Robot battery replacement system and robot

Abstract

This disclosure relates to a robot battery swapping system and a robot, belonging to the field of robotics. The robot battery swapping system includes a battery swapping device (10) and a battery assembly. The battery swapping device (10) is located on at least one side outside the battery assembly and includes: a housing (1); a locking member (2) disposed in the housing (1) and having a locked state and an unlocked state. In the locked state, the locking member (2) forms a locking engagement with the battery assembly; in the unlocked state, the locking member (2) disengages from the locking engagement with the battery assembly; and a drive assembly, including a power member (4) disposed within the housing (1). The power member (4) is configured to provide a driving force to move the battery assembly out along a first direction (x) when the locking member (2) is in the unlocked state. Thus, the convenience and reliability of battery swapping can be improved, ensuring stable installation of the battery assembly and active ejection via the drive assembly after unlocking. The operation is simple and meets the needs of long-term continuous operation of the robot.

Description

Technical Field

[0001] This disclosure relates to the field of robotics technology, and more particularly to a robot battery swapping system and a robot. Background Technology

[0002] For motor-driven robots, the motors require batteries for power. Due to current energy consumption levels and battery capacity limitations, batteries need to be replaced relatively frequently. Currently, battery replacement requires manually unlocking and removing the battery, which is inefficient, cumbersome, and inconvenient. Summary of the Invention

[0003] The embodiments of this disclosure provide a robot battery swapping system and robot, which can improve the convenience and reliability of robot battery swapping.

[0004] According to a first aspect of this disclosure, a robot battery swapping system is proposed, including a battery swapping device and a battery assembly, wherein the battery swapping device is disposed on at least one side outside the battery assembly, and includes:

[0005] case;

[0006] A locking element, disposed on the housing, has a locked state and an unlocked state. In the locked state, the locking element is locked to the battery assembly; in the unlocked state, the locking element disengages from the battery assembly.

[0007] The drive assembly includes a power element disposed within the housing, the power element being configured at least to provide a driving force to move the battery assembly out in a first direction when the locking element is in an unlocked state.

[0008] In some embodiments, the battery assembly has a groove on the sidewall facing the battery swapping device, and the locking member is movable along a second direction perpendicular to the first direction, and includes:

[0009] The first main body is located inside the shell; and

[0010] A locking part is connected to the first main body part;

[0011] In the locked state, the locking part extends out of the housing and embeds into the groove to form a locking engagement; in the unlocked state, the locking part retracts and disengages from the groove.

[0012] In some embodiments, the battery swapping device further includes a reset element disposed along a second direction on the side of the first body portion away from the locking portion, configured to restore the locking member from an unlocked state to a locked state.

[0013] In some embodiments, the power element is configured to provide driving force to switch the locking element between a locked state and an unlocked state.

[0014] In some embodiments, the driver component further includes:

[0015] The pusher includes a second body portion and a first boss. The second body portion is disposed inside the housing and is located on the side of the locking member away from the disengaged position along a first direction. The first boss is connected to the second body portion and extends out of the housing towards the side of the battery assembly.

[0016] The power component is configured to drive the pusher to move along a first direction and push out the battery assembly when the first boss abuts against the battery assembly.

[0017] In some embodiments, in the locked state, the first boss and the battery assembly have a preset distance along a first direction, and the power member is configured to drive the pusher to cause the locking member to enter the unlocked state before the first boss abuts against the battery assembly.

[0018] In some embodiments, the locking element includes:

[0019] The first main body is located inside the shell and is linked and cooperates with the second main body; and

[0020] A locking part is connected to the first main body part;

[0021] In the locked state, the locking part extends out of the housing along a second direction, which is perpendicular to the first direction; in the unlocked state, the second main body is supported on the side of the first main body near the battery assembly along the second direction, causing the locking part to retract into the housing along the second direction.

[0022] In some embodiments, the dimension of the second body portion along the second direction is not less than the dimension of the locking portion protruding from the outer surface of the housing.

[0023] In some embodiments, the power member is located on the side of the second body portion away from the locking member along a first direction, and the output end of the power member is poweredly connected to the second body portion and configured to output linear motion along the first direction.

[0024] In some embodiments, the locking element includes:

[0025] The first main body is located inside the shell; and

[0026] A locking part is connected to the first main body part;

[0027] The drive assembly includes a second main body. In the locked state, the second main body is in contact with the first main body through a first inclined surface. The first inclined surface gradually tilts towards the removal position along a second direction from the side away from the battery assembly to the side closer to the battery assembly. The second direction is perpendicular to the first direction.

[0028] In some embodiments, the battery swapping device further includes a manual unlocking element that extends at least partially outside the housing and is configured to receive an external operating force to switch the locking element from a locked state to an unlocked state.

[0029] In some embodiments, the locking member includes: a first main body portion, a locking portion, and an extension portion. The first main body portion is disposed within a housing, and the locking portion and the extension portion are connected to both sides of the first main body portion along a second direction, which is perpendicular to the first direction.

[0030] The manual unlocking part and the extension are linked and configured to retract the locking part into the housing to disengage from the battery assembly when receiving an external operating force, and to extend the locking part out of the housing to form a locking engagement with the battery assembly when released.

[0031] In some embodiments, the extension is provided with a second protrusion, and the manual unlocking component includes:

[0032] The third main body is located inside the shell;

[0033] The operating part is connected to the third main body and extends out of the housing; and

[0034] The drive unit is connected to the end of the third main body that is away from the operating part in the first direction, and the drive unit bends in the second direction toward the first main body so that it can form a linkage with the extension unit by docking with the second boss in the locked state.

[0035] In some embodiments, in the unlocked state, the drive portion abuts against the side of the second boss that is close to the first body portion in the second direction, so that the locking portion retracts into the housing in the second direction.

[0036] In some embodiments, the dimension of the driving part along the second direction is not less than the dimension of the locking part protruding from the outer surface of the housing.

[0037] In some embodiments, the extension is provided with a second boss. In the locked state, the manual unlocking member is in contact with the second boss through a second inclined surface, and the second inclined surface gradually tilts towards the removed position along a second direction from the side away from the battery assembly to the side close to the battery assembly.

[0038] In some embodiments, a locking member is provided on the side wall of the housing facing the battery assembly. The locking member is an electromagnetic attractor and is configured to engage and lock with the battery assembly when energized and disengage from the battery assembly when de-energized.

[0039] In some embodiments, the robotic battery swapping system includes two battery swapping devices, which are respectively located on opposite sides of the battery assembly.

[0040] According to a second aspect of this disclosure, a robot is proposed, including the robot battery swapping system of the above embodiments.

[0041] In some embodiments, the robot is a humanoid robot and further includes:

[0042] Two robotic arms; and

[0043] The thoracic and abdominal cavities are positioned between the two robotic arms;

[0044] The robot battery swapping system is located in at least one of the thoracic and abdominal cavities.

[0045] Based on the above technical solution, the robot battery swapping system of this disclosure embodiment can switch between a locked state and an unlocked state. When the locking component is in the locked state, it can reliably and effectively limit the battery component, ensuring that the battery component remains stably installed during the robot's operation, and preventing the battery component from loosening or falling off due to vibration, movement or robotic arm movements, thereby ensuring stable power supply and reliable operation of the robot.

[0046] When the locking mechanism switches to the unlocked state, it disengages from the battery pack, releasing the battery pack's locking position. The drive assembly, upon entering the unlocked state, actively pushes the battery pack out of the robot, allowing the operator or external robotic arm to quickly and completely remove it. This simple operation ensures a stable and smooth battery swapping process. Furthermore, the automatic battery pack ejection method using the drive assembly improves the automation and efficiency of battery pack removal, eliminating the need for external tools and significantly enhancing the convenience and time required for battery swapping. This meets the demands of long-term continuous robot operation, thereby improving the continuity and reliability of robot operations. Additionally, the drive assembly incorporates a power component that precisely and reliably moves the battery pack to the preset pick-up / placement position even when it is in the unlocked state. Attached Figure Description

[0047] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this application, illustrate exemplary embodiments of this disclosure and are used to explain this disclosure, but do not constitute an undue limitation of this disclosure. The drawings are described below.

[0048] Figure 1 This is a cross-sectional view in a horizontal cross section of some embodiments of the battery swapping system disclosed herein.

[0049] Figure 2 A first-view perspective perspective view of some embodiments of the battery swapping device.

[0050] Figure 3 This is a second-view perspective perspective view of some embodiments of the battery swapping device.

[0051] Figure 4This is a top view of some embodiments of the battery swapping device.

[0052] Figure 5 A side view of some embodiments of the battery swapping device.

[0053] Figure 6 This is a schematic diagram of the structure of some embodiments of the battery swapping device after the cover is opened.

[0054] Figure 7 This is a schematic diagram of the internal structure of some embodiments of a battery swapping device.

[0055] Figure 8 This is a schematic diagram showing the structure of the locking element and the pushing element when the locking element in the battery swapping device is in the locked state.

[0056] Figure 9 This is a schematic diagram showing a power component driving a pusher to move so that the first boss contacts the battery assembly, and the locking component is in an unlocked state.

[0057] Figure 10 A schematic diagram illustrating how a power component drives a pusher to continue moving and push out the battery assembly.

[0058] Figure 11 This is a schematic diagram showing the structure of the manual unlocking component engaging with the locking component when the locking component in the battery swapping device is in the locked state.

[0059] Figure 12 This is a schematic diagram showing the manual unlocking mechanism being pushed forward to retract the locking part into the housing, thus placing the locking mechanism in the unlocked state.

[0060] Explanation of reference numerals in the attached figures

[0061] 10. Battery swapping device; 20. Storage compartment; 201. Groove; 202. Protrusion; 30. Battery;

[0062] 1. Shell; 11. Base; 111. Fourth opening; 12. Cover; 121. First opening; 122. Second opening; 123. Third opening;

[0063] 2. Locking element; 21. First main body; 211. First inclined surface; 22. Locking part; 23. Extension part; 24. Second boss; 241. Second inclined surface;

[0064] 3. Pushing component; 31. Second main body; 32. First boss; 33. Limiting platform;

[0065] 4. Power components;

[0066] 5. Manual unlocking component; 51. Third main body; 52. Operating unit; 53. Drive unit;

[0067] 6. Reset element;

[0068] x, first direction; y, second direction; z, third direction. Detailed Implementation

[0069] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The descriptions of the exemplary embodiments are merely illustrative and are in no way intended to limit the present disclosure or its application or use. The present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that the present disclosure will be thorough and complete, and will fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless specifically stated otherwise, the relative arrangement of components and steps, the composition of materials, numerical expressions, and values ​​set forth in these embodiments should be interpreted as exemplary only and not as limiting.

[0070] The terms "first," "second," and similar words used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Words such as "including" or "contains" mean that the element preceding the word encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well. Terms such as "above," "below," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, this relative positional relationship may also change accordingly.

[0071] In this disclosure, when a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other devices without an intermediary device, or it may be not directly connected to the other devices but have an intermediary device.

[0072] All terms used in this disclosure (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as a dictionary, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0073] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0074] Based on the embodiments disclosed above, in the absence of explicit denial or conflict, the technical features of one embodiment may be advantageously combined with one or more other embodiments.

[0075] This disclosure provides a robot, with reference to Figure 1 As shown, the robot is powered by a battery pack to perform its actions. The robot includes a battery swapping system to facilitate the replacement of the battery pack, meet the robot's long-term working needs, and improve the convenience and efficiency of battery swapping.

[0076] Specifically, robots include robotic arms, which consist of robotic arms and end effectors. The end effectors are used to perform operations such as grasping and transferring. The robotic arms can move flexibly through joints to complete high-precision operations and complex movements, and are widely used in industrial operations, service operations and other scenarios.

[0077] The robot's movement, the operation of its end effector, and the motion of its joints all require motors for propulsion. Battery packs power these motors to meet the robot's walking and operational needs. A battery swapping system enables rapid battery replacement, allowing for quick installation and removal of battery packs, thereby improving the robot's endurance and ensuring the stable and reliable continuous operation of the robotic arm and other mechanisms.

[0078] For example, a robot is a humanoid robot, which is a biomimetic robot with a shape and size similar to the human body. It can mimic human movement, expressions, interactions and actions, and has a certain degree of cognitive and decision-making intelligence.

[0079] In some embodiments, the humanoid robot includes two robotic arms, a thoracic cavity, and an abdominal cavity, with the thoracic and abdominal cavities located between the two robotic arms. A battery swapping system is disposed within the thoracic and / or abdominal cavity. This location provides ample space for the battery swapping system, allowing the battery pack to be removed from the front or rear of the robot during replacement. Robotic arms are located on the left and right sides of the thoracic and abdominal cavities, respectively. Figure 1 As shown, the robot has a support frame or compartment, and the robot's battery swapping system is installed on the support frame or compartment.

[0080] The robot battery swapping system of this disclosure will be described below through different embodiments.

[0081] In some embodiments, such as Figures 1 to 7 As shown, the robot battery swapping system includes a battery swapping device 10 and a battery assembly. The battery swapping device 10 is located on at least one side outside the battery assembly and includes:

[0082] Casing 1;

[0083] Locking element 2, disposed on housing 1, has a locked state and an unlocked state. In the locked state, locking element 2 forms a locking engagement with the battery assembly; in the unlocked state, locking element 2 disengages from the locking engagement with the battery assembly; and

[0084] The drive assembly includes a power element 4 disposed within the housing 1, the power element 4 being configured at least to provide a driving force to move the battery assembly out along a first direction x when the locking element 2 is in the unlocked state.

[0085] The battery assembly, as a whole, may include a housing compartment 20 and batteries 30. Batteries 30 are housed within the housing compartment 20. One or more batteries 30 can be arranged according to actual power supply needs. Multiple batteries 30 can be arranged side-by-side along at least one of a first direction x and a second direction y, with the second direction y perpendicular to the first direction x. Thus, the housing compartment 20 provides protection for the batteries 30, and all batteries 30 can be replaced as a whole during battery swapping, improving swapping efficiency. In the locked state, the locking element 2 forms a locking engagement with the housing compartment 20, eliminating the need for a structure on the battery 30 to engage with the locking element 2, thereby improving the versatility of the batteries 30.

[0086] For example, the receiving compartment 20 has protrusions 202 on both sides along the second direction y near the removal position. When the locking member 2 is unlocked and the battery assembly is moved a certain distance by the drive assembly, an external robot or operator can remove the battery assembly through the protrusions 202 on both sides. For example, the receiving compartment 20 has a groove 201 on the side along the second direction y, and the locking member 22 is inserted into the groove 201 to lock the battery assembly.

[0087] Optionally, the battery assembly includes only the battery 30. In the locked state, the locking member 2 forms a locking engagement with the battery 30, and the outer casing of the battery 30 is provided with a structure that engages with the locking member 2. For example, the outer casing of the battery 30 is provided with a groove 201 on the side along the second direction y, and in the locked state, the locking part 22 is inserted into the groove 201.

[0088] The battery swapping device 10 is located on at least one side of the battery assembly, for example, on one or both sides of the battery assembly along the second direction y; or the battery swapping device 10 is located on one or both sides of the battery assembly along the third direction z, where the third direction z is perpendicular to the first direction x and the second direction y. Taking a robot as an example, the first direction x corresponds to the robot's forward / backward direction, the second direction y corresponds to the left / right direction, and the third direction z corresponds to the height direction.

[0089] For example, the housing 1 includes a base 11 and a cover 12, with the cover 12 detachably fastened to the base 11. The locking member 2 may be at least partially located inside the housing 1, or entirely located on the side of the housing 1 facing the battery assembly. When the locking member 2 is in the unlocked state, and the drive assembly moves the battery assembly a certain distance along the first direction x, the operator or an external robotic arm can remove the battery assembly through the protrusions 202 on both sides. When a new battery assembly needs to be installed, the drive assembly is returned to the position that allows the battery assembly to be placed, and the locking member 2 remains in the unlocked state. After the new battery assembly is inserted, the locking member 2 switches to the locked state.

[0090] The power component 4 can be a linear drive component, such as an electric push rod, a cylinder or a hydraulic cylinder, or the power component 4 can be a rotary drive component, which, together with the transmission component, drives the battery assembly to move out along the first direction x.

[0091] In the robot battery swapping system of this embodiment, the locking component 2 can switch between a locked state and an unlocked state. When the locking component 2 is in the locked state, it can reliably and effectively limit the battery component, ensuring that the battery component remains stably installed during the operation of the robot and preventing the battery component from loosening or falling off due to vibration, movement or the action of the robotic arm, thereby ensuring stable power supply and reliable operation of the robot.

[0092] When locking component 2 switches to the unlocked state, it disengages from the battery assembly, releasing the battery assembly's locking position. Furthermore, the drive component, upon entering the unlocked state, can actively remove the battery assembly from the robot, allowing the operator or external robotic arm to quickly and completely remove it. This operation is simple, and the battery swapping process is stable and smooth. Moreover, the automatic removal of the battery assembly by the drive component improves the automation and efficiency of battery disassembly, eliminating the need for external tools and significantly enhancing the convenience and time required for battery swapping. This meets the demands of long-term continuous robot operation, thereby improving the continuity and reliability of robot operations.

[0093] Furthermore, the drive assembly includes a power component 4, which can actively apply a driving force to move the battery assembly along the first direction x after the battery assembly is in the unlocked state. This allows the battery assembly to be precisely moved to the preset pick-up and drop-off position, facilitating the subsequent automatic retrieval of the battery assembly by a robotic arm and improving the automation level of the robot's battery swapping process. Moreover, the battery assembly movement is smooth, preventing jamming or damage during removal, and the applied force can be flexibly adjusted according to the weight of the battery assembly, maintaining high operational reliability even after frequent use.

[0094] If a spring or similar spring is used to eject the battery assembly, the spring force is fixed, making it inconvenient to adjust the applied force. Furthermore, the ejection force is difficult to control, resulting in poor stability. The battery is easily damaged during removal and is difficult to accurately reach the preset pick-up and place position after removal, which is not conducive to subsequent retrieval of the battery assembly by a robotic arm. In addition, the spring is prone to fatigue and decay, and its elastic force will also change when environmental conditions change.

[0095] In some embodiments, the battery assembly has a groove 201 on the sidewall facing the battery swapping device 10, and the locking member 2 is movable along a second direction y perpendicular to the first direction x, and includes:

[0096] The first main body 21 is disposed inside the shell 1; and

[0097] Locking part 22 is connected to the first main body part 21;

[0098] In the locked state, the locking part 22 extends out of the housing 1 and embeds into the groove 201 to form a locking engagement with the battery assembly; in the unlocked state, the locking part 22 retracts and disengages from the groove 201.

[0099] like Figure 2 As shown, the cover 12 of the housing 1 has a first opening 121, for example, the first opening 121 is rectangular. Figure 6 and Figure 7 As shown, the first main body 21 may have a plate-like structure; the locking part 22 is connected to the end of the first main body 21 near the battery assembly removal position along the first direction x. The locking part 22 may be designed as a wedge-shaped structure, for example, the side near the battery assembly removal position may be a slope. For example, the first main body 21 may extend within the housing 1 along the entire width direction of the third direction z, and the size of the locking part 22 along the third direction z may be smaller than that of the first main body 21 and located in the middle position of the first main body 21.

[0100] exist Figure 8 In the locked state shown, the locking part 22 extends from the first opening 121 and forms a locking engagement with the groove 201 of the receiving compartment 20. Figure 9 In the unlocked state shown, the locking member 2 moves toward the housing 1 along the second direction y, causing the locking part 22 to retract and disengage from the locking engagement with the groove 201. Preferably, the locking part 22 can be completely retracted into the housing 1 so that the battery assembly can be smoothly moved out; or, in the case where there is a certain gap between the battery assembly and the housing 1, the locking part 22 is also allowed to protrude slightly out of the housing 1 in the unlocked state.

[0101] For example, the groove 201 is rectangular.

[0102] In this embodiment, the locking member 2 moves along the second direction y, causing the locking part 22 to extend or retract from the housing 1 to achieve a locked or unlocked state. In the locked state, the locking part 22 extends from the housing 1 and forms a locking engagement with the battery assembly, thereby reliably limiting and fixing the battery assembly, ensuring stable power supply and improving the reliability of the robot's power supply. In the unlocked state, the locking member 2 moves in the opposite direction along the second direction y, quickly releasing the constraint on the battery assembly, facilitating its removal by the drive assembly. This structure allows switching between locked and unlocked states solely through the movement of the locking member 2, resulting in a simple structure, stable operation, short transmission path, and convenient layout within the limited space inside the robot.

[0103] Furthermore, the locking part 22 and the groove 201 form a concave-convex mating structure, achieving a locking fit through interlocking. This provides multi-directional limiting of the battery assembly, effectively constraining it and reliably fixing it in place. This prevents vibration and shaking during walking or robotic arm operation, improving the robot's operational reliability. Moreover, the groove 201 has a simple structure and is easy to manufacture. It requires no additional space when mating with the locking part 22, making the overall battery swapping system compact. Additionally, the interlocking method between the locking part 22 and the groove 201 reduces the precision requirements for the fit, ensuring reliable engagement. The locked state remains stable, reducing the risk of mis-locking, facilitating positioning, and mitigating the risk of damage even after long-term use, thus enhancing the stability and durability of the battery swapping system.

[0104] In some embodiments, the battery swapping device 10 further includes a reset element 6 disposed along the second direction y on the side of the first main body 21 away from the locking part 22, and configured to restore the locking member 2 from the unlocked state to the locked state.

[0105] For example, the reset element 6 can be a spring. The reset element 6 can be made of a fatigue-resistant elastic material to ensure elastic stability after long-term, high-frequency use.

[0106] This embodiment incorporates a reset element 6. When the locking member 2 moves along the second direction y, causing the locking part 22 to retract into the housing 1 and enter the unlocked state, the reset element 6 is in a compressed state on the opposite side of the locking part 22. When the driving force on the locking member 2 is released, the reset element 6 automatically restores the locking member 2 to the locked state. Therefore, after the battery pack is replaced, the locking member 2 can quickly re-lock with the battery pack, improving the automation and convenience of the battery swapping operation. It also prevents the locking member 2 from being left unlocked due to forgetting to reset, ensuring that the battery pack remains in a stable locked state during operation, thereby improving the reliability and safety of the robot during operation.

[0107] In some embodiments, the power element 4 is further configured to provide a driving force to switch the locking element 2 between a locked state and an unlocked state. For example, the power element 4 unlocks the locking element 2 before the driving battery assembly moves out along the first direction x.

[0108] In this embodiment, the driving force provided by the power component 4 can sequentially unlock the locking component 2 and remove the battery assembly, achieving coordinated control of the two actions. This improves the continuity of the battery swapping process. Furthermore, the battery assembly can only be removed after entering the unlocked state, preventing damage caused by forcibly removing the battery assembly if it is not fully unlocked. Moreover, by controlling the power component 4, the degree of unlocking of the locking component 2 and the displacement of the battery assembly can be precisely controlled, along with the speed of action, which helps ensure a smooth and reliable battery swapping process.

[0109] In some embodiments, the drive component is configured to apply a pushing force to the battery assembly along a first direction x to move the battery assembly out.

[0110] This embodiment takes into account that the space on the side of the battery assembly away from the removal position along the first direction x is relatively large, which can provide sufficient arrangement space for the drive assembly. Placing the drive assembly on this side also makes it easier to apply a pushing force to remove the battery assembly. For example, a pushing force can be applied to both sides of the battery assembly along the second direction y, so that the removal process of the battery assembly is smooth and controllable.

[0111] In some embodiments, such as Figure 7 As shown, the driver component also includes:

[0112] The pusher 3 includes a second main body 31 and a first boss 32. The second main body 31 is disposed inside the housing 1 and is located on the side of the locking member 2 away from the moved-out position along the first direction x. The first boss 32 is connected to the second main body 31 and extends out of the housing 1 towards the side facing the battery assembly.

[0113] The power component 4 is configured to drive the pusher 3 to move along the first direction x, and to push out the battery assembly when the first boss 32 abuts against the battery assembly.

[0114] In the locked state, the pusher 3 is positioned between the power member 4 and the locking member 2 along the first direction x. The second main body 31 of the pusher 3 has a plate-like structure, and the first boss 32 is connected to the side of the second main body 31 near the battery assembly along the second direction y, and is located at the end near the power member 4 along the first direction x. The cover 12 of the housing 1 is provided with a second opening 122. For example, the second opening 122 is rectangular, and the first boss 32 is movable within the second opening 122 along the first direction x. In the locked state, the first boss 32 is located on the side of the second opening 122 away from the locking part 22, and the locking part 22 extends out of the first opening 121. The battery assembly can contact the first boss 32 or maintain a preset distance. In the unlocked state, the first boss 32 is located on the side of the second opening 122 near the locking part 22.

[0115] Optionally, a limiting platform 33 is connected to the side of the second main body 31 near the battery assembly along the second direction y. The limiting platform 33 is adjacent to the first protrusion 32 and located near the locking part 22. The limiting platform 33 is not higher than the surface of the housing 1 facing the battery assembly. The cover 12 of the housing 1 is also provided with a third opening 123 communicating with the second opening 122. The third opening 123 is located between the second opening 122 and the first opening 121 along the first direction x. The width of the third opening 123 along the third direction z can be smaller than the width of the second opening 122. In the unlocked state, the limiting platform 33 reaches into the third opening 123 and cooperates with the third opening 123 to achieve limiting, thereby limiting the maximum distance that the first protrusion 32 pushes out of the battery assembly.

[0116] To improve the accuracy and smoothness of the movement of the pusher 3 along the first direction x, a guide rail can be provided to guide the movement of the pusher 3.

[0117] The power component 4 can be a linear drive component, such as an electric actuator, cylinder, or hydraulic cylinder, used to directly drive the pusher 3 to move along the first direction x, and push the battery assembly out when the first boss 32 abuts against the battery assembly. The output end of the power component 4 can be connected to the middle position of the second main body 31 along the third direction z, for example, by means of threads, keys, etc. By using a linear drive component, the displacement of the pusher 3 can be controlled simply and accurately, reducing the control difficulty.

[0118] For example, when the linear drive component is a cylinder, the cylinder can be used in conjunction with a solenoid valve. When it is necessary to switch to the unlocked state, the host computer sends a command to trigger the solenoid valve to vent, which controls the piston rod of the cylinder to extend and drive the pusher 3 to move, thereby unlocking the locking component 2. When the replaced battery pack is pushed into place, the solenoid valve cuts off the gas supply, causing the piston rod of the cylinder to retract, and the locking component 2 switches to the locked state under the action of the reset element 6. For example, a pressure sensor can be set to detect whether the battery pack is accurately pushed into place. If the pressure sensor's detection value exceeds a preset pressure value, it can be determined that the battery pack is pushed into place.

[0119] Alternatively, the output end of the power unit 4 can output rotary motion, which, in conjunction with the transmission component, is converted into linear motion to drive the pusher 3 to move along the first direction x. For example, the transmission component can be a gear and rack transmission mechanism or a ball screw transmission mechanism, used to convert the rotary motion output by the power unit 4 into the linear motion of the pusher 3. During unlocking, the power unit 4 rotates forward, driving the pusher 3 to move along the first direction x, pressing down the locking member 2 to switch to the unlocked state, and pushing out the battery assembly; when resetting is required, the power unit 4 rotates in reverse, driving the pusher 3 to move in the opposite direction x, so that the locking member 2 returns to the locked state.

[0120] In an optional embodiment, the power component 4 can also work in conjunction with the locking component 2 to switch the locking component 2 between the locked state and the unlocked state.

[0121] This embodiment, by setting a power component 4 and a pusher component 3, and setting a first protrusion 32 extending out of the housing 1 on the pusher component 3, can automatically push out the battery assembly when the locking component 2 is in the unlocked state.

[0122] In some embodiments, such as Figure 1 As shown, in the locked state, the first protrusion 32 and the battery assembly have a preset distance along the first direction x. The power member 4 is configured to drive the pusher 3 to unlock the locking member 2 before the first protrusion 32 abuts against the battery assembly. For example, the preset distance is 5mm.

[0123] In this embodiment, as the power component 4 drives the pusher 3 to move along the first direction x, the first protrusion 32 moves from the initial position to abut against the battery assembly at a preset interval, causing the locking component 2 to switch from the locked state to the unlocked state. Then, the first protrusion 32 continues to move after abutting against the battery assembly, pushing the battery assembly out a distance so that the external robotic arm or operator can remove it more quickly for replacement.

[0124] In some embodiments, the locking element 2 includes:

[0125] The first main body 21 is disposed within the housing 1 and is linked and cooperates with the second main body 31; and

[0126] Locking part 22 is connected to the first main body part 21;

[0127] In the locked state, the locking part 22 extends out of the housing 1 along the second direction y, which is perpendicular to the first direction x; in the unlocked state, the second main body part 31 is supported on the side of the first main body part 21 near the battery assembly along the second direction y, so that the locking part 22 retracts into the housing 1 in the opposite direction of the second direction y.

[0128] Specifically, such as Figure 8As shown, in the locked state, the locking part 22 extends out of the housing 1 along the second direction y and engages with the groove 201 of the battery assembly. Figure 9 As shown, the output end of the power component 4 extends to drive the pusher 3 to move, causing the first protrusion 32 to abut against the battery assembly. At this time, the pusher 3 presses the locking component 2 to move along the second direction y in a direction away from the battery assembly, causing the locking part 22 to retract into the housing 1, reaching the unlocked state. Figure 10 As shown, the output end of the power member 4 continues to extend and drive the second main body 31 of the push member 3 to continue moving forward against the surface of the first main body 21, so as to push the battery assembly outward a certain distance. The maximum allowable distance of the push is limited by the blocking of the second main body 31 by the locking part 22.

[0129] In the locked state, the first protrusion 32 and the battery assembly are configured with a preset distance along the first direction x such that the second main body 31 presses the first main body 21 against the locking part 22 and retracts it into the housing 1.

[0130] In this embodiment, the second main body 31 and the first main body 21 work together. After the pushing member 3 drives the locking member 2 to unlock, the second main body 31 supports the side of the first main body 21 near the battery assembly along the second direction y. This can stably keep the locking member 2 in the unlocked state, preventing unlocking failure during the process of pushing out the battery assembly, and improving the reliability of battery swapping. Moreover, this method can directly move the locking member 2 along the second direction y through the linkage between the second main body 31 and the first main body 21, thereby causing the locking part 22 to retract into the housing 1. The transmission path is short, the motion transmission is direct, and the unlocking action is stable and reliable.

[0131] In some embodiments, the dimension of the second main body 31 along the second direction y is not less than the dimension of the locking part 22 protruding from the outer surface of the housing 1. This arrangement ensures that when the second main body 31 and the first main body 21 work together, the second main body 31 can completely press the locking part 22 into the housing 1 along the second direction y, thereby allowing the battery assembly to be unlocked and pushed out smoothly.

[0132] In some embodiments, the power member 4 is located on the side of the second main body 31 away from the locking member 2 along the first direction x, and the output end of the power member 4 is poweredly connected to the second main body 31 and configured to output linear motion along the first direction x.

[0133] The power component 4 can be a linear drive component, such as an electric actuator, cylinder, or hydraulic cylinder, used to directly drive the pusher 3 to move along the first direction x, and to push the battery assembly out when the first boss 32 abuts against the battery assembly. The output end of the power component 4 can be connected to the middle position of the second main body 31 along the third direction z, for example, by means of threads, keys, etc. The output end of the power component 4 can be directly connected to the second main body 31, or connected to the second main body 31 through other transmission components.

[0134] This embodiment uses a power component 4 that outputs linear motion to drive the push component 3 to move. This eliminates the need for transmission components. The two functions of unlocking and pushing out the battery assembly can be completed sequentially by the cooperation of the power component 4 and the push component 3. The motion transmission is direct and reliable, reducing the risk of jamming or failure. It is also easy to preset the push-out stroke in the controller to accurately realize the two-stage functions. This simplifies the control logic, improves the control accuracy, and effectively improves the integration of the battery swapping system.

[0135] In some embodiments, the locking element 2 includes:

[0136] The first main body 21 is disposed inside the shell 1; and

[0137] Locking part 22 is connected to the first main body part 21;

[0138] The drive assembly includes a second main body 31. In the locked state, the second main body 31 is connected to the first main body 21 through a first inclined surface 211. The first inclined surface 211 gradually tilts towards the removal position along the second direction y from the side away from the battery assembly to the side close to the battery assembly. The second direction y is perpendicular to the first direction x.

[0139] Specifically, the drive assembly includes a pusher 3 and a power member 4. The pusher 3 includes a second main body 31 and a first boss 32. The second main body 31 is disposed inside the housing 1 and is located on the side of the locking member 2 away from the moved-out position along the first direction x. The first boss 32 is connected to the second main body 31 and extends out of the housing 1 towards the battery assembly. The power member 4 is disposed inside the housing 1 and is configured to drive the pusher 3 to move along the first direction x and push out the battery assembly when the first boss 32 abuts against the battery assembly.

[0140] The second main body 31 and the first main body 21 are connected by the first inclined surface 211, which means that they are in contact through the first inclined surface 211.

[0141] In the locked state, the second main body 31 and the first main body 21 are connected by the first inclined surface 211. When unlocking is required, as the second main body 31 moves along the first direction x, the locking member 2 is movable along the second direction y, and the first inclined surface 211 gradually tilts towards the removed position from the side away from the battery assembly to the side closer to the battery assembly along the second direction y. Therefore, the second main body 31 will gradually climb up the first inclined surface 211 of the first main body 21, thereby forcing the first main body 21 to move away from the battery assembly along the second direction y, so that the locking part 22 retracts into the housing 1.

[0142] Therefore, the second main body 31 and the first main body 21 are connected through the first inclined surface 211, which can smoothly convert the driving displacement of the second main body 31 along the first direction x into a downward displacement. The structure is simple and the motion transmission is smooth and impact-free, so that the movement of the locking member 2 along the second direction y is continuous, reducing the possibility of the locking member 2 getting stuck and improving the unlocking reliability.

[0143] In some embodiments, the battery swapping device 10 further includes a manual unlocking member 5, which extends at least partially outside the housing 1 and is configured to receive an external operating force to switch the locking member 2 from a locked state to an unlocked state.

[0144] This embodiment, by incorporating a manual unlocking component 5, enables the power component 4 in the drive assembly to automatically unlock in emergency power outage scenarios. The manual force is transmitted to the locking component 2 via a mechanical mechanism, allowing the device to switch to the unlocked state without external power supply, thus meeting the battery swapping needs in emergency situations. Furthermore, the manual unlocking component 5 requires no additional auxiliary parts, making it convenient to operate and low in maintenance costs.

[0145] In some embodiments, the locking member 2 includes: a first main body 21, a locking part 22, and an extension part 23. The first main body 21 is disposed inside the housing 1, and the locking part 22 and the extension part 23 are connected to both sides of the first main body 21 along a second direction y, which is perpendicular to the first direction x.

[0146] The manual unlocking part 5 and the extension part 23 are linked together and configured to retract the locking part 22 into the housing 1 to disengage from the locking engagement with the battery assembly when receiving an external operating force, and to extend the locking part 22 out of the housing 1 to form a locking engagement with the battery assembly when released.

[0147] Figure 10The position of the extension 23 is shown. The extension 23 is closer to the manual unlocking member 5 along the second direction y, which facilitates the linkage between the manual unlocking member 5 and the extension 23, allowing it to switch to the unlocked state upon receiving external operating force. Thus, the locking member 2 can achieve automatic unlocking by linking the first main body 21 with the second main body 31 of the pushing member 3, and can also achieve manual unlocking by linking the extension 23 with the manual unlocking member 5.

[0148] In some embodiments, the extension 23 is provided with a second protrusion 24, and the manual unlocking component 5 includes:

[0149] The third main body 51 is located inside the shell 1;

[0150] The operating part 52 is connected to the third main body part 51 and extends out of the housing 1; and

[0151] The drive unit 53 is connected to the end of the third main body 51 away from the operation unit 52 along the first direction x, and the drive unit 53 is bent along the second direction y toward the direction close to the first main body 21, so that in the locked state, it forms a linkage with the extension unit 23 by docking with the second boss 24.

[0152] The third main body 51 forms a U-shaped structure in a plane perpendicular to the second direction y. The operating part 52 is connected to the side of the third main body 51 away from the locking member 2 along the second direction y. Two driving parts 53 are provided, respectively connected to the ends of the two side walls of the U-shaped structure, and both are bent towards the direction close to the first main body 21. Correspondingly, the extension 23 has second bosses 24 on both sides along the third direction z, and the two driving parts 53 respectively cooperate with the second bosses 24 on both sides.

[0153] Figure 9 and Figure 10 The second boss 24 provided on the extension 23 is clearly shown. Figure 11 This diagram illustrates the engagement between the drive unit 53 and the second boss 24 in the locked state. Figure 12 The diagram illustrates that by pushing the operating part 52, the driving part 53 is linked with the extension part 23 through the second boss 24, which drives the locking part 2 to move along the second direction y, causing the locking part 22 to retract into the housing 1.

[0154] like Figure 3 As shown, a fourth opening 111 is provided on the base 11 of the housing 1, and the operating part 52 extends out from the fourth opening 111 and can move in the first direction x within the fourth opening 111.

[0155] In this embodiment, the driving part 53 of the manual unlocking member 5 bends along the second direction y toward the direction close to the first main body part 21, which can leave enough space between the third main body part 51 and the first main body part 21. During the unlocking process, when the second protrusion 24 moves along the second direction y toward the direction away from the battery assembly, although the first main body part 21 will also approach the third main body part 51, the problem of collision and interference between the two can be avoided.

[0156] In some embodiments, such as Figure 12 As shown, in the unlocked state, the drive part 53 abuts against the side of the second boss 24 that is close to the first main body part 21 along the second direction y, so that the locking part 22 retracts into the housing 1 along the second direction y.

[0157] Specifically, such as Figure 11 As shown, in the locked state, the drive part 53 of the manual unlocking part 5 engages with the second boss 24, and the locking part 22 extends out of the housing 1 along the second direction y and engages with the groove 201 of the battery assembly. Figure 12 As shown, the operation unit 52 is pushed towards the battery assembly removal side along the first direction x, and the drive unit 53 gradually comes into contact with the side of the second boss 24 near the first main body 21 along the second direction y. Since the position of the manual unlocking member 5 does not change along the second direction y, the drive unit 53 can press the locking member 2 to move away from the battery assembly along the second direction y, so that the locking member 22 retracts into the housing 1 and reaches the unlocked state.

[0158] In this embodiment, the drive unit 53 and the second protrusion 24 work together. After the manual unlocking member 5 unlocks the locking member 2, the drive unit 53 supports the side of the second protrusion 24 near the battery assembly along the second direction y. This keeps the locking member 2 stably in the unlocked state, preventing manual unlocking failure during battery assembly removal and improving battery swapping reliability. Furthermore, this method allows the locking member 2 to move along the second direction y, causing the locking part 22 to retract into the housing 1, directly through the linkage between the drive unit 53 and the second protrusion 24. The transmission path is short, the motion transmission is direct, and the manual unlocking action is stable and reliable.

[0159] In some embodiments, the dimension of the drive portion 53 along the second direction y is not less than the dimension of the locking portion 22 protruding from the outer surface of the housing 1. This arrangement ensures that when the drive portion 53 and the second boss 24 work together, the drive portion 53 can completely press the locking portion 22 into the housing 1 along the second direction y, thereby allowing the battery assembly to be manually unlocked smoothly.

[0160] In some embodiments, the extension 23 is provided with a second boss 24. In the locked state, the manual unlocking member 5 is connected to the second boss 24 via a second inclined surface 241, and the second inclined surface 241 gradually tilts towards the removed position along the second direction y from the side away from the battery assembly to the side close to the battery assembly.

[0161] The manual unlocking component 5's drive part 53 and the second boss 24 are connected through the second inclined surface 241, meaning that they are in contact through the second inclined surface 241.

[0162] In the locked state, the drive unit 53 and the second boss 24 are connected via the second inclined surface 241. When unlocking is required, as the manual unlocking member 5 moves along the first direction x, the locking member 2 is movable along the second direction y, and the second inclined surface 241 gradually tilts towards the removed position from the side away from the battery assembly to the side closer to the battery assembly along the second direction y. Therefore, the drive unit 53 will gradually climb up the second inclined surface 241 of the second boss 24, thereby forcing the second main body 31 to move away from the battery assembly along the second direction y, causing the locking part 22 to retract.

[0163] Thus, the drive unit 53 and the second boss 24 are connected through the second inclined surface 241, which can smoothly convert the drive displacement of the drive unit 53 along the first direction x into a downward displacement. The structure is simple and the motion transmission is smooth and impact-free, so that the movement of the locking member 2 along the second direction y is continuous, reducing the possibility of the locking member 2 getting stuck and improving the reliability of manual unlocking.

[0164] In some embodiments, the locking member 2 is disposed on the side wall of the housing 1 facing the battery assembly. The locking member 2 is an electromagnetic attraction member, configured to engage and lock with the battery assembly when energized, and disengage from the battery assembly when de-energized.

[0165] For example, the electromagnetic chuck can be an electromagnetic chuck that generates electromagnetic attraction when energized, reaching a locked state. Upon receiving an unlock command, the electromagnetic chuck is de-energized and loses its magnetism, and the power component 4 drives the pusher 3 to move along the first direction x to push out the battery assembly. After the new battery assembly is pushed into place, the electromagnetic chuck is energized and locked. For example, a position sensor can be used to detect whether the battery assembly is pushed into place, and trigger the electromagnetic chuck to be energized and locked upon detection of this.

[0166] This structure eliminates the need for mechanical locking element 2 and reset element 6, and uses an electromagnetic attraction element as locking element 2. This allows for convenient and precise switching between locked and unlocked states. Furthermore, the locking and unlocking functions of locking element 2 and the function of ejecting the battery assembly are independent of each other, which reduces the complexity of the structure.

[0167] In some embodiments, such as Figure 1As shown, the battery swapping system includes two battery swapping devices 10, which are respectively located on opposite sides of the battery assembly.

[0168] For example, two battery swapping devices 10 are respectively located on opposite sides of the battery assembly along the second direction y. When the battery assembly needs to be replaced, the battery swapping devices 10 on both sides can be unlocked simultaneously, and after the new battery assembly is replaced, the battery swapping devices 10 on both sides can be locked simultaneously.

[0169] This embodiment improves the locking reliability and vibration resistance of the battery assembly by setting battery swapping devices 10 on opposite sides of the battery assembly. When the locking parts 2 of both battery swapping devices are locked, the battery assembly is less likely to loosen or shake during robot walking or operation, thus improving the robot's operational reliability. Moreover, when the locking parts 2 of both battery swapping devices are unlocked, the battery assembly can be smoothly pushed out by the pushing parts 3 on both sides, preventing the battery assembly from tilting and getting stuck, and improving the smoothness of battery swapping.

[0170] The robot battery swapping system can be used in humanoid robots, which include two robotic arms, a thoracic cavity, and an abdominal cavity. The thoracic and abdominal cavities are located between the two robotic arms, and the robot battery swapping system is located within the thoracic and / or abdominal cavity. This location has ample space, providing sufficient installation space for the robot battery swapping system. The battery 30 can be removed from the front or rear of the robot during replacement.

[0171] The following is combined Figures 1 to 12 The present invention provides structural schematic diagrams of some specific embodiments of the robot battery swapping system.

[0172] like Figure 1 As shown, a battery swapping device 10 is provided on each side of the battery assembly along the second direction y in the horizontal plane. The battery assembly can be moved out along the first direction x in the horizontal plane. The overall size of the battery swapping device 10 along the first direction x is larger than the size of the battery assembly along the first direction x.

[0173] like Figure 2 As shown, each battery swapping device 10 includes: a housing 1, a locking member 2, a pushing member 3, and a power member 4. The housing 1 includes a base 11 and a cover 12. The cover 12 is detachably fastened to the base 11 by fasteners, etc. The wall of the cover 12 away from the base 11 along the second direction y includes a first wall and a second wall. The first wall and the second wall have a height difference forming a stepped shape, with the first wall being lower than the second wall. The first wall has a first opening 121 and a second opening 122. The locking part 22 of the locking member 2 extends from the first opening 121 in the locked state. The first boss 32 of the pushing member 3 extends from the second opening 122. The first boss 32 is used to push the battery assembly out along the first direction x.

[0174] Optionally, a third opening 123 is provided on the first wall. The third opening 123 is located along the first direction x on the side of the second opening 122 near the first opening 121, and the third opening 123 communicates with the second opening 122. The third opening 123 is located in the middle region of the second opening 122 along the third direction z, and the size of the third opening 123 along the third direction z is smaller than the size of the second opening 122 along the third direction z. A limiting platform 33 is connected to the side of the first boss 32 facing the locking member 2 along the first direction x. When the first boss 32 moves to its limit position along the first direction x in the second opening 122, the limiting platform 33 cooperates with the third opening 123 to limit the maximum travel of the pushing member 3 along the first direction x, thereby limiting the maximum push-out travel of the battery assembly.

[0175] like Figure 3 As shown, the base 11 has a fourth opening 111 at its bottom. The operating part 52 of the manual unlocking member 5 extends out from the fourth opening 111 and is used to receive external operations so as to achieve manual unlocking in an emergency.

[0176] Figure 4 and Figure 5 These are the top view and side view of the battery swapping device 10, respectively.

[0177] Figure 6 and Figure 7 A schematic diagram of the internal structure of the battery swapping device 10 is shown. In the locked state, the power component 4, the pusher 3, and the locking component 2 are arranged sequentially along the first direction x. The manual unlocking component 5 is located along the second direction y on the side of the first main body 21 away from the battery assembly. The power component 4 and the pusher 3 are used to achieve automatic unlocking, and the manual unlocking component 5 is used to achieve emergency unlocking in the event of a power outage.

[0178] Among them, the power component 4 is a linear drive component, such as an electric push rod, a cylinder or a hydraulic cylinder.

[0179] The pusher 3 includes a second main body 31, a first boss 32 and a limiting platform 33. The output end of the power member 4 is connected to the first end of the second main body 31 along the first direction x. The second end of the second main body 31 along the first direction x has a first inclined surface 211. The first boss 32 and the limiting platform 33 are connected to the side of the second main body 31 along the second direction y close to the battery assembly.

[0180] The locking member 2 includes a first main body 21, a locking part 22, and an extension part 23. The first main body 21 also has a first inclined surface 211 at its first end facing the pusher 3 along the first direction x. In the locked state, the first inclined surface 211 of the pusher 3 and the first inclined surface 211 of the locking member 2 engage and connect. The locking part 22 is provided at the second end of the first main body 21 along the first direction x and extends toward the side closer to the battery assembly. The extension part 23 is provided on the side of the first main body 21 away from the locking part 22 along the second direction y. The extension part 23 has second bosses 24 on both sides along the third direction z, and the second bosses 24 have second inclined surfaces 241. In addition, a reset element 6 is provided between the first main body 21 and the base 11. The reset element 6 may include a plurality of springs extending along the second direction y. The plurality of springs are located in the middle region of the first main body 21 along the third direction z and are spaced apart along the first direction x.

[0181] The manual unlocking component 5 includes a third main body 51, an operating part 52, and a driving part 53. The third main body 51 forms a U-shaped structure in a plane perpendicular to the second direction y, with at least a portion of the spring disposed between the U-shaped structures. The operating part 52 is connected to the side of the third main body 51 away from the locking component 2 along the second direction y and extends from the fourth opening 111. Two driving parts 53 are provided, respectively connected to the ends of the two side walls of the U-shaped structure, and both are bent along the second direction y towards the first main body 21. The end of the driving part 53 away from the third main body 51 is provided with a second inclined surface 241, which engages with the second inclined surfaces 241 of the two second bosses 24 in the locked state.

[0182] Figure 8 This is a schematic diagram in a cross section of the locking member 2 when it is in the locked state. The locking part 22 extends out from the first opening 121 and engages with the groove 201 on the side wall of the battery assembly. The first boss 32 is in the initial position, and the first inclined surface 211 of the pusher 3 and the first inclined surface 211 of the locking member 2 engage and connect.

[0183] Figure 9 This diagram illustrates the locking element 2 in an automatically unlocked state. After receiving a battery swapping command from the host computer, the output end of the power element 4 extends, driving the pusher 3 to move a preset distance along the first direction x. During this movement, the second main body 31 gradually climbs up the first inclined surface 211 of the first main body 21, thereby overcoming the force of the reset element 6 and pressing the first main body 21 to move away from the battery assembly along the second direction y, thus causing the locking element 22 to retract and the reset element 6 to be in a compressed state. At this time, the first protrusion 32 can abut against the battery assembly.

[0184] Figure 10This is a schematic diagram showing the battery assembly being pushed out after automatic unlocking. The output end of the power unit 4 continues to extend, driving the pusher 3 to continue moving along the first direction x. The second main body 31 moves along the first main body 21, pushing the battery assembly out of the compartment via the first boss 32 until the battery assembly reaches the preset pick-up / placement position, so that an external robotic arm or operator can remove the battery assembly. Afterwards, the power unit 4 receives a reset command, causing its output end to automatically retract, driving the pusher 3 to retract and reset synchronously. At this time, the locking member 2 returns to the locked state under the elastic action of the reset element 6, awaiting subsequent commands.

[0185] When replacing a new battery pack, the new battery pack is pushed in by a robotic arm or operator and slides along the guide rail to the installation position. The battery pack will squeeze the locking part 22 and retract into the housing 1. When the battery pack is fully installed, the locking part 2 automatically returns to the locked state under the elastic action of the reset element 6, and is stuck into the groove 201 to complete the mechanical locking. At the same time, the trigger circuit is connected to ensure that the battery 30 can supply power stably.

[0186] Figure 11 This is a schematic diagram of the locking member 2 in the locked state in another cross section. The locking part 22 extends from the first opening 121 and engages with the groove 201 on the side wall of the battery assembly. The first boss 32 is in the initial position, and the second inclined surface 241 of the driving part 53 engages with the second inclined surface 241 of the second boss 24.

[0187] Figure 12 This diagram illustrates the manual unlocking state. When power to the power unit 4 is unavailable, the operator applies force to the operating part 52, causing the manual unlocking part 5 to move along the first direction x towards the removed position. During this movement, the driving part 53 overcomes the force of the reset element 6 and gradually climbs up the second inclined surface 241 of the second boss 24, thereby pressing the second boss 24 to move along the second direction y away from the battery assembly. This causes the locking part 22 to retract, and the reset element 6 to be in a compressed state. At this time, the first boss 32 can abut against the battery assembly. After manual unlocking, the robot or operator is allowed to remove the battery assembly. After removing the battery assembly, the manual unlocking part 5 is released, and the locking part 2 returns to the locked state under the action of the reset element 6.

[0188] The robot battery swapping system of this disclosure integrates the unlocking, ejection, locking, and emergency unlocking functions of the battery pack into a compact space, requiring no additional equipment. This makes it suitable for the lightweight and miniaturized installation needs of humanoid robots, solving the problem of large space occupation caused by separate functional designs. Furthermore, the automatic and manual unlocking modes are structurally independent and do not interfere with each other. The automatic unlocking mode uses a power component 4 and a mechanical linkage structure, resulting in rapid response and efficient operation. The manual unlocking mode is achieved solely through the mechanical linkage structure, requiring no external power supply and meeting the unlocking requirements during power outages, thus satisfying the robot's battery swapping needs in extreme scenarios. In addition, the pushing component 3 and the locking component 2 are linked by a first inclined plane 211, ensuring precise and controllable movement. This allows the downward pressure of the locking component 2 to perfectly match the unlocking requirements of the battery pack, preventing incomplete unlocking or excessive compression that could lead to structural damage and significantly improving the operational stability and service life of the mechanism. Finally, the overall structure is simple and compact, reducing complex transmission links and lowering the probability of failure.

[0189] The present disclosure provides a detailed description of a robot battery swapping system and the robot itself. Specific embodiments have been used to illustrate the principles and implementation methods of the present disclosure. These embodiments are merely illustrative and are intended to aid in understanding the method and core concepts of the present disclosure. It should be noted that those skilled in the art can make various improvements and modifications to the present disclosure without departing from its principles, and these improvements and modifications also fall within the scope of protection of the claims of this disclosure.

Claims

1. A robot battery swapping system, characterized in that, Includes a battery swapping device (10) and a battery assembly, the battery swapping device (10) being disposed on at least one side outside the battery assembly, and comprising: Shell (1); A locking member (2) is disposed in the housing (1) and has a locked state and an unlocked state. In the locked state, the locking member (2) forms a locking engagement with the battery assembly; in the unlocked state, the locking member (2) disengages from the locking engagement with the battery assembly. The locking member (2) includes: a first main body (21) disposed within the housing (1); and a locking part (22) connected to the first main body (21); and The drive assembly includes a pusher (3) and a power member (4) disposed within the housing (1). The pusher (3) includes a first boss (32) and a second body portion (31). The first boss (32) is connected to the second body portion (31) and extends out of the housing (1) toward the side facing the battery assembly. The power member (4) is configured at least to drive the pusher (3) to move along a first direction (x) when the locking member (2) is in the unlocked state, and to provide a driving force to push the battery assembly out along the first direction (x) when the first boss (32) abuts against the battery assembly. The second main body (31) is disposed inside the housing (1) and is linked with the first main body (21), and is located on the side of the locking member (2) away from the moved-out position along the first direction (x); in the unlocked state, the second main body (31) is supported on the side of the first main body (21) near the battery assembly along the second direction (y), so that the locking member (22) retracts into the housing (1) along the second direction (y), and the power member (4) is configured to continue to drive the second main body (31) to move forward against the surface of the first main body (21) to push the battery assembly outward, and the second direction (y) is perpendicular to the first direction (x).

2. The robot battery swapping system according to claim 1, characterized in that, The battery assembly has a groove (201) on its side wall facing the battery swapping device (10), and the locking member (2) is movable along a second direction (y) perpendicular to the first direction (x), and includes: The first main body (21) is disposed within the housing (1); and Locking part (22) is connected to the first main body part (21); In the locked state, the locking part (22) extends out of the housing (1) and embeds into the groove (201) to form a locking engagement; in the unlocked state, the locking part (22) retracts and disengages from the groove (201).

3. The robot battery swapping system according to claim 2, characterized in that, The battery swapping device (10) further includes a reset element (6) disposed along the second direction (y) on the side of the first main body (21) away from the locking part (22), and configured to restore the locking member (2) from the unlocked state to the locked state.

4. The robot battery swapping system according to claim 1, characterized in that, The power component (4) is configured to provide driving force to switch the locking component (2) between the locked state and the unlocked state.

5. The robot battery swapping system according to claim 1, characterized in that, In the locked state, the first boss (32) and the battery assembly have a preset distance along the first direction (x), and the power member (4) is configured to drive the pusher (3) to cause the locking member (2) to enter the unlocked state before the first boss (32) abuts against the battery assembly.

6. The robot battery swapping system according to claim 1, characterized in that, in, In the locked state, the locking part (22) extends out of the housing (1) along the second direction (y).

7. The robot battery swapping system according to claim 6, characterized in that, The size of the second main body (31) along the second direction (y) is not less than the size of the locking part (22) protruding from the outer surface of the housing (1).

8. The robot battery swapping system according to claim 1, characterized in that, The power member (4) is located on the side of the second main body (31) away from the locking member (2) along the first direction (x). The output end of the power member (4) is poweredly connected to the second main body (31) and is configured to output linear motion along the first direction (x).

9. The robot battery swapping system according to claim 1, characterized in that, The locking element (2) includes: The first main body (21) is disposed within the housing (1); and Locking part (22) is connected to the first main body part (21); The drive assembly includes a second main body (31). In the locked state, the second main body (31) is connected to the first main body (21) through a first inclined surface (211), and the first inclined surface (211) gradually tilts towards the removal position along the second direction (y) from the side away from the battery assembly to the side close to the battery assembly.

10. The robot battery swapping system according to any one of claims 1 to 9, characterized in that, The battery swapping device (10) also includes a manual unlocking component (5), which extends at least partially outside the housing (1) and is configured to receive an external operating force to switch the locking component (2) from the locked state to the unlocked state.

11. The robot battery swapping system according to claim 10, characterized in that, The locking member (2) includes: a first main body (21), a locking part (22) and an extension part (23). The first main body (21) is disposed inside the housing (1). The locking part (22) and the extension part (23) are connected to both sides of the first main body (21) along a second direction (y). The manual unlocking member (5) is linked with the extension (23) and is configured to retract the locking part (22) into the housing (1) to disengage from the locking engagement with the battery assembly when receiving an external operating force, and to extend the locking part (22) out of the housing (1) to form a locking engagement with the battery assembly when released.

12. The robot battery swapping system according to claim 11, characterized in that, The extension (23) is provided with a second protrusion (24), and the manual unlocking component (5) includes: The third main body (51) is provided inside the housing (1); The operating part (52) is connected to the third main body part (51) and extends out of the housing (1); and The drive unit (53) is connected to one end of the third main body (51) away from the operation unit (52) along the first direction (x), and the drive unit (53) bends along the second direction (y) toward the first main body (21) so that in the locked state, it forms a linkage with the extension (23) by docking with the second boss (24).

13. The robot battery swapping system according to claim 12, characterized in that, In the unlocked state, the drive part (53) abuts against the side of the second boss (24) along the second direction (y) close to the first main body part (21), so that the locking part (22) retracts into the housing (1) along the second direction (y).

14. The robot battery swapping system according to claim 13, characterized in that, The size of the drive part (53) along the second direction (y) is not less than the size of the locking part (22) protruding from the outer surface of the housing (1).

15. The robot battery swapping system according to claim 11, characterized in that, The extension (23) is provided with a second boss (24). In the locked state, the manual unlocking member (5) is connected to the second boss (24) through a second inclined surface (241), and the second inclined surface (241) gradually tilts towards the removal position along the second direction (y) from the side away from the battery assembly to the side close to the battery assembly.

16. The robot battery swapping system according to claim 1, characterized in that, It includes two battery swapping devices (10), which are respectively located on opposite sides of the battery assembly.

17. A robot, characterized in that, Includes the robot battery swapping system as described in any one of claims 1 to 16.

18. The robot according to claim 17, characterized in that, The robot is a humanoid robot and also includes: Two robotic arms; and The thoracic and abdominal cavities are located between the two robotic arms; The robot battery swapping system is located in at least one of the thoracic cavity and the abdominal cavity.

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