjected to a sufficiently large force. The battery is connected to the robot's electrical components through a contact mechanism.

[0028] like Figure 2As shown, the robot battery removal mechanism includes a horizontal pulling mechanism 2 and a lifting mechanism 3.

[0029] like Figure 5 As shown, the horizontal pulling mechanism 2 includes a fixed base, a gripper base 21, a gripper 22, and a translation drive unit 23; the translation drive unit 23 is capable of driving the gripper base 21 to translate horizontally; the gripper 22 is mounted on a movable plate 24, which is connected to the gripper base 21 via a push-pull actuator 25. The push-pull actuator 25 is capable of changing the distance between the movable plate 24 and the gripper base 21. In this embodiment, the translation drive unit 23 is an electric push rod, and the push-pull actuator 25 is an electromagnet.

[0030] The lifting mechanism 3 includes a lifting support plate 31 and a driving mechanism for driving the lifting support plate 31 to perform lifting motion.

[0031] The claw hand 22 includes a rotation drive unit 221 and a claw portion 222 that can be driven by the rotation drive unit 221 to rotate relative to the movable plate 24, and the claw portion 222 can be driven by the rotation drive unit 221 to switch between horizontal and vertical states; the edge of the tray 1 has a cross bar 11, and when the claw portion 222 is in the vertical state, the claw portion 222 can act on the cross bar 11.

[0032] There are two claw hands 22 , and the two claw hands 22 are arranged on the left and right.

[0033] In the above structure, the claw portion 222 is in a horizontal state in the initial state. During the process of pulling out the tray 1, the push-pull execution unit 25 pushes the claw hand 22 forward so that the claw portion 222 reaches the other side of the cross bar 11, and then the rotation drive unit 221 makes the claw portion 222 become a vertical state, and finally the translation drive unit 23 operates to pull out the tray 1.

[0034] like Figure 4 As shown, the lifting support plate 31 is L-shaped, which is composed of a horizontal support plate body 31a and a vertical side plate 31b; Figure 3 As shown, the tray 1 has a clearance slot 1a for the pallet body 31a to make way for the pallet body 31a. The pallet body 31a can pass through the clearance slot 1a to reach the position under the tray 1. In the initial state, the pallet body 31a is placed under the tray 1. When the tray 1 is pulled out by the horizontal pulling mechanism 2, the clearance slot 1a and the pallet body 31a are aligned vertically. In this way, the pallet body 31a can pass through the clearance slot 1a when it is raised or lowered to lift the batteries on the tray 1.

[0035] The driving mechanism includes a driving motor 32 with a fixed height position, a gear 33 is fixed on the output shaft of the driving motor 32, and a rack 34 engaged with the gear 33 is fixed on the side plate 31b. In this way, by controlling the operation of the driving motor 32, the lifting support plate 31 can be lifted and lowered.

[0036] By using the above-mentioned robot battery removal mechanism, the tray 1 can be pulled out from the robot first, and then the battery can be lifted off the tray 1 to facilitate the installation of a new battery. With the auxiliary function of the battery removal mechanism, the difficulty of replacing the battery can be greatly reduced, allowing the robot to quickly remove and replace the battery.

[0037] The side plate 31b is also provided with a guide rail mechanism 35 for guiding its lifting movement.

[0038] The three side edges of the tray 1 are provided with upward-turned flanges 1b; the other side of the tray 1 is provided with a shift rod 13, and the shift rod 13 can be raised and lowered and slid relative to the tray 1, and the tray 1 is also equipped with an elastic mechanism 12 that applies an upward force to the shift rod 13; the robot battery removal mechanism also includes a guide plate 27 fixed to the fixed seat, and the guide plate 27 has a guide groove, and the guide groove has a straight groove portion 27a and an oblique groove portion 27b; the end of the shift rod 13 can slide in the guide groove. When the horizontal pulling mechanism 2 pulls out the tray 1, the end of the shift rod 13 enters the guide groove, first entering from the end of the straight groove portion 27a and moving along the straight groove portion 27a. When the batteries on the tray 1 are completely exposed, the end of the shift rod 13 enters the oblique groove portion 27b, causing the shift rod 13 to descend. Figure 6 In this way, the lever 13 can prevent the battery from being separated from the tray 1, and after the tray 1 is pulled out, the lever 13 can be lowered to a position that does not affect the horizontal translation of new batteries into the tray 1.

[0039] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A robot battery removal mechanism, characterized in that: The battery of the robot is placed on a tray (1) that can be pulled out from the robot; the robot battery removal mechanism includes a horizontal pulling mechanism (2) and a lifting mechanism (3); The horizontal pulling mechanism (2) comprises a fixed seat, a gripper seat (21), a gripper (22) and a translation drive unit (23); the translation drive unit (23) is capable of driving the gripper seat (21) to translate in a horizontal direction; the gripper (22) is mounted on a movable plate (24); the movable plate (24) is connected to the gripper seat (21) via a push-pull execution unit (25); the push-pull execution unit (25) is capable of changing the distance between the movable plate (24) and the gripper seat (21); The lifting mechanism (3) comprises a lifting support plate (31) and a driving mechanism for driving the lifting support plate (31) to perform lifting motion.

2. The robot battery removal mechanism according to claim 1, characterized in that: The claw hand (22) includes a rotation drive unit (221) and a claw portion (222) that can be driven by the rotation drive unit (221) to rotate relative to the movable plate (24), and the claw portion (222) can be driven by the rotation drive unit (221) to switch between a horizontal state and a vertical state. The edge of the tray (1) is provided with a crossbar (11), and when the claw portion (222) is in a vertical state, the claw portion (222) can act on the crossbar (11).

3. The robot battery removal mechanism according to claim 1, characterized in that: The number of the claw hands (22) is two, and the two claw hands (22) are arranged on the left and right.

4. The robot battery removal mechanism according to claim 1, characterized in that: The translation drive unit (23) is an electric push rod, and the push-pull execution unit (25) is an electromagnet.

5. The robot battery removal mechanism according to claim 1, characterized in that: The lifting support plate (31) is L-shaped and consists of a horizontal support plate body (31a) and a vertical side plate (31b); the pallet (1) is provided with a clearance groove (1a) for the support plate body (31a), and the support plate body (31a) can pass through the clearance groove (1a) to reach a position below the pallet (1).

6. The robot battery removal mechanism according to claim 5, characterized in that: The driving mechanism comprises a driving motor (32) with a fixed height position, a gear (33) is fixed on the output shaft of the driving motor (32), and a rack (34) meshing with the gear (33) is fixed on the side plate (31b).

7. The robot battery removal mechanism according to claim 5, characterized in that: The side plate (31b) is also provided with a guide rail mechanism (35) for guiding the lifting movement thereof.

8. The robot battery removal mechanism according to claim 2, characterized in that: The three side edges of the tray (1) are provided with upward-turned flanges (1b); a shift rod (13) is provided on the other side of the tray (1), and the shift rod (13) can be raised and lowered and slid relative to the tray (1); an elastic mechanism (12) for applying an upward force to the shift rod (13) is also installed on the tray (1); the robot battery removal mechanism also includes a guide plate (27) fixed on the fixing seat, and the guide plate (27) has a guide groove, and the guide groove has a straight groove portion (27a) and an oblique groove portion (27b); the end of the shift rod (13) can slide in the guide groove.

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