Battery swapping robot device and full-automatic battery swapping method thereof

Abstract

The application provides a battery replacing robot device and a full-automatic battery replacing method thereof, which realizes the intelligentization of battery replacing by using only a single structure, is simple in structure and battery replacing process, and improves the overall intelligentization level of the battery replacing cabinet. The device comprises a cabinet body and a robot chassis; the robot chassis is arranged at the bottom of the cabinet body and is used for freely walking to a specified position according to requirements; a plurality of battery compartments are arranged in the cabinet body; the openings of the battery compartments are arranged on two sides of the cabinet body, and the battery compartments on the two sides are arranged staggeredly in front and back; an automatic sliding door is further arranged and is used for automatically opening and closing the battery compartments; and a battery in-position detection switch is further arranged and is in a mechanical push rod type structure and is used for detecting whether a battery in the battery compartment reaches a charging position.

Description

Technical Field

[0001] This invention relates to the field of battery swapping technology, and in particular to a battery swapping robot device and its fully automated battery swapping method. Background Technology

[0002] A battery swapping cabinet is a cabinet that can store and automatically charge electric vehicle batteries. It typically has multiple battery compartments, each capable of storing one electric vehicle battery. Users can charge or swap batteries using a display screen or QR code on the cabinet, providing convenient battery charging and swapping services for delivery, courier, and other related industries.

[0003] Existing battery swapping cabinets are generally shaped like supermarket lockers, bulky and difficult to move. This makes it inconvenient for customers to swap batteries in any location, and also makes it difficult to move them to create space for maintenance. Furthermore, they are not easily moved to remove them from hazardous areas. The level of automation is low. Additionally, the battery compartment doors in existing battery swapping cabinets are pop-out doors, requiring users to close them manually, which is inconvenient and hinders overall automation. Therefore, the overall intelligence level of battery swapping cabinets needs further improvement.

[0004] Existing battery swapping robots, such as the Chinese patent with publication number CN217753517U, provide a battery swapping structure, a battery swapping cabinet, a robot, and a robot battery swapping system, which includes a battery swapping robot with a robotic arm for picking up and placing battery packs. Another Chinese patent with publication number CN113844325A provides a control method for an intelligent battery swapping robot based on a wireless communication network, using a small battery swapping robot in conjunction with a battery swapping cabinet to achieve intelligent battery swapping operations. The aforementioned battery swapping robots have complex designs and cumbersome swapping processes. Therefore, the intelligent battery swapping devices and methods for robots need further simplification without compromising the overall intelligence level of the battery swapping device. Summary of the Invention

[0005] To address the technical problems in the background art, the present invention provides a battery swapping robot device and its fully automatic battery swapping method, which achieves intelligent battery swapping with only a single unit structure. The structure and battery swapping process are simple, while improving the overall intelligence level of the battery swapping cabinet.

[0006] To achieve the above objectives, the present invention employs the following technical solution:

[0007] A battery swapping robot device includes a cabinet and a robot chassis;

[0008] The robot chassis is located at the bottom of the cabinet and is used to move freely to a designated location as needed;

[0009] The cabinet contains multiple battery compartments, with the openings of the battery compartments located on two sides of the cabinet, and the battery compartments on the two sides are arranged in a staggered manner.

[0010] It also includes an automatic sliding door, which is located at the opening of the battery compartment and is used to automatically open and close the battery compartment;

[0011] It also includes a battery presence detection switch, which is a mechanical push rod structure installed at the rear end of the battery compartment, used to detect whether there is a battery in the battery compartment that has reached the charging position;

[0012] Furthermore, the cabinet height is no higher than 1400mm, a touch screen is installed on the upper surface of the cabinet, and the upper surface of the cabinet has an inclination angle of 15 to 45 degrees, which is suitable for the operation of the touch screen.

[0013] Furthermore, an advertising space is provided at the front end of the cabinet.

[0014] Furthermore, the battery compartment includes a front battery compartment and a rear battery compartment; the front battery compartment and the rear battery compartment are arranged one in front of the other inside the cabinet, and the openings of the front battery compartment and the rear battery compartment are located on two sides of the cabinet respectively.

[0015] Furthermore, the automatic sliding door includes an upper fixed frame, a lower guide frame, a synchronous belt, a drive motor, a synchronous pulley, a driven pulley, a guide shaft, a sliding seat, a belt pressure plate, a door panel, and guide wheels. The upper fixed frame and the lower guide frame are installed at the upper and lower ends of the opening of the battery compartment. The drive motor, synchronous pulley, driven pulley, and guide shaft are installed on the upper fixed frame. The synchronous belt is horizontally sleeved on the synchronous pulleys and driven pulleys at both ends of the upper fixed frame. The synchronous pulleys are connected to the output shaft of the drive motor. The guide shaft is arranged in the middle of the synchronous belt. The sliding seat is sleeved on the guide shaft. The synchronous belt is connected to the side of the sliding seat through the belt pressure plate. The upper end of the door panel is connected to the sliding seat, and the lower end is installed on the lower guide frame through the guide wheels.

[0016] Furthermore, the automatic sliding door also includes a code disk and a code disk detection sensor. The code disk is mounted on the driven pulley, and the code disk detection sensor is fixed on the upper fixed frame, with its detection port located at the edge of the code disk.

[0017] Furthermore, the automatic sliding door also includes a left limit switch and a right limit switch, which are respectively installed at the left and right ends of the upper fixed frame.

[0018] Furthermore, the battery presence detection switch includes a bracket, a spring, a push rod, and a limit switch; the bracket is installed on the outer rear end of the battery compartment of the battery swapping cabinet, the spring is sleeved on the rear of the push rod, the rear end of the push rod is movably connected to the bracket, and the front end of the push rod extends into the battery compartment of the battery swapping cabinet; the limit switch is installed on the bracket and located on one side of the push rod, so that the push rod can activate the limit switch, and the middle section of the push rod is provided with a recessed section for releasing the limit switch.

[0019] It also includes an automatic power switching system, which automatically switches the charging power supply to the internal power supply when the battery swapping robot moves freely.

[0020] The present invention also provides a fully automated battery swapping method for a battery swapping robot device, comprising the following:

[0021] 1) The battery swapping robot device has an intelligent robot chassis. When the customer issues a battery swapping command, the operator can remotely control the battery swapping robot device to move freely to the location required by the customer.

[0022] 2) The battery swapping robot device has an automatic power switching system. When the battery swapping robot device moves freely, its power supply end is disconnected from the external power supply and automatically switches to the internal power supply, and the internal power supply supplies power to the entire device.

[0023] 3) The battery swapping robot device has a battery compartment door that can be automatically opened and closed, and also has a battery presence detection switch. When the battery swapping robot device arrives at the customer's designated location, the compartment door of the battery swapping robot device opens automatically; when the customer puts the battery into the battery compartment and the battery reaches the charging position, or when the customer takes away the battery, the compartment door of the battery swapping robot device closes automatically after a set delay.

[0024] 4) When the battery swapping robot device returns to its original power supply position, its power supply terminal automatically connects to the external power supply, and the external power supply supplies power to the entire device.

[0025] Furthermore, the fully automated battery swapping method also includes: the battery swapping robot device is equipped with an intelligent voice device that automatically plays voice commands when walking and when it reaches a designated location.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] 1) This invention provides a battery swapping robot device and its fully automatic battery swapping method. The structure and battery swapping process are simple. It does not require a robotic arm or a small battery swapping robot to cooperate with the battery swapping cabinet to achieve intelligent battery swapping operation. It achieves intelligent battery swapping with only a single structure, which improves the overall intelligence level of the battery swapping cabinet.

[0028] 2) The battery swapping robot design of this invention, using a robotic chassis, improves the overall intelligence level of the battery swapping cabinet, enhances the flexibility of relocation of the original, heavier, and less mobile battery swapping cabinet, facilitates battery swapping operations for customers, and also makes it easier to move it during maintenance, freeing up maintenance space. Furthermore, when the location of the battery swapping cabinet is dangerous, it can be remotely controlled to move freely away from hazardous areas, making it suitable for use in stores or communities.

[0029] 3) Existing battery swapping cabinets use a pop-up door design, which requires users to close the door manually, causing inconvenience and hindering overall equipment automation. This invention uses an automatic sliding door to achieve full automation of opening and closing, improving the overall automation level of the equipment. Furthermore, the battery compartment doors are located on two sides of the cabinet, with the compartments staggered front and back, resulting in a more aesthetically pleasing overall layout and providing space for the automatic sliding door to move. Moreover, the automatic sliding door allows for greater efficiency compared to traditional pop-up doors, as multiple users can operate the doors at different positions without interference.

[0030] 4) The battery position detection switch uses the amplification effect of the mechanical push rod to make the detection of the battery position in the compartment safe and reliable. The limit switch does not directly contact the battery, protecting the limit switch from damage caused by mechanical impact. Attached Figure Description

[0031] Figure 1 This is a structural diagram of a battery swapping robot device according to the present invention;

[0032] Figure 2 for Figure 1 Rear view;

[0033] Figure 3 This is an internal structural diagram of the battery swapping robot device of the present invention;

[0034] Figure 4 This is a structural diagram of the automatic sliding door of the present invention;

[0035] Figure 5 This is a structural diagram of the closed state of the automatic sliding door of the present invention;

[0036] Figure 6 This is a structural diagram of the automatic sliding door of the present invention in its open state;

[0037] Figure 7 This is a structural diagram of the battery presence detection switch according to an embodiment of the present invention;

[0038] Figure 8 This is a diagram showing the status of the battery presence detection switch when the battery is not in the charging position.

[0039] Figure 9 for Figure 8A magnified view of the position of the limit switch;

[0040] Figure 10 This is a diagram showing the battery's switch state during the charging phase, according to an embodiment of the present invention.

[0041] Figure 11 for Figure 10 A magnified view of the position of the limit switch;

[0042] Figure 12 This is a structural diagram of the bracket and limit switch installation according to an embodiment of the present invention;

[0043] Figure 13 This is a diagram of the internal structure of the battery compartment of the present invention;

[0044] Figure 14 This is a structural diagram of an automatic power switching system according to an embodiment of the present invention.

[0045] In the diagram: 1-Cabinet 2-Front battery compartment 3-Rear battery compartment 4-Touch screen 5-Advertising space 6-Robot chassis 7-Handle 8-Ventilation hole 9-Automatic sliding door 10-Control unit mounting position 11-Upper fixed frame 12-Lower guide frame 13-Door panel 14-Drive motor 15-Synchronous pulley 16-Driven pulley 17-Synchronous belt 18-Guide shaft 19-Sliding seat 20-Belt pressure plate 21-Code disc 22-Code disc detection sensor 23-Guide wheel 24-Left limit switch 25-Right limit switch 26-Battery in position detection switch 27-Push rod front end 28-Bracket 28-1-Through hole at the rear end 28-2-Through hole at the front end 28-3-Mounting hole 29-Push rod 30-Spring 31-Limit switch 32-Recessed section 33-Charging socket 34-Sloping slide 35-Battery compartment rear plate 36-Battery 37-Detection switch mounting hole 38-Battery compartment 39-Power socket. Detailed Implementation

[0046] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings:

[0047] Example 1

[0048] like Figure 1-14 As shown, a battery swapping robot device includes a cabinet 1 and a robot chassis 6; the robot chassis 6 is located at the bottom of the cabinet 1 and is used to move freely to a designated location as needed.

[0049] The cabinet 1 contains multiple battery compartments 38, with the openings of the battery compartments 38 located on two sides of the cabinet 1, and the battery compartments on the two sides are arranged in a staggered manner.

[0050] It also includes an automatic sliding door 9, which is located at the opening of the battery compartment 38 and is used to automatically open and close the battery compartment 38.

[0051] It also includes a battery presence detection switch 26, which is a mechanical push rod structure and is installed at the rear end of the battery compartment 38. It is used to detect whether there is a battery 36 in the battery compartment 38 that has reached the charging position.

[0052] The battery swapping robot device, based on the robot chassis 6, features a simple design and swapping process. It requires no robotic arm or a small swapping robot working in conjunction with the swapping cabinet to achieve intelligent battery swapping. The single-unit structure achieves intelligent battery swapping, improving the overall intelligence level of the swapping cabinet and enhancing the flexibility of relocation for previously heavy and immobile cabinets. This facilitates battery swapping for customers and allows for easy relocation during maintenance, freeing up maintenance space. Furthermore, it can be remotely controlled to move the swapping cabinet away from hazardous areas, making it suitable for use in stores or communities.

[0053] Example 2

[0054] This embodiment further designs the exterior of the cabinet 1 and the robot chassis 6 based on Embodiment 1.

[0055] like Figure 1-3 As shown in this embodiment, the height of the cabinet 1 is no higher than 1400mm, and the touch screen 4 is installed on the upper surface of the cabinet 1. The upper surface of the cabinet 1 is tilted at an angle of 15 to 45 degrees, which is more ergonomic and suitable for the operation of the touch screen 4.

[0056] In this embodiment, the overall shape of the cabinet 1 is also designed as an arc shape, and a push-pull handle 7 is provided at the rear to facilitate pushing and pulling the cabinet 1.

[0057] In this embodiment, the front of the cabinet 1 can also be designed as an advertising space 5, where an advertising screen can be installed.

[0058] In this embodiment, the upper front part of the cabinet 1 is the control unit mounting position 10, and the rear part is also provided with multiple ventilation holes 8 for heat dissipation of the internal battery and electrical components.

[0059] In this embodiment, the robot chassis 6 is a four-wheel drive, four-turn intelligent robot chassis 6 with hub motor reverse drag braking, and it is equipped with a remote control and can be expanded to other control methods.

[0060] Example 3

[0061] This embodiment further designs the battery compartment inside cabinet 1 based on embodiment 1.

[0062] like Figure 1-3 As shown, the battery compartment includes a front battery compartment 2 and a rear battery compartment 3; the front battery compartment 2 and the rear battery compartment 3 are arranged one in front of the other inside the cabinet 1, and the openings of the front battery compartment 2 and the rear battery compartment 3 are located on the left and right sides of the cabinet 1, respectively.

[0063] Automatic sliding doors 9 are installed at the openings of the front battery compartment 2 and the rear battery compartment 3.

[0064] The automatic sliding door 9 is used to achieve full automation of opening and closing, improving the overall automation level of the equipment. At the same time, the battery compartment doors are set on the two sides of the cabinet 1, and the battery compartments on both sides are arranged in a staggered manner, leaving an advertising space 5 at the front of the cabinet 1. The overall layout is beautiful, and it also provides space for the automatic sliding door 1 to move. Moreover, compared with the traditional pop-up door, the automatic sliding door 9 does not interfere with each other when multiple people operate the door at different positions, thus improving efficiency.

[0065] Example 4

[0066] This embodiment further designs the automatic sliding door 9 based on embodiment three.

[0067] like Figure 4-6 As shown, in this embodiment, the automatic sliding door 9 includes an upper fixed frame 11, a lower guide frame 12, a synchronous belt 17, a drive motor 14, a synchronous pulley 15, a driven pulley 16, a guide shaft 18, a sliding seat 19, a belt pressure plate 20, a door panel 13, and a guide wheel 23.

[0068] The upper fixing frame 11 and the lower guide frame 12 are fixed at the upper and lower ends of the opening of the front battery compartment 2 or the rear battery compartment 3 of the cabinet 1. Half of the upper fixing frame 11 and the lower guide frame 12 are located at the opening of the compartment door, and the other half are located on the side of the compartment door opening, which is the left and right movement position of the door panel 13. The upper fixing frame 11 is directly fixed to the cabinet 1, and the lower guide frame 12 can be directly fixed to the cabinet 1, or it can be fixed to the upper fixing frame 11 at both ends by connecting rods 26.

[0069] The drive motor 14, synchronous pulley 15, driven pulley 16, and guide shaft 18 are mounted on the upper fixed frame 11. The synchronous pulley 15 and driven pulley 16 are fixed at both ends of the upper fixed frame 11, respectively. The synchronous belt 17 is transversely sleeved on the synchronous pulley 15 and driven pulley 16. The synchronous pulley 15 is connected to the output shaft of the drive motor 14. The guide shaft 18 is fixed to the upper fixed frame 11 by fixed seats at both ends and is located in the middle of the synchronous belt 17. The sliding seat 19 is sleeved on the guide shaft 18. The synchronous belt 17 is pressed against the side of the sliding seat 19 by the belt pressure plate 20. The side of the sliding seat 19 has a toothed groove adapted to the synchronous belt 17 and meshes with the synchronous belt 17. The upper end of the door panel 13 is connected to the sliding seat 19, and the lower end of the door panel 13 has a guide wheel 23, which is mounted on the lower guide frame 12. The upper end of the lower guide frame 12 has a guide groove for the left and right sliding of the guide wheel 23.

[0070] The automatic sliding door 9 in this embodiment adopts a synchronous belt drive, which is flexible, accurate in control, low in noise, and has a low failure rate.

[0071] The automatic sliding door 9 also includes an encoder 21 and an encoder detection sensor 22. The encoder 21 is mounted on the driven pulley 16, and the encoder detection sensor 22 is fixed on the upper fixing frame 11, with its detection port located at the edge of the encoder 21. The encoder 21 has a disc-shaped structure with multiple strip-shaped through holes evenly distributed along its edge. The detection principle of the encoder detection sensor 22 is based on the grating detection principle, which is existing technology and will not be detailed here. The automatic sliding door 9 uses the encoder 21 to detect speed and displacement. Combined with a common drive motor 14, speed and position control can be achieved, replacing the expensive servo motor and greatly reducing the overall cost.

[0072] The automatic sliding door 9 also includes a left limit switch 24 and a right limit switch 25, which are respectively installed at the left and right ends of the upper fixed frame 11. One of the left limit switch 24 and the right limit switch 25 is used as the zero starting position, and the other as the extreme limit position, which can limit and protect the left and right movement of the door panel 13.

[0073] In this embodiment, the automatic sliding door 9 is driven by a drive motor 14 to move the door panel 13 left and right via belt transmission to achieve automatic opening and closing. The position and speed are detected by the encoder 21 and encoder detection sensor 22, and the door is fully automatically controlled to open and close in conjunction with the control unit of the battery swapping cabinet.

[0074] Example 5

[0075] This embodiment further designs the battery presence detection switch 26 based on Embodiment 1.

[0076] like Figure 7-13As shown, the battery presence detection switch 26 in this embodiment is installed at the rear end of the battery compartment 38 and includes a bracket 28, a spring 30, a push rod 29 and a limit switch 31. The bracket 28 is installed on the outer side of the rear end of the battery compartment 38 of the battery swapping cabinet. The spring 30 is sleeved on the rear part of the push rod 29. The rear end of the push rod 29 is movably connected to the bracket 28, and the front end 27 of the push rod extends into the battery compartment 38 of the battery swapping cabinet.

[0077] Limit switch 31 is mounted on bracket 28 and located on one side of push rod 29, so that push rod 29 can activate limit switch 31. Push rod 29 has a recessed section 32 in the middle section for releasing limit switch 31.

[0078] The push rod 29 has a cylindrical structure, with the diameter of the rear part being smaller than that of the middle and front parts, and is used to install the spring 30.

[0079] like Figure 13 As shown, this is the structure of the battery compartment 38 in this embodiment. The rear end of the battery compartment 38 is a battery compartment rear plate 35, on which a charging socket 33 is provided. The bottom of the battery compartment 38 is provided with a ramp slide 34 for facilitating the sliding of the battery 36. The battery presence detection switch 26 of this invention is installed on the outside of the battery compartment rear plate 35, and the bracket 28 is installed on the bracket mounting hole 37. The front end 27 of the push rod extends into the battery compartment 38 through the through hole of the battery compartment rear plate 35.

[0080] like Figure 8-9 The diagram shows the state of the detection switch when battery 36 is not in the charging position. At this time, limit switch 31 is pressed by the side of push rod 29, and limit switch 31 is in the triggered state, indicating that battery 36 has not reached the designated charging position. Figure 10-11 The diagram shows the state of the detection switch when battery 36 is in the charging position. When battery 36 reaches the designated charging position, the rear end of battery 36 presses against the front end 27 of push rod 29, causing push rod 29 to move backward and compress spring 30. When the recessed section 32 of push rod 29 reaches limit switch 31, limit switch 31 is in the released state, indicating that battery 36 has not reached the designated charging position. When battery 36 is removed, spring 30 is released, and push rod 29 returns to its original position.

[0081] In this embodiment, the battery compartment 38 is provided with a charging socket 33 at the rear, and the designated charging position is the position where the battery 36 is inserted into the charging socket 33. The battery presence detection switch 26 of the present invention can also be used in the design of the battery compartment 38 without a charging socket 33, using a stop or other design as the designated charging position.

[0082] The battery position detection switch 26 of the battery swapping cabinet of the present invention uses the amplification effect of the mechanical push rod to make the detection of the battery 36 in the compartment position safe and reliable. The limit switch 31 (mechanical, electromagnetic or photoelectric) does not directly contact the battery 5, protecting the limit switch 11 from mechanical impact and damage.

[0083] Example 6

[0084] This embodiment further designs the automatic power switching system based on Embodiment 1.

[0085] This embodiment also includes an automatic power switching system, which is used to automatically switch the charging power supply to the internal power supply when the battery swapping robot moves freely.

[0086] like Figure 2 , 14 The diagram shown is a structural diagram of the automatic power switching system of this embodiment. The automatic power switching system of this embodiment includes a fixed-position power plug, a power supply socket 39 for the battery swapping cabinet, an AC / DC module, a DC bus for the battery swapping cabinet, and a DC / DC bidirectional module. The power supply socket 39 for the battery swapping cabinet is located at the rear of the battery swapping robot device, and the AC / DC module, the DC bus for the battery swapping cabinet, and the DC / DC bidirectional module are located on the circuit board of the battery swapping robot device.

[0087] When the battery swapping robot moves freely, its power supply terminal disconnects from the external power supply (the power supply socket 39 of the battery swapping cabinet disconnects from the fixed-position power plug), and the power supply terminal switches to the internal power supply, which powers the entire device. When the battery swapping robot returns to its original power supply position, its power supply terminal connects to the external power supply (the power supply socket 39 of the battery swapping cabinet connects to the fixed-position power plug), and the external power supply, via the AC / DC module, connects to the DC bus of the battery swapping cabinet to power the entire device.

[0088] like Figure 14 As shown, the internal power supply option is the batteries in the battery compartment, which are connected to the DC bus of the battery swapping cabinet via a DC / DC bidirectional module. When the battery swapping robot returns to its original power supply position and is powered by an external power source, the DC bus of the battery swapping cabinet charges the batteries in the battery compartment via the DC / DC bidirectional module. When the battery swapping robot moves freely, the batteries in the battery compartment supply power to the DC bus of the battery swapping cabinet in reverse via the DC / DC bidirectional module. At this time, 1-2 fully charged batteries are kept in the battery compartment for user battery swapping (DC / DC bidirectional module disconnected), and the remaining batteries in the battery compartment are connected to the DC bus of the battery swapping cabinet via the DC / DC bidirectional module to provide internal power to the entire device.

[0089] like Figure 14 As shown, the internal power supply option can also be a backup battery. When the battery swapping robot device moves freely, the backup battery can also be used as the internal power supply to power the entire device.

[0090] Example 7

[0091] like Figure 1-14 As shown in the figure, this embodiment provides a fully automated battery swapping method for a battery swapping robot device, including the following:

[0092] 1) The battery swapping robot device has an intelligent robot chassis 6. When the customer issues a battery swapping command, the operator can remotely control the battery swapping robot device to move freely to the location required by the customer.

[0093] 2) The battery swapping robot device has an automatic power switching system. When the battery swapping robot device moves freely, its power supply end is disconnected from the external power supply and automatically switches to the internal backup power supply, which supplies power to the entire device.

[0094] 3) The battery swapping robot device has a battery compartment door (automatic sliding door 9) that can be automatically opened and closed, and also has a battery presence detection switch 26. When the battery swapping robot device reaches the customer's designated location, the compartment door of the battery swapping robot device opens automatically; when the customer puts the battery into the battery compartment 38 and the battery 36 reaches the charging position, or when the customer takes away the battery, the compartment door of the battery swapping robot device closes automatically after a set delay.

[0095] 4) When the battery swapping robot device returns to its original power supply position, its power supply terminal automatically connects to the external power supply, and the external power supply supplies power to the entire device.

[0096] The fully automated battery swapping method further includes: the battery swapping robot device also has an intelligent voice device that automatically plays voice commands when walking and when it reaches a designated location.

[0097] In the above embodiments, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0098] The above embodiments are implemented based on the technical solution of the present invention, providing detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the above embodiments. Once those skilled in the art understand the basic inventive concept, they can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of this application. If these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A battery swapping robot device, characterized in that, Including the cabinet and the robot chassis; The robot chassis is located at the bottom of the cabinet and is used to move freely to the designated location; The cabinet contains multiple battery compartments, with the openings of the battery compartments located on two sides of the cabinet, and the battery compartments on the two sides are arranged in a staggered manner. It also includes an automatic sliding door, which is located at the opening of the battery compartment and is used to automatically open and close the battery compartment. The automatic sliding door includes an upper fixed frame, a lower guide frame, a synchronous belt, a drive motor, a synchronous pulley, a driven pulley, a guide shaft, a sliding seat, a belt pressure plate, a door panel, guide wheels, a code disk, a code disk detection sensor, a left limit switch, and a right limit switch. The upper fixed frame and the lower guide frame are installed at the upper and lower ends of the opening of the battery compartment. The drive motor, synchronous pulley, driven pulley, and guide shaft are installed on the upper fixed frame. The synchronous belt is horizontally fitted onto the synchronous pulleys and driven pulleys at both ends of the upper fixed frame, and the synchronous pulleys are connected to the output shaft of the drive motor. The guide shaft is arranged in the middle of the synchronous belt, and the sliding seat is fitted onto the guide shaft. The synchronous belt is connected to the side of the sliding seat through the belt pressure plate. The upper end of the door panel is connected to the sliding seat, and the lower end is installed on the lower guide frame through the guide wheel. The code disk is fitted onto the driven pulley, and the code disk detection sensor is fixed on the upper fixed frame. It also includes a battery presence detection switch, which is a mechanical push rod structure installed at the rear end of the battery compartment to detect whether there is a battery in the battery compartment that has reached the charging position. The battery presence detection switch includes a bracket, a spring, a push rod, and a limit switch. The bracket is installed on the outer side of the rear end of the battery compartment of the battery swapping cabinet, the spring is sleeved on the rear part of the push rod, the rear end of the push rod is movably connected to the bracket, and the front end of the push rod extends into the battery compartment of the battery swapping cabinet. The limit switch is installed on the bracket and located on one side of the push rod, so that the push rod can touch the limit switch. The middle section of the push rod has a recessed section for releasing the limit switch.

2. The battery swapping robot device according to claim 1, characterized in that, The cabinet height is no more than 1400mm, and a touch screen is installed on the upper surface of the cabinet. The upper surface of the cabinet is tilted at an angle of 15 to 45 degrees to facilitate the operation of the touch screen.

3. The battery swapping robot device according to claim 1, characterized in that, The front end of the cabinet has an advertising space.

4. The battery swapping robot device according to claim 1, characterized in that, The battery compartment includes a front battery compartment and a rear battery compartment; the front battery compartment and the rear battery compartment are arranged one in front of the other inside the cabinet, and the openings of the front battery compartment and the rear battery compartment are located on two sides of the cabinet respectively.

5. The battery swapping robot device according to claim 1, characterized in that, It also includes an automatic power switching system, which automatically switches the power supply to the internal power supply when the battery swapping robot moves freely.

6. A fully automated battery swapping method for a battery swapping robot device, applied to the battery swapping robot device according to any one of claims 1 to 5, characterized in that, Including the following: 1) The battery swapping robot device has an intelligent robot chassis. When the customer issues a battery swapping command, the operator can remotely control the battery swapping robot device to move freely to the location required by the customer. 2) The battery swapping robot device has an automatic power switching system. When the battery swapping robot device moves freely, its power supply end is disconnected from the external power supply and automatically switches to the internal power supply, and the internal power supply supplies power to the entire device. 3) The battery swapping robot device has a battery compartment door that can be automatically opened and closed, and also has a battery presence detection switch. When the battery swapping robot device arrives at the customer's designated location, the compartment door of the battery swapping robot device opens automatically; when the customer puts the battery into the battery compartment and the battery reaches the charging position, or when the customer takes away the battery, the compartment door of the battery swapping robot device closes automatically after a set delay. 4) When the battery swapping robot device returns to its original power supply position, its power supply terminal automatically connects to the external power supply, and the external power supply supplies power to the entire device.

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