CN212402316U

CN212402316U - Transfer robot and trade electric system

Info

Publication number: CN212402316U
Application number: CN202020780241.3U
Authority: CN
Inventors: 孔哲; 陈叶广
Original assignee: Shenzhen Hairou Innovation Technology Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2020-05-12
Filing date: 2020-05-12
Publication date: 2021-01-26
Anticipated expiration: 2030-05-12

Abstract

The utility model provides a transfer robot and trade electric system, transfer robot includes the body, sets up the power supply storehouse on the body and is used for the power supply unit for transfer robot power supply. Be equipped with in the power supply storehouse and hold the chamber, hold and have the opening on the chamber, power supply unit is holding the intracavity via opening detachable setting. The transfer robot and the battery replacement system provided by the disclosure can replace a power supply unit of the transfer robot, and are beneficial to improving the working efficiency of the transfer robot.

Description

Transfer robot and trade electric system

Technical Field

The disclosure relates to the technical field of intelligent warehousing, in particular to a carrying robot and a battery replacement system.

Background

The intelligent storage is a link in the logistics process, and the application of the intelligent storage ensures the speed and the accuracy of data input in each link of goods warehouse management, ensures that an enterprise timely and accurately masters the true data of the inventory, and reasonably maintains and controls the inventory of the enterprise.

The transfer robot is an industrial transfer robot capable of performing automated transfer work. The conveying operation is to move a workpiece from one processing position to another processing position by holding the workpiece with a device. The transfer robot can be provided with different end effectors to finish the work of transferring workpieces in different shapes and states, thereby greatly reducing the heavy manual labor of human beings. Therefore, the transfer robot can replace manual goods transfer and plays an important role in the smart storage. At present, a power supply bin for storing batteries is arranged in a base of the transfer robot, and the batteries provide power for the transfer robot so as to support the transfer operation of the transfer robot.

However, the charging wire is usually connected to the transfer robot when the transfer robot is charged, and the charging time of the transfer robot is long, which seriously affects the working efficiency of the transfer robot.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides a transfer robot and a battery replacement system, which can replace a power supply unit of the transfer robot, and contribute to improving the work efficiency of the transfer robot.

In a first aspect, the present disclosure provides a transfer robot, which includes a body, a power supply bin disposed on the body, and a power supply unit for supplying power to the transfer robot, wherein a containing cavity is disposed in the power supply bin, an opening is disposed on the containing cavity, and the power supply unit is detachably disposed in the containing cavity through the opening.

In the transfer robot as described above, the opening may face a side of the body.

In the transfer robot as described above, optionally, a moving direction of the power supply unit in the accommodating chamber is a horizontal direction.

In the transfer robot as described above, optionally, the accommodating chamber has a side wall extending in the direction of the opening, and the power supply unit is slidable in the extending direction of the side wall so as to be taken into or taken out of the accommodating chamber.

In the transfer robot as described above, the side wall may have a smooth wall surface.

In the transfer robot as described above, optionally, a guide structure is provided on a side wall of the accommodating cavity, and the guide structure is used for guiding a moving direction of the power supply unit.

The transfer robot as described above, optionally, the guide structure includes at least one of a guide rail and a guide wheel.

The handling robot as described above, optionally, the guide structure includes a guide rail and guide wheels, a part of the guide wheels is provided in the guide rail, and a wheel surface of the guide wheels contacts with a bottom of the power supply unit.

The transfer robot as described above, optionally, the power supply compartment further includes an avoiding groove, and the avoiding groove is provided on the side wall of the accommodating chamber.

The transfer robot as described above, optionally, further includes the power supply unit, and the power supply unit is detachably disposed in the accommodating chamber.

The transfer robot as described above, optionally, the power supply bin further includes an electrical connection interface, and the electrical connection interface is disposed in the accommodating cavity and configured to be electrically connected to the power supply unit located in the accommodating cavity.

The transfer robot further comprises a transfer assembly, wherein the transfer assembly is arranged on the body and is used for placing the power supply unit into the accommodating cavity or taking the power supply unit out of the accommodating cavity.

The transfer assembly includes a transfer unit that is extendable and retractable in a moving direction of the power supply unit, and the transfer unit is configured to transfer to the power supply unit to place the power supply unit in the accommodating chamber or take out the power supply unit from the accommodating chamber.

The transfer robot as described above, optionally, the body includes a base and a storage shelf provided on the base, and the power supply bin is located on the base, or the power supply bin is located on the storage shelf.

In the transfer robot as described above, optionally, the storage rack has a plurality of storage units arranged in a vertical direction, and when the power supply bin is disposed on the storage rack, the power supply bin is located on the storage unit of the storage rack closest to the base.

The carrying robot comprises a body, a contact point and a standby power supply unit, wherein the contact point is arranged on the body and is used for contacting with a contact point on the ground to obtain electricity.

In a second aspect, the present disclosure provides a swapping system including a transfer robot.

The battery replacement system as described above, optionally, further includes a carrying assembly, where the carrying assembly is disposed on the body of the carrying robot, or the carrying assembly is an external carrying assembly of the carrying robot;

the carrying assembly is used for placing the power supply unit into the accommodating cavity or taking the power supply unit out of the accommodating cavity.

As for the battery replacement system, optionally, the carrying assembly is a fork assembly or a manipulator.

The battery replacement system optionally further comprises a charging device, wherein the charging device comprises a plurality of charging piles arranged at intervals, and the charging piles are used for charging power supply units of the transfer robot.

According to the battery replacement system, optionally, when the carrying assembly is an external carrying assembly, the plurality of charging piles surround the periphery of the carrying assembly, or the plurality of charging piles are arranged along the vertical direction of the carrying assembly.

The battery replacement system optionally further comprises a contact arranged on the ground, and the ground electricity taking point at the bottom of the transfer robot is used for contacting with the contact to take electricity.

The utility model provides a transfer robot and trade electric system, through set up the opening on transfer robot's power supply storehouse, can follow the power supply unit of transfer robot of opening part taking to power supply unit in the storehouse of supplying power changes, thereby the power supply demand when satisfying transfer robot operation, and then avoids transfer robot's power supply unit charge time overlength to lead to seriously influencing transfer robot's work efficiency. Therefore, the transfer robot and the battery replacement system provided by the disclosure can replace the power supply unit of the transfer robot, and are beneficial to improving the working efficiency of the transfer robot.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic structural view of a power supply bin in a transfer robot provided in an embodiment of the present disclosure;

FIG. 2 is a schematic view of the power supply compartment of the transfer robot of FIG. 1 at another angle;

FIG. 3 is a schematic view of the power supply cabin and the power supply unit in FIG. 1;

fig. 4 is a schematic structural view of another power supply bin in the transfer robot provided in the embodiment of the present disclosure;

FIG. 5 is a partial schematic view of the transfer robot in FIG. 4 in area A;

fig. 6 is a schematic structural diagram of a battery swapping system with a first carrying assembly according to an embodiment of the disclosure;

FIG. 7 is a schematic structural diagram of the battery swapping system in FIG. 6 from another angle;

fig. 8 is an assembly diagram of a power supply bin and a power supply unit according to an embodiment of the disclosure;

fig. 9 is a first schematic view illustrating an assembly of a power supply unit and a handling assembly according to an embodiment of the present disclosure;

fig. 10 is a second schematic assembly diagram of a power supply unit and a handling assembly according to an embodiment of the disclosure;

FIG. 11 is an assembled schematic view of a second carrier assembly provided by embodiments of the present disclosure;

FIG. 12 is an assembled schematic view of a third carrier assembly provided in accordance with an embodiment of the present disclosure.

The attached drawings indicate the following:

100-a handling robot; 10-a body; 11-a base; 12-a fixed support; 121-a moving guide; 13-a storage unit; 131-placing a plate; 132-fencing; 14-storage shelves;

20-a power supply bin; 21-a containing cavity; 211-side walls; 22-an opening; 23-avoidance groove; 24-a power supply unit; 25-a guide wheel; 26-an electrical connection interface; 27-a guide rail;

200-a handling assembly; 210-a migration unit; 220-a pallet fork; 221-a slide; 230-a tray;

300-a charging device; 310-charging pile; 310 a-empty charging pile; 310 b-full-load charging device; 311-a storage space; 320-enclosing a space.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

At present, the carrying robot is widely applied to practical application in many fields. The application scenarios of the transfer robot include, but are not limited to, a smart warehousing system, a smart logistics system, a smart sorting system, or other application scenarios requiring a transfer robot. Because the power supply storehouse of placing the battery usually seals inside transfer robot's base, can not change the battery in the power supply storehouse. When the battery is in a dead state, the transfer robot can only be charged. At this time, the transfer robot cannot perform the transfer operation. And the too long charging time of the transfer robot seriously influences the working efficiency of the transfer robot, so that the cost of enterprises is increased.

It should be understood that the battery in the dead state may be understood as the battery capacity is lower than the preset lower limit value. In practical applications, the preset lower limit value may be set in accordance with a requirement of the power consumption of the transfer robot for the minimum power of the battery during the work.

Therefore, the embodiment of the disclosure provides a transfer robot and a battery replacement system, which can replace a power supply unit of the transfer robot and contribute to improving the working efficiency of the transfer robot.

The transfer robot in this embodiment is further described below by taking an application scenario of the smart warehousing system as an example.

Fig. 1 is a schematic structural diagram of a power supply bin in a transfer robot according to an embodiment of the present disclosure, fig. 2 is a schematic structural diagram of the power supply bin in the transfer robot in fig. 1 at another angle, fig. 3 is a schematic assembly diagram of the power supply bin and a power supply unit in fig. 1, fig. 4 is a schematic structural diagram of another power supply bin in the transfer robot according to an embodiment of the present disclosure, and fig. 5 is a partial schematic diagram of an area a of the transfer robot in fig. 4.

As shown in fig. 1 and 2, an overall structure of a transfer robot is provided. As can be seen from fig. 1, the transfer robot 100 may include a body 10 and a power supply magazine 20. Specifically, the body 10 may be understood as a structure of the transfer robot 100 other than the power supply compartment 20. As shown in fig. 1 and 2, the body 10 may include a base 11 and a storage shelf 14 provided on the base 11. Storage shelves 14 may be provided on the base 11 for storing goods. The storage shelves 14 may include one or more tiers of storage units 13 arranged in a vertical direction (i.e., the direction perpendicular to the base 11 in fig. 1 and 2). That is, the storage shelves 14 are provided with one or more preset positions for placing goods. This can increase the storage space of the transfer robot 100 without occupying more floor space, thereby improving the efficiency of cargo transfer.

The body 10 may further include a moving guide 121, a driving device (not shown in the drawings), and the like. Wherein the moving guide 121 is vertically (e.g., vertically) disposed on the base 11, the storage shelf 14 may be disposed on the base 11 through the moving guide 121. A driving device may be provided on a surface of the base 11 opposite to the storage rack 14 (i.e., a bottom portion of the base 11 shown in fig. 1 and 2) for driving the transfer robot 100 to move along a predetermined path to take the goods. The storage rack 14 and the driving device may refer to the structure of the transfer robot 100 in the prior art, and in the present embodiment, the structure thereof will not be further described.

It is to be understood that the configuration illustrated in the present embodiment does not constitute a specific limitation on the configuration of the transfer robot 100. In other embodiments of the present disclosure, the transfer robot 100 may include more or fewer components than shown, or combine certain components, or split certain components, or a different arrangement of components.

Referring to fig. 1 to 5, an embodiment of the present disclosure provides a transfer robot including a body 10, a power supply bin 20 provided on the body 10, and a power supply unit 24 for supplying power to the transfer robot 100. The power supply bin 20 is internally provided with an accommodating cavity 21 for accommodating a power supply unit 24, the accommodating cavity 21 is provided with an opening 22, and the power supply unit 24 is detachably arranged in the accommodating cavity 21 through the opening 22. This allows the power supply unit 24 to be detached from the accommodating chamber 21 through the opening 22, which facilitates replacement of the power supply unit 24, thereby preventing the work efficiency of the transfer robot 100 from being affected by a delay of charging the power supply unit 24 when it is dead.

In practical applications, the power supply unit 24 may be removably disposed in the accommodating chamber 21 by a snap-fit, a locking mechanism, or other removable positioning structure. Thus, when the power supply unit 24 is accommodated in the accommodating cavity 21, the power supply unit 24 can be fixed, so that the power supply unit 24 is prevented from being separated from the power supply bin 20, and reliable electrical connection between the power supply unit 24 and the body 10 is ensured.

The opening 11 may be disposed toward a side of the body 10 so as to replace the power supply unit 24 in the power supply bin 20 through the opening 22 in a push-pull manner. It should be understood that the side of the body 10 may be understood as a region of the body 10 facing the peripheral side.

Alternatively, the opening 11 may be provided toward the top of the body 10 so that the power supply unit 24 can be taken through the top of the body 10.

As shown in fig. 1 to 5, the power supply bin 20 may be understood as a space on the transfer robot 100 for accommodating the power supply unit 24. When the power supply unit 24 is a battery, the power supply compartment 20 may be understood as a battery compartment of the transfer robot 100. Accordingly, the power supply unit 24 may be a battery or other power supply module. That is, in the present embodiment, the power supply unit 24 includes, but is not limited to, a battery.

As shown in fig. 1 to 5, the space of the accommodating cavity 21 and the shape of the opening 22 are adapted to the volume and shape of the power supply unit 24. Illustratively, when the structure of the power supply unit 24, such as a battery, is a cuboid or a cube, the cavity structure of the accommodating cavity 21 should also be a cuboid or a cube, the shape of the opening 22 should also be a rectangle or a square, and the width of the opening 22 is greater than or equal to the width of the accommodating cavity 21. Like this can be for power supply unit 24 when improving the accommodation space, can play spacing and fixed effect to power supply unit 24 on the one hand, avoid transfer robot 100 when the motion, power supply unit 24 takes place to rock to improve the stability of 24 installations of power supply unit and power supplies, on the other hand can be convenient for power supply unit 24 from taking in power supply storehouse 20, and then be convenient for realize the change to power supply unit 24. In the present embodiment, the structure of the accommodating chamber 21 and the opening 22 is not further described.

Here, the power supply bin 20 is provided on the body 10, and it is understood that the power supply bin 20 may be provided on the base 11 of the transfer robot 100, the storage rack 14, or other body structures. In this embodiment, the specific location of the power supply bin 20 is not further described, as long as the power supply unit 24 can be accommodated, and the power supply unit 24 can be conveniently and electrically connected to the power utilization unit (driving device, etc.) on the body 10, so as to increase the power of the transfer robot 100.

In this embodiment, the opening 22 is formed in the power supply bin 20, so that the power supply unit 24 of the transfer robot 100 can be taken from the opening 22, and the power supply unit 24 in the power supply bin is replaced, so that the power supply requirement during the operation of the transfer robot 100 is met, and the working efficiency of the transfer robot 100 is seriously affected due to the overlong charging time of the power supply unit 24 of the transfer robot 100 is avoided. Therefore, the power supply bin 20, the transfer robot 100, and the battery replacement system of the transfer robot 100 according to the present disclosure can replace the power supply unit 24 of the transfer robot 100, and contribute to improving the work efficiency of the transfer robot 100.

Specifically, as shown in fig. 1 to 5, the moving direction of the power supply unit 24 in the accommodating cavity 21 may be a horizontal direction, so that the power supply unit 24 can be conveniently taken from the opening 22 in a push-pull manner, and the power supply unit 24 is taken, which more conforms to the operation habit of people and is helpful for improving the user experience.

Specifically, as one possible embodiment, the power supply compartment 20 may be located on the storage rack 14, as shown with reference to fig. 1 and 2. When the storage rack 14 has a plurality of storage units 13 arranged in a vertical direction, the power supply compartment 20 may be located on the storage unit 13 of the storage rack 14 closest to the base 11. That is, the power supply magazine 20 may be provided in the storage unit 13 at the lowermost layer of the storage rack 14, so that the power supply unit 24 may be replaced by using the structure of the existing storage rack 14, and the structure of the base 11 of the transfer robot 100 may not be modified, thereby reducing the cost of modifying the transfer robot 100.

Specifically, as shown in fig. 1 and 2, the storage rack 14 may include a plurality of storage units 13 (i.e., baskets of the transfer robot 100) arranged in a vertical direction. The transfer robot 100 further includes a fixing bracket 12 provided on the base 11. Each storage unit 13 may be provided horizontally or obliquely at different heights on the fixed rack 12 in order to increase the carrying capacity of the carrying robot 100. Each storage unit 13 may include a placement plate 131 and a surrounding barrier 132, and the surrounding barrier 132 is disposed around the placement plate 131.

When the transfer robot 100 replaces the power supply unit 24, it is necessary to transfer the power supply unit by the transfer module 200. In practical applications, the carrying assembly 200 is further provided with a transferring unit 210, so that the transferring unit 210 can be used for transferring the power supply unit 24. The placing plate 131 may have an open structure at a side facing the carrier assembly 200. That is, the enclosing barrier 132 is enclosed on three sides of the placing plate 131, and the side of the placing plate 131 not enclosed by the enclosing barrier 132 is opposite to the carrying assembly 200, so as to form a cargo entrance of the storage rack 14 for the cargo to enter and exit.

The storage unit 13 at the lowermost layer of the storage rack 14 may be provided on the base 11 with a space between the adjacent storage units 13, and therefore, the power supply magazine 20 may be provided on the storage unit 13 at the lowermost layer of the storage rack 14 such that the power supply magazine 20 is located between the two storage units 13 of the storage rack 14, which may make reasonable use of the installation space of the transfer robot 100.

Specifically, the power supply bin 20 may be fixed to the storage unit 13 at the bottommost layer of the storage rack 14 by clamping, welding or other methods, and in this embodiment, the fixing method of the power supply bin 20 is not further limited.

Alternatively, as another possible embodiment, as shown in fig. 4 and 5, the power supply bin 20 may be located on the base 11. Specifically, the power supply bin 20 may be formed on a surface of the base 11 close to the storage shelf 14, or the power supply bin 20 may be opened inside the base 11, and the opening 22 communicating with the accommodating cavity 21 of the power supply bin 20 is provided on the outer side of the base 11. Alternatively, the power supply compartment 20 may be formed on a surface of the base 11 adjacent to the storage shelf 14, and the partial accommodating chamber 21 may be formed in the base 11. This makes it possible to change the power supply unit 24 and reasonably utilize the structure of the base 11, and contributes to diversification of the structures of the power supply bin 20 and the transfer robot 100.

In the present embodiment, referring to fig. 1 to 5, the opening 22 of the power supply bin 20 may be in the same direction as the goods entrance/exit of the storage rack 14, so that the goods and the power supply unit 24 can be taken without changing the direction of the transportation assembly 200. At this time, the power supply unit 24 may be regarded as a specific load carried by the transfer robot 100. In this embodiment, the opening 22 may be disposed opposite to the carrying assembly 200, so that the carrying assembly 200 can take the power supply unit 24 from the accommodating cavity 21 through the opening 22, or store the power supply unit 24 into the accommodating cavity 21, thereby replacing the power supply unit 24 in a dead power state on the carrying robot 100, and meeting the power supply requirement of the carrying robot 100.

Specifically, the accommodating chamber 21 has a side wall 211 extending in the direction of the opening 22, so that when the power supply unit 24 is replaced, the power supply unit 24 can slide along the extending direction of the side wall 211 to enter the accommodating chamber 21 or be taken out from the inside of the accommodating chamber 21, thereby facilitating the taking of the power supply unit 24 from the accommodating chamber 21.

It should be noted that the side wall 211 can be understood in a broad sense, and may include a side inner wall of the accommodating cavity 21, and may further include a bottom wall and a top wall, and the top wall and the bottom wall may be enclosed with the side inner wall to form the accommodating cavity 21 for accommodating the power supply unit 24. In general, when the power supply unit 24 is provided in the accommodating chamber 21, the inner walls of the bottom wall and the side surface of the accommodating chamber 21 may contact the power supply unit 24.

Wherein the edge contour of the opening 22 can match the contour enclosed by the side wall 211 of the receiving cavity 21. That is, the edge profile of the opening 22 may be substantially the same or substantially the same as the profile defined by the side wall 211 of the receiving cavity 21. This facilitates the taking of the power supply unit 24 from the accommodation chamber 21.

In order to facilitate the taking of the power supply unit 24 from the accommodation chamber 21, the side wall 211 has a smooth wall surface. This reduces the friction between the power supply unit 24 and the accommodating chamber 21, making it easier to take the power supply unit 24 from the opening 22.

Further, as shown in fig. 1 to 5, a side wall 211 of the accommodating chamber 21 may be provided with a guide structure for guiding a moving direction of the power supply unit 24. This can further facilitate the taking of the power supply unit 24 from the accommodation chamber 21.

Specifically, the guiding structure may include a guide rail 27, a guide wheel 25, or the guide rail 27 and the guide wheel 25, and the guide rail or the guide wheel 25 may be disposed on the bottom wall of the side wall 211 of the accommodating cavity 21, or may be disposed at another position of the side wall 211 of the accommodating cavity 21, so as to assist and guide the sliding of the power supply unit 24 from the opening 22 into and out of the accommodating cavity 21. In the present embodiment, the guide structure including the guide wheel 25 and the guide rail 27 will be described as an example. Referring to fig. 3, when the guide structure includes the guide wheel 25 and the guide rail 27, a portion of the guide wheel 25 may be disposed in the guide rail 27, the guide rail 27 is disposed at the bottom wall of the receiving chamber 21, and the wheel surface of the guide wheel 25 contacts the bottom of the power supply unit 24 to guide the moving direction of the power supply unit 24.

Further, the power supply bin 20 further includes an electrical connection interface 26, and the electrical connection interface 26 may be disposed in the accommodating cavity 21 and configured to be electrically connected to the power supply unit 24 located in the accommodating cavity 21, so as to implement reliable electrical connection between the power supply unit 24 and the body 10, and improve power for the transfer robot 100, so as to support the operation of the transfer robot 100.

Specifically, referring to fig. 1 to 5, the power supply bin 20 further includes an avoiding groove 23 for avoiding the carrying assembly 200, and the avoiding groove 23 is formed in a side wall 211 of the accommodating cavity 21 and is used for allowing the carrying assembly 200 to extend into the accommodating cavity so as to clamp the power supply unit 24. Therefore, on one hand, the movement of the carrying assembly 200 on the power supply bin 20 when the power supply unit 24 is taken or stored can be limited, so that the carrying assembly 200 can move according to a preset track, and the power supply unit 24 can be placed at a specified position of the power supply bin 20. On the other hand, the carrying assembly 200 can move smoothly relative to the power supply bin 20, so that the transferring effect of the carrying assembly 200 on the power supply unit 24 is improved.

It should be noted that the avoiding grooves 23 may be located on opposite sides of the sidewall 211 of the accommodating chamber 21 and communicate with the accommodating chamber 21 at both sides of the accommodating chamber 21. The avoiding groove 23 may be formed and exposed on both side surfaces of the power supplying compartment 20 (as shown in fig. 2 and 3), or the avoiding groove 23 may be embedded on an inner wall of the power supplying compartment 20 and communicate with the accommodating chamber 21 (as shown in fig. 4 and 5). In practical applications, the avoidance slots 23 with different structures may be disposed on two opposite sides of the power supply bin 20 according to different transfer units 210 of the carrying assembly 200.

As a possible embodiment, when the transfer unit 210 is of two oppositely disposed elongated structures, the avoiding groove 23 should also be of an elongated structure adapted to the transfer unit 210. Illustratively, the elongated structure may be a rectangular, oval, or other shaped structure. Alternatively, when the end of the migration unit 210 is a hook, the end of the avoiding groove 23 should also extend on the side wall 211 of the accommodating cavity 21 in a direction away from the opening 22, and a clamping groove (as shown in fig. 2) adapted to the hook is formed on the side wall 211 of the accommodating cavity 21 opposite to the opening 22. In the present embodiment, the structure of the avoiding groove 23 is not further limited.

The handling assembly 200 may be a fork assembly, a robot, or other handling structure. That is, in the present embodiment, the handling assembly 200 includes, but is not limited to, a fork assembly or a robot. When the carrier assembly 200 is different, the setting position of the carrier assembly 200 can be changed accordingly.

The specific positioning of the carrier assembly 200 is further described below in connection with various carrier assemblies 200.

Fig. 6 is a schematic structural diagram of an electrical swapping system with a first carrying assembly according to an embodiment of the present disclosure, fig. 7 is a schematic structural diagram of the electrical swapping system in fig. 6 from another angle, fig. 8 is a schematic assembly diagram of a power supply bin and a power supply unit according to an embodiment of the present disclosure, fig. 9 is a schematic assembly diagram of a power supply unit and a carrying assembly according to an embodiment of the present disclosure, and fig. 10 is a schematic assembly diagram of a power supply unit and a carrying assembly according to an embodiment of the present disclosure.

As one possible embodiment, referring to fig. 6 and 7, the body 10 further includes a carrier assembly 200 thereon, that is, the carrier assembly 200 may be provided on the body 10 as a part of the carrier robot 100. Specifically, the carrying assembly 200 may be disposed on the base 11 of the body 10, and may reciprocate vertically relative to the base 11 to move to different heights on the storage rack 14 for taking the goods. The carrying assembly 200 has a transfer unit 210 which can extend and contract along the moving direction of the power supply unit 24, and the transfer unit 210 can act on two opposite sides of the power supply unit 24 by pushing (such as two-way pushing and pulling) or other action modes, and can move relative to the charging device 300 of the power supply unit 24 to put the power supply unit 24 into the accommodating cavity 21 or take the power supply unit 24 out of the accommodating cavity 21 to replace the power supply unit 24. The movement of the transferring unit 210 with respect to the charging device 300 may be at least one of push-pull and rotation. That is, the transfer unit 210 may move relative to the charging device 300 in a push-pull, rotational, or combined push-pull and rotational manner, so as to automatically replace the power supply unit 24, without human intervention, and improve the working efficiency of the transfer robot 100.

In this embodiment, the transfer unit 210 of the conveying apparatus 200 may be configured to perform transfer to the power supply unit 24 by applying suction or clamping to the power supply unit 24. That is, in the present embodiment, the transferring unit 210 of the conveying device 200 acts on the power supply unit 24 in a manner including, but not limited to, pushing or clamping.

The handling assembly 200 may be a prior art fork assembly. The fork assembly may form the transfer robot 100 together with the power supply bin 20 and the body 10. The fork assembly may include, among other things, a bracket (not shown), a fork 220, and a rotation assembly (not shown). Wherein the rotation assembly is mounted between the bracket and the forks 220 such that the forks 220 can rotate relative to the bracket. The bracket sets up on base 11, and the slider 221 can be installed to the one end that is close to fixed bolster 12, and is equipped with movable guide 121 on the fixed bolster 12, and the bracket can move on movable guide 121 through slider 221, and then drives fork 220 that installs on the bracket and can move for storage shelf 14 along the axis of storage shelf 14, and then realizes taking or depositing the goods in the different height department storage unit 13 on fixed bolster 12 through fork 220.

Specifically, as shown in fig. 6 and 7, the fork 220 may include a tray 230 and a transfer unit 210, wherein the transfer unit 210 is disposed on two opposite sides of the tray 230 and is capable of extending and retracting along a direction of a cargo, such as the power supply unit 24, to pull the cargo on the corresponding storage unit 13 onto the tray 230 to take the cargo, or push the cargo on the corresponding tray 230 into the storage unit 13 at a preset position to store the cargo, so as to achieve bidirectional pushing and pulling of the cargo, such as the power supply unit 24. When the handling assembly 200 is a fork assembly, the transfer unit 210 may employ a retractable push-pull assembly as in the prior art. The structure of the fork assembly in the prior art can be referred to for the fork assembly, and in this embodiment, the structure of the fork assembly is not further limited.

The charging device 300 may include one or more charging piles 310 for charging the power supply unit 24. A plurality of charging posts 310 may be disposed around the carrier assembly 200, such as a fork assembly, or may be disposed vertically to form an integrated charging device 300 having a layered structure. This saves space and is suitable for many application scenarios of the transfer robot 100. In the present embodiment, the specific structure of the charging device 300 is not further limited.

In the following embodiment, the power supply bin 20, the transfer robot 100, and the battery replacement system of the present disclosure are further described by taking a plurality of charging piles 310 around the transfer assembly 200 as an example.

For example, referring to fig. 6 and 7, an empty charging post 310a (i.e., a charging post 310 without the power supply unit 24) in the charging device 300 may be disposed opposite to the power supply compartment 20. Referring to fig. 8 to 10, the transfer unit 210 of the handling assembly 200, such as a fork assembly, may extend into the accommodating cavity 21 through the avoiding groove 23 of the power supply bin 20, clamp the power supply unit 24 in the power-off state in the power supply bin 20 on two opposite sides, take the power supply unit 24 out of the opening 22, and push or pull the power supply unit 24 in the power-off state into the storage space 311 of the empty charging pile 310a through the transfer unit 210 for charging. The transfer unit 210 can then be adjusted to turn or move to the fully loaded charging post 310 (i.e., the charging post 310 on which the fully charged power supply unit 24 is placed) in the charging device 300, and take the fully charged power supply unit 24 from the fully loaded charging post 310 and place the fully charged power supply unit 24 into the power supply bin 20 of the transfer robot 100 through the opening 22, thereby completing the automatic replacement process of the power supply unit 24.

Wherein, the storage space 311 may be a groove or a concave structure on the top of the charging pile 310. The bottom of the storage space 311 is a storage platform on the charging pile 310, and the storage platform can be used for storing the power supply unit 24.

In order to facilitate the transfer robot 100 to move from the empty charging pile 310a to the full charging pile 310, a standby power supply unit (not shown) is provided inside the body 10. The power of the standby power supply unit can be used by the transfer robot 100 to switch the position of the charging pile 310 or to supply power to the fork assembly when the power supply unit 24 is in a dead state, for example, to supply power to the transfer robot 100, so as to replace the power supply unit. Alternatively, the standby power supply unit may also allow the transfer robot 100 to move from the empty charging pile 310a to the full charging pile 310 b. The standby power supply unit can be a standby battery or a super capacitor. The backup power supply unit may be disposed in the storage unit 13 of the storage rack 14 or in another part of the body 10, and may not be replaced, so that the transfer robot 100 may be kept in a power-on state at all times.

Alternatively, the transfer robot 100 further includes a ground power-taking point (not shown) located at the bottom of the body 10 and configured to contact with a contact on the ground to take power. Specifically, when the transfer robot 100 moves to an area on the ground where the contacts are provided, the ground electricity-taking point of the transfer robot 100 contacts with the contacts on the ground to take electricity, so that the transfer robot 100 is powered, and the transfer robot 100 moves after the power supply unit 24 is taken.

Fig. 11 is an assembly view of a second handling assembly provided in the embodiment of the present disclosure, and fig. 12 is an assembly view of a third handling assembly provided in the embodiment of the present disclosure.

On this basis, the embodiment of the present disclosure further provides a battery swapping system, which may include the transfer robot 100. Specifically, the battery replacement system further includes a carrying assembly 200, and the carrying assembly 200 is used for the power supply unit 24 of the carrying robot 100, so as to realize automatic replacement of the power supply unit 24 of the carrying robot 100. The transfer module 200 may be provided on the main body 10 of the transfer robot 100, or the transfer module 200 may be provided outside the transfer robot 100 and may be an external transfer module of the transfer robot 100. The carrier assembly 200 is used to place the power supply unit 24 into the accommodating chamber 21 or take out the power supply unit 24 from the accommodating chamber 21.

For the embodiment that the carrying assembly 200 is disposed on the carrying robot 200, reference may be made to the foregoing description of the carrying assembly 200, which is not further described herein.

The manner in which the carrier assembly 200 is an external carrier assembly of the transfer robot 200 will be described in detail with reference to the charging device 300.

The battery replacement system further includes a charging device 300, the charging device 300 includes a plurality of charging piles 310 arranged at intervals, and the charging piles 310 are used for charging the power supply unit 24 of the transfer robot 100.

When the carrying assembly 200 is an external carrying assembly, a plurality of charging piles 310 may surround the periphery of the carrying assembly 200 to form an enclosed space 320 for disposing the carrying assembly 200 in the charging device 300. Therefore, the position of the carrying assembly 200 is not changed, and the charging piles 310 around the carrying assembly 200 can fall into the carrying range of the carrying assembly 200, so that the working efficiency of the carrying assembly 200 is improved.

As a possible embodiment, referring to fig. 11 and 12, the transfer unit 210 of the handling assembly 200 may rotate in the enclosed space 320, so as to take the fully charged power supply unit 24 from the charging device 300 through the transfer unit 210 to replace the power supply unit 24 in the power supply bin in the dead state, or store the power supply unit 24 in the power supply bin 20 in the dead state on the charging device 300, and charge the power supply unit in the dead state through the charging pile 310 of the charging device 300 for the handling robot 100 to use, so as to save the charging time of the handling robot 100 by automatically replacing the battery, and improve the working efficiency of the handling robot 100.

In particular, the handling assembly 200 may be a fork assembly as described above, as shown in fig. 11. Alternatively, the handling assembly 200 may be a robot, as shown in fig. 12. When the carrying assembly 200 is a fork assembly, the difference is that the fork assembly may be supported in the enclosed space 320 (see fig. 11), or the fork assembly may be disposed on one of the charging piles 310 of the charging device 300. In practical applications, the fork assembly may be disposed in the enclosed space 320 of the charging device 300, so that more power supply units 24 on the charging pile 310 can be taken out through the fork assembly.

Specifically, the fork 220 in the fork assembly can be arranged on the bracket through the rotating assembly, and the bracket can be arranged on the charging pile 310, so that the fork 220 in the fork assembly can be arranged on the charging device 300 in a rotating manner, and the transfer unit 210 is adjusted and turned to take the fully-charged power supply device from the charging pile 310, so that the power supply unit 24 in the power-off state in the power supply bin 20 can be automatically replaced, or the power supply unit 24 in the power-off state in the power supply bin 20 can be stored in the charging pile 310 for charging.

Specifically, when the handling assembly 200 may be a robot, the transfer unit 210 of the robot may be clamped at opposite sides of the power supply unit 24 to transfer the power supply unit 24. Reference may be made to a manipulator structure in the prior art, and in this embodiment, the structure of the manipulator is not further limited.

Alternatively, the plurality of charging posts 310 may be disposed along the vertical direction of the carrying assembly, that is, the plurality of charging posts 310 are vertically arranged to form the integrated charging device 300 having a layered structure as described above. This saves space and is suitable for many application scenarios of the transfer robot 100.

Further, when the bottom of the transfer robot 100 is provided with a ground power taking point, the battery replacement system further comprises a contact point arranged on the ground. When the transfer robot 100 moves to the area where the contacts are provided, the ground electricity-taking points of the transfer robot 100 contact the contacts on the ground to take electricity so as to supply power to the transfer robot 100, thereby realizing the movement of the transfer robot 100 after the power supply unit 24 is taken.

The utility model provides a transfer robot and trade electric system sets up the opening through offering on transfer robot's power supply storehouse, can follow the power supply unit of transfer robot of opening part taking to change the power supply unit in the power supply storehouse, help improving transfer robot's work efficiency.

In the description of the present disclosure, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "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, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present disclosure.

In the description of the present disclosure, it is to be understood that the terms "comprises" and "comprising," and any variations thereof, as used herein, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integral to one another; either directly or indirectly through intervening media, such as through internal communication or through an interaction between two elements. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. The carrying robot is characterized by comprising a body, a power supply bin arranged on the body and a power supply unit used for supplying power to the carrying robot, wherein a containing cavity is arranged in the power supply bin, the containing cavity is provided with an opening, and the power supply unit is detachably arranged in the containing cavity through the opening.

2. The transfer robot of claim 1, wherein the opening faces a side of the body.

3. The transfer robot of claim 2, wherein a moving direction of the power supply unit in the accommodation chamber is a horizontal direction.

4. The transfer robot of claim 1, wherein the housing chamber has a side wall extending in the direction of the opening, and the power supply unit is slidable in the direction of extension of the side wall so as to be taken into or taken out of the housing chamber.

5. A transfer robot as claimed in any one of claims 1 to 4, wherein the edge contour of the opening matches the contour enclosed by the side walls of the receiving cavity.

6. The transfer robot of claim 5, wherein the side walls of the housing chamber have smooth wall surfaces.

7. The transfer robot of any one of claims 1 to 4, wherein a guide structure is provided on a side wall of the accommodation chamber, the guide structure being configured to guide a moving direction of the power supply unit.

8. The transfer robot of claim 7, wherein the guide structure comprises at least one of a guide rail and a guide wheel.

9. The transfer robot of claim 8, wherein the guide structure comprises a guide rail and guide wheels, portions of the guide wheels are provided in the guide rail, and wheel surfaces of the guide wheels are in contact with a bottom of the power supply unit.

10. The transfer robot of any one of claims 1 to 4, wherein the power supply compartment further includes an avoidance groove provided on a side wall of the accommodation chamber.

11. The transfer robot of any one of claims 1-4, wherein the power supply compartment further comprises an electrical connection interface disposed within the receiving cavity for electrical connection with the power supply unit located within the receiving cavity.

12. The transfer robot of any one of claims 1 to 4, further comprising a transfer assembly provided on the body, the transfer assembly being configured to place the power supply unit into the accommodation chamber or take the power supply unit out of the accommodation chamber.

13. The transfer robot according to claim 12, wherein the transfer module has a transfer unit that is extendable and retractable in a moving direction of the power supply unit, the transfer unit being configured to transfer the power supply unit to place the power supply unit in the accommodation chamber or take out the power supply unit from the accommodation chamber.

14. The transfer robot of any one of claims 1 to 4, wherein the body includes a base and a storage rack provided on the base;

the power supply bin is located on the base, or the power supply bin is arranged on the storage shelf.

15. The transfer robot of claim 14, wherein the storage rack includes a plurality of storage units arranged in a vertical direction, and when the power supply magazine is disposed on the storage rack, the power supply magazine is located on the storage unit of the storage rack closest to the base.

16. The transfer robot of any one of claims 1 to 4, further comprising a backup power supply unit or a ground power take-off point, the backup power supply unit being located inside the body; the ground electricity taking point is located at the bottom of the body and used for contacting with a contact on the ground to take electricity.

17. A swapping system, comprising a transfer robot according to any one of claims 1-16, a transfer assembly for transferring a power supply unit of the transfer robot.

18. The battery swapping system of claim 17, further comprising a handling assembly disposed on the body of the handling robot, or wherein the handling assembly is an external handling assembly of the handling robot;

19. The battery swapping system of claim 18, wherein the handling assembly is a fork assembly or a robot.

20. The battery replacement system according to claim 17, further comprising a charging device, wherein the charging device comprises a plurality of charging piles arranged at intervals, and the charging piles are used for charging a power supply unit of the transfer robot.

21. The battery swapping system of claim 20, wherein when the carrying assembly is an external carrying assembly, the plurality of charging piles surround the periphery of the carrying assembly, or the plurality of charging piles are arranged along the vertical direction of the carrying assembly.

22. The battery replacement system according to claim 20, further comprising a contact point arranged on the ground, wherein a ground power taking point at the bottom of the transfer robot is used for contacting with the contact point to take power.