Robot self-body battery changing structure and device

Abstract

The utility model provides a robot self-body battery changing structure and device, the robot self-body battery changing structure comprises a robot main body, an end effector and at least two battery units, the robot main body comprises a skeleton structure and a first clamping assembly arranged on the skeleton structure; the first clamping assembly comprises a first feedback part which abuts against the end effector in a matched mode and a first clamping part which clamps the battery unit to the framework structure in a matched mode, the battery unit comprises a battery body and a connecting plate, a second clamping assembly is arranged on the end side of the connecting plate, and the second clamping assembly comprises a sliding frame and an elastic part; the end effector responds to the abutting of the sliding frame to control the grabbing and releasing of the battery unit. When the battery is replaced, the battery which is not taken out can provide energy for the robot body and the end effector. When the end effector takes and places the battery, the end effector is in contact with the first feedback part and the sliding frame, whether installation is in place or not is detected through the sensor, and the battery replacement process of the end effector is safer.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology, and more specifically, it relates to a robot self-battery swapping structure and device. Background Technology

[0002] With the rapid development of humanoid robots, the need for continuous operation is increasing. However, robots have limited battery capacity, preventing them from working for extended periods. When the battery is low or depleted, the robot must stop working, requiring staff to replace the battery, increasing their workload and potentially preventing timely battery replacement. Alternatively, robots may need to operate while plugged into a charger, but the charger's power cord can interfere with the robot's movements, limiting its functionality. Utility Model Content

[0003] The purpose of this utility model embodiment is to provide a robot self-battery swapping structure and device to solve the technical problem in the prior art that requires manual assistance to replace batteries.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is: to provide a robot self-power-swapping structure, comprising:

[0005] An end effector with a sensor for detecting pressure;

[0006] The robot body has a battery cavity for placing a battery. The robot body includes a skeleton structure and a first snap-fit ​​assembly disposed on the skeleton structure. The first snap-fit ​​assembly includes a first feedback part that cooperates to press against an end effector and a first snap-fit ​​part that cooperates to snap the battery into the skeleton structure. In response to the end effector abutting against the first feedback part, the first feedback part moves in a first direction, and the first snap-fit ​​part follows the first feedback part to move in the first direction.

[0007] The battery unit includes a battery body and a connecting plate located on one side of the battery body. The end side of the connecting plate is provided with a second snap-fit ​​assembly. The second snap-fit ​​assembly includes a sliding frame that cooperates to press against the end effector and an elastic part located on one side of the sliding frame. The end effector controls the gripping and releasing of the battery unit in response to the pressing of the sliding frame.

[0008] In the above scheme, the robot's self-swapping structure includes a robot body, an end effector, and a battery unit. The battery is snapped into the robot body. The end effector can remove the battery from the robot body, retrieve a fully charged battery from the battery cabinet, and install it into the robot body. Moreover, when the end effector is picking up or placing the battery, it comes into contact with the first feedback unit and the sliding frame. Sensors detect whether the snap-fit ​​structure is secure and whether the installation is in place, thus making the battery swapping process of the end effector safer.

[0009] Optionally, the first snap-fit ​​assembly includes a snap-fit ​​housing, a first elastic element, a second elastic element, and a first snap-fit ​​portion; the snap-fit ​​housing has a first feedback portion, the two ends of the first elastic element are respectively connected to the robot body and the snap-fit ​​housing, the extension and retraction direction of the first elastic element is a first direction, and the first feedback portion is slidably disposed on the robot body along the first direction; the two ends of the second elastic element are respectively connected to the snap-fit ​​housing and the first snap-fit ​​portion, the extension and retraction direction of the second elastic element is a second direction, and the first direction and the second direction are set at an angle.

[0010] In the above solution, the first elastic element allows the first feedback part to move in a first direction. When the first feedback part is compressed, the first elastic element contracts, increasing the pressure between the first feedback part and the end effector. This pressure value can then be used to determine whether the end effector is in the correct position. The second elastic element allows the first locking part to move in a second direction, enabling the battery to be removed or locked.

[0011] Optionally, the first snap-fit ​​portion has a first guide surface facing into the battery cavity and a second guide surface facing out of the battery cavity, both the first guide surface and the second guide surface being set at an acute angle to the second direction.

[0012] In the above solution, the first guide surface allows the first locking part to be smoothly pushed back into the frame housing when the battery is pushed into the battery cavity. The second guide surface allows the first locking part to be smoothly pushed back into the frame housing when the battery is pulled out of the battery cavity.

[0013] Optionally, the surface of the battery is provided with a slide rail, and the battery cavity is provided with a slide groove that cooperates with the slide rail. When the battery is located in the battery cavity, the first snap-fit ​​part stops at one end of the slide rail.

[0014] In the above scheme, the slide rail with protrusions on the battery surface can not only cooperate with the slide groove of the battery cavity, but also be stopped and limited by the first snap-fit ​​part, thereby confining the battery within the battery cavity.

[0015] Optionally, the first feedback unit has a third guide surface for contacting the end effector, the third guide surface being set at an acute angle to the first direction.

[0016] In the above scheme, by setting the third guide surface, when the end effector moves in the second direction to clamp the battery, it pushes the first feedback unit to move in the first direction.

[0017] Optionally, the sliding frame is provided with a second feedback part that cooperates to press against the end effector and a second locking part extending from the second feedback part. The elastic part is used to move the second locking part relative to the skeleton structure. The skeleton structure has a third locking part for engaging with the second locking part.

[0018] Optionally, the two ends of the elastic part are respectively connected to the battery body and the second snap-fit ​​part, and the extension and retraction direction of the elastic part is the same as the clamping direction of the end effector.

[0019] In the above scheme, the extension and retraction direction of the elastic part is the same as the clamping direction of the end effector. When the end effector clamps the battery, the elastic part is compressed, so that the battery and the frame structure are unlocked.

[0020] Optionally, the battery body includes a battery casing and a battery cover disposed on the battery casing, the elastic part, the second feedback part and the second snap-fit ​​part are all located between the battery casing and the battery cover, and the battery cover or the battery casing has an opening that exposes one end of the second feedback part.

[0021] In the above solution, the battery body is set as a battery casing and a battery cover, and a second snap-fit ​​component is installed in the space between the battery casing and the battery cover, which is set separately from the battery's energy storage part.

[0022] Optionally, the battery cell has a first contact surface for contacting the end effector, and the end effector has a second contact surface for contacting the battery cell, wherein the first contact surface and the second contact surface are configured to engage with each other.

[0023] In the above scheme, when the end effector clamps the battery, the first contact surface and the second contact surface are in close contact with each other. When the two are in concave-convex cooperation, the support force on the battery cell can be increased, and the battery cell is less likely to slip off.

[0024] This utility model provides a robot self-battery swapping device, including the above-mentioned robot self-battery swapping structure, and also includes a battery cabinet. The battery cabinet has multiple battery compartments for placing batteries. In response to the robot body being in a low-power state, the end effector moves between the battery compartments and the battery compartments to perform a battery swapping operation of grasping and releasing the battery cells.

[0025] In the above scheme, the end effector can move back and forth between the battery cabinet and the battery cavity of the robot body to realize the robot's self-battery swapping. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model, 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 these drawings without creative effort.

[0027] Figure 1 A three-dimensional structural diagram of the robot self-battery swapping device provided in an embodiment of this utility model;

[0028] Figure 2 A three-dimensional structural diagram of the robot's self-power-swapping structure provided in this embodiment of the utility model;

[0029] Figure 3 A three-dimensional structural diagram of the robot body provided in an embodiment of this utility model;

[0030] Figure 4 for Figure 3 A magnified view of a section at point A in the middle;

[0031] Figure 5 A perspective structural view of the first snap-fit ​​assembly provided in an embodiment of this utility model;

[0032] Figure 6 An exploded view of the battery provided in an embodiment of this utility model;

[0033] Figure 7 A perspective structural view of the second snap-fit ​​assembly provided in an embodiment of this utility model;

[0034] Figure 8 A three-dimensional structural diagram of the end effector provided in an embodiment of this utility model.

[0035] The following are the labeling elements in the figure:

[0036] 100 - Robot self-swapping structure; 10 - Robot body; 101 - Battery cavity; 11 - Skeleton structure; 111 - Slide groove; 112 - Hanging bracket; 1121 - Third snap-fit ​​part; 12 - First snap-fit ​​assembly; 121 - Snap-fit ​​housing; 1211 - First connecting plate; 1212 - Second connecting plate; 123 - First feedback part; 1231 - Third guide surface; 124 - First snap-fit ​​part; 1241 - First guide surface; 1242 - Second guide surface ; 125-First elastic element; 126-Second elastic element; 127-Limit pin; 20-End actuator; 21-Second contact surface; 30-Battery unit; 31-Battery body; 311-Battery casing; 312-Battery cover; 3121-Opening; 313-Connecting plate; 32-Second snap-fit ​​assembly; 321-Sliding frame; 3211-Second feedback part; 3212-Second snap-fit ​​part; 322-Elastic part; 33-Slide rail; 34-First contact surface;

[0037] 200-Battery cabinet. Detailed Implementation

[0038] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0039] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0040] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0042] With the rapid development of humanoid robots, the need for continuous operation is increasing. However, robots have limited battery capacity, preventing them from working for extended periods. When the battery is low or depleted, the robot must stop working, requiring staff to replace the battery, increasing their workload and potentially preventing timely battery replacement. Alternatively, robots may need to operate while plugged into a charger, but the charger's power cord can interfere with the robot's movements, limiting its functionality.

[0043] To alleviate and solve the above-mentioned technical problems, this utility model proposes a robot self-battery swapping structure 100 and device, including a robot body 10, an end effector 20, and at least two battery units 30. The end effector 20 is connected to the robot body 10. The end effector 20 can remove the battery units 30 from the robot body 10 and install them onto the robot body 10 from their storage location, thereby completing the robot's self-battery swapping. During the robot's self-battery swapping process, as the sensor of the end effector 20 holds the battery unit 30, the first feedback unit 123 and the sliding frame 321 contact the end effector 20 in the corresponding swapping steps. The sensor can determine whether each swapping step has been completed by detecting the pressure, thereby improving the safety factor during the swapping process.

[0044] The robot self-battery swapping structure 100 provided in the embodiments of this utility model will now be described.

[0045] Please refer to the following: Figures 1 to 5 The robot's self-powered battery swapping structure 100 includes:

[0046] The end effector 20 has a sensor for feedback pressure;

[0047] The robot body 10 has a battery cavity 101 for placing the battery unit 30. The robot body 10 includes a skeleton structure 11 and a first snap-fit ​​assembly 12 disposed on the skeleton structure 11. The first snap-fit ​​assembly 12 includes a first feedback part 123 that cooperates to press against the end effector 20 and a first snap-fit ​​part 124 that cooperates to snap the battery unit 30 into the skeleton structure 11. In response to the end effector 20 pressing against the first feedback part 123, the first feedback part 123 moves in a first direction, and the first snap-fit ​​part 124 moves in the first direction along with the first feedback part 123.

[0048] The battery unit 30 includes a battery body 31 and a connecting plate 313 located on one side of the battery body 31. The end side of the connecting plate 313 is provided with a second snap-fit ​​component 32. The second snap-fit ​​component 32 includes a sliding frame 321 that cooperates to press against the end effector 20 and an elastic part 322 located on one side of the sliding frame 321. The end effector 20 controls the gripping and releasing of the battery unit 30 in response to the pressing of the sliding frame 321.

[0049] The robot body 10 is the main structure of the robot. Multiple battery cavities 101 are located inside the robot body 10, each capable of housing one battery unit 30. The first latching assembly 12 of the robot body 10 includes a first latching part 124 and a first feedback part 123, which move synchronously in a first direction. Specifically, when the end effector 20 contacts the first feedback part 123, the first feedback part 123 moves along the first direction, and correspondingly, the first latching part 124 also moves in the first direction, thereby disengaging the first latching part 124 from the battery unit 30.

[0050] The sensors of the end effector 20 can detect the pressure applied to it. By observing changes in pressure or the specific value of the pressure, it can be determined whether the end effector 20 has made proper contact with the first feedback unit 123, the second feedback unit 3211, etc. The end effector 20 functions similarly to a robotic arm, capable of picking up and placing the battery unit 30 and moving it between the battery cavity 101 and the storage location of the battery unit 30.

[0051] When the end effector 20 clamps the battery unit 30, the sliding frame 321 and the end effector 20 press against each other. The clamping of the battery unit 30 by the end effector 20 can be determined by the pressure detection of the sensor on the end effector 20. The sliding frame 321 moves when it is pressed by the end effector 20. When the sliding frame 321 is pressed, the elastic part 322 is compressed, and the locking structure between the sliding frame 321 and the frame structure 11 is released, allowing the battery unit 30 to be removed. When the sliding frame 321 is not pressed, the locking structure between the sliding frame 321 and the frame structure 11 is locked.

[0052] The robot's self-swapping process is as follows: The end effector 20 moves to the battery cell 30 that needs to be swapped. The end effector 20 touches the first feedback unit 123. When the pressure detected by the sensor is greater than the first threshold, it means that the end effector 20 is in the correct position. The first latching part 124 moves along the first direction with the first feedback unit 123. The end effector 20 continues to apply force to clamp the battery cell 30. The end effector 20 touches the sliding frame 321 of the battery cell 30. When the pressure detected by the sensor is greater than the second threshold, it means that the battery cell 30 is clamped in place. The sliding frame 321 and the skeleton structure 11 disengage from each other. At this time, the battery cell 30 can be taken out. After the battery unit 30 is removed, it is placed in the battery cabinet 200 via the end effector 20. The end effector 20 then grabs other fully charged battery units 30 in the battery cabinet 200. When the end effector 20 touches the sliding frame 321 of the battery unit 30, and the pressure detected by the sensor is greater than a second threshold, it indicates that the battery unit 30 is clamped in place. At this point, the battery unit 30 can be removed from the battery cabinet 200, transported, and inserted into the battery cavity 101 of the robot body 10. When the end effector 20 touches the first feedback unit 123, and the pressure detected by the sensor is greater than the first threshold, it indicates that the battery unit 30 is installed in place. The end effector 20 then releases the battery unit 30, and the sliding frame 321 engages and locks with the frame structure 11. This completes the robot's self-replacement of the battery unit 30 operation.

[0053] The robot self-swapping structure 100 in the above embodiment includes a robot body 10, an end effector 20, and a battery unit 30. The battery unit 30 is snapped into the robot body 10. The end effector 20 can remove the battery unit 30 from the robot body 10 and, after taking a fully charged battery unit 30 from the battery cabinet 200, install it into the robot body 10. Moreover, when the end effector 20 is picking up or placing the battery unit 30, it will contact the first feedback unit 123 and the sliding frame 321. Sensors will detect whether the snap-fit ​​structure is in place and whether the installation is in position, thereby making the battery swapping process of the end effector 20 safer.

[0054] In some embodiments of this utility model, the number of battery units 30 is at least two, and when one of the battery units 30 is removed, the other battery units 30 can provide power to the robot body 10 and the end effector 20.

[0055] In some embodiments of this invention, the sensor is a six-dimensional force sensor.

[0056] Please refer to some embodiments of this utility model. Figure 4 and Figure 5The first latching assembly 12 includes a latching housing 121, a first elastic element 125, a second elastic element 126, and a first latching portion 124. The latching housing 121 has a first feedback portion 123. The two ends of the first elastic element 125 are respectively connected to the robot body 10 and the latching housing 121. The extension and retraction direction of the first elastic element 125 is a first direction. The first feedback portion 123 is slidably disposed on the robot body 10 along the first direction. The two ends of the second elastic element 126 are respectively connected to the latching housing 121 and the first latching portion 124. The extension and retraction direction of the second elastic element 126 is a second direction. The first direction and the second direction are set at an angle. The latching housing 121 can move relative to the frame structure 11 along the first direction. Specifically, when the first feedback portion 123 is squeezed by the end effector 20, the first feedback portion 123 moves along the first direction, and the first latching portion 124 also moves along the first direction, thereby causing the first latching portion 124 to separate from the frame structure 11, and the battery unit 30 to disengage from the frame structure 11. When the battery unit 30 is installed, the battery unit 30 will push the first snap-fit ​​part 124 to move in the second direction, so that the first snap-fit ​​part 124 can be smoothly snapped into the frame structure 11.

[0057] The first elastic element 125 causes the first feedback part 123 to move in the first direction. When the first feedback part 123 is compressed, the first elastic element 125 contracts, increasing the pressure between the first feedback part 123 and the end effector 20. This pressure value allows the system to determine whether the end effector 20 is in the correct position. The second elastic element 126 causes the first locking part 124 to move in the second direction, allowing the battery unit 30 to be removed or locked.

[0058] In some embodiments, the first direction and the second direction are perpendicular to each other. The first direction is the direction in which the first feedback part 123 is squeezed by the end effector 20, and the second direction is the direction of movement of the first latching part 124 when the battery unit 30 is disengaged from the frame structure 11.

[0059] In some embodiments, the insertion direction of the battery unit 30 is horizontal, and the first direction may be parallel to the insertion direction of the battery unit 30.

[0060] In some embodiments, please refer to Figure 4 The frame structure 11 has a first through hole that extends through the frame structure 11 along a first direction. A first feedback part 123 passes through the first through hole, allowing the first feedback part 123 to slide relative to the frame structure 11 in the first direction. When the first feedback part 123 slides, the entire first snap-fit ​​assembly 12 slides in the first direction. The first through hole can have the same cross-sectional dimension as the first feedback part 123, ensuring stable sliding of the first feedback part 123.

[0061] In some embodiments, please refer to Figure 4 The frame structure 11 has a second through hole that penetrates the frame housing in a second direction. The first snap-fit ​​part 124 passes through the second through hole, allowing the first snap-fit ​​part 124 to slide relative to the frame housing in the second direction. The size of the second through hole in the first direction is larger than the cross-sectional size of the first snap-fit ​​part 124, so that the first snap-fit ​​part 124 can also move in the first direction with the first feedback part 123.

[0062] In some embodiments, please refer to Figure 5 The snap-fit ​​housing 121 includes a first connecting plate 1211 and a second connecting plate 1212 that are vertically connected. A first snap-fit ​​part 124 is slidably connected to the first connecting plate 1211 along a second direction, and a first feedback part 123 is disposed on the second connecting plate 1212.

[0063] In some embodiments, please refer to Figure 5 The first snap-fit ​​assembly 12 also includes a limiting pin 127, which is installed on the frame structure 11, and the first elastic member 125 is sleeved on the limiting pin 127. The limiting pin 127 facilitates the connection between the first elastic member 125 and the frame structure 11, and can also limit the movement of the first elastic member 125.

[0064] Please refer to some embodiments of this utility model. Figure 5 The first engaging portion 124 has a first guide surface 1241 facing into the battery cavity 101 and a second guide surface 1242 facing out of the battery cavity 101. Both the first guide surface 1241 and the second guide surface 1242 are set at acute angles to the second direction. When the battery unit 30 is pushed into the battery cavity 101, the battery unit 30 will contact the first guide surface 1241, and the first feedback portion 123 will move along the first direction. The first engaging portion 124 will also move along the first direction until it disengages from the frame structure 11. The battery unit 30 pushes the first guide surface 1241, thereby causing the first engaging portion 124 to move along the second direction while moving in the first direction. After the battery unit 30 is fully inserted into the battery cavity 101, the first engaging portion 124 will rebound under the action of the second elastic member 126. After the end effector 20 releases the battery unit 30, the first feedback portion 123 will rebound under the action of the first elastic member 125, and the first engaging portion 124 will engage with the frame structure 11. When the battery unit 30 is pulled out of the battery cavity 101, the first feedback part 123 is squeezed by the end effector 20 and moves in the first direction. The second guide surface 1242 is squeezed by the inner wall of the battery cavity 101, causing the first latching part 124 to move in the second direction while moving in the first direction, so that the first latching part 124 is retracted into the interior of the skeleton structure 11 until the battery unit 30 is pulled out, at which point the first latching part 124 springs back into the interior of the battery cavity 101.

[0065] The first guide surface 1241 allows the battery unit 30 to smoothly retract the first latching part 124 into the frame structure 11 when it is pushed into the battery cavity 101. The second guide surface 1242 allows the battery unit 30 to smoothly retract the first latching part 124 into the frame structure 11 when it is pulled out of the battery cavity 101.

[0066] Please refer to some embodiments of this utility model. Figures 3 to 5 The surface of the battery unit 30 is provided with a raised slide rail 33, and the battery cavity 101 is provided with a sliding groove 111 that mates with the slide rail 33. When the battery unit 30 is located in the battery cavity 101, the first engaging portion 124 stops at one end of the slide rail 33. The slide rail 33 on the surface of the battery unit 30 and the sliding groove 111 in the battery cavity 101 cooperate with each other, making the pushing and pulling action of the battery unit 30 more stable and smooth. After the battery unit 30 is fully pushed into the battery cavity 101, the first engaging portion 124 engages with the frame of the battery unit 30, and the end of the slide rail 33 of the battery unit 30 is stopped by the first engaging portion 124, thereby locking the battery unit 30 inside the battery cavity 101. In this embodiment, the first engaging portion 124 is located inside the sliding groove 111 and at the end of the sliding groove 111.

[0067] The slide rail 33, which is raised on the surface of the battery unit 30, can not only cooperate with the slide groove 111 of the battery cavity 101, but can also be stopped and limited by the first snap-fit ​​part 124, thereby limiting the battery unit 30 to be located in the battery cavity 101.

[0068] In some embodiments, the groove 111 may be formed by a recess in the cavity wall of the battery cavity 101, or it may be surrounded by two strip-shaped protrusions. The specific structure of the groove 111 is not limited here.

[0069] In some embodiments of this utility model, first snap-fit ​​components 12 are provided on both sides of the battery cavity 101, so that the battery unit 30 can be stably snapped into the battery cavity 101.

[0070] Optionally, the battery cavity 101 is provided with sliding grooves 111 on both sides, and the battery unit 30 is provided with sliding rails 33 on the opposite sides.

[0071] Please refer to some embodiments of this utility model. Figure 5The first feedback unit 123 has a third guide surface 1231 for contacting the end effector 20, and the third guide surface 1231 is set at an acute angle to the first direction. When the end effector 20 clamps the battery unit 30, the clamping action is in the second direction. Therefore, when the end effector 20 contacts the third guide surface 1231 of the first feedback unit 123, the movement of the end effector 20 in the second direction can be converted into the movement of the first feedback unit 123 in the first direction.

[0072] By setting the third guide surface 1231, when the end effector 20 moves in the second direction to clamp the battery unit 30, it pushes the first feedback unit 123 to move in the first direction.

[0073] It should be noted that when the first feedback unit 123 is not under force, the external force is located outside the skeleton structure 11 and near the opening of the battery cavity 101. Thus, during the process of the end effector 20 clamping the battery unit 30, the first feedback unit 123 will be touched.

[0074] In some embodiments of this utility model, the sliding frame 321 is provided with a second feedback part 3211 that cooperates to press against the end effector 20 and a second locking part 3212 extending from the second feedback part 3211. The elastic part 322 is used to move the second locking part 3212 relative to the frame structure 11. The frame structure 11 has a third locking part 1121 for engaging with the second locking part 3212. The second locking part 3212 and the second feedback part 3211 move synchronously when pressed by the end effector 20. When the second feedback part 3211 is pressed, the second locking part 3212 and the third locking part 1121 disengage from each other, and the battery unit 30 can be removed. When the second feedback part 3211 is not pressed, the second locking part 3212 and the third locking part 1121 are locked together, and the battery unit 30 is locked in the battery cavity 101.

[0075] The robot's self-swapping process is as follows: The end effector 20 moves to the battery cell 30 that needs to be swapped. The end effector 20 touches the first feedback part 123. When the pressure detected by the sensor is greater than the first threshold, it means that the end effector 20 is in the correct position. The first feedback part 123 and the first latching part 124 move simultaneously in the first direction. The end effector 20 continues to apply force to clamp the battery cell 30. The end effector 20 touches the second feedback part 3211 of the battery cell 30. When the pressure detected by the sensor is greater than the second threshold, it means that the battery cell 30 is clamped in place. The second latching part 3212 and the third latching part 1121 disengage. At this time, the battery cell 30 can be taken out. After the battery unit 30 is removed, it is placed in the battery unit 30 storage location by the end effector 20. The end effector 20 grabs other fully charged battery units 30. When the end effector 20 touches the second feedback part 3211 of the battery unit 30, and the pressure detected by the sensor is greater than the second threshold, it means that the battery unit 30 is clamped in place. At this time, the battery unit 30 can be taken out from the battery unit 30 storage location, transported and inserted into the battery cavity 101 of the robot body 10. When the end effector 20 touches the first feedback part 123, and the pressure detected by the sensor is greater than the first threshold, it means that the battery unit 30 is installed in place. The end effector 20 releases the battery unit 30, and the second locking part 3212 and the third locking part 1121 lock together. Thus, the operation process of the robot changing the battery unit 30 is completed.

[0076] Please refer to some embodiments of this utility model. Figure 6 and Figure 7 The two ends of the elastic part 322 are respectively connected to the battery body 31 and the second locking part 3212. The extension and retraction direction of the elastic part 322 is the same as the clamping direction of the end effector 20. When the end effector 20 clamps the battery unit 30, the elastic part 322 is compressed, the first feedback part 123 is pressed, and a feedback signal is sent to the host computer, etc. At the same time, the second locking part 3212 and the first feedback part 123 move synchronously in the clamping direction. The second locking part 3212 and the third locking part 1121 disengage and unlock each other, and the battery unit 30 can be removed from the battery cavity 101.

[0077] The extension and retraction direction of the elastic part 322 is the same as the clamping direction of the end effector 20. When the end effector 20 clamps the battery unit 30, the elastic part 322 is compressed, so that the battery unit 30 and the frame structure 11 are unlocked from each other.

[0078] In some embodiments, the clamping direction of the end effector 20 is parallel to the second direction, and the second direction is perpendicular to the first direction.

[0079] Please refer to some embodiments of this utility model. Figure 3 and Figure 4A mounting bracket 112 is fixedly installed on the frame structure 11, and a third snap-fit ​​part 1121 is installed on the mounting bracket 112. The mounting bracket 112 is frame-shaped, and the second snap-fit ​​part 3212 can be snapped onto the mounting bracket 112.

[0080] Please refer to some embodiments of this utility model. Figure 6 and Figure 7 The battery body 31 includes a battery casing 311 and a battery cover 312 covering the battery casing 311. An elastic portion 322, a second feedback portion 3211, and a second snap-fit ​​portion 3212 are all located between the battery casing 311 and the battery cover 312. The battery cover 312 or the battery casing 311 has an opening 3121 that exposes one end of the second feedback portion 3211. A space for installing the second snap-fit ​​assembly 32 is formed between the battery cover 312 and the battery casing 311. The second feedback portion 3211 is exposed through the opening 3121, allowing the end effector 20 to contact and press against the second feedback portion 3211.

[0081] By setting the battery body 31 as a battery casing 311 and a battery cover 312, and using the space between the battery casing 311 and the battery cover 312 to install the second snap-fit ​​assembly 32, it is set separately from the energy storage part of the battery unit 30.

[0082] In some embodiments, the second snap-fit ​​assembly 32 is mounted on the battery housing 311, specifically, the sliding bracket 321 is mounted on the battery housing 311. Alternatively, the second snap-fit ​​assembly 32 is mounted on the battery cover 312, specifically, the sliding bracket 321 is mounted on the battery cover 312, and the second snap-fit ​​assembly 32 is also disassembled when the battery cover 312 is removed, facilitating installation and maintenance.

[0083] In some embodiments, the second feedback section 3211 is located inside the battery body 31, and the end effector 20 has a protruding structure that passes through the opening 3121 and extends into the interior of the battery body 31 to contact the second feedback section 3211. Alternatively, the second feedback section 3211 extends outside the battery body 31, and the end effector 20 can directly contact the second feedback section 3211.

[0084] Please refer to some embodiments of this utility model. Figure 8 The battery unit 30 has a first contact surface 34 for contacting the end effector 20, and the end effector 20 has a second contact surface 21 for contacting the battery unit 30. The first contact surface 34 and the second contact surface 21 are configured to engage with each other. When the end effector 20 clamps the battery unit 30, the first contact surface 34 and the second contact surface 21 are in close contact with each other. The engagement between the two surfaces increases the support force on the battery unit 30, making it less likely for the battery unit 30 to slip off.

[0085] In some embodiments, the first contact surface 34 has a raised structure and the second contact surface 21 has a recessed structure. Alternatively, the first contact surface 34 has a recessed structure and the second contact surface 21 has a raised structure.

[0086] In some embodiments, the second contact surface 21 of the end effector 20 is provided with a positioning step, which supports the battery unit 30 when the battery unit 30 is clamped.

[0087] Please see Figure 1 This utility model also provides a robot self-battery swapping device, which includes the robot self-battery swapping structure 100 in any of the above embodiments, and also includes a battery cabinet 200. The battery cabinet 200 has multiple battery compartments for placing battery units 30. In response to a low-power state of the robot body 10, the end effector 20 moves between the battery compartment 101 and the battery compartments to perform a battery swapping operation of grasping and releasing the battery units 30. The battery cabinet 200 is used to store and charge the battery units 30, and the storage location of the battery units 30 is located in the battery cabinet 200. The end effector 20 can reciprocate between the battery cabinet 200 and the battery compartment 101 of the robot body 10.

[0088] The robot self-battery swapping device provided by this utility model adopts the aforementioned robot self-battery swapping structure 100. The robot self-battery swapping structure 100 includes a robot body 10, an end effector 20, and a battery unit 30. The battery unit 30 is snapped into the robot body 10. The end effector 20 can remove the battery unit 30 from the robot body 10 and, after taking out a fully charged battery unit 30 from the battery cabinet 200, install it into the robot body 10. Moreover, when the end effector 20 is picking up or placing the battery unit 30, it will contact the first feedback unit 123 and the sliding frame 321. Sensors detect whether the snapping structure is in place and whether the installation is in position, thereby making the battery swapping process of the end effector 20 safer.

[0089] In some embodiments of this utility model, the battery cavity 101 of the battery cabinet 200 for placing the battery unit 30 has the same structure as the battery cavity 101 in the frame structure 11, and the battery cabinet 200 is also provided with a first snap-fit ​​component 12 and a second snap-fit ​​component 32, which can snap the battery unit 30 into the battery cabinet 200.

[0090] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robot self-power-swapping structure, characterized in that, include: An end effector with a sensor for detecting pressure; The robot body has a battery cavity for placing a battery. The robot body includes a skeleton structure and a first snap-fit ​​assembly disposed on the skeleton structure. The first snap-fit ​​assembly includes a first feedback part that cooperates to press against an end effector and a first snap-fit ​​part that cooperates to snap the battery into the skeleton structure. In response to the end effector abutting against the first feedback part, the first feedback part moves in a first direction, and the first snap-fit ​​part follows the first feedback part to move in the first direction. The battery unit includes a battery body and a connecting plate located on one side of the battery body. The end side of the connecting plate is provided with a second snap-fit ​​assembly. The second snap-fit ​​assembly includes a sliding frame that cooperates to press against the end effector and an elastic part located on one side of the sliding frame. The end effector controls the gripping and releasing of the battery unit in response to the pressing of the sliding frame.

2. The robot self-battery swapping structure as described in claim 1, characterized in that, The first snap-fit ​​assembly includes a snap-fit ​​housing, a first elastic element, a second elastic element, and a first snap-fit ​​portion; the snap-fit ​​housing has a first feedback portion, the two ends of the first elastic element are respectively connected to the robot body and the snap-fit ​​housing, the extension and retraction direction of the first elastic element is a first direction, and the first feedback portion is slidably disposed on the robot body along the first direction; the two ends of the second elastic element are respectively connected to the snap-fit ​​housing and the first snap-fit ​​portion, the extension and retraction direction of the second elastic element is a second direction, and the first direction and the second direction are set at an angle.

3. The robot self-battery swapping structure as described in claim 2, characterized in that, The first snap-fit ​​portion has a first guide surface facing into the battery cavity and a second guide surface facing out of the battery cavity, both of which are set at an acute angle to the second direction.

4. The robot self-battery swapping structure as described in claim 2, characterized in that, The surface of the battery is provided with a slide rail, and the battery cavity is provided with a slide groove that cooperates with the slide rail. When the battery is located in the battery cavity, the first snap-fit ​​part stops at one end of the slide rail.

5. The robot self-battery swapping structure as described in claim 2, characterized in that, The first feedback unit has a third guide surface for contacting the end effector, the third guide surface being set at an acute angle to the first direction.

6. The robot self-battery swapping structure as described in any one of claims 1-5, characterized in that, The sliding frame is provided with a second feedback part that cooperates to press against the end effector and a second locking part extending from the second feedback part. The elastic part is used to move the second locking part relative to the skeleton structure. The skeleton structure has a third locking part for engaging with the second locking part.

7. The robot self-battery swapping structure as described in claim 6, characterized in that, The two ends of the elastic part are respectively connected to the battery body and the second snap-fit ​​part, and the extension and retraction direction of the elastic part is the same as the clamping direction of the end effector.

8. The robot self-battery swapping structure as described in claim 7, characterized in that, The battery body includes a battery casing and a battery cover covering the battery casing. The elastic part, the second feedback part and the second snap-fit ​​part are all located between the battery casing and the battery cover. The battery cover or the battery casing has an opening that exposes one end of the second feedback part.

9. The robot self-battery swapping structure as described in any one of claims 1-5, characterized in that, The battery cell has a first contact surface for contacting the end effector, and the end effector has a second contact surface for contacting the battery cell. The first contact surface and the second contact surface are configured to engage with each other.

10. A robot self-powered battery swapping device, characterized in that, The robot self-swapping structure according to any one of claims 1-9 further includes a battery cabinet having a plurality of battery compartments for placing battery cells. In response to a low-power state of the robot body, the end effector moves between the battery compartments and the battery compartments to perform a battery swapping operation of grasping and releasing the battery cells.

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