CN106379289A - Automatic battery replacement robot, automatic battery replacement system and system control method - Google Patents
Automatic battery replacement robot, automatic battery replacement system and system control method Download PDFInfo
- Publication number
- CN106379289A CN106379289A CN201610540375.6A CN201610540375A CN106379289A CN 106379289 A CN106379289 A CN 106379289A CN 201610540375 A CN201610540375 A CN 201610540375A CN 106379289 A CN106379289 A CN 106379289A
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- China
- Prior art keywords
- battery
- robot
- charging rack
- automatically
- electricity
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 30
- 230000008859 change Effects 0.000 claims description 109
- 230000005611 electricity Effects 0.000 claims description 70
- 230000007246 mechanism Effects 0.000 claims description 40
- 238000012544 monitoring process Methods 0.000 claims description 33
- 238000001514 detection method Methods 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000004044 response Effects 0.000 description 9
- 238000007726 management method Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 235000004443 Ricinus communis Nutrition 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008450 motivation Effects 0.000 description 3
- 240000000528 Ricinus communis Species 0.000 description 2
- 231100000572 poisoning Toxicity 0.000 description 2
- 230000000607 poisoning effect Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
-
- H02J7/0021—
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
- H02J9/061—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems for DC powered loads
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
- H02J9/068—Electronic means for switching from one power supply to another power supply, e.g. to avoid parallel connection
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610540375.6A CN106379289B (en) | 2016-07-11 | 2016-07-11 | It is a kind of to replace robot with battery, system and system control method automatically |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610540375.6A CN106379289B (en) | 2016-07-11 | 2016-07-11 | It is a kind of to replace robot with battery, system and system control method automatically |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106379289A true CN106379289A (en) | 2017-02-08 |
CN106379289B CN106379289B (en) | 2018-09-14 |
Family
ID=57916667
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610540375.6A Active CN106379289B (en) | 2016-07-11 | 2016-07-11 | It is a kind of to replace robot with battery, system and system control method automatically |
Country Status (1)
Country | Link |
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CN (1) | CN106379289B (en) |
Cited By (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106684477A (en) * | 2017-03-09 | 2017-05-17 | 广东大仓机器人科技有限公司 | Robot capable of automatically replacing working battery and charging platform of robot |
CN107415903A (en) * | 2017-03-13 | 2017-12-01 | 上海蔚来汽车有限公司 | For electric automobile in multi-storied garage battery replacement device and change method for electrically |
CN107612063A (en) * | 2017-09-14 | 2018-01-19 | 北京翰宁智能科技有限责任公司 | Logistics Workplace haulage equipment and its power intelligence allocating system, method |
CN108839643A (en) * | 2018-06-12 | 2018-11-20 | 厦门攸信信息技术有限公司 | A kind of industrial robot replaces battery and the seamless continuous method of work automatically |
CN109383967A (en) * | 2018-09-10 | 2019-02-26 | 杭州慧盈智能科技有限公司 | A kind of automated warehouse storage system and its working method |
CN109383974A (en) * | 2018-09-10 | 2019-02-26 | 杭州慧盈智能科技有限公司 | A kind of storage robot and its control method |
CN109904892A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robot battery control equipment |
CN110270973A (en) * | 2018-12-29 | 2019-09-24 | 杭州慧盈智能科技有限公司 | A kind of warehouse logistics robot and its working method replace battery methods automatically |
WO2019222869A1 (en) * | 2018-05-21 | 2019-11-28 | 深圳蓝胖子机器人有限公司 | Self-adaptive end effector, robot and battery replacement system |
CN110567983A (en) * | 2019-09-09 | 2019-12-13 | 深圳市三宝创新智能有限公司 | Method and system for detecting appearance problem of robot |
CN110797943A (en) * | 2019-11-06 | 2020-02-14 | 北京旷视机器人技术有限公司 | Charging method, charging device, server and charging system |
CN111325358A (en) * | 2020-02-14 | 2020-06-23 | 广东博智林机器人有限公司 | Robot battery management and control method and device |
CN111741866A (en) * | 2018-02-28 | 2020-10-02 | 匠人机动车系统股份有限公司 | Method and system for mounting and dismounting battery in vehicle |
CN111923010A (en) * | 2020-09-14 | 2020-11-13 | 天津科能智象光电科技有限公司 | Vehicle set with battery capable of being automatically replaced |
CN112091553A (en) * | 2020-08-06 | 2020-12-18 | 浙江浙能天然气运行有限公司 | Unmanned aerial vehicle battery replacing device and using method thereof |
WO2021227993A1 (en) * | 2020-05-12 | 2021-11-18 | 深圳市海柔创新科技有限公司 | Transfer robot, battery swapping method, battery swapping system, charging device and power supply system |
CN113665678A (en) * | 2021-08-02 | 2021-11-19 | 深兰科技(上海)有限公司 | Robot chassis and heap robot |
CN113783244A (en) * | 2021-08-02 | 2021-12-10 | 深兰科技(上海)有限公司 | Control method for automatically replacing battery and related device |
CN114069788A (en) * | 2021-11-19 | 2022-02-18 | 中滦科技股份有限公司 | Battery replacing device and method for inspection robot |
CN114194145A (en) * | 2021-11-29 | 2022-03-18 | 浙江仟易集新能源有限公司 | Truck battery replacing equipment |
CN115413960A (en) * | 2021-05-31 | 2022-12-02 | 深圳市云视机器人有限公司 | Cleaning system |
CN118237879A (en) * | 2024-05-30 | 2024-06-25 | 中铁一局集团电务工程有限公司 | Electromechanical product installation maintenance auxiliary device |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2012105530A1 (en) * | 2011-01-31 | 2012-08-09 | 日本電産サンキョー株式会社 | Battery-replacing robot and battery-replacement system |
CN103324194A (en) * | 2013-05-21 | 2013-09-25 | 无锡普智联科高新技术有限公司 | Mobile robot positioning system based on two-dimension code navigation band |
CN103978961A (en) * | 2014-04-24 | 2014-08-13 | 国家电网公司 | Electric vehicle chassis battery charging and replacing device |
CN204210741U (en) * | 2014-07-31 | 2015-03-18 | 深圳市大疆创新科技有限公司 | Unmanned plane base station and battery replacement device thereof |
CN105059265A (en) * | 2015-07-31 | 2015-11-18 | 谢子聪 | Power battery storage rack system based on mobile power battery replacement |
CN105059269A (en) * | 2015-08-17 | 2015-11-18 | 天津三源电力信息技术有限公司 | Battery replacing device for electric automobile |
CN105375551A (en) * | 2015-08-28 | 2016-03-02 | 苏州斯卡柏通讯技术有限公司 | Battery rack for electric vehicle battery pack quick replacement system |
CN105500406A (en) * | 2015-12-25 | 2016-04-20 | 山东建筑大学 | Transformer substation switch box operation mobile robot, working method and system |
-
2016
- 2016-07-11 CN CN201610540375.6A patent/CN106379289B/en active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012105530A1 (en) * | 2011-01-31 | 2012-08-09 | 日本電産サンキョー株式会社 | Battery-replacing robot and battery-replacement system |
CN103324194A (en) * | 2013-05-21 | 2013-09-25 | 无锡普智联科高新技术有限公司 | Mobile robot positioning system based on two-dimension code navigation band |
CN103978961A (en) * | 2014-04-24 | 2014-08-13 | 国家电网公司 | Electric vehicle chassis battery charging and replacing device |
CN204210741U (en) * | 2014-07-31 | 2015-03-18 | 深圳市大疆创新科技有限公司 | Unmanned plane base station and battery replacement device thereof |
CN105059265A (en) * | 2015-07-31 | 2015-11-18 | 谢子聪 | Power battery storage rack system based on mobile power battery replacement |
CN105059269A (en) * | 2015-08-17 | 2015-11-18 | 天津三源电力信息技术有限公司 | Battery replacing device for electric automobile |
CN105375551A (en) * | 2015-08-28 | 2016-03-02 | 苏州斯卡柏通讯技术有限公司 | Battery rack for electric vehicle battery pack quick replacement system |
CN105500406A (en) * | 2015-12-25 | 2016-04-20 | 山东建筑大学 | Transformer substation switch box operation mobile robot, working method and system |
Cited By (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106684477A (en) * | 2017-03-09 | 2017-05-17 | 广东大仓机器人科技有限公司 | Robot capable of automatically replacing working battery and charging platform of robot |
CN107415903A (en) * | 2017-03-13 | 2017-12-01 | 上海蔚来汽车有限公司 | For electric automobile in multi-storied garage battery replacement device and change method for electrically |
CN107612063A (en) * | 2017-09-14 | 2018-01-19 | 北京翰宁智能科技有限责任公司 | Logistics Workplace haulage equipment and its power intelligence allocating system, method |
CN107612063B (en) * | 2017-09-14 | 2024-04-30 | 北京翰宁智能科技有限责任公司 | Logistics production place carrying equipment and power intelligent distribution system and method thereof |
CN109904892A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robot battery control equipment |
CN111741866B (en) * | 2018-02-28 | 2024-03-05 | 匠人机动车系统股份有限公司 | Method and system for mounting and dismounting battery in vehicle |
CN111741866A (en) * | 2018-02-28 | 2020-10-02 | 匠人机动车系统股份有限公司 | Method and system for mounting and dismounting battery in vehicle |
WO2019222869A1 (en) * | 2018-05-21 | 2019-11-28 | 深圳蓝胖子机器人有限公司 | Self-adaptive end effector, robot and battery replacement system |
CN108839643A (en) * | 2018-06-12 | 2018-11-20 | 厦门攸信信息技术有限公司 | A kind of industrial robot replaces battery and the seamless continuous method of work automatically |
CN109383974A (en) * | 2018-09-10 | 2019-02-26 | 杭州慧盈智能科技有限公司 | A kind of storage robot and its control method |
CN109383967A (en) * | 2018-09-10 | 2019-02-26 | 杭州慧盈智能科技有限公司 | A kind of automated warehouse storage system and its working method |
CN110270973A (en) * | 2018-12-29 | 2019-09-24 | 杭州慧盈智能科技有限公司 | A kind of warehouse logistics robot and its working method replace battery methods automatically |
CN110270973B (en) * | 2018-12-29 | 2022-11-11 | 杭州慧盈智能科技有限公司 | Warehouse logistics robot and working method thereof, and automatic battery replacement method |
CN110567983B (en) * | 2019-09-09 | 2022-05-10 | 深圳市三宝创新智能有限公司 | Method and system for detecting appearance problem of robot |
CN110567983A (en) * | 2019-09-09 | 2019-12-13 | 深圳市三宝创新智能有限公司 | Method and system for detecting appearance problem of robot |
CN110797943A (en) * | 2019-11-06 | 2020-02-14 | 北京旷视机器人技术有限公司 | Charging method, charging device, server and charging system |
CN110797943B (en) * | 2019-11-06 | 2022-05-06 | 北京旷视机器人技术有限公司 | Charging method, charging device, server and charging system |
CN111325358A (en) * | 2020-02-14 | 2020-06-23 | 广东博智林机器人有限公司 | Robot battery management and control method and device |
WO2021227993A1 (en) * | 2020-05-12 | 2021-11-18 | 深圳市海柔创新科技有限公司 | Transfer robot, battery swapping method, battery swapping system, charging device and power supply system |
CN112091553A (en) * | 2020-08-06 | 2020-12-18 | 浙江浙能天然气运行有限公司 | Unmanned aerial vehicle battery replacing device and using method thereof |
CN111923010A (en) * | 2020-09-14 | 2020-11-13 | 天津科能智象光电科技有限公司 | Vehicle set with battery capable of being automatically replaced |
CN115413960A (en) * | 2021-05-31 | 2022-12-02 | 深圳市云视机器人有限公司 | Cleaning system |
CN113783244A (en) * | 2021-08-02 | 2021-12-10 | 深兰科技(上海)有限公司 | Control method for automatically replacing battery and related device |
CN113665678A (en) * | 2021-08-02 | 2021-11-19 | 深兰科技(上海)有限公司 | Robot chassis and heap robot |
CN114069788A (en) * | 2021-11-19 | 2022-02-18 | 中滦科技股份有限公司 | Battery replacing device and method for inspection robot |
CN114194145A (en) * | 2021-11-29 | 2022-03-18 | 浙江仟易集新能源有限公司 | Truck battery replacing equipment |
CN114194145B (en) * | 2021-11-29 | 2024-05-24 | 浙江仟易集新能源有限公司 | Truck battery replacement equipment |
CN118237879A (en) * | 2024-05-30 | 2024-06-25 | 中铁一局集团电务工程有限公司 | Electromechanical product installation maintenance auxiliary device |
Also Published As
Publication number | Publication date |
---|---|
CN106379289B (en) | 2018-09-14 |
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Effective date of registration: 20190114 Address after: Room 309, Building 1, Haichuang Science and Technology Center, 1288 Wenyi West Road, Cangqian Street, Hangzhou City, Zhejiang Province, 311100 Patentee after: Hangzhou Kuant Technology Co.,Ltd. Address before: 310000 Wanjingcun Group 18, Xianlin Town, Yuhang District, Hangzhou City, Zhejiang Province Co-patentee before: Huang Jingang Patentee before: Yu Xiangxiang |
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Effective date of registration: 20220826 Address after: No. 18, Yujiaheng, Wanjing Village, Xianlin Street, Yuhang District, Hangzhou City, Zhejiang Province 310000 Patentee after: Yu Xiangxiang Address before: Room 309, Building 1, Haichuang Science and Technology Center, 1288 Wenyi West Road, Cangqian Street, Hangzhou City, Zhejiang Province, 311100 Patentee before: Hangzhou Kuant Technology Co.,Ltd. |
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Effective date of registration: 20230721 Address after: Room 229, Building A, West Science Park, Jinxing Village, Yuhang Street, Yuhang District, Hangzhou City, Zhejiang Province 310000 Patentee after: HANGZHOU HUIYING INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: No. 18, Yujiaheng, Wanjing Village, Xianlin Street, Yuhang District, Hangzhou City, Zhejiang Province 310000 Patentee before: Yu Xiangxiang |