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CN-224209987-U - Robot self-power-changing structure and device

CN224209987UCN 224209987 UCN224209987 UCN 224209987UCN-224209987-U

Abstract

The utility model provides a robot self-body power conversion structure and a device, wherein the robot self-body power conversion structure comprises a robot main body, an end effector and at least two battery units, the robot main body comprises a framework structure and a first clamping assembly arranged on the framework structure, the first clamping assembly comprises a first feedback part matched with the end effector and a first clamping part matched with the battery units to be clamped on the framework structure, the battery units comprise battery bodies and connecting plates, the end sides of the connecting plates are provided with second clamping assemblies, the second clamping assemblies comprise sliding frames and elastic parts, and the end effector responds to the pressing of the sliding frames to control the grabbing and releasing of the battery units. The battery, which is not removed, may power the robot body as well as the end effector when the battery is replaced. When the end effector is used for taking the discharge cell, the end effector can be contacted with the first feedback part and the sliding frame, and whether the end effector is installed in place or not is detected through the sensor, so that the electricity exchanging process of the end effector is safer.

Inventors

  • ZHOU YU
  • WANG QIAN
  • XIE JIHUA

Assignees

  • 深圳市优必选科技股份有限公司

Dates

Publication Date
20260508
Application Date
20250509

Claims (10)

  1. 1. The utility model provides a robot self trades electric structure which characterized in that includes: An end effector having a sensor for detecting pressure; The robot comprises a robot body and a battery holder, wherein the robot body is provided with a battery cavity for placing a battery, the robot body comprises a framework structure and a first clamping assembly arranged on the framework structure, the first clamping assembly comprises a first feedback part matched with an end effector to be pressed against and a first clamping part matched with the framework structure to clamp the battery on the framework structure, when the end effector is abutted against the first feedback part, the first feedback part moves in a first direction, and the first clamping part moves along with the first feedback part in the first direction; The battery unit comprises a battery body and a connecting plate positioned at one side of the battery body, wherein a second clamping assembly is arranged at the end side of the connecting plate and comprises a sliding frame matched with and propped against the end effector and an elastic part positioned at one side of the sliding frame, and the end effector responds to the propping against of the sliding frame to control the grabbing and releasing of the battery unit.
  2. 2. The robot self-power-changing structure of claim 1, wherein the first clamping assembly comprises a clamping shell, a first elastic piece, a second elastic piece and a first clamping portion, the clamping shell is provided with a first feedback portion, two ends of the first elastic piece are respectively connected with the robot main body and the clamping shell, the stretching direction of the first elastic piece is a first direction, the first feedback portion is slidably arranged on the robot main body along the first direction, two ends of the second elastic piece are respectively connected with the clamping shell and the first clamping portion, the stretching direction of the second elastic piece is a second direction, and the first direction and the second direction are arranged in an included angle.
  3. 3. The robot self-power-changing structure according to claim 2, wherein the first clamping portion has a first guiding surface facing the battery cavity and a second guiding surface facing the outside of the battery cavity, and the first guiding surface and the second guiding surface are both disposed at an acute angle to the second direction.
  4. 4. The robot self-power-changing structure according to claim 2, wherein a sliding rail is arranged on the surface of the battery in a protruding mode, a sliding groove matched with the sliding rail is arranged in the battery cavity, and the first clamping portion is stopped at one end of the sliding rail when the battery is located in the battery cavity.
  5. 5. The robotic power exchanging structure of claim 2, wherein the first feedback portion has a third guide surface for contacting the end effector, the third guide surface disposed at an acute angle to the first direction.
  6. 6. The robot cell according to any one of claims 1 to 5, wherein the carriage is provided with a second feedback portion for being pressed against the end effector and a second clamping portion extending from the second feedback portion, the elastic portion is configured to move the second clamping portion relative to the frame structure, and the frame structure is provided with a third clamping portion for being clamped with the second clamping portion.
  7. 7. The robot power exchanging structure of claim 6, wherein both ends of said elastic portion are respectively connected to said battery body and said second clamping portion, and the extension and retraction directions of said elastic portion are the same as the clamping directions of said end effector.
  8. 8. The robot self-power-changing structure according to claim 7, wherein the battery body comprises a battery case and a battery cover covered on the battery case, the elastic portion, the second feedback portion and the second clamping portion are all located between the battery case and the battery cover, and the battery cover or the battery case is provided with an opening exposing one end of the second feedback portion.
  9. 9. The robotic power architecture of any one of claims 1-5, wherein the battery cell has a first contact surface for contacting the end effector, the end effector has a second contact surface for contacting the battery cell, and the first contact surface and the second contact surface are configured for a male-female fit.
  10. 10. A robot cell-changing device comprising the robot cell-changing structure of any of claims 1-9, and further comprising a battery compartment having a plurality of battery compartments for holding battery cells, the end effector being movable between the battery cavity and the battery compartments to perform a battery-changing operation for grasping and releasing the battery cells in response to a low-power state of the robot body.

Description

Robot self-power-changing structure and device Technical Field The utility model belongs to the technical field of robots, and particularly relates to a robot self-power-changing structure and a device. Background Along with the rapid development of humanoid robots, continuous working functions of the robots are increasingly required, but the battery capacity of the robots is limited, the robots cannot work for a long time, when the electric quantity is too low or the electric quantity is exhausted, the robots need to stop working, and the workers assist in battery replacement, so that the workload of the workers is increased, and the batteries may not be replaced in time. Or the robot needs to work in a state of being connected with a charger, and the action of the robot is easily influenced by a power line of the charger, so that the robot is limited in work. Disclosure of utility model The embodiment of the utility model aims to provide a robot self-power-changing structure and a device, which are used for solving the technical problem that a worker is required to assist in changing a battery in the prior art. In order to achieve the purpose, the utility model adopts the technical scheme that the robot self-power-changing structure comprises: An end effector having a sensor for detecting pressure; The robot comprises a robot body and a battery holder, wherein the robot body is provided with a battery cavity for placing a battery, the robot body comprises a framework structure and a first clamping assembly arranged on the framework structure, the first clamping assembly comprises a first feedback part matched with an end effector to be pressed against and a first clamping part matched with the framework structure to clamp the battery on the framework structure, when the end effector is abutted against the first feedback part, the first feedback part moves in a first direction, and the first clamping part moves along with the first feedback part in the first direction; The battery unit comprises a battery body and a connecting plate positioned at one side of the battery body, wherein a second clamping assembly is arranged at the end side of the connecting plate and comprises a sliding frame matched with and propped against the end effector and an elastic part positioned at one side of the sliding frame, and the end effector responds to the propping against of the sliding frame to control the grabbing and releasing of the battery unit. In the above-mentioned scheme, robot self trades electric structure includes robot main part, end effector and battery unit, and the battery joint is in the robot main part, and the end effector can take out the battery in the robot main part to take out full electric battery from the battery cabinet after, install in the robot main part. Moreover, when the end effector is used for taking the discharge cell, the end effector can be contacted with the first feedback part and the sliding frame, whether the clamping structure is structured, whether the clamping structure is installed in place or not is detected through the sensor, and the like, so that the electricity exchanging process of the end effector is safer. Optionally, the first clamping assembly comprises a clamping shell, a first elastic piece, a second elastic piece and a first clamping part, the clamping shell is provided with a first feedback part, two ends of the first elastic piece are respectively connected with the robot main body and the clamping shell, the stretching direction of the first elastic piece is a first direction, the first feedback part is slidably arranged on the robot main body along the first direction, two ends of the second elastic piece are respectively connected with the clamping shell and the first clamping part, the stretching direction of the second elastic piece is a second direction, and the first direction and the second direction are arranged in an included angle. In the above scheme, through the setting of the first elastic element, make first feedback portion remove in first direction, when first feedback portion was extrudeed, first elastic element contracts, and pressure between first feedback portion and the end effector increases, and then can judge whether the end effector's position is correct according to the pressure value. Through the setting of second elastic component, make first joint portion remove in the second direction, and then make the battery take out or lock. Optionally, the first clamping portion has a first guiding surface facing the battery cavity and a second guiding surface facing the outside of the battery cavity, and the first guiding surface and the second guiding surface are both disposed at an acute angle to the second direction. In the above scheme, through the setting of the first guide surface, when making the battery push into the battery chamber, can be along smooth promotion first joint portion withdraw to in the skeleton casing. Through the arra