Energy storage robot and energy storage system

Abstract

The invention discloses an energy storage robot and an energy storage system. The energy storage robot comprises a robot body, a battery module and a moving module. In the advancing direction of the energy storage robot, the robot body comprises a front side and a rear side which are opposite. The battery module is arranged in the robot body, and the battery module is configured to at least supply energy to the energy storage robot; the moving module is arranged at the bottom of the machine body and comprises a crawler belt assembly, the crawler belt assembly is configured to drive the machine body to move relative to the bearing surface, the crawler belt assembly comprises a crawler belt and a first driving wheel and a second driving wheel which are arranged in the crawler belt at an interval, and the first driving wheel and / or the second driving wheel are configured to be capable of driving the crawler belt to rotate; the first driving wheel is closer to the front side than the second driving wheel, and the first driving wheel is configured to move in the height direction of the energy storage robot relative to the second driving wheel. According to the energy storage robot, the energy storage robot can achieve height gap crossing in the process of going up and down the gangplank, and the moving stability of the energy storage robot is improved.

Description

Technical Field

[0001] This application relates to the field of energy storage technology, and more specifically, to an energy storage robot and an energy storage system. Background Technology

[0002] With economic development and technological advancements, energy storage devices, such as energy storage robots, are gaining increasing popularity due to their ability to output electrical energy to power devices outdoors or in environments without electricity. In related technologies, energy storage robots consist of a body and a mobile module mounted on the body. The mobile module drives the body to move relative to a support surface (such as the ground), enabling the energy storage robot to meet the needs of short-distance, multi-point power supply. However, when there are long-distance, multi-point power supply needs, the energy storage robot's significant weight necessitates the use of mobile vehicles (such as vehicles or ships) for transfer. Generally, these mobile vehicles are equipped with ramps, allowing the energy storage robot to autonomously move up and down the vehicle. However, the potential height gap between the ramp and the support surface can make it difficult for the energy storage robot to access the ramp, hindering its normal transfer. Summary of the Invention

[0003] This application provides an energy storage robot and an energy storage system to solve at least one of the aforementioned technical problems.

[0004] The energy storage robot of this application includes a body, a battery module, and a movement module. In the forward direction of the energy storage robot, the body includes a front side and a rear side facing away from each other. The battery module is disposed within the body and configured to at least power the energy storage robot. The movement module is disposed at the bottom of the body and includes a track assembly. The track assembly is configured to drive the body to move relative to a bearing surface. The track assembly includes a track and a first drive wheel and a second drive wheel spaced apart within the track. The first drive wheel and / or the second drive wheel are configured to drive the track to rotate, and the first drive wheel is closer to the front side than the second drive wheel. The first drive wheel is configured to move relative to the second drive wheel along the height direction of the energy storage robot.

[0005] In some embodiments, the energy storage robot further includes a first lifting module connected to the first drive wheel. The first lifting module is configured to drive the first drive wheel to move along the height direction, thereby causing the portion of the track that engages with the first drive wheel to move along the height direction.

[0006] In some embodiments, the track assembly further includes at least one transition wheel disposed within the track and located between the first drive wheel and the second drive wheel, the transition wheel being configured to rotate under the drive of the first drive wheel and / or the second drive wheel.

[0007] In some embodiments, the first lifting module is also connected to the transition wheel and configured to drive the transition wheel to move along the height direction.

[0008] In some embodiments, the first lifting module is further configured to drive the second drive wheel to move along the height direction, thereby causing the portion of the track that engages with the second drive wheel to move along the height direction.

[0009] In some embodiments, the energy storage robot further includes a second lifting module connected to the second drive wheel. The second lifting module is configured to drive the second drive wheel to move along the height direction, thereby causing the portion of the track that engages with the second drive wheel to move along the height direction.

[0010] In some embodiments, the track assembly comprises two track assemblies, which are spaced apart along a width direction perpendicular to both the forward direction and the height direction. The first lifting module is connected to both track assemblies.

[0011] In some embodiments, the track assembly includes two track assemblies, which are spaced apart along a width direction perpendicular to the forward direction and the height direction. The first lifting module includes two modules, each connected to one of the two track assemblies.

[0012] In some embodiments, the first lifting module includes a power component and a transmission assembly. The transmission assembly is connected to the power component and configured to transmit the driving force of the power component to the track assembly. The transmission assembly includes a transmission gear and a transmission rack. The transmission gear is connected to the output end of the power component. The transmission rack is connected to the first drive wheel, and the transmission gear is configured to rotate under the driving action of the power component and drive the transmission rack to move, thereby driving the first drive wheel to move along the height direction.

[0013] In some embodiments, the energy storage robot further includes a photovoltaic panel configured to receive light and convert light energy into electrical energy to charge the battery module; the photovoltaic panel is configured to switch between a first state and a second state, wherein the light-receiving area of ​​the photovoltaic panel in the first state is greater than the light-receiving area of ​​the photovoltaic panel in the second state.

[0014] The energy storage system of this application includes the energy storage robot and charging device described in any of the above embodiments, wherein the charging device is configured to provide electrical energy to the energy storage robot.

[0015] In the energy storage robot and energy storage system of this application embodiment, the track assembly can drive the body to move relative to the bearing surface. The track assembly includes a track and a first drive wheel and a second drive wheel spaced apart within the track. The first drive wheel is closer to the front than the second drive wheel. The first drive wheel is configured to move relative to the second drive wheel along the height direction of the energy storage robot. This facilitates the energy storage robot to cross the height gap during the process of going up and down the ramp, improves the stability of the energy storage robot's movement, and ensures that the energy storage robot can autonomously go up and down the ramp to achieve transfer.

[0016] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0018] Figure 1 This is a structural schematic diagram of an energy storage robot according to some embodiments of this application, wherein the photovoltaic component is in a first state;

[0019] Figure 2 This is a schematic diagram of the structure of the moving module and the first lifting module in the energy storage robot according to some embodiments of this application;

[0020] Figure 3 This is a schematic diagram of the moving module of some embodiments of this application moving on the bearing surface;

[0021] Figure 4 This is a structural schematic diagram of an energy storage robot according to some other embodiments of this application, wherein the photovoltaic element is in a second state;

[0022] Figure 5 This is a schematic diagram of the energy storage system according to some embodiments of this application.

[0023] Explanation of key component symbols:

[0024] 1000 energy storage system;

[0025] 100 energy storage robots; 300 charging devices; X forward direction; Z height direction;

[0026] 10. Body; 20. Battery module; 30. Moving module; 31. Track assembly; 311. Track; 313. First drive wheel; 315. Second drive wheel; 317. Transition wheel; 319. Connector; 40. First lifting module; 41. Power component; 43. Transmission assembly; 50. Second lifting module; 60. Photovoltaic panel. Detailed Implementation

[0027] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this application, and should not be construed as limiting the embodiments of this application.

[0028] In the description of this application, it should be understood that the terms "thickness," "upper," "top," "bottom," "inner," "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "linkage" should be interpreted broadly. In one example, they can be a fixed connection, a detachable connection, or an integral connection; they can be a mechanical connection, an electrical connection, or a connection that allows communication between them; they can be a direct connection or an indirect connection through an intermediate medium; they can be the internal connection of two elements or the interaction between two elements.

[0030] With economic development and technological advancements, energy storage devices, such as energy storage robots, are gaining increasing popularity due to their ability to output electrical energy to power devices outdoors or in other power-deprived environments. In related technologies, energy storage robots include a body and a mobile module mounted on the body. The mobile module drives the body to move relative to a support surface (such as the ground) to meet the needs of short-distance, multi-point power consumption. However, when there are long-distance, multi-point power consumption needs, the energy storage robot's significant weight necessitates the use of mobile vehicles (such as vehicles or ships) for transfer. Generally, mobile vehicles are equipped with ramps, allowing the energy storage robot to autonomously move up and down the vehicle. However, the potential height gap between the ramp and the support surface makes it difficult for the energy storage robot to climb up and down, hindering its normal transfer. To address these issues, this application provides an energy storage robot 100... Figure 1 (as shown) and energy storage system 1000 ( Figure 5 (As shown).

[0031] Please see Figure 1 The energy storage robot 100 of this application includes a body 10, a battery module 20, and a movement module 30. In the forward direction X of the energy storage robot 100, the body 10 includes a front side and a rear side facing away from each other. The battery module 20 is disposed within the body 10 and is configured to at least power the energy storage robot 100. The movement module 30 is disposed at the bottom of the body 10 and includes a track assembly 31. The track assembly 31 is configured to drive the body 10 to move relative to a bearing surface. The track assembly 31 includes a track 311 and a first drive wheel 313 and a second drive wheel 315 spaced apart within the track 311. The first drive wheel 313 and / or the second drive wheel 315 are configured to drive the track 311 to rotate, and the first drive wheel 313 is closer to the front side than the second drive wheel 315. The first drive wheel 313 is configured to move relative to the second drive wheel 315 along the height direction Z of the energy storage robot 100.

[0032] Specifically, in the above embodiments, the energy storage robot 100 is a power distribution device integrating energy storage, autonomous movement, and intelligent control functions. The energy storage robot 100 can autonomously move to a target location according to the user's power demand and provide regular or temporary power supply. The energy storage robot 100 can be used, but is not limited to, in scenarios such as outdoor camping, dynamic energy management, emergency disaster relief, and microgrid support to address the power needs of areas without a power grid or with unstable power. The energy of the energy storage robot 100 can be provided by the battery module 20 (such as a rechargeable battery module or a non-rechargeable battery module) or charging structure (such as a photovoltaic panel 60) installed within the energy storage robot 100, ensuring that the energy storage robot 100 has sufficient stored energy.

[0033] The body 10 is the structure in the energy storage robot 100 used to load and protect modules such as the battery module 20. The body 10 can be made of metallic and / or non-metallic materials. Metallic materials include, but are not limited to, aluminum, iron, steel, or aluminum alloys, while non-metallic materials include, but are not limited to, plastics. In some embodiments, the body 10 can be made of both metallic and non-metallic materials, thereby increasing the structural strength of the body 10, preventing collision damage during the movement of the energy storage robot 100, and thus improving the stability and reliability of the energy storage robot 100. In other embodiments, the body 10 can be made of non-metallic materials, which makes the body 10 lighter, thus facilitating the lightweight design of the energy storage robot 100.

[0034] Battery module 20 is the core module of the energy storage robot 100, used for storing and releasing electrical energy. Depending on the different application scenarios of the energy storage robot 100, the energy storage robot 100 has different capacities, meaning the battery module 20 has different capacities. For example, in small household or commercial energy storage robots 100, the capacity of battery module 20 is typically from several kilowatt-hours to tens of kilowatt-hours. In industrial energy storage robots 100, the capacity of battery module 20 is typically from tens of kilowatt-hours to hundreds of kilowatt-hours. Battery module 20 is housed within the energy storage robot 100 and can be electrically connected to other functional components. Battery module 20 can be a rechargeable battery module or a non-rechargeable battery module. Please refer to... Figure 5 When battery module 20 is a rechargeable battery module, the energy storage robot 100 can charge battery module 20 using a charging device (such as charging device 300) to replenish its energy. When battery module 20 is a non-rechargeable battery module, the energy storage robot 100 can replace the battery in battery module 20 using a charging device (such as charging device 300) to replenish its electrical energy. Charging device 300 is a device that provides electrical energy to devices with energy storage functions. For example, charging device 300 can provide electrical energy to new energy vehicles, energy storage robot 100, or other energy storage devices. This application uses the example of charging device 300 providing electrical energy to energy storage robot 100. The ways in which charging device 300 provides electrical energy to energy storage robot 100 include charging battery module 20 in energy storage robot 100 and replacing battery module 20 in energy storage robot 100 (battery swapping).

[0035] The mobile module 30 is a module in the energy storage robot 100 used to drive the movement of the energy storage robot 100. The mobile module 30 is mounted on the body 10 of the energy storage robot 100, typically at the bottom of the body 10. The mobile module 30 includes a drive unit and a track assembly 31. The drive unit is a component that provides driving force, such as a drive motor, internal combustion engine, or pneumatic motor. The track assembly 31 is a component used to move the body 10. The track assembly 31 includes tracks 311. Tracks 311 are highly adaptable and can adapt to various terrains, including mud, ruggedness, and unevenness. They have a high load capacity, capable of bearing heavier weights, and strong traction. The traction of tracks 311 is stronger than that of wheels, enabling them to travel on steeper slopes with greater stability. The contact area of ​​tracks 311 is larger than that of wheels, providing more stable movement.

[0036] The drive unit can be directly connected to the track assembly 31 and transmit power directly to the track assembly 31, so that the track assembly 31 drives the machine body 10 to move. The forms in which the moving module 30 drives the machine body 10 relative to the bearing surface include, but are not limited to, translation, rotation, and a combination of translation and rotation. Furthermore, the moving module 30 may also include a transmission unit, which connects the drive unit and the track assembly 31. That is, the drive unit is indirectly connected to the track assembly 31 through the transmission unit, and the drive unit transmits power directly to the transmission unit, and then to the track assembly 31 through the transmission unit, so that the track assembly 31 drives the machine body 10 to move. It should be noted that, in some embodiments, the bearing surface includes, but is not limited to, the ground (outdoor roads, dirt roads, grass, etc.), indoor floors, etc.

[0037] In some embodiments, both the first drive wheel 313 and the second drive wheel 315 are configured to drive the track 311 to rotate. This can, on the one hand, increase the driving force output by the track assembly 31, which is beneficial for the stable movement of the energy storage robot 100 on terrains such as slopes, sand, or mud. On the other hand, it can make the force on the track 311 more evenly distributed, reduce the wear caused by unilateral force on the track 311, and extend the service life of the track 311. Furthermore, it can achieve redundancy and fault tolerance, so that if one of the first drive wheel 313 and the second drive wheel 315 fails to drive the track 311 to rotate, the other can still drive the track 311 to rotate, so that the energy storage robot 100 can still maintain basic movement.

[0038] In other embodiments, the first drive wheel 313 or the second drive wheel 315 is configured to drive the track 311 to rotate. This simplifies the structure of the mobile module 30 for driving the first drive wheel 313 or the second drive wheel 315, reduces production costs, and lightens the weight of the energy storage robot 100. For ease of understanding, the following embodiments will be described using the example where both the first drive wheel 313 and the second drive wheel 315 are configured to drive the track 311 to rotate.

[0039] The first drive wheel 313 is a component in the track assembly 31 used to transmit the driving force of the drive unit to the track 311; the second drive wheel 315 is a component in the track assembly 31 used to transmit the driving force of the drive unit to the track 311. The track 311 may be made of at least one material, such as carbon steel or aluminum alloy. The inner side of the track 311 (the side in contact with the first drive wheel 313 and the second drive wheel 315) has a groove to facilitate connection (e.g., meshing) between the track 311 and the first drive wheel 313, and between the track 311 and the second drive wheel 315, ensuring that the first drive wheel 313 and the second drive wheel 315 can transmit power with the track 311. When the first drive wheel 313 rotates, the upper teeth of the first drive wheel 313 mesh with the groove, and the lower teeth of the first drive wheel 313 disengage from the groove. Similarly, when the second drive wheel 315 rotates, the upper teeth of the second drive wheel 315 mesh with the groove, and the lower teeth of the second drive wheel 315 disengage from the groove, thereby causing the track 311 to rotate. The outer side of the track 311 (the side in contact with the bearing surface) is provided with anti-slip protrusions. The anti-slip protrusions can increase the friction between the track 311 and the bearing surface, thereby improving the stability of the movement of the energy storage robot 100.

[0040] For example, the drive unit can be a hub motor, located within the first drive wheel 313 and the second drive wheel 315, and drives the track 311 to rotate via the first drive wheel 313 and the second drive wheel 315. This reduces the space occupied by the drive unit, which is beneficial for miniaturizing the energy storage robot 100. Of course, the drive unit can also be a DC servo motor, an AC servo motor, a stepper motor, etc., and the drive unit can be located outside the first drive wheel 313 and the second drive wheel 315, driving the track 311 to rotate via the first drive wheel 313 and the second drive wheel 315. This facilitates the maintenance and replacement of the drive unit, and improves the stability and reliability of the mobile module 30.

[0041] It should be noted that the orientations described in the embodiments of this application are defined with the mobile module 30 of the energy storage robot 100 supported on the bearing surface. "Front side" and "rear side" are relative to the forward direction X of the energy storage robot 100. When the energy storage robot 100 moves along the forward direction X, the foremost part of the body 10 closest to the forward direction X is the front side of the body 10, and the rearmost part of the body 10 closest to the forward direction X is the rear side of the body 10.

[0042] In some embodiments of this application, the first drive wheel 313 is closer to the front than the second drive wheel 315. The first drive wheel 313 is configured to move relative to the second drive wheel 315 along the height direction Z of the energy storage robot 100. Thus, when the energy storage robot 100 needs to move up and down a ramp (such as a vehicle, ship, etc.) and there is a height gap between the ramp and the bearing surface, the first drive wheel 313 can move relative to the second drive wheel 315 along the height direction Z of the energy storage robot 100. In this case, the portion of the track 311 connected to the first drive wheel 313 can rise and fall relative to the portion of the track 311 connected to the second drive wheel 315, allowing the track 311 to cross the height gap. This enables the energy storage robot 100 to autonomously move up and down the ramp without manual intervention to transport it to the ramp or mobile vehicle, ensuring that the energy storage robot 100 can be transferred via a mobile vehicle to meet the needs of multi-point power supply. It should be noted that in some embodiments, the height gap between the scaffold and the bearing surface may be caused by: the scaffold being too thick, or the bearing surface being uneven.

[0043] In addition, when the energy storage robot 100 encounters an obstacle, the portion of the track 311 connected to the first drive wheel 313 can be raised or lowered relative to the portion of the track 311 connected to the second drive wheel 315, so that the track 311 can cross the obstacle. This eliminates the need for the energy storage robot 100 to replan its movement path when encountering an obstacle, thus improving its movement efficiency.

[0044] In the energy storage robot 100 of this application embodiment, the track assembly 31 can drive the body 10 to move relative to the bearing surface. The track assembly 31 includes a track 311 and a first drive wheel 313 and a second drive wheel 315 spaced apart within the track 311. The first drive wheel 313 is closer to the front than the second drive wheel 315. The first drive wheel 313 is configured to move relative to the second drive wheel 315 along the height direction Z of the energy storage robot 100. This facilitates the energy storage robot 100 to cross the height gap during the process of going up and down the ramp, improves the stability of the movement of the energy storage robot 100, and ensures that the energy storage robot 100 can autonomously go up and down the ramp to achieve transfer.

[0045] The energy storage robot 100 will be further described below with reference to the accompanying drawings.

[0046] Please see Figure 1 In some embodiments, the energy storage robot 100 further includes a first lifting module 40, which is connected to a first drive wheel 313. The first lifting module 40 is configured to drive the first drive wheel 313 to move along the height direction Z, so as to drive the part of the track 311 that cooperates with the first drive wheel 313 to move along the height direction Z.

[0047] Specifically, in the above embodiment, the first lifting module 40 is a module in the energy storage robot 100 used to drive the first drive wheel 313 to move along the height direction Z. The first lifting module 40 is disposed on the body 10 and is at least connected to the first drive wheel 313. The first lifting module 40 and the first drive wheel 313 can be connected in a detachable manner, which facilitates the installation, removal and maintenance of the first drive wheel 313; the detachable connection method includes, but is not limited to, threaded connection, screw connection or snap-fit ​​connection. The first lifting module 40 and the first drive wheel 313 can also be connected in a non-detachable manner, which can improve the stability of the connection between the two and prevent them from separating when the first lifting module 40 drives the first drive wheel 313 to move. The non-detachable connection method includes, but is not limited to, welding, glue connection, interference fit, ultrasonic welding, etc. Wherein, when the first lifting module 40 drives the first drive wheel 313 to move along the height direction Z, the first drive wheel 313 can still rotate to drive the track 311 to rotate.

[0048] During the process of the energy storage robot 100 climbing onto the ramp (there is a height gap between the ramp and the bearing surface), the first lifting module 40 can drive the first drive wheel 313 to rise relative to the second drive wheel 315 along the height direction Z of the energy storage robot 100 until the part of the track 311 connected to the first drive wheel 313 is raised to a position that is level with or higher than the ramp, so that the track 311 can be mounted on the ramp. In this case, the track 311 can gradually climb under the driving action of the first drive wheel 313 and / or the second drive wheel 315, so that the track 311 is completely placed on the ramp, thereby completing the autonomous climbing of the energy storage robot 100 onto the ramp.

[0049] During the process of the energy storage robot 100 descending from the ramp (there is a height gap between the ramp and the bearing surface), the first lifting module 40 can drive the first drive wheel 313 to descend relative to the second drive wheel 315 along the height direction Z of the energy storage robot 100 until the part of the track 311 connected to the first drive wheel 313 is lowered to a position below the ramp, so that the track 311 contacts the bearing surface. In this case, the track 311 can gradually fall under the driving action of the first drive wheel 313 and / or the second drive wheel 315, so that the track 311 lands completely on the bearing surface, thereby completing the autonomous ramp descent of the energy storage robot 100. Furthermore, this ramp descent method can, on the one hand, avoid excessive impact force on the energy storage robot 100 when it directly jumps off the ramp, which could lead to structural damage, thereby extending the service life of the energy storage robot 100 and ensuring its normal operation; on the other hand, it can prevent the energy storage robot 100 from tilting forward or tipping over when descending the ramp, improving the stability of the energy storage robot 100's autonomous ramp descent.

[0050] Please see Figure 1 and Figure 2 In some embodiments, the track assembly 31 further includes at least one transition wheel 317 disposed within the track 311 and located between the first drive wheel 313 and the second drive wheel 315. The transition wheel 317 is configured to rotate under the drive of the first drive wheel 313 and / or the second drive wheel 315.

[0051] Specifically, in the above embodiments, the transition wheel 317 is a component in the track assembly 31 used to support the track 311, maintain tension, and guide the track 311 to run smoothly. Its core function is to transmit and distribute the load, ensuring effective contact between the track 311 and the load-bearing surface. For example, the position of the transition wheel 317 can be adjusted by a spring or hydraulic tensioning mechanism to keep the track 311 moderately taut and prevent the track 311 from slipping off due to slack. When the first drive wheel 313 and / or the second drive wheel 315 drive the track 311 to rotate, the transition wheel 317 can also rotate accordingly. That is, the transition wheel 317 is a non-driven rolling element and can only rotate passively. Of course, in other embodiments, the moving module 30 may also be provided with a power unit (such as a hub motor, pneumatic motor, DC servo motor, AC servo motor, stepper motor, etc.), which can drive the transition wheel 317 to rotate so that the transition wheel 317 can drive the track 311 to rotate.

[0052] In some embodiments of this application, any two adjacent pairs of the first drive wheel 313, at least one transition wheel 317, and the second drive wheel 315 can be connected together by a connector 319 (such as a chain or link). The connector 319 is disposed on the side of the first drive wheel 313, the transition wheel 317, and the second drive wheel 315, and all three can rotate relative to the connector 319. Thus, when the first lifting module 40 drives the second drive wheel 315 to move along the height direction Z, the second drive wheel 315 can drive the adjacent transition wheel 317 to move up and down via the connector 319, causing the portion of the track 311 connected to the first drive wheel 313 to move along the height direction Z. Please refer to... Figure 2 For example, in the forward direction X, the track 311 is provided with a second drive wheel 315, a first transition wheel, a second transition wheel, a third transition wheel, and a first drive wheel 313. The second drive wheel 315 and the first transition wheel, the first transition wheel and the second transition wheel, the second transition wheel and the third transition wheel, and the third transition wheel and the first drive wheel 313 are all connected together by a connector 319. When the first drive wheel 313 moves relative to the second drive wheel 315 in the height direction Z, at least the third transition wheel can move in the height direction Z under the action of the connector 319 between the third transition wheel and the first drive wheel 313.

[0053] Please see Figure 1 and Figure 2 In some embodiments, the first lifting module 40 is also connected to the transition wheel 317 and configured to drive the transition wheel 317 to move along the height direction Z. In this way, the track 311 can adaptively deform according to different bearing surface shapes, allowing the track assembly 31 to adapt to different terrains and improving the stability of the energy storage robot 100's movement; at the same time, it can also prevent the track 311 from slipping or falling off due to excessive tightness or looseness when moving on uneven bearing surfaces.

[0054] For example, during the movement of the energy storage robot 100, if the energy storage robot 100 encounters an obstacle (such as a protrusion on the bearing surface), the energy storage robot 100 can overcome the obstacle to continue moving. During the process of the energy storage robot 100 overcoming the obstacle, the front end of the track 311 (the end of the track 311 near the front side) will lift up. When the height of the protrusion is high, relying solely on the first lifting module 40 to drive the first drive wheel 313 to rise and fall may cause the front end of the track 311 to remain in a lifted state (e.g., Figure 3 As shown in Figure a), the contact area between the track 311 and the surface to be cleaned is too small, making slippage likely. Furthermore, the track 311 being in a tilted position could cause the energy storage robot 100 to become unstable and tip over. Please refer to... Figure 3 As shown in Figure (b) of this application, in some embodiments of this application, the first lifting module 40 can also drive the transition wheel 317 to move along the height direction Z. Thus, during the process of the energy storage robot 100 crossing the obstacle, the first lifting module 40 can drive the first drive wheel 315 and the transition wheel 317 to descend, thereby reducing the lifting height of the front end of the track 311. This ensures a larger contact area between the track 311 and the surface to be cleaned, reducing the risk of slippage. At the same time, it can prevent the energy storage robot 100 from tipping over due to instability of its center of gravity, thus improving the stability of the movement of the energy storage robot 100.

[0055] In some embodiments, the first lifting module 40 is also configured to drive the second drive wheel 315 to move along the height direction Z, thereby causing the portion of the track 311 that engages with the second drive wheel 315 to move along the height direction Z. This allows the energy storage robot 100 to cross height gaps when moving relative to the bearing surface in either the forward direction X or the backward direction (opposite to the forward direction X), improving the stability of the energy storage robot 100's movement and ensuring that the energy storage robot 100 can transfer normally. Simultaneously, the lifting and lowering of the second drive wheel 315 reuses the first lifting module 40, eliminating the need for an additional lifting module for the energy storage robot 100, which helps reduce production costs and lighten the weight of the energy storage robot 100.

[0056] Please see Figure 1In other embodiments, the energy storage robot 100 further includes a second lifting module 50, which is connected to a second drive wheel 315. The second lifting module 50 is configured to drive a first drive wheel 313 to move along the height direction Z, thereby causing the portion of the track 311 that engages with the second drive wheel 315 to move along the height direction Z. It should be noted that the way the second lifting module 50 drives the second drive wheel 315 to move along the height direction Z is basically the same as the way the first lifting module 40 drives the first drive wheel 313 to move along the height direction Z, and will not be described again here.

[0057] The second lifting module 50 serves two purposes: firstly, it enables the energy storage robot 100 to cross height gaps when moving relative to the bearing surface in either the forward or backward direction (X), improving the stability of the energy storage robot 100's movement and ensuring its normal transfer; secondly, the energy storage robot 100 includes a first lifting module 40 and a second lifting module 50, ensuring that even if one of the first lifting module 40 or the second lifting module 50 fails, the other can still enable the energy storage robot 100 to cross height gaps in the Z direction, further enhancing the stability of the energy storage robot 100's movement.

[0058] Please combine Figure 2 In some embodiments, the first lifting module 40 includes a power component 41 and a transmission assembly 43, the transmission assembly 43 being connected to the power component 41 and configured to transmit the driving force of the power component 41 to the track assembly 31.

[0059] Specifically, in the above embodiment, the power component 41 is the element in the first lifting module 40 used to provide driving force. The power component 41 includes, but is not limited to, a drive motor, an internal combustion engine, and a pneumatic motor. The transmission assembly 43 is a structure in the first lifting module 40 used to transmit the driving force of the power component 41 to the track assembly 31. The transmission assembly 43 can be any one or any combination of two of the following transmission components: gear transmission, rack and pinion transmission, belt transmission, chain transmission, and linkage mechanism transmission. When the power component 41 is operating normally, the driving force generated by the power component 41 can be transmitted to the transmission assembly 43, and through the transmission assembly 43, at least to the first drive wheel 313 of the track assembly 31, to drive the first drive wheel 313 to move along the height direction Z.

[0060] Furthermore, in some embodiments, the transmission assembly 43 includes a transmission gear and a transmission rack. The transmission gear is connected to the output end of the power component 41. The transmission rack is connected to the first drive wheel 313, and the transmission gear is configured to rotate under the driving action of the power component 41 and drive the transmission rack to move, thereby driving the first drive wheel 313 to move along the height direction Z.

[0061] Specifically, in some embodiments, the transmission gear can mesh with the transmission rack. When the power component 41 is operating normally, the transmission gear can rotate under the driving action of the power component 41 and drive the transmission rack to move along the height direction Z, so as to drive the first drive wheel 313 to move along the height direction Z.

[0062] In some embodiments, the track assembly 31 includes two track assemblies 31, which are spaced apart along a width direction perpendicular to the forward direction X and the height direction Z. That is, the two track assemblies 31 are respectively located on opposite sides of the body 10 in the width direction of the energy storage robot 100, which can improve the stability of the movement of the energy storage robot 100.

[0063] The central axis of the track 311 is located in the middle of the body 10, and the central axes of the two tracks 311 can coincide. The middle of the body 10 is the intermediate area between the front and rear sides. This allows the track assembly 31 to better balance the energy storage robot 100, making the energy storage robot 100 more stable during movement, preventing unstable walking posture, and improving the stability and reliability of the energy storage robot 100's operation.

[0064] It should be noted that, in some embodiments, the fact that the central axis of the track 311 is located in the middle of the fuselage 10 does not limit the central axis of the track 311 to be exactly located on the center line of the forward direction X of the fuselage 10. Alternatively, the central axis of the track 311 may be offset by an appropriate distance relative to the center line of the forward direction X of the fuselage 10 towards the front of the fuselage 10, or the central axis of the track 311 may be offset by an appropriate distance relative to the center line of the forward direction X of the fuselage 10 towards the rear of the fuselage 10.

[0065] In some embodiments, the first lifting module 40 is connected to both track assemblies 31. This allows the energy storage robot 100 to drive the two track assemblies 31 along the height direction Z with only one drive mechanism (one first lifting module 40), reducing the number of parts and lowering the production cost of the energy storage robot 100. On the other hand, it facilitates the synchronous movement of the two track assemblies 31, avoiding tension imbalance of the track 311 caused by asynchronous lifting of the two track assemblies 31, and improving the stability and reliability of the movement of the energy storage robot 100.

[0066] In other embodiments, the first lifting module 40 includes two modules, each connected to one of the two track assemblies 31. This facilitates unilateral adjustment, meaning the two lifting modules 40 independently adjust the two track assemblies 31 to adapt to asymmetrical obstacles. For example, during the movement of the energy storage robot 100, if one of the track assemblies 31 encounters an obstacle, the corresponding lifting module 40 can drive the track assembly 31 to rise and overcome the obstacle, while the first lifting module 40 corresponding to the other track assembly 31 remains inactive, keeping that track assembly 31 close to the ground for stability. Of course, the two lifting modules 40 can also synchronously drive the two track assemblies 31 to raise them simultaneously.

[0067] Please see Figure 1 and Figure 4 In some embodiments, the energy storage robot 100 further includes a photovoltaic panel 60, which is configured to receive light and convert light energy into electrical energy to charge the battery module 20; the photovoltaic panel 60 is configured to be able to in a first state ( Figure 1 (as shown) and the second state ( Figure 4 The photovoltaic panel 60 switches between states (as shown), with the light-receiving area of ​​the photovoltaic panel 60 in the first state being greater than that in the second state.

[0068] Specifically, in the above embodiments, the photovoltaic panel 60 is a component that converts light energy into electrical energy to charge the devices connected to it. The photovoltaic panel 60 can be, but is not limited to, a monocrystalline silicon photovoltaic panel 60, a polycrystalline silicon photovoltaic panel 60, and a thin-film photovoltaic panel 60. In some embodiments, the photovoltaic panel 60 is positioned on top of the energy storage robot 100 to ensure that it can fully absorb light energy. The photovoltaic panel 60 receives light and converts it into electrical energy to charge the battery module 20. Of course, in other embodiments, the photovoltaic panel 60 can also be positioned on the side or even the bottom of the energy storage robot 100. Furthermore, the battery module 20 and the photovoltaic panel 60 can be directly electrically connected via cables, or an electrical connection can be achieved through intermediate devices such as junction boxes or combiner boards.

[0069] The photovoltaic panel 60 can switch between a first state and a second state. The light-receiving area of ​​the photovoltaic panel 60 in the first state is larger than that in the second state. That is, the first state can be an unfolded state, and the second state can be a folded state. In the second state, at least a portion of the photovoltaic panel 60 is housed within the body 10 of the energy storage robot 100, or is attached to the body 10 of the energy storage robot 100, or is in another form to minimize the space occupied. Therefore, if the photovoltaic panel 60 remains in the second state during the movement of the energy storage robot 100, the wind resistance experienced by the energy storage robot 100 is smaller, and the power consumption per unit distance is also reduced. In the first state, the photovoltaic panel 60 is fully unfolded, presenting the form that occupies the maximum space.

[0070] Please see Figure 5 The energy storage system 1000 of this application includes an energy storage robot 100 and a charging device 300 according to any of the above embodiments. The charging device 300 is configured to provide electrical energy to the energy storage robot 100. It should be noted that in some embodiments, the charging device 300 can be a charging pile, a power supply base station, a battery swapping station, etc.

[0071] Specifically, in the above embodiments, the energy storage system 1000 is a system for storing, scheduling, and utilizing energy. The energy storage system 1000 includes an energy storage device (energy storage robot 100) that provides energy for scheduling or utilizing energy, and an energy supply device that stores energy and supplies power to the energy storage robot 100. The energy storage system 1000 can be any system possessing the above functions, for example: the energy storage system 1000 is a cleaning system, the energy storage robot 100 is a cleaning robot, the energy supply device is a power supply base station, and the power supply base station supplies power to the cleaning robot so that the cleaning robot can use electrical energy to move; the energy storage system 1000 is a logistics system, the energy storage robot 100 is a logistics robot, the energy supply device is a charging device 300 (such as a charging pile), and the charging device 300 supplies power to the logistics robot so that the logistics robot can use electrical energy to move; the energy storage system 1000 is a new energy vehicle system, the energy storage robot 100 is a new energy vehicle, the energy supply device is a charging device 300 (such as a charging pile), and the charging device 300 supplies power to the new energy vehicle so that the new energy vehicle can use electrical energy to move. Please further refer to... Figure 5 This application takes the energy storage system 1000 as an example of a power dispatching system. In this case, the energy storage robot 100 is a mobile energy storage power source, and the power supply device is a charging device 300. The charging device 300 supplies power to the energy storage robot 100 so that the energy storage robot 100 can move using electrical energy and perform power dispatching and utilization.

[0072] It should be noted that the specific structure and properties of the charging device 300 in this embodiment are exactly the same as those of the charging device 300 in the above embodiment, and the specific structure and properties of the energy storage robot 100 in this embodiment are exactly the same as those of the energy storage robot 100 in the above embodiment, and will not be explained again here.

[0073] When the energy storage robot 100 reaches the location of the charging device 300, the charging device 300 can charge or replace the battery module 20 of the energy storage robot 100. Taking charging as an example, the charging device 300 can charge the energy storage robot 100 via wired charging or wireless charging. When the charging device 300 charges the energy storage robot 100 via wired charging, the energy storage robot 100 connects to the physical plug of the charging device 300 (such as Type 1, Type 2, GB / T, or a customized interface) through a connection device (not shown) or a guide device (not shown). In this case, the charging process of the energy storage robot 100 by the charging device 300 is simple, reliable, and fast. When the charging device 300 charges the energy storage robot 100 wirelessly, both the energy storage robot 100 and the charging device 300 are equipped with induction coils. The induction coil of the charging device 300 generates a magnetic field and transfers energy to the energy storage robot 100 through its induction coil to charge the battery module 20 of the energy storage robot 100. In this case, the charging device 300 and the energy storage robot 100 do not need to contact each other, preventing wear and tear on the energy storage robot 100, resulting in a better appearance and longer service life. When the charging device 300 performs battery swapping for the energy storage robot 100, it directly replaces the battery module 20 with a fully charged one. In this case, the energy replenishment speed of the energy storage robot 100 is fast, and its working time is longer.

[0074] Since the energy storage system 1000 in this application embodiment includes an energy storage robot 100, it is understood that the energy storage system 1000 includes at least the same beneficial effects as the energy storage robot 100. Therefore, the beneficial effects of the energy storage system 1000 are described above with reference to the beneficial effects of the energy storage robot 100, and will not be repeated here.

[0075] In the description of this specification, the references to terms such as "some embodiments," "in one example," "exemplarily," etc., indicate that a specific feature, structure, material, or characteristic described in connection with the described embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0076] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An energy storage robot, characterized in that, include: The fuselage, in the forward direction of the energy storage robot, includes a front side and a rear side facing away from each other; A battery module is located inside the body and is configured to power at least the energy storage robot. and A mobile module is located at the bottom of the body. The mobile module includes a track assembly, which is configured to drive the body to move relative to the bearing surface. The track assembly includes a track and a first drive wheel and a second drive wheel spaced apart within the track. The first drive wheel and / or the second drive wheel are configured to drive the track to rotate, and the first drive wheel is closer to the front side than the second drive wheel. The first drive wheel is configured to move relative to the second drive wheel along the height direction of the energy storage robot.

2. The energy storage robot according to claim 1, characterized in that, The energy storage robot also includes: A first lifting module is connected to the first drive wheel. The first lifting module is configured to drive the first drive wheel to move along the height direction, so as to drive the part of the track that cooperates with the first drive wheel to move along the height direction.

3. The energy storage robot according to claim 2, characterized in that, The track assembly also includes: At least one transition wheel is disposed within the track and located between the first drive wheel and the second drive wheel, the transition wheel being configured to rotate under the drive of the first drive wheel and / or the second drive wheel.

4. The energy storage robot according to claim 3, characterized in that, The first lifting module is also connected to the transition wheel and is configured to drive the transition wheel to move along the height direction.

5. The energy storage robot according to claim 2, characterized in that, The first lifting module is also configured to drive the second drive wheel to move along the height direction, so as to drive the portion of the track that cooperates with the second drive wheel to move along the height direction.

6. The energy storage robot according to claim 2, characterized in that, The energy storage robot also includes: The second lifting module is connected to the second drive wheel. The second lifting module is configured to drive the second drive wheel to move along the height direction, so as to drive the part of the track that cooperates with the second drive wheel to move along the height direction.

7. The energy storage robot according to claim 2, characterized in that, The track assembly includes two track assemblies, which are spaced apart along a width direction perpendicular to the forward direction and the height direction; The first lifting module is connected to both of the track assemblies; or, The first lifting module includes two units, and the two first lifting modules are respectively connected to the two track assemblies.

8. The energy storage robot according to claim 7, characterized in that, The first lifting module includes a power component and a transmission assembly. The transmission assembly is connected to the power component and configured to transmit the driving force of the power component to the track assembly. The transmission assembly includes: The transmission gear is connected to the output end of the power component; and A transmission rack is connected to the first drive wheel. The transmission gear is configured to rotate under the driving action of the power component and drive the transmission rack to move, thereby driving the first drive wheel to move along the height direction.

9. The energy storage robot according to any one of claims 1-8, characterized in that, The energy storage robot also includes a photovoltaic panel, which is configured to receive light and convert light energy into electrical energy to charge the battery module; the photovoltaic panel is configured to switch between a first state and a second state, wherein the light-receiving area of ​​the photovoltaic panel in the first state is greater than the light-receiving area of ​​the photovoltaic panel in the second state.

10. An energy storage system, characterized in that, include: The energy storage robot according to any one of claims 1-9; and A charging device configured to provide electrical energy to the energy storage robot.

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