CN218750412U - Self-battery-changing robot and battery changing system - Google Patents

Abstract

The utility model discloses a from trading battery robot, include: the battery is provided with a clamping block; the robot comprises a robot main body, a battery and a power supply terminal, wherein the robot main body is provided with at least one first installation position matched with the battery, and the first installation position is provided with the power connection terminal electrically connected with the power supply terminal of the battery; clamping jaw that can open and shut, set up on the robot main part through displacement device, be provided with on the clamping jaw with press from both sides the first clamp of getting piece adaptation and press from both sides the portion of getting through first clamp, the clamping jaw can press from both sides the portion of getting through first clamp and press from both sides the piece, and the shape of getting the portion and pressing from both sides the piece sets up to make first clamp press from both sides the portion of getting and press from both sides the lateral rotation and the lateral shifting that can restrict the relative clamping jaw of battery after pressing from both sides the piece, can be automatic, accurately accomplish the change of battery, can effectively reduce the human cost, shorten the operation off-time, improve the operating efficiency, and the fault rate is low, and is more reliable. The utility model also provides a trade electric system, including charging device with the utility model provides a from trading battery robot.

Description

Self-battery-changing robot and battery changing system

Technical Field

The utility model relates to a robotechnology field.

Background

Automatic robots, especially operating robots such as AGV dolly etc. more and more adopt the battery to supply power in order to avoid being restricted by the power cord and travel the distance, however the capacity of battery is limited, need workman's manual change battery after the battery is used up, consequently still need the workman to wait for a long time post in order to change the battery in time, the human cost is higher, and when trading the battery, the workman need get into the workplace, after changing the battery, leave the workplace again, for guaranteeing safety, this section of time generally needs the workplace to interrupt the operation, influence production efficiency.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to solve one of the technical problem that exists among the prior art at least, provide one kind and can change the battery by oneself, can effectively reduce human cost from trading battery robot and trading electrical system.

In order to achieve the above purpose, the utility model provides a technical scheme is:

a self-changing battery robot comprising:

the clamping device comprises a rechargeable battery, wherein a clamping block is arranged on the battery;

the robot comprises a robot main body, a battery and a power supply terminal, wherein the robot main body is provided with at least one first installation position matched with the battery, and the first installation position is provided with the power connection terminal electrically connected with the power supply terminal of the battery;

the clamping jaw that can open and shut sets up through the displacement device in the robot main part, be provided with on the clamping jaw with press from both sides the first clamp of getting the piece adaptation and get the portion, the clamping jaw can pass through first clamp is got the portion and is pressed from both sides tightly press from both sides the piece, just the shape that the portion was got to first clamp and the piece was got to the clamp sets up to make first clamp press from both sides to press from both sides and to press from both sides can restrict the relative clamping jaw lateral rotation and the lateral shifting of battery after getting the piece.

Preferably, the clamping blocks are in a horizontal square sheet shape, the first clamping part comprises four clamping seats respectively corresponding to four sides of the clamping block, and each clamping seat can move transversely to enable the first clamping part to open and close.

Preferably, each of the gripping seats comprises a vertical section for abutting against a side edge of the gripping block and a horizontal section for abutting against a bottom surface of the gripping block.

Preferably, the clamping jaw is further provided with a second clamping part for clamping the workpiece.

Preferably, the clamping jaw comprises a plurality of clamping arms and a driving device for driving each clamping arm to move so as to open and close the clamping jaw, and the first clamping part and the second clamping part are both arranged on the clamping arms and can be opened and closed along with the movement of the clamping arms.

Preferably, the first mounting position is a receiving groove formed in the robot main body, and an opening of the receiving groove faces upward to allow the battery to be inserted.

Preferably, the number of the first installation positions is two or more.

Preferably, the clamping jaw is provided with a visual positioning device.

Preferably, the robot main body is provided with a traveling device and a radar device.

The utility model also provides a trade electric system, including charging device with the utility model provides a from trading battery robot, charging device be last be provided with the second of battery matching is settled the position, charging device can be for arranging in battery charging on the second is settled the position.

The utility model has the advantages that: the utility model provides a from trading battery robot, set up on the battery and got the piece of clamp, the clamping jaw can get the firm clamp of portion of getting through first clamp and get the battery, lateral rotation and lateral shifting can not appear making the battery, thereby can make the clamping jaw remove by displacement device and shift out the battery on the first arrangement position or move external battery to first installation position, from this automatic, accurately accomplish the change of battery, can effectively reduce the human cost, shorten the operation off-time, improve the operating efficiency, and the fault rate is low, and is more reliable. The utility model provides a trade electrical system, its charging device can settle the battery on the position for arranging the second in and charge, and the battery robot that trades certainly can utilize the clamping jaw to remove the battery between first settlement position and second settlement position, can move the battery of exhaling automatically to the second and settle the position battery and charge and move the battery that will charge to first settlement position and use from this, help prolonging the continuous operation time, facilitate the use.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a structural diagram of a robot with a self-changing battery according to the present invention;

FIG. 2 is a structural diagram of a battery according to the present invention;

FIG. 3 is a structural diagram of a jaw portion of the self-changing battery robot of the present invention;

fig. 4 is a structural diagram of a clamping arm of the robot with a self-changing battery according to the present invention;

fig. 5 is a structural diagram of the charging device of the battery replacement system of the present invention.

Wherein, in the figures, the various reference numbers:

10. a battery; 11. a clamping block; 12. a power supply terminal; 20. a robot main body; 21. a first setting position; 22. a clamping jaw; 221. clamping arms; 222. a drive device; 23. a displacement device; 24. a first gripping section; 241. a gripping base; 2411. a vertical section; 2412. a transverse segment; 25. a second gripping section; 26. a visual positioning device; 27. a traveling device; 28. a radar device; 30. a charging device; 31. a second installation position; 32. a charging terminal.

Detailed Description

This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the terms such as setting, installing, connecting, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the terms in the present invention by combining the specific contents of the technical solution.

Referring to fig. 1 to 4, the preferred embodiment of the self-changing battery robot of the present invention comprises: a rechargeable battery 10, wherein the battery 10 is provided with a clamping block 11; the robot comprises a robot main body 20, wherein the robot main body 20 is provided with at least one first mounting position 21 matched with a battery 10, and the first mounting position 21 is provided with a power connection end electrically connected with a power supply end 12 of the battery 10; the openable clamping jaw 22 is arranged on the robot body 20 through the displacement device 23, the clamping jaw 22 is provided with a first clamping part 24 matched with the clamping block 11, the clamping jaw 22 can clamp the clamping block 11 through the first clamping part 24, and the first clamping part 24 and the clamping block 11 are shaped to limit the transverse rotation and the transverse movement of the battery 10 relative to the clamping jaw 22 after the first clamping part 24 clamps the clamping block 11. The utility model provides a from battery change robot, it gets piece 11 to have set up the clamp on battery 10, clamping jaw 22 can press from both sides through first clamp 24 and firmly press from both sides and get battery 10, make battery 10 can not appear lateral rotation and lateral shifting, thereby can make clamping jaw 22 remove by displacement device 23 and shift out battery 10 on first arrangement position 21 or move external battery 10 to first installation position, from this automatically, accurately accomplish the change of battery 10, can effectively reduce the manpower cost, shorten the operation down time, the operation efficiency is improved, and the fault rate is low, and is more reliable.

As a preferred embodiment of the present invention, it may also have the following additional technical features:

the displacement device 23 has a wide application range and various common structures, in this embodiment, the displacement device 23 is a mechanical arm, and in other embodiments, the displacement device 23 may also adopt other suitable structures such as a single-axis or multi-axis rail device, which will not be described in detail herein.

In this embodiment, the power supply end 12 of the battery 10 is a contact plate capable of conducting electricity at the bottom of the battery 10, the electrical connection end also adopts a contact plate, when the battery 10 is placed at the first installation position 21, the power supply end 12 is in contact with the electrical connection end to realize electrical connection, so that the battery 10 can supply power to the robot main body 20, the power supply end 12 can be used for supplying power to the battery 10 during charging, or a charging end 32 is additionally arranged on the battery 10, in other embodiments, the power supply end 12 and the electrical connection end also can adopt a structure that a plug and a socket are matched, or other common shapes and structures such as an induction electrical connection structure can be adopted, or a driving structure for enabling the power supply end 12 or the electrical connection end to move so as to connect or separate the power supply end and the electrical connection end can be arranged on the battery 10 or the robot main body 20, which are common structures in the field, and technicians can flexibly select and choose the power supply end according to needs.

In this embodiment, press from both sides and get piece 11 and be the square sheet of horizontal, first press from both sides portion 24 and get seat 241 including corresponding four clamps of getting piece 11 four sides respectively, each clamp is got seat 241 and all can lateral shifting so that first clamp is got portion 24 and is opened and shut, so can press from both sides tightly to get piece 11 from four directions, can effectively restrict press from both sides and get piece 11 and then restrict the relative lateral shifting and the rotation of clamping jaw 22 of battery 10, and the shape is regular, is convenient for manufacturing and use. In other embodiments, the gripping block 11 may also be in a polygonal shape such as a triangle, a pentagon, or the like, or may also be in a shape in which part or all of the side edges are arc-shaped, and the like, without being limited thereto.

In this embodiment, each of the clamping bases 241 includes a vertical section 2411 for abutting against a side of the clamping block 11 and a horizontal section 2412 for abutting against a bottom surface of the clamping block 11, wherein each vertical section 2411 can clamp the clamping block 11 to limit the lateral movement and rotation of the battery 10 relative to the clamping jaw 22, and each horizontal section 2412 can play a role of supporting the clamping block 11 to prevent the battery 10 from loosening and falling when the battery 10 is lifted and moved, which is safer and more reliable. In other embodiments, the gripping base 241 may have other suitable shapes and structures, and is not limited thereto.

In this embodiment, the clamping jaw 22 is further provided with a second clamping portion 25 for clamping the workpiece, that is, the clamping jaw 22 has the functions of clamping the workpiece for operation and replacing the clamping battery 10, which helps to simplify the structure and reduce the equipment cost. In other embodiments, the gripper 22 may be used only for gripping and replacing the battery 10, and a working mechanism for operating a workpiece or the like may be provided.

In this embodiment, the clamping jaw 22 includes a plurality of clamping arms 221 and a driving device 222 for driving each clamping arm 221 to move so as to open and close the clamping jaw 22, and the first clamping portion 24 and the second clamping portion 25 are both disposed on the clamping arms 221 and can be opened and closed along with the movement of the clamping arms 221, so that the structure can be further simplified, the equipment cost is effectively reduced, and the control is convenient. In this embodiment, the outer portion of the clamping arm 221 serves as the second clamping part 25, and the clamping seats 241 are respectively disposed at the inner sides of the clamping arms 221, and in other embodiments, the positions and shapes of the first clamping part 24 and the second clamping part 25 on the clamping arms 221 can be flexibly adjusted according to the need, and are not limited thereto. In this embodiment, the driving device 222 employs an air cylinder, which drives each clamping arm 221 to move through a crank-link structure, and in other embodiments, the driving device 222 may employ other common driving structures such as a motor, but is not limited thereto.

In this embodiment, the first positioning locations 21 are accommodating grooves formed in the robot main body 20, and openings of the accommodating grooves are upward for the battery 10 to be inserted, so that the battery 10 can be accurately positioned, the battery 10 is prevented from being loosened and dislocated, and the power supply end 12 of the battery 10 can be accurately aligned with the power connection end of the robot main body 20. In other embodiments, the first installation site 21 may also adopt any other suitable structure such as a platform structure, but is not limited to this. In the embodiment, the power supply end 12 of the battery 10 deviates from the center thereof, and the electric connection end also deviates from the center of the first installation position 21, thereby forming a foolproof structure, and the power supply end 12 and the electric connection end can not be connected when the battery 10 is reversely arranged, thereby avoiding the condition of failure or damage caused by unexpected reverse connection.

In this embodiment, the number of the first installation positions 21 is four, so that other batteries 10 can be kept to supply power to the robot main body 20 continuously in the process of replacing the battery 10, and a power supply structure is not required to be additionally arranged. In this embodiment, in the use state, there are three first installation positions 21 in which the batteries 10 are installed, and another installation position is a vacant position, and during the replacement of the batteries 10, the vacant position can be used to replace the batteries 10 one by one. In other embodiments, the first setting bits 21 can be selected from one, two, three, etc. any other suitable number.

In this embodiment, be provided with vision positioner 26 on clamping jaw 22, the clamping jaw 22 location battery 10 position of so being convenient for to accurate clamp is got and is removed battery 10, and is more reliable, and vision positioner 26 also makes clamping jaw 22 can accurate positioning work piece simultaneously, and application scope is wider. The visual positioning device 26 is widely applicable, and may adopt a common structure such as a camera, and will not be described in detail herein.

In this embodiment, be provided with running gear 27 and radar installations 28 on robot main part 20, also formed the AGV dolly promptly, can remove the work piece between each station, also can remove by oneself and carry out battery 10 and change to battery 10 parking position, and the home range is wider, and radar installations 28 can realize keeping away the barrier function, and adaptability is better. In other embodiments, the robot main body 20 may have other suitable structures, and is not limited thereto.

The robot main body 20 is usually provided with a control device for controlling the self-battery-replacing robot operation, but it is needless to say that the self-battery-replacing robot operation may be controlled by a remote control method.

The above additional technical features can be freely combined and used in addition by those skilled in the art without conflict.

Referring to fig. 1 and 5, the utility model also provides a trade electrical system, including charging device 30 with the utility model provides a from trading battery robot is provided with the second of matcing with battery 10 on the charging device 30 and settles the position 31, and charging device 30 can settle the battery 10 on the position 31 for arranging the second in and charge. The utility model provides a trade electrical system, its charging device 30 can charge for placing battery 10 on the second arrangement position 31 in, from trading battery robot can utilize clamping jaw 22 to remove battery 10 between first arrangement position 21 and second arrangement position 31, can move battery 10 that exhausts to the second arrangement position 31 battery 10 automatically from this and charge and move battery 10 that will charge to first arrangement position 21 and use, help prolonging continuous operation time, facilitate the use.

In this embodiment, the second installation site 31 also adopts a slot structure, and a charging terminal 32 is disposed inside the slot structure for connecting with the battery 10 to charge the battery 10, and the charging device 30 can be connected with an external power source to convert and charge the battery 10.

In addition, in the utility model, the self-changing battery robot can not use the charging device 30 to charge the battery 10, but prepare a certain number of charged batteries 10 in advance, place the batteries 10 at a predetermined position, and the self-changing battery robot can take and replace the batteries by itself.

The above is only the preferred embodiment of the present invention, as long as the technical solution of the purpose of the present invention is realized by the substantially same means, all belong to the protection scope of the present invention.

Claims (10)

1. A self-changing battery robot, comprising:

the clamping device comprises a rechargeable battery (10), wherein a clamping block (11) is arranged on the battery (10);

the robot comprises a robot main body (20), wherein the robot main body (20) is provided with at least one first mounting position (21) matched with the battery (10), and the first mounting position (21) is provided with an electric connection end electrically connected with a power supply end (12) of the battery (10);

the clamping jaw (22) capable of opening and closing is arranged on the robot main body (20) through a displacement device (23), a first clamping portion (24) matched with the clamping block (11) is arranged on the clamping jaw (22), the clamping jaw (22) can clamp the clamping block (11) through the first clamping portion (24), and the first clamping portion (24) and the clamping block (11) are arranged in shapes such that the first clamping portion (24) can limit transverse rotation and transverse movement of the battery (10) relative to the clamping jaw (22) after clamping the clamping block (11).

2. The robot as claimed in claim 1, wherein the gripper block (11) is in a shape of a horizontal square plate, the first gripper unit (24) comprises four gripper seats (241) corresponding to four sides of the gripper block (11), and each gripper seat (241) is movable in a horizontal direction to open and close the first gripper unit (24).

3. The robot with self-changing battery as claimed in claim 2, wherein each gripping seat (241) comprises a vertical section (2411) for abutting against a side of the gripping block (11) and a horizontal section (2412) for abutting against a bottom surface of the gripping block (11).

4. A robot as claimed in claim 1, characterized in that said gripping jaws (22) are further provided with second gripping portions (25) for gripping the workpiece.

5. The robot with the battery replaceable as claimed in claim 4, wherein the clamping jaw (22) comprises a plurality of clamping arms (221) and a driving device (222) for driving each clamping arm (221) to move so as to open and close the clamping jaw (22), and the first clamping part (24) and the second clamping part (25) are both arranged on the clamping arms (221) and can be opened and closed along with the movement of the clamping arms (221).

6. The robot as claimed in claim 1, wherein the first mounting location (21) is a receiving slot provided on the robot body (20), the receiving slot opening upward for the battery (10) to be inserted.

7. A robot as claimed in claim 1, characterized in that said first mounting locations (21) are more than two in number.

8. A robot as claimed in claim 1, characterized in that said jaws (22) are provided with visual positioning means (26).

9. A robot as claimed in claim 1, characterized in that said robot body (20) is provided with walking means (27) and radar means (28).

10. A battery replacement system, characterized by comprising a charging device (30) and a self-battery-replacement robot as claimed in any one of claims 1 to 9, wherein a second installation location (31) matched with the battery (10) is arranged on the charging device (30), and the charging device (30) can charge the battery (10) arranged on the second installation location (31).

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