A battery replacement system applied to an outdoor robot

Abstract

The embodiment of the specification discloses a battery replacement system applied to an outdoor robot, relates to the technical field of robots, and comprises a battery clamping assembly, a first horizontal moving device, a battery carrying assembly, a second horizontal moving device, a vertical moving device, a battery charging container and a robot wireless charging assembly; the battery clamping assembly is arranged on the first horizontal moving device, the battery clamping assembly is driven to move horizontally by the first horizontal moving device, and the charging battery of the outdoor robot is taken and placed by the battery clamping assembly; the second horizontal moving device is driven to move vertically by the vertical moving device, and the battery carrying assembly is driven to move horizontally by the second horizontal moving device; the robot wireless charging assembly is arranged outside the charging container and is connected with the outdoor robot, when the battery clamping assembly clamps the charging battery in the outdoor robot, the charging battery is charged, and the outdoor robot is wirelessly charged by the robot wireless charging assembly.

Description

Technical Field

[0001] This specification relates to the field of robotics, and more particularly to a battery replacement system for outdoor robots. Background Technology

[0002] With the continuous development of science and technology, outdoor mobile robots have seen tremendous growth in fields such as substation inspection, hazardous chemical plant inspection, outdoor delivery, and security patrol due to their strong outdoor working capabilities. However, their limited battery life restricts the full potential of outdoor robots.

[0003] Most outdoor robots are charged using charging stations. When a robot needs charging, it is controlled to return to the charging station or charging station for charging. However, since most outdoor mobile robots perform continuous operations, the charging time at the station or charging station is relatively long, causing interruptions in the robot's work and failing to meet the needs of long-term continuous operation. Summary of the Invention

[0004] This specification provides one or more embodiments of a battery replacement system for outdoor robots, which solves the following technical problem: Since most of the work of outdoor mobile robots is continuous, the charging time for returning to the station or charging pile is long, resulting in the interruption of the work of outdoor mobile robots and failing to meet the needs of long-term continuous operation.

[0005] One or more embodiments of this specification employ the following technical solutions:

[0006] This specification provides one or more embodiments of a battery replacement system for an outdoor robot. The battery replacement system includes a battery gripping assembly, a first horizontal moving device, a battery carrying assembly, a second horizontal moving device, a vertical moving device, a battery charging container, and a robot wireless charging assembly. The first horizontal moving device and the vertical moving device are both ball screw structures, and the second horizontal moving device is a transmission structure. The battery gripping assembly is mounted on the first horizontal moving device, and the first horizontal moving device drives the battery gripping assembly to move horizontally, facilitating the loading and unloading of the outdoor robot's rechargeable battery. The battery carrying assembly is used to store the rechargeable battery. In the second horizontal moving device, the second horizontal moving device is connected to the vertical moving device; the vertical moving device drives the second horizontal moving device to move vertically, and the second horizontal moving device drives the battery carrying assembly to move horizontally, so as to place the rechargeable battery in the battery carrying assembly into the charging container and / or the outdoor robot; the charging container is used to charge the rechargeable battery; the robot wireless charging assembly is disposed on the outside of the charging container and connected to the outdoor robot. When the battery gripping assembly grips the rechargeable battery in the outdoor robot and charges the rechargeable battery, the robot wireless charging assembly wirelessly charges the outdoor robot.

[0007] Furthermore, the robot wireless charging component includes a wireless charging module transmitter and a wireless charging module receiver. The wireless charging module transmitter is disposed on the outside of the charging container, and the wireless charging module receiver is disposed on the outdoor robot.

[0008] Furthermore, the second horizontal moving device includes a second power component, a gear component, and a rack component. The gear component is disposed on the vertical moving device, the rack component is connected to the gear component, the battery carrying component is disposed on the rack component, and the power component is used to provide power to the gear component and the rack component.

[0009] Furthermore, the battery carrying assembly includes a battery tray and a tray fixing member, the tray fixing member being connected to the battery tray and fixing the battery tray to the second horizontal moving device through the tray fixing member.

[0010] Furthermore, the first horizontal moving device includes a horizontally arranged lead screw, a first nut structure, a transmission structure, and a first driving assembly. The transmission structure is connected to the horizontal lead screw, and the first nut structure is disposed on the horizontal lead screw. The first nut structure is fixedly connected to the battery clamping assembly. The first driving assembly is used to provide power to the transmission structure to drive the horizontal lead screw to move. Through the movement of the horizontal lead screw, the first nut structure is driven to move horizontally.

[0011] Furthermore, the vertical moving device includes a first vertical lead screw, a second vertical lead screw, a second drive assembly, and a second nut structure; both the first vertical lead screw and the second vertical lead screw are perpendicular to the ground, the second nut structure is disposed on the first vertical lead screw and the second vertical lead screw, and the second drive assembly is disposed in the second nut structure for driving the second nut structure to move along the first vertical lead screw and the second vertical lead screw.

[0012] Furthermore, the tray fixing component includes a threaded hole and a screw post, wherein the threaded hole is disposed on the inner side of the battery tray, and the screw post is disposed in the gear assembly of the second horizontal moving device.

[0013] Furthermore, the tray fixing component is a rotatable threaded device, and also includes a fixing drive assembly for driving the rotatable threaded device.

[0014] Furthermore, it also includes a chassis assembly, which includes a movable structure and a support chassis, the movable structure being disposed at the bottom of the support chassis.

[0015] Furthermore, a trapezoidal groove is provided on the inner side of the battery clamping assembly.

[0016] The above-mentioned at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects: Through the above technical solution, the outdoor robot can be charged outdoors by replacing the battery, while a wireless charging component is provided to power the robot, avoiding the need for the robot to return to the station for charging and saving charging time; in addition, charging by replacing the battery avoids the robot's charging waiting time, and the use of a wireless charging component to power the robot when the battery is removed achieves continuous power supply for the outdoor robot, which is conducive to the continuous operation of the outdoor robot and meets the continuous operation requirements of the outdoor robot. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0018] Figure 1 This is an application diagram of a battery replacement system for an outdoor robot, provided as an embodiment of this specification.

[0019] Figure 2 This is a partial structural diagram of an outdoor robot provided in an embodiment of this specification;

[0020] Figure 3 This specification provides a schematic diagram of a battery replacement system for an outdoor robot, as illustrated in an embodiment.

[0021] Figure 4 This is a schematic diagram of the structure of a battery carrier assembly provided in an embodiment of this specification;

[0022] Figure 5 This is a schematic diagram of the structure of the second horizontal moving device provided in the embodiments of this specification;

[0023] Figure 6 This is a schematic flowchart illustrating an outdoor robot charging method using a battery replacement system, as provided in an embodiment of this specification.

[0024] Reference numerals: 1. Outdoor mobile robot; 2. Battery replacement system; 3. Battery; 4. Wireless charging module receiver; 5. Wireless charging module transmitter; 6. Battery charging container; 7. Battery clamping assembly; 8. Battery carrying assembly; 9. First horizontal moving device; 10. Vertical moving device; 11. Second horizontal moving device; 12. Rack assembly; 13. Pallet fixing component. Detailed Implementation

[0025] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0026] With the continuous development of science and technology, outdoor mobile robots have seen tremendous growth in fields such as substation inspection, hazardous chemical plant inspection, outdoor delivery, and security patrol due to their strong outdoor working capabilities. However, their limited battery life restricts the full potential of outdoor robots.

[0027] Most outdoor robots are charged using charging stations. When a robot needs charging, it is controlled to return to the charging station or charging station for charging. However, since most outdoor mobile robots perform continuous operations, the charging time at the station or charging station is relatively long, causing interruptions in the robot's work and failing to meet the needs of long-term continuous operation.

[0028] This specification provides an embodiment of a battery replacement system for outdoor robots. Figure 1 This specification provides an application diagram of a battery replacement system for an outdoor robot, as shown in the embodiments. Figure 1 As shown, the battery replacement system 2 is applied to the outdoor mobile robot 1 to perform battery replacement and charging operations on the outdoor mobile robot 1. Figure 2 This is a partial structural diagram of an outdoor robot provided in an embodiment of this specification, such as... Figure 2 As shown, the outdoor mobile robot includes a battery 3 and a wireless charging module receiver 4.

[0029] Figure 3 This is a schematic diagram illustrating the structure of a battery replacement system for an outdoor robot, provided as an embodiment of this specification. Figure 3 As shown, the battery replacement system includes a battery gripping assembly 7, a first horizontal moving device 9, a battery carrying assembly 8, a second horizontal moving device 11, a vertical moving device 10, a battery charging container 6, and a robot wireless charging assembly. Figure 3 As shown, when the outdoor robot needs to be charged, the battery 3 on the outdoor robot 1 is clamped by the battery clamping component 7 and placed in the battery carrying component 8 so that the battery 3 can be charged by the first horizontal moving device 9, the second horizontal moving device 11, the vertical moving device 10, and the battery charging container 6; when the charging is completed, the battery 3 after the charging is completed is clamped by the battery clamping component 7 and placed in the outdoor robot 1.

[0030] In one embodiment of this specification, both the first horizontal moving device 9 and the vertical moving device 10 are ball screw structures, and the second horizontal moving device 11 is a transmission structure. It should be noted that a ball screw structure can also be called a ball screw rod. A ball screw is a product that converts rotary motion into linear motion, or vice versa; it is the most commonly used transmission element in machine tools and precision machinery. Its main function is to convert rotary motion into linear motion, or torque into axial reciprocating force, while also possessing the characteristics of high precision, reversibility, and high efficiency. Due to its very low frictional resistance, ball screws are widely used in various industrial equipment and precision instruments. A ball screw consists of a screw, nut, steel balls, preload plates, a reversing device, and a dust collector.

[0031] In one embodiment of this specification, Figure 4 This is a schematic diagram of the structure of a battery carrier assembly provided in an embodiment of this specification, such as... Figure 4 As shown, the battery carrier assembly 4 is used to store the rechargeable battery. The battery carrier assembly 4 is disposed in the second horizontal moving device 11, which is connected to the vertical moving device 10. The vertical moving device 10 drives the second horizontal moving device 11 to move vertically, and the second horizontal moving device 11 drives the battery carrier assembly 4 to move horizontally, so as to place the rechargeable battery in the battery carrier assembly 4 into the charging container and / or the outdoor robot.

[0032] The movement of the first horizontal moving device controls the battery gripping assembly to pick up and place the robot battery in the battery carrying assembly. A vertical moving device then moves the battery carrying assembly vertically. Once it reaches the height of the charging container, a second horizontal moving device moves the battery carrying assembly horizontally, pushing the battery into the charging container to charge the robot battery. When charging is complete and the robot battery needs to be placed in the outdoor robot, the fully charged battery is placed in the battery carrying assembly. The second horizontal moving device moves the battery carrying assembly, and the vertical moving device moves it vertically. When it reaches the designated position, the first horizontal moving device controls the battery gripping assembly to place the fully charged robot battery into the outdoor robot.

[0033] Specifically, the charging container is used to charge the rechargeable battery.

[0034] In one embodiment of this specification, the charging container can be a charging box. There can be one or multiple charging boxes. A fully charged battery can also be placed in the charging container in advance to facilitate battery replacement for the robot.

[0035] In one embodiment of this specification, a robot wireless charging component is disposed on the outside of the charging container and connected to the outdoor robot. When the battery clamping component clamps the rechargeable battery in the outdoor robot and charges the rechargeable battery, the outdoor robot is wirelessly charged through the robot wireless charging component.

[0036] In one embodiment of this specification, the battery replacement system further includes a robot wireless charging component, which can be a wireless charging module. During actual robot charging, if the robot's battery is low, it needs to return to a charging station or charging pile for recharging. During this process, the robot will terminate its operation. To avoid interruptions, a robot wireless charging module is included in the battery replacement system. When the battery gripping component grips the rechargeable battery in the robot for charging, the robot is wirelessly charged via the wireless charging component, ensuring continuous robot operation.

[0037] Specifically, the first horizontal moving device includes a horizontally arranged lead screw, a first nut structure, a transmission structure, and a first drive assembly. The transmission structure is connected to the horizontal lead screw, the first nut structure is disposed on the horizontal lead screw, and the first nut structure is fixedly connected to the battery clamping assembly. The first drive assembly is used to provide power to the transmission structure to drive the horizontal lead screw to move, and through the movement of the horizontal lead screw, the first nut structure is driven to move horizontally.

[0038] In one embodiment of this specification, the first horizontal moving device includes a horizontal lead screw, a first nut structure, a transmission structure, and a first driving assembly. The horizontal lead screw is arranged parallel to the ground, and the first nut structure is disposed on the horizontal lead screw. The movement of the horizontal lead screw drives the first nut structure to move horizontally. The battery clamping assembly is fixed to the first nut structure, and the horizontal movement of the first nut structure drives the horizontal movement of the battery clamping assembly.

[0039] In one embodiment of this specification, the transmission structure is connected to a horizontal lead screw, and a first drive assembly provides power to the transmission structure to drive the horizontal lead screw to move. The movement of the horizontal lead screw, in turn, drives the first nut structure to move horizontally. The transmission structure here can be a synchronous belt or a gear; this embodiment does not specifically limit its application.

[0040] Specifically, the second horizontal moving device includes a second power assembly, a gear assembly, and a rack assembly. The gear assembly is disposed on the vertical moving device, the rack assembly is connected to the gear assembly, the battery carrying assembly is disposed on the rack assembly, and the power assembly is used to provide power to the gear assembly and the rack assembly.

[0041] In one embodiment of this specification, Figure 5This is a schematic diagram of the structure of the second horizontal moving device provided in the embodiments of this specification, as shown below. Figure 5 Therefore, the second horizontal moving device 11 is located on the second nut structure of the vertical moving device 10, and mainly includes a second power component, a gear component and a rack component. The gear component is set on the vertical moving device, the rack component 12 is connected to the gear component, the battery carrying component 8 is set on the rack component 12, and the power component is used to provide power to the gear component and the rack component. The power component can be a small DC servo motor.

[0042] Specifically, the vertical moving device includes a first vertical lead screw, a second vertical lead screw, a second drive assembly, and a second nut structure; the first vertical lead screw and the second vertical lead screw are both perpendicular to the ground, the second nut structure is disposed on the first vertical lead screw and the second vertical lead screw, and the second drive assembly is disposed in the second nut structure for driving the second nut structure to move along the first vertical lead screw and the second vertical lead screw.

[0043] In one embodiment of this specification, the vertical movement device includes a first vertical lead screw, a second vertical lead screw, a second drive assembly, and a second nut structure. Both the first and second vertical lead screws are perpendicular to the ground and are arranged parallel to each other. The second nut structure is mounted on both the first and second vertical lead screws, and the second drive assembly is housed within the second nut structure. Here, the second drive assembly can be a servo motor. The servo motor within the second nut structure drives the second nut structure to move vertically along the first and second vertical lead screws, achieving vertical movement and vertical transport of the battery.

[0044] In one embodiment of this specification, the battery gripping assembly 7 is disposed on the first horizontal moving device 9, and the battery gripping assembly 7 is moved horizontally by the first horizontal moving device 9 to facilitate the picking and placing of the rechargeable battery of the outdoor robot; the inner side of the battery gripping assembly is provided with a trapezoidal groove.

[0045] In one embodiment of this specification, the battery gripping assembly can be a robotic arm structure that grips the battery. To increase the success rate of battery gripping, a trapezoidal groove is provided inside the robotic arm to facilitate battery gripping and effectively prevent sliding doors during the gripping process.

[0046] Specifically, the battery carrying assembly includes a battery tray and a tray fixing member, which is connected to the battery tray and fixes the battery tray to the second horizontal moving device.

[0047] Specifically, the tray fixing component includes a threaded hole and a screw post, wherein the threaded hole is located on the inner side of the battery tray, and the screw post is located in the gear assembly of the second horizontal moving device.

[0048] In one embodiment of this specification, the battery carrying assembly includes a battery tray and a tray fixing member. The tray fixing member secures the tray to the rack assembly of the second horizontal moving device, preventing the battery from falling due to uneven force on the battery tray.

[0049] In one embodiment of this specification, the tray fixing member 13 can be fixed by a threaded fastener. The tray fixing member 13 can also be referred to as a fixing member 13. That is, the tray fixing member includes a threaded hole and a screw post. The threaded hole is provided on the inner side of the tray, and the screw post is fixed in the gear assembly of the second horizontal moving device 11. The battery tray is fixed by the cooperation of the screw post and the threaded hole. It can be understood that the second horizontal moving device 11 is located on the second nut structure of the vertical moving device 10, that is, the gear assembly of the second horizontal moving device is fixed to the second nut structure of the vertical moving device. Fixing the screw post in the gear assembly of the second horizontal moving device 11 can also be understood as fixing the screw post to the second nut structure of the second horizontal moving device 11.

[0050] Specifically, the tray fixing component is a rotatable threaded device, and also includes a fixed drive assembly for driving the rotatable threaded device.

[0051] In one embodiment of this specification, the tray fixing component can be manually fixed. However, to meet the requirements of automatic battery replacement systems and save labor costs, the tray fixing component can also be configured as a rotatable threaded device, similar to a ball screw, and equipped with a fixing drive assembly. This fixing drive assembly can be a small DC motor.

[0052] Specifically, the battery replacement system also includes a chassis assembly comprising a movable structure and a support chassis, the movable structure being disposed at the bottom of the support chassis.

[0053] In one embodiment of this specification, the robot battery replacement system can also be equipped with a mobile chassis as a mobile robot charging station. In this way, the mobile robot charging station finds an outdoor robot to exchange batteries, thus replacing the process of the outdoor robot returning to the station for charging. This is more conducive to the outdoor robot's continuous and uninterrupted operation.

[0054] Figure 6 This is a schematic flowchart illustrating an outdoor robot charging method using a battery swapping system, as provided in the embodiments of this specification. Figure 6 As shown, use as Figure 3 The battery replacement system shown charges the outdoor robot using the following method:

[0055] First, the first horizontal moving device 9 drives the battery clamping component 7 to move into the robot body. The battery fixing device unlocks, and after the battery clamping component clamps the battery, the first horizontal moving device 9 begins to move back, clamping the battery onto the battery carrying component 8. The tray fixing component on the second horizontal moving device 11 fixes the main battery device.

[0056] The fixing component 13 can be threaded, with threaded holes on the battery tray. The fixing component is similar to a ball screw, a rotatable threaded device powered by a small DC motor. After the fixing action is completed, the first horizontal moving device 9 continues to move backward until it moves above the entire battery tray structure. Then, the vertical moving device transports the battery to the designated charging box 6, and the second horizontal moving device 11 pushes the battery into the charging box 6, where it begins charging. During the battery swapping process, the robot and the automatic battery swapping station supply power to the robot via the robot's wireless charging module receiver 4 and wireless charging module transmitter 5, preventing power outages that could disrupt the workflow. Alternatively, the robot charging station can be converted into a mobile robot charging station. This allows the mobile charging station to swap batteries with an outdoor robot, replacing the outdoor robot's return to the station for charging, thus facilitating continuous and uninterrupted operation for the outdoor robot. Removing the battery from the charging box is the reverse of the above process and will not be described further.

[0057] The above technical solution allows for battery charging of the outdoor robot outdoors via battery replacement, while simultaneously providing wireless charging power to the robot. This avoids the need for the robot to return to a charging station, saving charging time. Furthermore, charging by replacing the battery eliminates the robot's waiting time for charging. When the battery is removed, the wireless charging component powers the robot, ensuring continuous power supply for the outdoor robot. This facilitates continuous operation of the outdoor robot and meets its continuous working requirements.

[0058] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, devices, and non-volatile computer storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0059] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0060] The devices, media, and methods provided in the embodiments of this specification are one-to-one correspondences. Therefore, the devices and media also have similar beneficial technical effects as their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0061] Those skilled in the art will understand that embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0062] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0063] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0064] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0065] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0066] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0067] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0068] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0069] The above description is merely one or more embodiments of this specification and is not intended to limit this specification. Various modifications and variations can be made to the one or more embodiments of this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of one or more embodiments of this specification should be included within the scope of the claims of this specification.

Claims

1. A battery replacement system for outdoor robots, characterized in that, The battery replacement system includes a battery clamping assembly, a first horizontal moving device, a battery carrying assembly, a second horizontal moving device, a vertical moving device, a battery charging container, and a robot wireless charging assembly. The first horizontal moving device and the vertical moving device are both ball screw structures, and the second horizontal moving device is a transmission structure. The battery gripping assembly is mounted on the first horizontal moving device. The first horizontal moving device drives the battery gripping assembly to move horizontally, so as to pick up and put in the rechargeable battery of the outdoor robot through the battery gripping assembly. The battery carrier assembly is used to store the rechargeable battery. The battery carrier assembly is disposed in the second horizontal moving device, which is connected to the vertical moving device. The vertical moving device drives the second horizontal moving device to move vertically, and the second horizontal moving device drives the battery carrying assembly to move horizontally, so as to place the rechargeable battery in the battery carrying assembly into the charging container and / or the outdoor robot. The charging container is used to charge the rechargeable battery; The robot wireless charging component is located on the outside of the charging container and connected to the outdoor robot. When the battery clamping component clamps the rechargeable battery in the outdoor robot and charges the rechargeable battery, the outdoor robot is wirelessly charged through the robot wireless charging component. The second horizontal moving device includes a second power component, a gear component, and a rack component. The gear component is disposed on the vertical moving device, the rack component is connected to the gear component, the battery carrying component is disposed on the rack component, and the power component is used to provide power to the gear component and the rack component. The battery carrying assembly includes a battery tray and a tray fixing member. The tray fixing member is connected to the battery tray and fixes the battery tray to the second horizontal moving device through the tray fixing member. The tray fixing component includes a threaded hole and a screw post, wherein the threaded hole is disposed on the inner side of the battery tray, and the screw post is disposed in the gear assembly of the second horizontal moving device; The tray fixing component is a rotatable threaded device, and also includes a fixing drive assembly for driving the rotatable threaded device.

2. The battery replacement system for an outdoor robot according to claim 1, characterized in that, The robot wireless charging assembly includes a wireless charging module transmitter and a wireless charging module receiver. The wireless charging module transmitter is located on the outside of the charging container, and the wireless charging module receiver is located on the outdoor robot.

3. The battery replacement system for an outdoor robot according to claim 1, characterized in that, The first horizontal moving device includes a horizontally arranged horizontal lead screw, a first nut structure, a transmission structure, and a first drive assembly. The transmission structure is connected to the horizontal lead screw, and the first nut structure is disposed on the horizontal lead screw. The first nut structure is fixedly connected to the battery clamping assembly. The first drive assembly is used to provide power to the transmission structure to drive the horizontal lead screw to move, and the movement of the horizontal lead screw drives the first nut structure to move horizontally.

4. The battery replacement system for an outdoor robot according to claim 1, characterized in that, The vertical moving device includes a first vertical lead screw, a second vertical lead screw, a second drive assembly, and a second nut structure. Both the first vertical lead screw and the second vertical lead screw are perpendicular to the ground. The second nut structure is disposed on the first vertical lead screw and the second vertical lead screw. The second drive assembly is disposed in the second nut structure and is used to drive the second nut structure to move along the first vertical lead screw and the second vertical lead screw.

5. A battery replacement system for an outdoor robot according to claim 1, characterized in that, It also includes a chassis assembly, which includes a movable structure and a load-bearing chassis, the movable structure being disposed at the bottom of the load-bearing chassis.

6. A battery replacement system for an outdoor robot according to claim 1, characterized in that, The battery clamping assembly has a trapezoidal groove on its inner side.

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