Battery pack of mobile robot and mounting module for replacing battery pack

Abstract

The invention discloses a battery pack of a mobile robot and a mounting module for replacing the battery pack of the mobile robot. The battery pack is detachably coupled to the mobile robot and includes a battery pack housing and a latch device. A latch device is provided in the battery pack case and selectively coupled to a locking groove formed in a side wall of a battery accommodating groove of the robot body.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of Korean Patent Application No. 10-2023-0117373 filed in the Korean Intellectual Property Office on September 5, 2023, and Korean Patent Application No. 10-2024-0094827 filed in the Korean Intellectual Property Office on July 18, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a battery pack of a mobile robot and a mounting module for replacing the battery pack. Background Art

[0004] In recent years, with the active development of mobile robots, mobile robots have been increasingly used in various fields.

[0005] Generally, a mobile robot can travel using the power charged in a battery. However, since the capacity of the battery is limited, the mobile robot cannot be used continuously. In addition, even if the battery mounted on the mobile robot is charged, the mobile robot cannot be used for a long time.

[0006] In the case where the mobile robot cannot be used due to limited battery capacity or long charging time as described above, the device using the mobile robot may not be able to operate. In order to continuously operate the device using the mobile robot, an additional mobile robot may be purchased for backup, which may incur additional expenses and increase the management cost of the mobile robot.

[0007] The above information disclosed in this Background section is only provided to help better understanding of the background of the present disclosure and therefore may include information that is not included in the prior art that is known to those skilled in the art to which the present disclosure belongs. Summary of the invention

[0008] The present disclosure seeks to provide a battery pack that enables continuous use of a mobile robot and a mounting module for replacing the battery pack.

[0009] According to an embodiment, a battery pack detachably coupled to a mobile robot is provided, the battery pack comprising: a battery pack housing; and a latch device disposed in the battery pack housing and selectively coupled to a locking groove formed in a side wall of a battery receiving groove of a robot body.

[0010] A latch receiving groove may be formed at a bottom of the battery pack case and receive the latch device.

[0011] At least one guide groove may be formed at the bottom of the battery pack housing.

[0012] The latch device may include: a latch body including a latch receiving groove; a latch handle movable in the latch receiving groove; and a latch elastic body providing elastic force to the latch handle.

[0013] The latch elastic body may provide elastic force in a direction in which the latch handle is coupled to the robot body.

[0014] The latch handle may include: a handle body; and a handle locking portion extending from both end portions of the handle body and formed in a shape corresponding to a shape of the latch receiving groove.

[0015] A latch claw may be formed in the latch accommodating groove, a locking claw may be formed on the handle locking portion of the latch handle, and as the latch handle moves, the locking claw may be selectively caught by the latch claw.

[0016] According to an embodiment, a mounting module is provided, which includes: an end plate on which a battery pack is selectively placed; a swing arm to rotate the end plate; and a horizontal transport device to transport the swing arm in a predetermined direction, wherein the swing arm rotates the end plate to separate the battery pack from the robot body of the mobile robot or to connect the battery pack to the robot body of the mobile robot.

[0017] The swing arm may include: a mounting plate on which the first link driver and the second link driver are mounted; and a plurality of link arms rotated by power of the first link driver and the second link driver.

[0018] The link arm may include a first link arm rotated by receiving power from a first link driver, and a second link arm rotatable on the first link arm and rotated by receiving power from the first link driver and the second link driver.

[0019] The end plate may include: an end body; a guide protrusion formed on the end body; and a latch release protrusion formed on the end body.

[0020] As the end plate moves, the guide protrusion may be inserted into a guide groove formed in the battery pack, and the latch release protrusion may selectively release a latch device provided on the battery pack.

[0021] When the battery pack is separated from the robot body of the mobile robot, the horizontal transport device can move the mounting plate in the horizontal direction, so that the latch release protrusion of the end plate moves the handle body of the latch handle in the battery pack in the horizontal direction, and the handle locking portion of the latch handle is separated from the locking groove of the robot body.

[0022] When the handle locking portion of the latch handle is separated from the locking groove of the robot body, the end plate on which the battery pack is placed can be moved downward by the operation of the link arm, so that the battery pack is placed on the replacement plate of the replacement module and a gap is formed between the lower surface of the replacement plate and the upper surface of the end plate.

[0023] When the battery pack is installed on the robot body of the mobile robot, the end plate on which the battery pack is placed can be moved upward from its initial position through the operation of the link arm by utilizing the torque generated by the external force detected by the first torque sensor of the first link driver or the second torque sensor of the second link driver, and be set at the center of the battery receiving slot of the robot body in the mobile robot.

[0024] When no torque generated by external force is detected by the first torque sensor of the first link driver or the second torque sensor of the second link driver, the swing arm can move the end plate where the battery pack is placed upward until the battery terminals of the battery pack are electrically connected to the robot terminals of the mobile robot.

[0025] The latch release protrusion of the end plate can be moved by using the swing arm and the horizontal conveying device to insert the handle locking portion of the latch device into the locking groove of the battery receiving groove.

[0026] When the torque generated by external force is detected by the first torque sensor of the first connecting rod driver or the second torque sensor of the second connecting rod driver, the end plate can be controlled to be horizontal by rotating the swing arm in a direction opposite to the direction of the torque generated by the external force detected by the first torque sensor or the second torque sensor.

[0027] The latch release protrusion of the end plate can be moved by using the swing arm and the horizontal conveying device to insert the handle locking portion of the latch device into the locking groove of the battery receiving groove.

[0028] In some embodiments, the charging station can enable continuous use of the mobile robot by quickly replacing the battery pack installed on the mobile robot.

[0029] In some embodiments, the charging station can reduce the cost incurred by purchasing a mobile robot for separate backup and the cost incurred by managing the mobile robot.

[0030] Other effects that can be obtained or predicted by the embodiments of the present disclosure are disclosed directly or implicitly in the detailed description of the embodiments of the present disclosure. That is, various effects predicted based on the embodiments of the present disclosure are disclosed in the detailed description described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are provided only for reference to describe exemplary embodiments of the present disclosure. Therefore, the spirit of the present disclosure should not be interpreted as being limited to the accompanying drawings.

[0032] Figure 1 is a block diagram illustrating an example configuration of a charging station using the mounting module 500 .

[0033] Figure 2 is a conceptual diagram illustrating an example configuration of a mobile robot.

[0034] Figures 3 to 5 are perspective views each showing an example configuration of a battery pack of a charging station applied to a mobile robot.

[0035] Figure 6 is a conceptual diagram showing an example state in which a battery pack is mounted on a robot body of a mobile robot.

[0036] Figure 7 and Figure 8 are perspective views each showing an example configuration of a charging station for a mobile robot.

[0037] 9A to 9C are diagrams respectively illustrating example configurations of a door opening and closing device of a mobile robot.

[0038] Fig.10 and Fig.11 are perspective views each showing an example configuration of a mounting module.

[0039] Fig.12 is a perspective view showing an example configuration of a charging module.

[0040] FIG. 13A to FIG. 13D are diagrams each illustrating an example configuration of a charging tower.

[0041] Fig.14 and Fig.15 are perspective views each showing an example configuration of a replacement module.

[0042] Figures 16 to 27 are diagrams respectively illustrating example operations of a charging station. DETAILED DESCRIPTION

[0043] Hereinafter, the specification describes a charging station for a mobile device (eg, a mobile robot) in detail with reference to the accompanying drawings.

[0044] In some embodiments, such as Figure 1 As shown, the charging station of the mobile robot 100 may include: an installation module 500, which separates or installs a battery pack 200 that is detachably connected to the robot body 110 of the mobile robot 100; a charging module 600, which charges the battery pack 200 separated by the installation module 500; and a replacement module 700, which transports the battery pack 200 separated by the installation module 500 to the charging module 600.

[0045] In some examples, the mounting module 500 , the replacement module 700 , and the charging module 600 may be disposed in the charging cover 400 .

[0046] The specification describes the mobile robot 100 and the battery pack 200 in detail with reference to the accompanying drawings.

[0047] Figure 2 is a conceptual diagram showing the configuration of the mobile robot 100 . Figures 3 to 5 1 and 2 are perspective views respectively showing the configuration of the battery pack 200 applied to the charging station of the mobile robot 100 . Figure 6 2 is a conceptual diagram showing a state in which the battery pack 200 is mounted on the robot body 110 of the mobile robot 100 .

[0048] like Figures 2 to 6 As shown, the battery pack 200 may be detachably coupled to the robot body 110 of the mobile robot 100. To this end, a battery receiving groove 120 into which the battery pack 200 is inserted may be formed in the robot body 110, and the battery receiving groove 120 may be formed at the bottom of the robot body 110. A locking groove 121 may be formed in the side wall 722 of the battery receiving groove 120. A pair of locking grooves 121 may be provided, and the pair of locking grooves 121 may face each other.

[0049] The battery pack 200 may include: a battery pack housing 210 embedded with a battery for supplying power to the mobile robot 100; and a latch device 300, disposed in the battery pack housing 210 and selectively connected to a locking groove 121 formed in a side wall 722 of a battery receiving groove 120 of the robot body 110.

[0050] The latch receiving groove 311 may be formed at the bottom of the battery pack case 210 and receive the latch device 300 , and the latch device 300 may be movably received in the latch receiving groove 311 .

[0051] In addition, at least one guide groove 212 may be formed at the bottom of the battery pack case 210 .

[0052] The latch device 300 may include a latch body 310 including a latch receiving groove 311 , a latch handle 320 movable in the latch receiving groove 311 , and a latch elastic body 350 providing elastic force to the latch handle 320 .

[0053] The latch elastic body 350 may provide elastic force in a direction in which the latch handle 320 is coupled to the robot body 110. To this end, the latch elastic body 350 may be implemented as a compression coil spring.

[0054] A latch claw 312 may be formed at the center of a latch receiving groove 311 formed in the latch body 310. That is, the latch receiving groove 311 may be formed substantially in an "S" shape.

[0055] The latch handle 320 may be formed substantially in a “U” shape, and include a handle body 330 and handle locking parts 340 extending from both ends of the handle body 330 .

[0056] The handle locking portion 340 may be formed in a shape corresponding to the shape of the latch receiving groove 311, and a locking claw 341 may be formed at the center of the handle locking portion 340. That is, the handle locking portion 340 may be formed substantially in an "S" shape.

[0057] When the latch handle 320 moves, the locking claw 341 of the handle locking portion 340 can be caught by the latch claw 312 of the latch receiving groove 311. Therefore, the latch claw 312 can serve as a stopper for the latch handle 320. That is, as the latch handle 320 moves, the handle locking portion 340 of the latch handle 320 can be selectively caught by the latch claw 312 of the latch receiving groove 311.

[0058] The latch elastic body 350 may provide elastic force to the end of the handle locking part 340. The latch elastic body 350 may provide elastic force in a direction in which the end of the handle locking part 340 is inserted into the locking groove 121 of the robot body 110.

[0059] The handle locking portion 340 may be selectively inserted into a locking groove 121 formed in a side wall 722 of the battery receiving groove 120 of the robot body 110. When the handle locking portion 340 is inserted into the locking groove 121, the battery pack housing 210 of the battery pack 200 may be fixed to the battery mounting groove of the robot body 110. When the handle locking portion 340 is separated from the locking groove 121, the battery pack housing 210 of the battery pack 200 may be separated from the battery mounting groove of the robot body 110.

[0060] The latch body 310 may be rotatably coupled to the pack case 210. The latch body 310 may be rotatably coupled to a latch shaft 360 provided in the pack case 210.

[0061] On the other hand, a battery terminal 220 may be provided at the top of the battery pack 200. The battery terminal 220 may include a battery data terminal 221, a battery positive terminal 222, and a battery negative terminal 223.

[0062] The robot terminal 130 may be provided in the battery receiving groove 120 of the robot body 110. The robot terminal 130 may include a robot data terminal 131, a robot positive terminal 132, and a robot negative terminal 133.

[0063] When the battery pack 200 is accurately inserted into the battery receiving slot 120 of the robot body 110, the battery data terminal 221, the battery positive terminal 222 and the battery negative terminal 223 of the battery terminal 220 can be electrically connected to the robot data terminal 131, the robot positive terminal 132 and the robot negative terminal 133 of the robot terminal 130 respectively.

[0064] Figure 7 and Figure 8 The figures are perspective views respectively showing the arrangement of charging stations of the mobile robot 100 .

[0065] Reference Figure 7 and Figure 8 , the mounting module 500 , the replacement module 700 , and the charging module 600 may be disposed inside the charging cover 400 .

[0066] The charging cover 400 may include a lower cover 410 and an upper cover 420 coupled to the lower cover 410. The lower cover 410 and the upper cover 420 may be coupled to each other to form an accommodation space therein, and the mounting module 500, the replacement module 700, and the charging module 600 may be disposed in the accommodation space.

[0067] A power supply device 430 may be provided at the center of the charging cover 400. When the mobile robot 100 is placed on the charging cover 400, the power supply device 430 may supply power to the mobile robot 100. Power may be supplied to the mobile robot 100 through the power supply device 430, thereby preventing the operation of the mobile robot 100 from being stopped even when the battery pack 200 is separated from the mobile robot 100.

[0068] The charging cover 400 may be provided with a battery door 421 and a door opening and closing device 900, and the door opening and closing device 900 opens and closes the battery door 421 for inserting the battery pack 200 into the replacement module 700. The battery door 421 may be opened and closed by the door opening and closing device 900 for inserting the battery pack 200 from outside the charging station into the replacement module 700 provided in the charging station.

[0069] The battery door 421 may be rotatably installed on the upper cover 420 of the charging cover 400. A pair of the battery doors 421 may be provided.

[0070] Reference 9A to 9C The door opening and closing device 900 may include: a docking portion, which is arranged in the docking shell 901 and is movable in the vertical direction by the weight of the mobile robot 100; and a rotating device 930, which opens or closes the battery door 421 by rotating the battery door 421 based on the movement of the docking portion.

[0071] The docking portion may include an upper docking portion 910 movable in a vertical direction by the weight of the robot, and a lower docking portion 920 movable in the vertical direction based on the movement of the upper docking portion 910 .

[0072] The upper docking portion 910 may include a support body 911 , a main support rod 912 integrally formed with the support body 911 , a main support elastic body 913 providing elastic force to the main support rod 912 , and an upper connecting rod 914 integrally formed with the main support rod 912 .

[0073] The robot body 110 of the mobile robot 100 may be placed and supported on top of the support body 911 .

[0074] The main support rod 912 may be integrally formed with the bottom of the support body 911 and may be substantially formed in a long cylindrical shape in the vertical direction. The main support rod 912 may be formed in a cylindrical shape with a hollow interior. The upper end of the main support rod 912 may be connected to the support body 911.

[0075] The main support elastic body 913 may be disposed in the main support rod 912 and provide elastic force for the support body 911 and the main support rod 912 to move upward between the upper docking portion and the lower docking portion. The main support elastic body 913 may be implemented as a compression coil spring.

[0076] The upper connection rod 914 may be generally formed in a plate shape and movable integrally with the support body 911 and the main support rod 912 .

[0077] The lower docking portion may include a main support guide 921 for guiding the movement of the main support rod 912, an auxiliary support guide 922 for guiding the movement of the upper connecting rod 914, a lower support elastomer 923 arranged between the auxiliary support guide 922 and the upper connecting rod 914 to provide elastic force, and a lower connecting rod 924 provided with the main support guide 921 and the auxiliary support guide 922.

[0078] The main support guide 921 can guide the movement of the main support rod 912 in the vertical direction, and the main support elastomer 913 can be set between the support body 911, the main support rod 912 and the main support guide 921, and provide elastic force for the support body 911 and the main support rod 912 to move upward.

[0079] The auxiliary support guide 922 may be formed in a long cylindrical shape in a vertical direction to guide the movement of the upper connecting rod 914. A pair of the auxiliary support guides 922 may be provided.

[0080] The lower support elastic body 923 may be disposed on the lower connection rod 924 and the auxiliary support guide 922, and may provide elastic force for the upward movement of the lower connection rod 924. The lower support elastic body 923 may be implemented as a tension coil spring.

[0081] The main support guide 921 and the auxiliary support guide 922 may be disposed on the top of the lower connection rod 924, and the lower connection rod 924 may move in a vertical direction based on the movement of the upper connection rod 914. The lower connection rod 924 may move while being generally formed in a plate shape.

[0082] The rotating device 930 may include a rack gear 931 provided at an end of the lower connecting rod 924 of the lower docking portion 920 and a pinion gear 932 gear-coupled with the rack gear 931 .

[0083] The rack gear 931 may be provided on each of both end portions of the lower connection rod 924 , and move in a vertical direction based on the movement of the lower connection rod 924 .

[0084] The pinion gear 932 may be provided in the docking housing 901 and rotated based on the movement of the rack gear 931 to open or close the battery door 421. The pinion gear 932 and the battery door 421 may be rotatable in the docking housing 901.

[0085] Hereinafter, the specification describes the operation of the door opening and closing device 900 in detail.

[0086] Reference Fig. 9B When the mobile robot 100 is not placed on the charging cover 400 , the lower docking portion 920 can move upward by the elastic force of the auxiliary supporting elastic body, and the upper docking portion 910 can maintain its upward movement by the elastic force of the main supporting elastic body 913 .

[0087] That is, the upper docking portion 910 and the lower docking portion 920 may have their initial positions, and the upper docking portion 910 and the lower docking portion 920 may move to their upper initial positions by the elastic force of the main supporting elastic body 913 and the auxiliary supporting elastic body. Therefore, the battery door 421 may remain closed.

[0088] Reference Fig. 9C When the mobile robot 100 is placed on the charging cover 400 , the upper docking portion 910 may move downward by overcoming the elastic force of the main supporting elastic body 913 applied by the self-weight of the mobile robot 100 .

[0089] As the upper docking portion 910 moves downward, the upper connecting rod 914 of the upper docking portion 910 may contact the lower connecting rod 924 of the lower docking portion 920 and push the lower connecting rod 924 downward.

[0090] When the lower connecting rod 924 moves downward, the rack gear 931 provided on the lower connecting rod 924 may move downward, and the pinion gear 932 gear-coupled with the rack gear 931 may rotate to open the battery door 421 .

[0091] When the mobile robot 100 is separated from the charging cover 400 , the upper docking portion 910 and the lower docking portion 920 may be moved to their initial positions in the reverse order described above.

[0092] Fig.10 and Fig.11 The following are perspective views each showing the configuration of the mounting module 500 .

[0093] Reference Fig.10 and Fig.11 , the mounting module 500 may include a swing arm 520 that rotates the end plate 560 and a horizontal conveying device 550 that conveys the swing arm 520 in a predetermined direction.

[0094] The swing arm 520 and the horizontal transfer device 550 may rotate the end plate 560 in a predetermined direction to separate the battery pack 200 from the robot body 110 of the mobile robot 100 or to couple the battery pack 200 to the robot body 110 of the mobile robot 100 .

[0095] To this end, the swing arm 520 may include a mounting plate 510 on which a first link driver 530 and a second link driver 540 are mounted, and a plurality of link arms rotated by power of the first link driver 530 and the second link driver 540 .

[0096] The link arm may include a first link arm 533 that rotates by receiving power from the first link driver 530 , and a second link arm 542 that is rotatable on the first link arm 533 and rotates by receiving power from the first link driver 530 and the second link driver 540 .

[0097] The first connecting rod driver 530 may be implemented as a motor. The first torque sensor 532 may be provided at the first connecting rod driver 530. The first torque sensor 532 may detect torque applied to the first connecting rod driver 530, and the torque applied to the first connecting rod driver 530 may be transmitted to the controller 800.

[0098] The first driving pulley 531 may be coupled to a driving shaft of the first connecting rod driver 530 .

[0099] The second link driver 540 may be implemented as a motor. The second torque sensor 541 may be provided at the second link driver 540. The second torque sensor 541 may detect torque applied to the second link driver 540, and the torque applied to the second link driver 540 may be transmitted to the controller 800.

[0100] The second driving pulley may be coupled to the drive shaft of the second linkage driver 540 .

[0101] The first driven pulley 534 and the first auxiliary pulley 535 may be coupled to one end of the first link arm 533 , and the second driven pulley 543 and the second auxiliary pulley 544 may be coupled to the other end of the first link arm 533 .

[0102] The second driven pulley 543 and the second auxiliary pulley 544 may be coupled to one end of the second link arm 542 , and the third driven pulley 545 may be coupled to the other end of the second link arm 542 .

[0103] The first driving pulley 531 of the first link driver 530 and the first driven pulley 534 of the first link arm 533 may be connected to each other by a first belt 546 .

[0104] The first driven pulley 534 of the first link arm 533 and the third driven pulley 545 of the second link arm 542 may be connected to each other by a second belt 547 .

[0105] The second driving pulley of the second link driver 540 and the first auxiliary pulley 535 of the first link arm 533 may be connected to each other by a first auxiliary belt 548 .

[0106] The first auxiliary pulley 535 of the first link arm 533 and the second auxiliary pulley 544 of the second link arm 542 may be connected to each other by a second auxiliary belt 549 .

[0107] When the driving shaft of the first link driver 530 rotates in one direction (eg, clockwise), the first link arm 533 and the second link arm 542 may rotate in one direction.

[0108] When the driving shaft of the first link driver 530 rotates in another direction (eg, counterclockwise), the first link arm 533 and the second link arm 542 may rotate in another direction.

[0109] When the driving shaft of the second link driver 540 rotates in one direction (eg, clockwise), the second link arm 542 may rotate in one direction.

[0110] When the driving shaft of the second link driver 540 rotates in another direction (eg, counterclockwise), the second link arm 542 may rotate in another direction.

[0111] Here, when the rotation speed (or the rotation amount) of each of the first link driver 530 and the second link driver 540 is adjusted, the rotation angles of the first link arm 533 and the second link arm 542 may be adjusted to be different from each other.

[0112] If necessary, a pair of first link drivers 530 , a pair of first link arms 533 , and a pair of second link arms 542 may be respectively provided, and the pair of first link arms 533 and the pair of second link arms 542 may respectively face each other.

[0113] The end plate 560 may include an end body 561 formed substantially in a plate shape, a guide protrusion 562 formed on the end body 561 , and a latch release protrusion 563 formed on the end body 561 .

[0114] The guide protrusion 562 and the latch release protrusion 563 may be spaced apart from each other by a predetermined distance in the moving direction of the end plate 560 .

[0115] The end plate 560 may be mounted at an end of a link arm, for example, an end of the second link arm 542. The rotation angle of the end plate 560 may be adjusted based on the rotation angle of the link arm (or the rotation angle of the second link arm 542).

[0116] The guide protrusion 562 may be slidably inserted into the guide groove 212 formed at the bottom of the battery pack 200. The guide protrusion 562 may be inserted into the guide groove 212, so that the battery pack 200 is stably placed on the end plate 560.

[0117] The latch release protrusion 563 may apply force to the handle body 330 of the latch handle 320 in the latch device 300. The handle body 330 of the latch handle 320 may be moved by the operation of the latch release protrusion 563, thereby separating the handle locking portion 340 from the locking groove 121 of the robot body 110.

[0118] The horizontal transfer device 550 may include a transfer driver 551 and a transfer guide 552 , and the transfer guide 552 moves the mounting plate 510 along a straight line through the transfer driver 551 .

[0119] The transport drive 551 may be implemented by a linear motor.

[0120] The mounting plate 510 may be linearly moved forward and backward by the operation of the transport driver 551 .

[0121] The end plate 560 of the mounting module 500 may have three degrees of freedom through the swing arm 520 and the horizontal transport device 550. That is, the end plate 560 may have a degree of freedom in a linear motion direction through the horizontal transport device 550, a degree of freedom in a rotational motion direction through the first link arm 533, and a degree of freedom in a rotational motion direction through the second link arm 542.

[0122] Fig.12 is a perspective view showing the configuration of the charging module 600. In addition, FIG. 13A to FIG. 13D 2 are diagrams respectively showing the configurations of the charging tower 620 .

[0123] Reference Figures 12 to 13D The charging module 600 can charge the battery pack 200 placed on the replacement plate 710 of the replacement module 700. A plurality of charging modules 600 can be arranged along the circumferential direction of the replacement module 700.

[0124] The charging module 600 may include a power conversion device 610 that supplies direct current power to the battery pack 200 and a charging tower 620 that supplies the direct current power converted by the power conversion device 610 to the battery pack 200 .

[0125] The power conversion device 610 can convert commercial power into DC power.

[0126] A plurality of charging towers 620 may be provided along the circumferential direction of the replacement module 700. In some examples, four charging towers 620 may be provided. The charging tower 620 may supply the DC power converted from the power conversion device 610 to the battery pack 200.

[0127] The charging tower 620 may include a tower fixing portion 621 , a tower moving portion 640 movable at an upper side of the tower fixing portion 621 , and a tower driver 623 providing power to the tower moving portion 640 .

[0128] A charging terminal 630 electrically connected to the power conversion device 610 may be provided at the tower moving part 640. The charging terminal 630 may include a charging data terminal 631, a charging positive terminal 632, and a charging negative terminal 633 corresponding to the battery data terminal 221, the battery positive terminal 222, and the battery negative terminal 223 of the battery terminal 220 in the battery pack 200, respectively.

[0129] The tower moving part 640 may include a charging body 650 , a charging terminal body 660 , a charging guide 670 , and a charging elastic body 680 .

[0130] The charging body 650 may be movable in a vertical direction by power of the tower driver 623. The charging terminal body 660 may be movable integrally with the charging body 650.

[0131] The charging terminal body 660 may be provided in the charging body 650 , and the charging terminal 630 may be provided at the charging terminal body 660 .

[0132] The charging guide 670 may be disposed between the charging body 650 and the charging terminal body 660 , and the charging terminal body 660 may be slidably movable in a vertical direction in the charging guide 670 .

[0133] The charging guide 670 may be spaced apart from the charging body 650 by a predetermined distance and elastically supported on the charging body 650 by the charging elastic body 680. The charging guide 670 may be formed roughly in the shape of a square with a hollow interior to surround the charging terminal body 660. A charging chamfer 671 may be formed at the lower end of the charging guide 670. The charging guide 670 may float relative to the charging body 650 through the charging elastic body 680. That is, a predetermined distance interval may be formed between the charging guide 670 and the charging body 650. The charging guide 670 may guide the outer side of the battery terminal 220 of the battery pack 200.

[0134] In some cases, the battery pack 200 may not be disposed at a correct position of the charging tower 620. In this case, the charging terminal 630 may not be properly contacted with the battery terminal 220.

[0135] In some embodiments, the charging guide 670 can guide the outside of the battery terminal 220, and then the charging terminal 630 can contact the battery terminal 220.

[0136] The charging elastic body 680 may be disposed between the charging body 650 and the charging guide 670, and provide elastic force to the charging guide 670. The charging elastic body 680 may provide elastic force for the charging guide 670 to move downward.

[0137] When the battery pack 200 is disposed at the lower end of the charging tower 620 , the tower moving part 640 may move downward by the power of the tower driver 623 .

[0138] Here, the charging body 650, the charging terminal body 660, and the charging guide 670 of the tower moving part 640 can also move downward. However, the charging guide 670 can be set below the charging terminal body 660 by the elastic force of the charging elastic body 680, and the end of the charging guide 670 can first contact the battery terminal 220 of the battery pack 200. Here, the charging chamfer 671 of the charging guide 670 can guide the outer side of the battery terminal 220, so that the charging terminal 630 is accurately set on the top of the battery terminal 220 (see Fig. 13C ).

[0139] When the charging guide 670 contacts the battery terminal 220 and then the tower moving part 640 continuously moves downward, the charging terminal body 660 can continuously move downward by overcoming the elastic force of the charging elastic body 680, so that the charging terminal 630 and the battery terminal 220 can accurately contact each other (see Fig.13D ).

[0140] That is, when the charging data terminal 631, the charging positive terminal 632, and the charging negative terminal 633 are respectively contacted with the battery data terminal 221, the battery positive terminal 222, and the battery negative terminal 223 of the battery pack 200 as the tower moving part 640 moves downward, the battery pack 200 can be recharged. Here, the battery data terminal 221 and the charging data terminal 631 can be electrically connected to each other, thereby transmitting information about the battery pack 200 to the controller 800.

[0141] Fig.14 and Fig.15 The following are three-dimensional views each showing the configuration of the replacement module 700.

[0142] Reference Fig.14 and Fig.15 , the replacement module 700 can transport the battery pack 200 separated from the mobile robot 100 to the charging module 600.

[0143] To this end, the replacement module 700 may include a replacement plate 710 , a replacement mounting portion 720 disposed in a circumferential direction of the replacement plate 710 , and a replacement driver 730 providing power to rotate the replacement plate 710 .

[0144] The replacement plate 710 may be rotatable relative to the lower cover 410 .

[0145] The replacement plate 710 may be formed substantially in a disk shape, and a plurality of replacement mounting portions 720 may be formed in the circumferential direction of the replacement plate 710. In some examples, five replacement mounting portions 720 may be formed in the circumferential direction of the replacement plate 710. The replacement mounting portions 720 may have the same distance in the circumferential direction of the replacement plate 710.

[0146] The change drive 730 may be implemented as a motor.

[0147] The driving shaft of the changing driver 730 and the changing plate 710 may be connected to each other by a changing belt 733 .

[0148] The first replacement pulley 731 may be mounted on a driving shaft of the replacement driver 730, and the second replacement pulley 732 may be mounted at the bottom center of the replacement plate 710. In addition, the first replacement pulley 731 and the second replacement pulley 732 may be connected to each other by a replacement belt 733.

[0149] The power generated by the changing driver 730 may be transmitted to the changing plate 710 through the first changing pulley 731 , the changing belt 733 , and the second changing pulley 732 , thereby rotating the changing plate 710 .

[0150] The replacement mounting portion 720 may include a mounting groove 724 formed in the replacement plate 710 and a mounting wall 721 adjacent to the mounting groove 724 .

[0151] The mounting groove 724 may be formed in a radial direction of the replacement plate 710 and be formed substantially in a square shape.

[0152] The mounting wall 721 may include a pair of side walls 722 formed at both sides of the mounting groove 724 and an inner wall 723 formed in the mounting groove 724 in a radial direction.

[0153] The pair of side walls 722 may support left and right sides of the battery pack 200 , and the inner wall 723 may support the inner side of the battery pack 200 in a radial direction.

[0154] A dimension of the mounting groove 724 in a width direction may be narrower than a width of the battery pack 200 , and a width between the pair of side walls 722 may correspond to the width of the battery pack 200 .

[0155] The dimension of the mounting groove 724 in the width direction may be narrower than the width of the battery pack 200 , thereby enabling the battery pack 200 to be seated on the replacement plate 710 .

[0156] In addition, the pair of side walls 722 can support both sides of the battery pack 200, thereby stably supporting the movement of the battery pack 200 when the replacement plate 710 rotates and allowing the battery pack 200 to move to a correct position of the charging module 600.

[0157] The charging station of the mobile robot 100 may include a controller 800 that controls operations of the mounting module 500 , the replacement module 700 , and the charging module 600 .

[0158] The controller 800 may be implemented as at least one processor operated by a predetermined program, and a memory of the controller 800 may store program instructions programmed to execute each step of the control method of the charging station of the mobile robot 100 according to the present disclosure through the at least one processor.

[0159] Hereinafter, the specification describes the operation of the charging station of the mobile robot 100 in detail with reference to the accompanying drawings.

[0160] The specification describes a process of separating or coupling the battery pack 200 from the robot body 110 of the mobile robot 100 by using the mounting module 500 .

[0161] Reference Figure 6 , the battery pack 200 may be mounted in the battery receiving groove 120 of the robot body 110 in the mobile robot 100 . Here, the latch locking portion of the battery pack 200 may be inserted into the locking groove 121 of the robot body 110 .

[0162] The specification describes a separation process of separating the battery pack 200 from the robot body 110 in the mobile robot 100 .

[0163] When the mobile robot 100 is placed on top of the charging cover 400 of the charging station, the end plate 560 may be disposed on the bottom of the battery pack 200 in a direction horizontal to the battery pack 200 of the mobile robot 100 through the swing arm 520 and the horizontal conveyor 550 .

[0164] The horizontal conveying device 550 can move the mounting plate 510 in the horizontal direction, so that the latch release protrusion 563 of the end plate 560 moves the handle body 330 of the latch handle 320 in the battery pack 200 in the horizontal direction. Therefore, the handle locking portion 340 of the latch handle 320 can be separated from the locking groove 121 of the robot body 110 (see Fig.16 ).

[0165] When the handle locking portion 340 of the latch handle 320 is separated from the locking groove 121 of the robot body 110, the end plate 560 moves toward the bottom of the mobile robot 100 through the operation of the link arm, and the battery pack 200 mounted on the end plate 560 can also move downward (see FIG. Fig.17 ).

[0166] When the end plate 560 and the battery pack 200 continue to move downward, the bottom of the battery pack 200 can be placed on the replacement plate 710 of the replacement module 700 (see Fig.18 Here, both sides of the battery pack 200 may be supported by the mounting wall 721 of the replacement module 700 .

[0167] The end plate 560 can be lowered below the mounting slot 724 of the replacement plate 710 (see Fig.19 ). Therefore, when the replacement plate 710 rotates, the replacement plate 710 and the end plate 560 can be prevented from interfering with each other. That is, when the end plate 560 is lowered below the replacement plate 710, a gap can be formed between the lower surface of the replacement plate 710 and the upper surface of the end plate 560.

[0168] When the battery pack 200 is placed on the replacement plate 710 of the replacement module 700, the replacement plate 710 can be rotated by the replacement driver 730, and the battery pack 200 placed on the replacement plate 710 can be arranged in the same manner as the charging tower 620 of the charging module 600 (see Fig. 20 ).

[0169] When the battery pack 200 is disposed on the charging tower 620 , the tower driver 623 of the charging tower 620 may move downward, and the charging terminal 630 of the tower moving part 640 may contact the battery terminal 220 of the battery pack 200 .

[0170] When the charging terminal 630 of the tower moving part 640 and the battery terminal 220 of the battery pack 200 are in contact and electrically connected to each other, the DC power converted by the power conversion device 610 may be supplied to the battery pack 200 , thereby charging the battery pack 200 .

[0171] When charging the battery pack 200 , the battery data terminal 221 of the battery pack 200 and the charging data terminal 631 of the charging tower 620 may be electrically connected to each other, and the controller 800 may communicate with the battery pack 200 .

[0172] The controller 800 may receive the battery information by communicating with the battery pack 200. The battery information transmitted from the battery pack 200 may include a state of charge (SOC), a state of health (SOH), a battery internal resistance, and a battery charge count.

[0173] The controller 800 may select a battery pack 200 to be mounted on the mobile robot 100 among a plurality of battery packs 200 mounted on the replacement plate 710 of the replacement module 700. That is, the controller 800 may select a battery pack 200 to be mounted on the mobile robot 100 based on the SOC and SOH of the battery pack.

[0174] Here, the controller 800 may select a battery pack 200 that can be fully charged in the shortest time among the plurality of battery packs 200 placed on the replacement plate 710 of the replacement module 700 as the first priority replacement battery pack 200. The battery pack 200 that can be fully charged in the shortest time may be the battery pack 200 with the highest (1-SOH)*SOC. The battery pack 200 that can be fully charged in the shortest time may be selected as the replacement battery pack 200, thereby quickly replacing the battery pack 200 of the mobile robot 100.

[0175] The controller 800 may select a battery pack 200 having the largest power capacity among the plurality of battery packs 200 placed on the replacement plate 710 of the replacement module 700 as the second priority replacement battery pack 200. The battery pack 200 having the largest power capacity may be a battery pack 200 having the highest SOC*SOH. The battery pack 200 having the largest power capacity may be selected as the second priority replacement target, thereby maximizing the operating time of the mobile robot 100.

[0176] The controller 800 may determine a defective battery pack 200 based on the SOH, internal resistance, and number of charges of the battery pack 200 seated on the replacement module 700 and charged using the charging module 600 , and release the defective battery pack 200 outwardly from the charging station by using the mounting module 500 .

[0177] For example, when the SOH of the battery pack is less than a reference SOH, the internal resistance of the battery pack is greater than a reference resistance, or the number of charge times of the battery pack is greater than a reference number, the controller 800 may determine a defective battery pack 200 and release the defective battery pack 200 from the charging station.

[0178] If necessary, the controller 800 may display the state of the defective battery pack 200 through the display device 810 (eg, a display).

[0179] Next, the specification describes in detail a process of installing the battery pack 200 in the robot body 110 .

[0180] When the battery pack 200 is fully charged, the controller 800 may rotate the replacement plate 710 of the replacement module 700 to place the fully charged battery pack 200 at the bottom of the robot body 110 in the mobile robot 100 (see Fig. 20 ).

[0181] In addition, the controller 800 may move the end plate 560 from its initial position to the bottom of the fully charged battery pack 200 by utilizing the horizontal conveying device 550 of the mounting module 500. Here, the initial position of the end plate 560 refers to a state in which the first link arm 533 and the second link arm 542 remain horizontal with the bottom of the charging cover 400 and the upper surface of the end plate 560 is also horizontal with the bottom surface of the charging cover 400. Alternatively, the initial position may refer to a state in which the upper surface of the end plate 560 and the lower surface of the replacement plate 710 are horizontal with each other.

[0182] When the mounting module 500 is disposed at the initial position, a space may be formed between the lower surface of the replacement plate 710 and the upper surface of the end plate 560. Therefore, the replacement plate 710 and the end plate 560 may be prevented from interfering with each other.

[0183] The link arm can be operated to move the end plate 560 on which the battery pack 200 is placed upward from the initial position (see Fig.21 and Fig. 22 ).

[0184] The controller 800 can perform a centering task of setting the end plate 560 at the center of the battery receiving slot 120 of the robot body 110 in the mobile robot 100 by utilizing the torque generated by the external force detected by the first torque sensor 532 of the first link driver 530 or the second torque sensor 541 of the second link driver 540.

[0185] Specifically, the first torque sensor 532 of the first link driver 530 and the second torque sensor 541 of the second link driver 540 may respectively detect torques generated by external forces.

[0186] The controller 800 may determine whether torque generated by an external force is detected by the first torque sensor 532 or the second torque sensor 541 .

[0187] When the torque generated by the external force is detected by the first torque sensor 532 or the second torque sensor 541 , the controller 800 may temporarily stop raising the end plate 560 through the swing arm 520 .

[0188] The controller 800 may determine the direction of the torque generated by the external force detected by the first torque sensor 532 or the second torque sensor 541, and rotate the end plate 560 in the direction opposite to the direction of the torque generated by the external force by using the swing arm 520 (see Fig.23 ).

[0189] Here, the controller 800 may rotate the end plate 560 until a torque generated by an external force is detected (see Fig.24 ).

[0190] For example, when it is determined that the direction of the torque detected by the first torque sensor 532 or the second torque sensor 541 is counterclockwise, the controller 800 may rotate the end plate 560 clockwise by using the link arm.

[0191] On the contrary, when it is determined that the direction of the torque detected by the first torque sensor 532 or the second torque sensor 541 is the clockwise direction, the controller 800 may rotate the end plate 560 counterclockwise by using the link arm.

[0192] When the end plate 560 is rotated in a direction opposite to the direction of the torque generated by the external force using the link arm, the controller 800 may determine whether the detected external force is in the same direction as the rotation direction of the end plate 560 .

[0193] When the external force is detected in the same direction as the rotation direction of the end plate 560 by the first torque sensor 532 or the second torque sensor 541, the controller 800 may determine that the battery pack 200 is in contact with the inner wall 723 of the battery receiving groove 120 of the battery pack 200. In addition, the controller 800 may control the battery pack 200 to be level by rotating the end plate 560 using the link arm.

[0194] Then, the controller 800 may move the end plate 560 on which the battery pack 200 is placed upward by using the link arm until the battery terminal 220 of the battery pack 200 is electrically connected to the robot terminal 130 of the mobile robot 100 (see Fig.25 ).

[0195] When the battery terminals 220 of the battery pack 200 and the robot terminals 130 of the mobile robot 100 are electrically connected to each other, the controller 800 can move the end plate 560 upward by a small amount (for example, 1 mm to 3 mm) so that the battery terminals 220 of the battery pack 200 and the robot terminals 130 of the mobile robot 100 are fully in contact with each other.

[0196] The controller 800 can move the latch release protrusion 563 of the end plate 560 by using the link arm and the horizontal conveying device 550 so that the handle locking portion 340 of the latch device 300 is inserted into the locking groove 121 of the battery receiving groove 120 (see Fig.26 and Fig. 27 Here, the latch release protrusion 563 of the end plate 560 may move in the same direction as the direction in which the elastic body of the latch device 300 provides the elastic force.

[0197] The controller 800 may then move the end plate 560 to its initial position by utilizing the link arm and the horizontal transport device 550 .

[0198] When no torque generated by external force is detected by the first torque sensor or the second torque sensor, the controller can determine that the end plate is oriented to the correct position in the battery receiving slot of the robot body through the moving direction of the swing arm, and move the swing arm upward to move the end plate where the battery pack is placed until the battery terminals of the battery pack are electrically connected to the robot terminals of the mobile robot.

[0199] When the battery terminals of the battery pack and the robot terminals of the mobile robot are electrically connected to each other, the controller can use the swing arm to move the end plate upward a small amount (for example, 1mm to 3mm) so that the battery terminals of the battery pack and the robot terminals of the mobile robot are in full contact with each other.

[0200] The controller can move the latch release protrusion of the end plate by using the swing arm and the horizontal conveying device so that the handle locking portion of the latch device is inserted into the locking groove of the battery receiving groove. Here, the latch release protrusion of the end plate can move in the same direction as the direction in which the elastic body of the latch device provides elastic force.

[0201] The controller may then move the end plate to its initial position by utilizing the swing arm and the horizontal transport device.

[0202] Although the embodiments of the present disclosure have been described, it will be understood that the present disclosure is not limited to the disclosed embodiments. Various modifications can be made within the scope of the claims, the specification of the present disclosure and the drawings, and these modifications also fall within the scope of the present disclosure.

Claims

1. A battery pack detachably coupled to a mobile device, the mobile device comprising a device body defining a battery receiving slot, the battery pack comprising: Battery pack housing; as well as A latch device is disposed in the battery pack housing and is coupled to a locking groove defined in a side wall of the battery receiving groove of the device body.

2. The battery pack according to claim 1, wherein: A latch receiving groove for receiving the latch device is defined at the bottom of the battery pack housing.

3. The battery pack according to claim 1, wherein: At least one guide groove is defined at the bottom of the battery pack housing.

4. The battery pack according to claim 1, wherein: The latch device comprises: a latch body defining a latch receiving slot; a latch handle that moves in the latch receiving slot; and The latch elastic body provides elastic force to the latch handle.

5. The battery pack according to claim 4, wherein: The latch elastic body provides elastic force in a direction in which the latch handle is coupled to the device body.

6. The battery pack according to claim 4, wherein: The latch handle comprises: a handle body; and A handle locking portion extends from an end of the handle body, and the handle locking portion has a shape corresponding to the latch receiving groove.

7. The battery pack according to claim 6, wherein: The battery pack housing further includes a latch claw disposed in the latch receiving groove, The latch handle further includes a locking claw disposed on the handle locking portion, and The locking pawl is selectively caught by the latch pawl based on the movement of the latch handle.

8. An installation module, comprising: End plate, for accommodating the battery pack; A swing arm to rotate the end plate; as well as A horizontal conveying device conveys the swing arm in a predetermined direction, The swing arm rotates the end plate, thereby separating the battery pack from the device body of the mobile device or connecting the battery pack to the device body of the mobile device.

9. The installation module according to claim 8, wherein: The swing arm comprises: Mounting plate; A first connecting rod driver and a second connecting rod driver are disposed on the mounting plate; and A plurality of link arms are rotated by power of the first link driver and the second link driver.

10. The mounting module according to claim 9, wherein: The plurality of link arms include: a first link arm that rotates based on receiving power from the first link driver; and The second link arm is rotatable relative to the first link arm and rotates based on receiving power from the first link driver and the second link driver.

11. The installation module according to claim 9, wherein: The end plate comprises: end body; a guide protrusion, disposed on the end body; and A latch release protrusion is arranged on the end body.

12. The mounting module according to claim 11, wherein: The guide protrusion is inserted into the guide groove defined by the battery pack based on the movement of the end plate, and The latch release protrusion selectively releases a latch device provided at the battery pack.

13. The mounting module according to claim 11, wherein: The battery pack includes a latch handle, wherein the latch handle includes a handle body and a handle locking portion, The device body defines a locking slot coupled to the handle locking portion, and The horizontal transport device moves the mounting plate in the horizontal direction based on separating the battery pack from the device body of the mobile device, so that (i) the latch release protrusion of the end plate moves the handle body in the horizontal direction and (ii) the handle locking portion is separated from the locking groove of the device body.

14. The mounting module according to claim 13, wherein: The end plate is separated from the locking groove of the device body based on the handle locking portion, and moves downward through the operation of the link arm, so that the battery pack is placed on the replacement plate of the replacement module, and a gap is defined between the lower surface of the replacement plate and the upper surface of the end plate.

15. The mounting module of claim 11, further comprising a linkage arm for moving the end plate, wherein: The first connecting rod driver includes a first torque sensor for detecting a first torque generated by an external force, The second connecting rod driver includes a second torque sensor for detecting a second torque generated by an external force, and The end plate is based on installing the battery pack to the device body of the mobile device, and is moved upward from an initial position through the link arm by utilizing the first torque and the second torque detected by the first torque sensor or the second torque sensor, and is set at the center of the battery receiving slot of the device body.

16. The mounting module according to claim 15, wherein: The swing arm moves the end plate upward until the battery terminals of the battery pack are electrically connected to the device terminals of the mobile device based on the first torque sensor and the second torque sensor detecting the torque generated without external force.

17. The mounting module according to claim 16, wherein: The battery pack includes a latch device including a handle locking portion, and The swing arm and the horizontal transport device move the latch release protrusion of the end plate, thereby inserting the handle locking portion into the locking groove defined in the battery receiving groove of the device body.

18. The mounting module according to claim 15, wherein: The end plate is set in a horizontal direction by rotating the swing arm in a direction opposite to the first torque or the second torque detected by the first torque sensor or the second torque sensor based on the first torque detected by the first torque sensor or the second torque detected by the second torque sensor.

19. The mounting module according to claim 18, wherein: The battery pack includes a latch device including a handle locking portion, and The latch release protrusion of the end plate is moved by the swing arm and the horizontal conveying device, thereby inserting the handle locking portion into the locking groove defined in the battery receiving groove.

Images