CN102176626A - Automatic battery replacement device for indoor security-maintaining robot - Google Patents
Automatic battery replacement device for indoor security-maintaining robot Download PDFInfo
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- CN102176626A CN102176626A CN2011100095686A CN201110009568A CN102176626A CN 102176626 A CN102176626 A CN 102176626A CN 2011100095686 A CN2011100095686 A CN 2011100095686A CN 201110009568 A CN201110009568 A CN 201110009568A CN 102176626 A CN102176626 A CN 102176626A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The invention discloses an automatic battery replacement device for an indoor security-maintaining robot, comprising a supporting mechanism, a power supply module, a communication control unit, a sensing unit, a driving module and an executing module, wherein the sensing unit comprises an infrared distance measurement module, an electronic compass module and an infrared detection circuit module; the communication control unit is formed by respectively connecting a microprocessor with a storage and a wireless transmitting-receiving module; and the executing module comprises an auxiliary positioning mechanism, a push-and-pull mechanism, a loading-and-unloading mechanism, a charging mechanism and a battery replacing mechanism. In the invention on the basis of the traditional changing seat, a function of automatically replacing batteries is added, so that the charging seat is more intelligent and the practical applicability is stronger.
Description
Technical field
The battery that the present invention relates to the security robot is with changing device, and the battery of mobile security robot that particularly needs long time continuous working is with changing device.
Background technology
Family expenses security robot can independently go on patrol under indoor unmanned situation, and owner is situation from computer or cell-phone customer terminal remote reviewing man at any time.Find indoorly when abnormal conditions are arranged when robot patrol, very first time record also uploads to networking client, reports to the police by other means simultaneously.Present family expenses security robot can finish autonomous walking, initiatively tour, automatic obstacle-avoiding and path planning and multipath warning function substantially; but a problem that influences the development of security robot and need need to be resolved hurrily is----robot is limited because of electric weight; cause normal working hours too short, can't satisfy long-time continuous mobile monitor requirements of one's work.There are following two kinds of methods traditional prolongation robot operating time: the first, and strengthen cell voltage, but the large volume of high-capacity battery and big weight all can reduce the flexibility of robot movable, and increase the energy consumption of robot, this method produces little effect; The second, take robot autonomous mise-a-la-masse method, when the robot power shortage, seek charger and independently charge.Yet in long charging process, robot still can not carry out security work, and still have a greatly reduced quality its normal working hours, and problem can not get basic solution.The present invention proposes a kind of new method and solve this problem: design a kind of cradle of novel automatically replaceable battery, when the robot power shortage was returned cradle, cradle unloaded the low electric weight battery of robot and puts into cradle and charge, for future use; Replace with saturated battery to robot then, allow it continue operate as normal, kill two birds with one stone.Under the contrast, this method obviously is better than the above two, has prolonged security robot continuous working period, has guaranteed the flexibility of security robot movable, has brought into play the maximum functional usefulness of robot.
Summary of the invention
The present invention seeks to overcome family expenses security robot at the defective that prior art exists, to carry battery-powered time limited, causes the short problem of robot continuous working period, and a kind of automatically replacing battery device that is used for indoor security robot is provided.
The present invention adopts following technical scheme for achieving the above object:
The present invention is a kind of to be used for the automatically replacing battery device of indoor security robot, comprise supporting mechanism, power module, communication control unit, sensing unit, driver module and Executive Module, sensing unit comprises the infrared distance measurement module, electrical compass module and infrared acquisition circuit module, communication control unit is connected and composed with memory and radio receiving transmitting module respectively by microcontroller, Executive Module comprises and helps detent mechanism, push-pull mechanism, charging crane, charging mechanism and battery replacement mechanism, power module is a communication control unit, sensing unit, driver module and Executive Module power supply, infrared distance measurement module and electrical compass module are gathered the real-time positional information of robot to be charged, and the infrared acquisition circuit module is gathered the real-time charge condition of robot to be charged; The communication control unit sending controling instruction is to Executive Module and receive the information that sensing unit is gathered; Supporting mechanism supports whole apparatus for automatic change, and bearing system when work the outside mechanical force of effect; Help detent mechanism to be used for auxiliary robot in the location in cradle dead ahead, its both arms hook robot; Push-pull mechanism and charging crane cooperating, the former is responsible for saturated battery is delivered to robot or will hang down the electric weight battery and deliver on the battery case draw-in groove of cradle on one's body, the latter uniquely has the mechanism that directly contacts with robot, be responsible for from the machine person or the cradle unloading, battery be installed, these two mechanisms are started by four times in the one action process; The low electric weight battery replacement that battery replacement mechanism is responsible for the robot dead ahead is saturated battery, waits for the work of charging crane execution playback battery.
Described help detent mechanism by left hook arm, right hook arm, bearing, right gear, left gear, dish gear, coupling rod, help the location to drive steering wheel and drive gear set is formed, drive gear set is rotated under the drive of steering wheel; Coil gear and be fixed on the coupling rod by coaxial from driven wheel, it is rotating under the drive of driven wheel; Right gear rotates with the dish gears engaged; Left gear also rotates under the effect of right gear; And left and right sides gear is separately fixed on left hook arm and the right hook arm, and left and right sides hook arm also can rotate, and stretches out the battery case draw-in groove and docks with robot; Two hook arms rotate the pulling robot simultaneously, make robot face apparatus for automatic change.
Described push-pull mechanism is made up of push-and-pull screw mandrel, push-and-pull nut, overarm axle, push-and-pull gear train and push-and-pull drive motors, and motor-driven gear rotates; Gear is fixed on the screw mandrel, and screw mandrel also rotates; Nut one side is hung oneself from a beam, and axle is fixing can not freely to rotate, the external screw thread interlock of the internal thread of nut and screw mandrel, and nut advances promptly to rotatablely move along screw mandrel and changes into rectilinear motion.
Described charging crane drives steering wheel by grip end, grip end rotating disk, loading and unloading and the steering wheel frame is formed, and grip end is fixed on the grip end rotating disk, and the grip end rotating disk drives steering wheel with loading and unloading and is rotatably connected, and loading and unloading drive steering wheel and are fixed on the steering wheel frame.
Described battery replacement mechanism is made up of displacement leading screw, train of reduction gears, reducing motor, displacement nut, supporting seat and back shaft, and reducing motor and gear train are combined into the driving mechanism of battery replacement mechanism; Length is not less than three times displacement leading screw of battery case draw-in groove width, and constant speed is rotated under the drive of gear train; The nut generation move left and right that has internal thread promotes supporting seat and battery case draw-in groove and horizontally slips.
Described charging mechanism is made up of insulation battery case draw-in groove, two plate electrodes, two reeds, two battery case draw-in grooves are placed a saturated battery case and a low electric weight battery case to be charged respectively, and the battery case shell becomes the long arc shape window on the two sides, the half shaped as frame left and right sides to be used for binding battery case; Two reeds have elasticity and conductivity.
The present invention has following beneficial effect:
(1) the present invention has increased the function of initiatively changing battery on the basis of traditional cradle, makes this cradle more intelligent, and practicality is stronger.
(2) the robot battery case of the present invention design, light quality has improved the flexibility ratio of robot, has reduced the load of cradle, special designs simplification the problem of self-contained battery box.
(3) the present invention is transformed into rectilinear motion to the circular motion of motor output by the combination of screw mandrel, deceleration direct current machine and gear train, has shortened the replacing battery time; The deceleration specific energy of gear train obtains bigger lifting capacity, has suitably reduced the velocity of rotation of screw mandrel, has increased the stability and the reliability of system.
(4) the present invention increases helps positioning function to make this cradle multifunction, can remedy the problem of robot positioning runout simultaneously, and this detent mechanism can the Autonomous Control rotational angle, turns round positive robot and retract in zones of different.
(5) employing dish tooth of the present invention combines with the gear train of steering wheel and obtains high pulling torque, and the dish cingulum is moving to help the positioning tooth wheels to rotate simultaneously, and realization double hook arm opens simultaneously or regains, and has reduced error.
(6) the invention provides one group of reserve battery, change battery can in time for the robot of electric weight deficiency, and the cradle space has been saved in maximization.
(7) the designed charging crane height of the present invention can enlarge the scope of application of cradle at different robot autonomous flexible.
(8) the designed two spring-piece type battery case draw-in grooves of the present invention have reduced the resistance of dilatory battery case, and battery case draw-in groove electrode is fully contacted with the battery case electrode, have ensured charge function; This design has simultaneously reduced the battery case of cradle and the requirement of robot battery case matched.
Description of drawings
Fig. 1 is the structured flowchart of the embodiment of the invention.
Fig. 2 is the installation diagram of the embodiment of the invention.
Fig. 3 be the embodiment of the invention help the detent mechanism installation diagram.
Fig. 4 is the push-pull mechanism installation diagram of the embodiment of the invention.
Fig. 5 is the push-pull mechanism and the charging crane installation diagram of the embodiment of the invention.
Fig. 6 is the charging crane fundamental diagram of the embodiment of the invention.
Fig. 7 is the battery replacement mechanism installation diagram of the embodiment of the invention.
Fig. 8 is the battery case draw-in groove structure chart of the embodiment of the invention.
Fig. 9 is an overall system block diagram of the present invention.
Embodiment
With reference to Fig. 1, this cradle by power module, communication control unit, sensing unit, supporting mechanism, driving mechanism, help detent mechanism, push-pull mechanism, charging crane, charging mechanism and battery replacement mechanism to form.Each branch's work allocation is as follows: power module provides working power for each unit of cradle; Sensor unit is used to collect real-time positional information of robot to be charged and charge condition; Communication control unit is used to send and receive information, and controls the cooperation of moving between detent mechanism and the robot that helps of cradle; Supporting mechanism (Fig. 2-1 with Fig. 2-2 shown in) supports whole system, and the outside mechanical force of effect during bearing system work; Help detent mechanism (Fig. 3) to be used for auxiliary robot in the location in cradle dead ahead, its both arms hook robot, both can prevent the deflection of robot, again can be in whole replacing cell process the stationary machines people, prevent to slide before and after it; Push-pull mechanism (Fig. 4) and charging crane (Fig. 5) cooperating, the former is responsible for saturated battery is delivered to robot or will hang down the electric weight battery and deliver on the battery case draw-in groove of cradle (Fig. 9) on one's body, the latter uniquely has the mechanism that directly contacts with robot, be responsible for from the machine person or the cradle unloading, battery be installed, these two mechanisms are started by four times in the one action process; The low electric weight battery replacement that battery replacement mechanism (Fig. 8) is responsible for the robot dead ahead is saturated battery, waits for the work of charging crane execution playback battery.The automatic loading and unloading battery functi on of this cradle can help family expenses security robot infinitely to lengthen working hours; overcome the overweight problems such as robot very flexible that cause of too small work interruption, the battery that causes of battery electric quantity; adopt the network communication of wireless sensor technology to carry out communicating by letter of electric power system and robot, guaranteed the promptness and the reliability of supply of electric power.
With reference to Fig. 2, described cradle is divided into four layers from lower to upper, is successively to help detent mechanism 2-3 and the 2-4 of battery replacement mechanism, charging mechanism 2-5, charging crane 2-6 and push-pull mechanism 2-7.Bracing frame connects each mechanism in aggregates; The suitable big material of density that adopts of bracing frame suitably increases the weight of mechanism, can make mechanism more stable; The force intensity that is subjected to of bracing frame can be strengthened in hole on the bracing frame wall.
With reference to Fig. 3, described help detent mechanism by left hook arm 3-1, right hook arm 3-2, bearing 3-3, right gear 3-5, left gear 3-4, dish gear 3-6, coupling rod 3-7, help the location to drive steering wheel 3-8 and drive gear set 3-9 forms.Drive gear set is rotated under the drive of steering wheel; Coil gear and be fixed on the coupling rod by coaxial from driven wheel, it is rotating under the drive of driven wheel; Right gear rotates with the dish gears engaged; Left gear also rotates under the effect of right gear; And left and right sides gear is separately fixed on left hook arm and the right hook arm, and left and right sides hook arm also can rotate, and stretches out the battery case draw-in groove, docks with robot exactly.Two hook arms rotate simultaneously, so can hold robot, make it face cradle, and can the stationary machines people in charging process.
With reference to Fig. 4, described push-pull mechanism is made up of push-and-pull screw mandrel 4-1, push-and-pull nut 4-2, overarm axle 4-3, push-and-pull gear train 4-4 and push-and-pull drive motors 4-5.Motor-driven gear rotates; Gear is fixed on the screw mandrel, and screw mandrel also rotates; The nut one side axle of being hung oneself from a beam is fixing, and it can not freely rotate, and because of the internal thread of nut and the external screw thread interlock of screw mandrel, so nut advances along screw mandrel, promptly rotatablely moving changes into rectilinear motion again, thereby this charging crane can reach the push-and-pull purpose.
With reference to Fig. 5, charging crane drives steering wheel 5-3 by grip end 5-1, grip end rotating disk 5-2, loading and unloading and steering wheel frame 5-4 forms.Grip end is designed to this special shape, can obtain the handle 6-4 of the battery case that loads battery easily, and by rotating certain angle, can fasten handle and it be taken back again.The characteristics of utilizing steering wheel can accurately rotate predetermined angular, steering wheel control grip end timesharing different rotation angle can be finished unloading respectively and battery is installed to robot or cradle.
With reference to Fig. 6, be the process that grip end grasps battery.Battery is to be placed in the battery case of special shape, this battery case shape such as Fig. 6-1, and at its forearm installed inside gear 6-3 and tooth bar 6-2, gear is fixed on the T shape jack shaft 6-4 of battery case; Jack shaft can rotate with grip end, and therefore the gear that is fixed on the jack shaft also can rotate, and then has driven the slip of tooth bar; And horizontally slipping of tooth bar realized the interim binding and the activity of battery case position neatly.Three width of cloth figure of Fig. 6 are corresponding respectively, and grip end just captured the battery case position, grip end begins contacts with battery case, grip end successfully with battery case from the machine person or cradle untie three kinds of states.
With reference to Fig. 7, battery replacement mechanism is made up of displacement leading screw 7-2, train of reduction gears 7-3, reducing motor 7-4, displacement nut 7-5, supporting seat 7-6 and back shaft 7-7.Reducing motor and gear train are combined into the driving mechanism of battery replacement mechanism; Length is not less than three times displacement leading screw of battery case draw-in groove width, and constant speed is rotated under the drive of gear train; The nut generation move left and right that has internal thread, it promotes supporting seat and the battery case draw-in groove horizontally slips, so different batteries can be delivered to the robot dead ahead, has so just reached the purpose of displacement battery.
With reference to Fig. 8, charging mechanism is made up of insulation battery case draw-in groove 7-1, two plate electrode 8-1, two reed 8-2.Two battery case draw-in grooves are placed a saturated battery case and a low electric weight battery case to be charged respectively, housing designs becomes half shaped as frame, because battery to be charged will enter the battery case draw-in groove from the front, grip end will withdraw from from behind, long arc shape window on the two sides, the left and right sides is used for binding battery case, such load that is designed beautifully and has reduced the battery case draw-in groove.Two reeds have high resiliency and conductivity, have avoided that battery electrode and battery case draw-in groove are local to be contacted or the problem of loose contact.
Embodiment:
This cradle of the present invention by supporting seat, driving mechanism, push-pull mechanism, help detent mechanism, charging crane, charging mechanism, battery replacement mechanism, sensing unit, communication control unit and power module to form.Cradle of the present invention helps robot location, loading and unloading battery, the independently a series of actions of charging by finishing with the radio communication of tele-robotic.Detailed process is as follows: with reference to Fig. 9, cradle 1 is formed wireless sensor network as gateway and the robot group 2 as node, cradle can be notified each robot charge information, and communicates with in robot returns the process of cradle, and auxiliary its accurately returns; Each robot is before preparing to return charging, also can notify cradle when finishing return course.The detent mechanism that helps of cradle can be sought robot with the open form of double hook arm (Fig. 3-1 and Fig. 3-2) in certain zone, after touching robot, the double hook arm rotates a certain angle with constant speed again and turns round positive robot, and robot is furthered to cradle, and this angle is relevant with the stand out of robot with cradle; With reference to Fig. 5 and Fig. 6, push-pull mechanism is pushed into the robot dead ahead nearby with charging crane, i.e. the front end of cradle; The first location of the grip end of charging crane turn 90 degrees contact battery case handle more clockwise then, embraces then that handle turn 90 degrees clockwise again so that battery and robot disengaging; Last push-pull mechanism is pulled back the battery case that takes off on the battery case draw-in groove; Next push-pull mechanism and charging crane are carried out above-mentioned opposite action, and battery case is fixed on the battery case draw-in groove; With reference to Fig. 7, battery replacement mechanism detects low electric weight battery by after the successful charging, judges the position of saturated battery, starts the displacement reducing motor, and saturated battery is delivered to the robot dead ahead in straight line propelling movement mode; With reference to Fig. 8, when low electric weight battery was installed on the cradle, two plate electrodes of battery case fully contacted by shell fragment with the electrode of cradle, and cradle detects low electric weight battery electric quantity deficiency, can start charging circuit immediately and charge; Robot detects saturated battery and is successfully installed, then notifies cradle, prepares to exit.
Claims (6)
1. automatically replacing battery device that is used for indoor security robot, it is characterized in that comprising supporting mechanism, power module, communication control unit, sensing unit, driver module and Executive Module, sensing unit comprises the infrared distance measurement module, electrical compass module and infrared acquisition circuit module, communication control unit is connected and composed with memory and radio receiving transmitting module respectively by microcontroller, Executive Module comprises and helps detent mechanism, push-pull mechanism, charging crane, charging mechanism and battery replacement mechanism, power module is a communication control unit, sensing unit, driver module and Executive Module power supply, infrared distance measurement module and electrical compass module are gathered the real-time positional information of robot to be charged, and the infrared acquisition circuit module is gathered the real-time charge condition of robot to be charged; The communication control unit sending controling instruction is to Executive Module and receive the information that sensing unit is gathered; Supporting mechanism supports whole apparatus for automatic change, and bearing system when work the outside mechanical force of effect; Help detent mechanism to be used for auxiliary robot in the location in cradle dead ahead, its both arms hook robot; Push-pull mechanism and charging crane cooperating, the former is responsible for saturated battery is delivered to robot or will hang down the electric weight battery and deliver on the battery case draw-in groove of cradle on one's body, the latter uniquely has the mechanism that directly contacts with robot, be responsible for from the machine person or the cradle unloading, battery be installed, these two mechanisms are started by four times in the one action process; The low electric weight battery replacement that battery replacement mechanism is responsible for the robot dead ahead is saturated battery, waits for the work of charging crane execution playback battery.
2. a kind of automatically replacing battery device that is used for indoor security robot according to claim 1, it is characterized in that described help detent mechanism by left hook arm (3-1), right hook arm (3-2), bearing (3-3), right gear (3-5), left gear (3-4), dish gear (3-6), coupling rod (3-7), help the location to drive steering wheel (3-8) and drive gear set (3-9) is formed, drive gear set is rotated under the drive of steering wheel; Coil gear and be fixed on the coupling rod by coaxial from driven wheel, it is rotating under the drive of driven wheel; Right gear rotates with the dish gears engaged; Left gear also rotates under the effect of right gear; And left and right sides gear is separately fixed on left hook arm and the right hook arm, and left and right sides hook arm also can rotate, and stretches out the battery case draw-in groove and docks with robot; Two hook arms rotate the pulling robot simultaneously, make robot face apparatus for automatic change.
3. a kind of automatically replacing battery device that is used for indoor security robot according to claim 1, it is characterized in that described push-pull mechanism is made of the motor-driven gear rotation push-and-pull screw mandrel (4-1), push-and-pull nut (4-2), overarm axle (4-3), push-and-pull gear train (4-4) and push-and-pull drive motors (4-5); Gear is fixed on the screw mandrel, and screw mandrel also rotates; Nut one side is hung oneself from a beam, and axle is fixing can not freely to rotate, the external screw thread interlock of the internal thread of nut and screw mandrel, and nut advances promptly to rotatablely move along screw mandrel and changes into rectilinear motion.
4. a kind of automatically replacing battery device that is used for indoor security robot according to claim 1; it is characterized in that described charging crane drives steering wheel (5-3) by grip end (5-1), grip end rotating disk (5-2), loading and unloading and steering wheel frame (5-4) is formed; grip end (5-1) is fixed on the grip end rotating disk (5-2); grip end rotating disk (5-2) drives steering wheel (5-3) with loading and unloading and is rotatably connected, and loading and unloading drive steering wheel (5-3) and are fixed on the steering wheel frame (5-4).
5. a kind of automatically replacing battery device that is used for indoor security robot according to claim 1, it is characterized in that described battery replacement mechanism is made up of displacement leading screw (7-2), train of reduction gears (7-3), reducing motor (7-4), displacement nut (7-5), supporting seat (7-6) and back shaft (7-7), reducing motor and gear train are combined into the driving mechanism of battery replacement mechanism; Length is not less than three times displacement leading screw of battery case draw-in groove width, and constant speed is rotated under the drive of gear train; The nut generation move left and right that has internal thread promotes supporting seat and battery case draw-in groove and horizontally slips.
6. a kind of automatically replacing battery device that is used for indoor security robot according to claim 1, it is characterized in that described charging mechanism is made up of insulation battery case draw-in groove (7-1), two plate electrodes (8-1), two reeds (8-2), two battery case draw-in grooves are placed a saturated battery case and a low electric weight battery case to be charged respectively, and the battery case shell becomes the long arc shape window on the two sides, the half shaped as frame left and right sides to be used for binding battery case; Two reeds have elasticity and conductivity.
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| CN2011100095686A CN102176626A (en) | 2011-01-18 | 2011-01-18 | Automatic battery replacement device for indoor security-maintaining robot |
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Cited By (11)
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| CN102709610A (en) * | 2012-03-31 | 2012-10-03 | 深圳市华星光电技术有限公司 | Battery replacement and charge device of environment monitoring terminal and battery replacement system thereof |
| CN102909540A (en) * | 2012-10-19 | 2013-02-06 | 南京信息工程大学 | Battery automatic replacement system of small-sized multi-rotor-wing unmanned aerial vehicle |
| CN105140443A (en) * | 2015-09-25 | 2015-12-09 | 丁云广 | Battery replacing, fixing and supporting mechanism of mobile platform with battery replaceability |
| CN107414848A (en) * | 2017-07-01 | 2017-12-01 | 广东大仓机器人科技有限公司 | The robot of battery car is changed using the automatically controlled suction iron based on screw displacement technology |
| CN108927804A (en) * | 2018-07-25 | 2018-12-04 | 中科新松有限公司 | Compound robot control system and robot |
| CN109212417A (en) * | 2018-09-20 | 2019-01-15 | 珠海格力智能装备有限公司 | The monitoring method of robot electric quantity, apparatus and system |
| CN111000497A (en) * | 2019-12-16 | 2020-04-14 | 段属光 | Automatic replacement method for mopping module of sweeping robot and base |
| CN111725859A (en) * | 2019-03-19 | 2020-09-29 | 德国福维克控股公司 | Base station for electric household appliances and system comprising base station and household appliances |
| CN112617695A (en) * | 2020-12-21 | 2021-04-09 | 正从科技(上海)有限公司 | Maintenance method and system suitable for artificial intelligent cleaning robot |
| CN113059341A (en) * | 2021-03-26 | 2021-07-02 | 山西戴德测控技术有限公司 | Automatic battery replacing device of roadway inspection robot |
| CN115207553A (en) * | 2022-08-08 | 2022-10-18 | 湖南汽车工程职业学院 | Power battery bearing device with automatic monitoring function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102709610A (en) * | 2012-03-31 | 2012-10-03 | 深圳市华星光电技术有限公司 | Battery replacement and charge device of environment monitoring terminal and battery replacement system thereof |
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| CN102709610B (en) * | 2012-03-31 | 2014-10-15 | 深圳市华星光电技术有限公司 | Battery replacement and charge device of environment monitoring terminal and battery replacement system thereof |
| CN102909540A (en) * | 2012-10-19 | 2013-02-06 | 南京信息工程大学 | Battery automatic replacement system of small-sized multi-rotor-wing unmanned aerial vehicle |
| CN102909540B (en) * | 2012-10-19 | 2014-12-10 | 南京信息工程大学 | Battery automatic replacement system of small-sized multi-rotor-wing unmanned aerial vehicle |
| CN105140443A (en) * | 2015-09-25 | 2015-12-09 | 丁云广 | Battery replacing, fixing and supporting mechanism of mobile platform with battery replaceability |
| CN107414848A (en) * | 2017-07-01 | 2017-12-01 | 广东大仓机器人科技有限公司 | The robot of battery car is changed using the automatically controlled suction iron based on screw displacement technology |
| CN108927804A (en) * | 2018-07-25 | 2018-12-04 | 中科新松有限公司 | Compound robot control system and robot |
| CN109212417A (en) * | 2018-09-20 | 2019-01-15 | 珠海格力智能装备有限公司 | The monitoring method of robot electric quantity, apparatus and system |
| CN111725859A (en) * | 2019-03-19 | 2020-09-29 | 德国福维克控股公司 | Base station for electric household appliances and system comprising base station and household appliances |
| CN111000497A (en) * | 2019-12-16 | 2020-04-14 | 段属光 | Automatic replacement method for mopping module of sweeping robot and base |
| CN112617695A (en) * | 2020-12-21 | 2021-04-09 | 正从科技(上海)有限公司 | Maintenance method and system suitable for artificial intelligent cleaning robot |
| CN113059341A (en) * | 2021-03-26 | 2021-07-02 | 山西戴德测控技术有限公司 | Automatic battery replacing device of roadway inspection robot |
| CN113059341B (en) * | 2021-03-26 | 2022-08-05 | 山西戴德测控技术有限公司 | Automatic battery replacing device of roadway inspection robot |
| CN115207553A (en) * | 2022-08-08 | 2022-10-18 | 湖南汽车工程职业学院 | Power battery bearing device with automatic monitoring function |
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Application publication date: 20110907 |