CN112319301B - Device for changing battery for robot - Google Patents
Device for changing battery for robot Download PDFInfo
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- CN112319301B CN112319301B CN202011300888.2A CN202011300888A CN112319301B CN 112319301 B CN112319301 B CN 112319301B CN 202011300888 A CN202011300888 A CN 202011300888A CN 112319301 B CN112319301 B CN 112319301B
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- battery
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
The invention provides a device for replacing a battery for a robot, which belongs to the technical field of robots and comprises a battery compartment, a battery grabbing component and a position adjusting component, wherein the battery compartment comprises a plurality of battery grooves, the battery grooves are used for placing battery blocks, connecting blocks are arranged on the battery blocks, connecting holes are formed in the connecting blocks, the battery grabbing component comprises a connecting rod and a battery grabbing table, the connecting rod is arranged on the battery grabbing table, and the battery grabbing component can grab the battery blocks through the cooperation of the connecting rod and the connecting holes. After the device for replacing the battery for the robot is utilized, the position adjusting assembly can move the battery grabbing assembly to the position right opposite to the battery bin and the battery groove, the battery grabbing assembly grabs the fully charged battery and is installed in the battery bin of the working robot, the working robot can immediately recover to the working state after the battery is replaced, and the working efficiency of the working robot is improved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an improvement of a battery replacement structure on a robot.
Background
A robot is an intelligent machine that can work semi-autonomously or fully autonomously. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.
However, the robot usually has a built-in lithium battery, and when the electric quantity is insufficient, the robot needs to be controlled to return to the charging pile for charging, and the robot in the charging process cannot perform work, so that the work efficiency of the robot is reduced.
Disclosure of Invention
The invention aims to provide a robot capable of automatically replacing batteries for the robot.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows: apparatus for replacing a battery for a robot, comprising: battery compartment, battery snatch subassembly and position adjustment subassembly.
A plurality of battery grooves are formed in the battery bin and used for placing battery blocks, connecting blocks are arranged on the battery blocks, and connecting holes are formed in the connecting blocks;
the battery grabbing component comprises a connecting rod and a battery grabbing table, the connecting rod is arranged on the battery grabbing table, and the battery grabbing component can grab the battery block through the connecting rod and the connecting hole in a matched mode;
the position adjusting assembly comprises a vertical adjusting unit, a plane adjusting unit and a turning unit, the position adjusting assembly is connected with the battery grabbing table, the vertical adjusting unit can drive the battery grabbing table to move along the height direction of the device, the plane adjusting unit can drive the battery grabbing table to translate on the horizontal plane, and the turning unit can drive the battery grabbing table to turn.
Preferably: the vertical adjusting unit comprises a vertical moving platform, a vertical moving screw, a vertical moving seat and a vertical moving motor, the vertical moving motor is arranged on the vertical moving platform, the vertical moving screw is connected with an output shaft of the vertical moving motor, the vertical moving seat is arranged on the battery grabbing platform, and the vertical moving seat is provided with a threaded hole matched with the vertical moving screw.
Preferably: the overturning unit comprises an overturning motor and an overturning shaft, the overturning shaft is fixedly connected with the vertical moving seat, and the overturning shaft is connected with an output shaft of the overturning motor.
Preferably: the plane adjusting unit comprises a longitudinal moving platform, a longitudinal moving motor, a longitudinal moving screw, a transverse moving platform, a transverse moving motor and a transverse moving screw;
the longitudinal moving platform is connected with the vertical moving platform, the longitudinal moving screw rod is connected with an output shaft of the longitudinal moving motor, and the longitudinal moving screw rod is connected with the longitudinal moving platform through threads;
the transverse moving screw is connected with an output shaft of the transverse moving motor, and the transverse moving screw is connected with the longitudinal moving platform through threads.
Preferably: the plane adjusting unit also comprises a longitudinal guide rod and a transverse guide rod, and the longitudinal guide rod passes through the longitudinal moving platform and is parallel to the longitudinal moving screw;
the transverse guide rod penetrates through the transverse moving platform and is parallel to the transverse moving screw rod.
Preferably: a grabbing guide rod is arranged on the battery grabbing table, and a guide hole is formed in the corresponding position on the connecting block;
chamfers are arranged at the end part of the guide hole and the end part of the guide rod.
Preferably, the following components: wedge blocks are arranged in the connecting rods, and steps are arranged in the connecting holes.
Preferably: the number of the wedge blocks is two, the two wedge blocks are arranged along the diameter direction of the connecting rod, a spring and a connection guide mechanism are arranged between the two wedge blocks, and the connection guide mechanism is used for limiting the moving direction of the two wedge blocks.
Preferably: be provided with the guide block that opens and shuts in the connecting rod, be provided with the connecting block that opens and shuts on the wedge, the connecting block that opens and shuts contacts with the guide block that opens and shuts.
Preferably, the following components: and the connecting and guiding mechanism is provided with an opening and closing control mechanism which is used for controlling the movement of the two wedge-shaped blocks.
The invention has the following beneficial effects: after the device for replacing the battery for the robot is utilized, the device for replacing the battery for the robot is provided with a moving mechanism, when the electric quantity of other working robots is insufficient, the device for replacing the battery for the robot can automatically approach, the battery grabbing component takes down the battery of the working robot and places the battery into an empty battery groove, the position adjusting component can move the battery grabbing component to the position just opposite to the battery bin and the battery groove, the battery grabbing component grabs the fully charged battery and is installed into the battery bin of the working robot, the working robot can immediately recover to a working state after replacing the battery, and the working efficiency of the working robot is improved.
Drawings
FIG. 1 is a schematic diagram of the battery changing apparatus for a robot according to the present invention;
FIG. 2 is a schematic view of a position adjustment assembly of the apparatus for changing batteries for a robot according to the present invention;
FIG. 3 is a schematic view of a position capture assembly of the apparatus for changing batteries for a robot of the present invention;
FIG. 4 is a schematic view of a connecting rod structure of the device for changing a battery of a robot according to the present invention;
fig. 5 is a schematic structural view of an opening and closing guide block of the device for replacing the battery of the robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Unless otherwise specified, the technical means used in the examples are conventional means well known to those skilled in the art.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Fig. 1-5 show an apparatus for battery replacement for a robot, comprising:
the battery compartment 1 comprises a plurality of battery grooves 11, the battery grooves 11 are used for placing battery blocks 12, the battery blocks 12 are provided with connecting blocks 13, and the connecting blocks 13 are provided with connecting holes 14;
the battery grabbing assembly 2 comprises a connecting rod 21 and a battery grabbing table 22, the connecting rod 21 is arranged on the battery grabbing table 22, and the battery grabbing assembly 2 can grab the battery block 12 through the connecting rod 21 and the connecting hole 14 in a matched mode;
position adjustment subassembly 3, position adjustment subassembly 3 includes vertical adjustment unit 31, plane adjustment unit 32 and upset unit 33, and position adjustment subassembly 3 snatchs the platform 22 with the battery and is connected, and vertical adjustment unit 31 can drive the battery and snatch platform 22 and remove along device direction of height, and plane adjustment unit 32 can drive the battery and snatch platform 22 and translate at the horizontal plane, and upset unit 33 can drive the battery and snatch platform 22 upset.
In the present embodiment, the battery compartment 1 includes a plurality of battery slots 11, the battery slots 11 are used for storing the fully charged battery blocks 12 and the low-power battery blocks 12 exchanged from the working robot, as shown in fig. 1, the bottom of the battery compartment 1 is provided with the traveling mechanism 4, and the side of the battery compartment 1 is provided with the inclined table 5.
In the concrete realization process, running gear 4 drives the device that is used for changing the battery for the robot and is close to the work robot that needs to trade the electricity, work robot moves the top to battery compartment 1 through sloping platform 5, position adjustment subassembly 3 snatchs the subassembly 2 with the battery and removes work robot battery below, the battery snatchs subassembly 2 and takes off work robot's battery block 12, position adjustment subassembly 3 and battery block 12 snatch subassembly 2 cooperation, place into empty battery jar 11 with the battery block 12 of low electric quantity, then press from both sides and get in installing into work robot full of electricity battery block 12, reach the purpose of trading the electricity.
Further: the vertical adjusting unit 31 comprises a vertical moving platform 311, a vertical moving screw 312, a vertical moving seat 313 and a vertical moving motor 314, wherein the vertical moving motor 314 is arranged on the vertical moving platform 311, the vertical moving screw 312 is connected with an output shaft of the vertical moving motor 314, the vertical moving seat 313 is arranged on the battery grabbing platform 22, and the vertical moving seat 313 is provided with a threaded hole matched with the vertical moving screw 312.
In the present embodiment, the vertical adjustment unit 31 is used to drive the battery grasping table 22 to move in the direction perpendicular to the ground, and the main action is to take out and insert the battery block 12 from the battery compartment.
In a specific implementation process, the vertical moving seat 313 is fixedly connected with the battery grabbing table 22, and the vertical moving motor 314 drives the vertical moving screw 312 to rotate, so that the vertical moving seat 313 can reciprocate in a direction perpendicular to the ground, and the battery block 12 is taken out of and inserted into the battery compartment.
Further: the overturning unit 33 comprises an overturning motor 331 and an overturning shaft 332, the overturning shaft 332 is fixedly connected with the vertical moving seat 313, and the overturning shaft 332 is connected with an output shaft of the overturning motor 331.
In the present embodiment, the turning unit 33 is used for turning the battery grasping table 22, and the main operation is to turn the battery grasping table 22 to mount the battery block 12 in the battery compartment of the working robot after the battery block 12 is pulled out from the battery slot 11.
Further: the plane adjusting unit 32 includes a longitudinal moving stage 321, a longitudinal moving motor, a longitudinal moving screw 323, a transverse moving stage 324, a transverse moving motor 325, and a transverse moving screw 326;
the longitudinal moving platform 321 is connected with the vertical moving platform 311, the longitudinal moving screw 323 is connected with an output shaft of a longitudinal moving motor, and the longitudinal moving screw 323 is connected with the longitudinal moving platform 321 through threads;
the traverse screw 326 is connected to an output shaft of the traverse motor 325, and the traverse screw 326 is connected to the vertical moving stage 321 by a screw.
In the present embodiment, the plane adjustment unit 32 is used to drive the battery grasping platform 22 to move in a plane parallel to the ground, and the main actions are to put the battery block 12 taken from the working robot into the empty battery container 11 and take the battery block 12 out of the other battery container 11.
In a specific implementation process, the longitudinal moving motor drives the longitudinal moving screw 323 to rotate, and further drives the longitudinal moving platform 321 to translate longitudinally, so that the battery grabbing platform 22 translates longitudinally; similarly, the traverse motor 325 drives the traverse screw 326 to rotate, and further drives the traverse table 321 to translate in the traverse direction, so that the battery capture table 22 translates in the traverse direction.
Further: the plane adjustment unit 32 further includes a longitudinal guide bar 327 and a lateral guide bar 328, the longitudinal guide bar 327 passes through the longitudinal moving stage 321, and is parallel to the longitudinal moving screw 323;
the lateral guide rod 328 passes through the lateral moving stage 324 in parallel with the lateral moving screw 326.
In this embodiment, the lateral guide bar 328 and the longitudinal guide bar 327 perform a guiding function.
Further: a grabbing guide rod 221 is arranged on the battery grabbing table 22, and a guide hole is arranged at a corresponding position on the connecting block 13;
chamfers are arranged at the end part of the guide hole and the end part of the guide rod.
As shown in fig. 3, in the present embodiment, the two grabbing guide rods 221 are disposed on two sides of the connecting rod 21, and are parallel to the connecting rod 21, and the grabbing guide rods 221 are matched with the guide holes to perform a guiding function, which is beneficial for the connecting rod 21 to align with the connecting hole 14. The end parts of the guide holes and the end parts of the guide rods are provided with chamfers, so that the guide rods can be conveniently inserted into the guide holes, and when the plane adjusting unit 32 moves to have errors, the chamfers can play a role in guiding and are beneficial to the insertion of the guide rods into the guide holes.
Further: a wedge block 211 is arranged in the connecting rod 21, and a step is arranged in the connecting hole 14.
Further: the number of the wedge-shaped blocks 211 is two, the two wedge-shaped blocks 211 are arranged along the diameter direction of the connecting rod 21, a spring and a connecting guide mechanism 212 are arranged between the two wedge-shaped blocks 211, and the connecting guide mechanism 212 is used for limiting the moving direction of the two wedge-shaped blocks 211.
In this embodiment, as shown in fig. 3, the inclined surfaces of the two wedges 211 are downward and the flat surfaces thereof are upward, which protrude from the circumferential surface of the connecting rod 21, when the connecting rod 21 is inserted into the connecting hole, the inclined surfaces of the wedges 211 contact with the guide hole, and under the guiding action of the inclined surfaces, the two wedges 211 are retracted, and when the wedges 211 reach the step position, the springs make the two wedges 211 pop out, and at this time, the battery holder 22 is moved upward, so that the battery pack 12 can be taken out of the battery container 11.
Further: an opening and closing guide block 213 is arranged in the connecting rod 21, an opening and closing connecting block 214 is arranged on the wedge-shaped block 211, and the opening and closing connecting block 214 is in contact with the opening and closing guide block 213.
Further: the connecting and guiding mechanism 212 is provided with an opening and closing control mechanism, and the opening and closing control mechanism is used for controlling the movement of the two wedge-shaped blocks 211.
In this embodiment, the connection guide mechanism 212 is pulled upward to move the two wedge-shaped blocks 211 upward, the springs of the opening and closing connection blocks 214 of the wedge-shaped blocks 211 are compressed under the guiding action of the inclined surfaces of the opening and closing guide blocks 213, the two wedge-shaped blocks 211 move toward the center, the wedge-shaped blocks 211 are retracted, after the battery block 12 is installed in place, the wedge-shaped blocks 211 are retracted, and then the connection rod 21 is moved, so that the battery grabbing table 22 can be separated from the battery block 21.
In the specific implementation process, the pushing mechanism 215 and the push rod 216 are arranged inside the connecting rod 21, and when the battery grabbing table 22 needs to be separated from the battery block 21, the pushing mechanism 215 is controlled to act to drive the push rod 216 to pull the wedge-shaped block 211 to retract, so that the battery grabbing table 22 can be separated from the battery block 21.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various changes, modifications, alterations, and substitutions which may be made by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (7)
1. An apparatus for replacing a battery for a robot, comprising:
the battery compartment (1) is internally provided with a plurality of battery grooves (11), the battery grooves (11) are used for placing battery blocks (12), the battery blocks (12) are provided with connecting blocks (13), and the connecting blocks (13) are provided with connecting holes (14);
the battery grabbing component (2), the battery grabbing component (2) comprises a connecting rod (21) and a battery grabbing table (22), the connecting rod (21) is arranged on the battery grabbing table (22), and the battery grabbing component (2) can grab the battery block (12) through the connecting rod (21) and the connecting hole (14) in a matched mode;
the battery grabbing device comprises a position adjusting assembly (3), wherein the position adjusting assembly (3) comprises a vertical adjusting unit (31), a plane adjusting unit (32) and a turning unit (33), the position adjusting assembly (3) is connected with a battery grabbing table (22), the vertical adjusting unit (31) can drive the battery grabbing table (22) to move along the height direction of the device, the plane adjusting unit (32) can drive the battery grabbing table (22) to translate on the horizontal plane, and the turning unit (33) can drive the battery grabbing table (22) to turn; the overturning unit (33) comprises an overturning motor (331) and an overturning shaft (332), the overturning shaft (332) is fixedly connected with the vertical moving seat (313), and the overturning shaft (332) is connected with an output shaft of the overturning motor (331); the battery grabbing table (22) pulls the battery block (12) out of the battery tank (11), then reverses the direction, and installs the battery block (12) in a battery bin of the working robot;
the vertical adjusting unit (31) comprises a vertical moving platform (311), a vertical moving screw (312), a vertical moving seat (313) and a vertical moving motor (314), wherein the vertical moving motor (314) is arranged on the vertical moving platform (311), the vertical moving screw (312) is connected with an output shaft of the vertical moving motor (314), the vertical moving seat (313) is arranged on the battery grabbing platform (22), and the vertical moving seat 313 is provided with a threaded hole matched with the vertical moving screw (312);
the plane adjusting unit (32) comprises a longitudinal moving platform (321), a longitudinal moving motor, a longitudinal moving screw (323), a transverse moving platform (324), a transverse moving motor (325) and a transverse moving screw (326);
the longitudinal moving platform (321) is connected with the vertical moving platform (311), the longitudinal moving screw (323) is connected with an output shaft of the longitudinal moving motor, and the longitudinal moving screw (323) is connected with the longitudinal moving platform (321) through threads;
the transverse moving screw (326) is connected with an output shaft of a transverse moving motor (325), and the transverse moving screw (326) is connected with the transverse moving table (324) through threads.
2. An apparatus for changing batteries for a robot according to claim 1, characterized in that: the plane adjusting unit (32) further comprises a longitudinal guide rod (327) and a transverse guide rod (328), wherein the longitudinal guide rod (327) passes through the longitudinal moving table (321) and is parallel to the longitudinal moving screw rod (323);
the lateral guide rod (328) passes through the lateral moving table (324) and is parallel to the lateral moving screw (326).
3. An apparatus for changing batteries for a robot according to claim 1, characterized in that: a grabbing guide rod (221) is arranged on the battery grabbing table (22), and a guide hole is formed in the corresponding position on the connecting block (13);
chamfers are arranged at the end part of the guide hole and the end part of the guide rod.
4. An apparatus for changing batteries for a robot according to claim 1, characterized in that: a wedge-shaped block (211) is arranged in the connecting rod (21), and a step is arranged in the connecting hole (14).
5. An apparatus for changing batteries for a robot according to claim 4, characterized in that: the number of the wedge blocks (211) is two, the two wedge blocks (211) are arranged along the diameter direction of the connecting rod (21), a spring and a connecting guide mechanism (212) are arranged between the two wedge blocks (211), and the connecting guide mechanism (212) is used for limiting the moving direction of the two wedge blocks (211).
6. An apparatus for changing batteries for a robot according to claim 5, wherein: an opening and closing guide block (213) is arranged in the connecting rod (21), an opening and closing connecting block (214) is arranged on the wedge-shaped block (211), and the opening and closing connecting block (214) is in contact with the opening and closing guide block (213).
7. An apparatus for changing batteries for a robot according to claim 6, characterized in that: and an opening and closing control mechanism is arranged on the connecting and guiding mechanism (212) and is used for controlling the movement of the two wedge-shaped blocks (211).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011300888.2A CN112319301B (en) | 2020-11-19 | 2020-11-19 | Device for changing battery for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011300888.2A CN112319301B (en) | 2020-11-19 | 2020-11-19 | Device for changing battery for robot |
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| Publication Number | Publication Date |
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| CN112319301A CN112319301A (en) | 2021-02-05 |
| CN112319301B true CN112319301B (en) | 2022-12-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011300888.2A Active CN112319301B (en) | 2020-11-19 | 2020-11-19 | Device for changing battery for robot |
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| CN (1) | CN112319301B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113261881B (en) * | 2021-05-31 | 2022-08-16 | 深圳市云视机器人有限公司 | Automatic battery replacement method |
| CN113428047B (en) * | 2021-08-11 | 2022-03-04 | 杭州汉乾新能源科技发展有限公司 | Battery replacement system of new energy vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CA2093531A1 (en) * | 1993-03-31 | 1994-10-01 | Bill Balicsak | Pneumatically driven battery exchange dolly |
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| CN206244045U (en) * | 2016-10-17 | 2017-06-13 | 深圳市九利机械设备有限公司 | One kind is turned over to turn 90 degrees and capture for battery and overs mechanism |
| CN108058848A (en) * | 2018-01-22 | 2018-05-22 | 北京蜂巢农科科技有限责任公司 | Unmanned plane battery replacement device and unmanned plane automatically replacing battery method |
| CN208761626U (en) * | 2018-06-29 | 2019-04-19 | 无锡市蓝旗自动化设备有限公司 | A kind of battery crawl adjustment device |
| CN109910837A (en) * | 2019-03-29 | 2019-06-21 | 北京新能源汽车股份有限公司 | Turnover mechanism |
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| CN112319301A (en) | 2021-02-05 |
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