Battery replacement robot

Abstract

The invention relates to a battery replacement robot. The battery replacement robot comprises a movable chassis, a machine body and a push-out mechanism. The machine body is connected with the movable chassis, the machine body is provided with a battery bin, and the battery bin is used for containing a battery. And the push-out mechanism is arranged in the battery bin and is used for pushing at least part of the battery out of the battery bin. According to the battery replacing robot, due to the fact that the battery replacing robot is provided with the movable chassis and the push-out mechanism, when the battery replacing robot is used, the battery replacing robot moves through the movable chassis to be close to electric equipment with the battery replacing requirement, at least part of the battery is actively pushed out of the battery bin through the push-out mechanism, and the battery pushed out of the battery bin is taken out and loaded into the electric equipment. Therefore, the time for the electric equipment to go back and forth between the battery swap station and the work site is reduced, and the battery swap efficiency is improved; in addition, the battery pushed out of the battery bin can be conveniently and rapidly taken out, and the battery replacement efficiency is further optimized.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a battery swapping robot. Background Technology

[0002] With the development of robotics technology, robots with various specific functions are widely used in warehousing, logistics, security and other fields, reducing the labor intensity of workers while greatly improving work efficiency and reliability. Existing robots are typically powered by rechargeable batteries. When the robot's battery is depleted or about to be depleted, the robot moves to a charging station to replace the battery or recharge it online.

[0003] However, robots in related technologies, especially wheeled humanoid robots, mostly use large-capacity battery packs. When the battery is low, the robot moves to a charging station for online charging, or to a battery swapping station for manual replacement, or the battery is manually carried to the robot for replacement. Because the robot's work area is far from the charging station or battery swapping station, the battery swapping time is long and the efficiency is low; furthermore, charging at a charging station requires a wait of 1 to 2 hours, which also reduces the efficiency of battery swapping. Summary of the Invention

[0004] Therefore, it is necessary to provide a battery swapping robot that can improve battery swapping efficiency by addressing the shortcomings of existing technologies.

[0005] This application provides a battery swapping robot, including:

[0006] Movable chassis;

[0007] The fuselage, which is connected to the movable chassis, includes a battery compartment for housing batteries; and

[0008] An ejection mechanism is disposed within the battery compartment and is used to eject at least a portion of the battery from the battery compartment.

[0009] In one embodiment, the battery swapping robot further includes a locking mechanism disposed on the body, the locking mechanism having a locked state and an unlocked state; when the locking mechanism is in the locked state, the locking mechanism locks the battery located in the battery compartment; when the locking mechanism is in the unlocked state, the locking mechanism releases the battery located in the battery compartment, and the ejection mechanism ejects the battery from the battery compartment.

[0010] In one embodiment, the locking mechanism includes a mounting base, a locking member, a first elastic member, and an electromagnetic coil. The mounting base is connected to the body, the locking member is movably disposed on the mounting base, the first elastic member is connected between the locking member and the mounting base, and the electromagnetic coil is wound around the mounting base. When the electromagnetic coil is energized, the mounting base generates a magnetic force that causes the locking member to move, thereby switching to the unlocked state, and the locking member causes the first elastic member to undergo elastic deformation. When the electromagnetic coil is de-energized, the first elastic member, under its own restoring force, causes the locking member to move in the opposite direction, thereby switching to the locked state.

[0011] In one embodiment, the battery swapping robot further includes a manual unlocking component; the manual unlocking component is connected to the locking mechanism, the manual unlocking component extends at least partially outside the body, and the manual unlocking component can drive the locking mechanism to move to the unlocked state.

[0012] In one embodiment, the battery swapping robot further includes an adapter plate disposed within the battery compartment. The adapter plate is provided with a first connector and a second connector. The first connector is used for electrical connection with the output connector of the battery, and the second connector is used for electrical connection with the input connector of the battery. The ejection mechanism is connected to the adapter plate.

[0013] In one embodiment, the ejection mechanism includes a ejector pin and a second elastic element. The adapter plate has a through hole, and the ejector pin is movably inserted into the through hole. The ejector pin is connected to at least one of the movable chassis and the adapter plate through the second elastic element. The ejector pin also abuts against the back of the battery.

[0014] In one embodiment, there are multiple ejector pins, the second elastic element, and the through holes. Each ejector pin is correspondingly arranged with each of the through holes, and each ejector pin is also correspondingly arranged with each of the second elastic elements. The multiple through holes are arranged at intervals on the adapter plate.

[0015] In one embodiment, the ejection mechanism includes a multi-link assembly, a third elastic element, and a push plate. The multi-link assembly and the third elastic element are each connected between the push plate and the adapter plate. The push plate is used to abut against the back of the battery.

[0016] In one embodiment, there are two ejection mechanisms, which are respectively arranged at opposite ends of the adapter plate.

[0017] In one embodiment, the push plate is provided with a first magnetic attractor, which is used to magnetically engage with a second magnetic attractor on the battery.

[0018] In one embodiment, the ejection mechanism includes two strong magnets with opposite polarities, one of which is disposed on the adapter plate and the other is disposed on the back of the battery; or, the ejection mechanism includes an electric push rod connected to the adapter plate and also engaging with the battery.

[0019] In one embodiment, the battery swapping robot further includes a controller and a positioning device. The controller is electrically connected to the positioning device and the movable chassis. The controller is also used to communicate with a server. The positioning device is used to obtain a first position of the battery swapping robot. The controller is used to transmit the first position to the server, receive a movement command returned by the server based on the first position, and control the movable chassis to move according to the movement command.

[0020] In one embodiment, the battery swapping robot further includes a camera electrically connected to the controller. The camera is connected to at least one of the movable chassis and the body. The camera is used to acquire at least one of obstacle information in the environment where the battery swapping robot is located and distance information between the battery swapping robot and the power-consuming equipment. The controller is used to control the movement of the movable chassis based on at least one of the obstacle information and the distance information.

[0021] In one embodiment, the battery swapping robot further includes a multi-degree-of-freedom adjustable joint and a controller. The multi-degree-of-freedom adjustable joint is connected between the body and the movable chassis, and the multi-degree-of-freedom adjustable joint is electrically connected to the controller.

[0022] The aforementioned battery-swapping robot, equipped with a movable chassis and a push-out mechanism, moves to the device requiring battery replacement via its chassis. The push-out mechanism then actively pushes at least a portion of the battery out of the battery compartment. The battery pushed out of the compartment is then removed and installed into the device. This not only reduces the time the device spends traveling between the battery-swapping station and the work area, improving battery-swapping efficiency, but also allows for quick and easy removal of the pushed-out battery, further optimizing battery-swapping efficiency. Attached Figure Description

[0023] Figure 1 This is a front view of a battery swapping robot according to an embodiment of this application.

[0024] Figure 2 for Figure 1 The image shows a side view of the battery swapping robot.

[0025] Figure 3 for Figure 1The image shows a top view of the battery swapping robot.

[0026] Figure 4 This is a structural diagram of a battery swapping robot according to another embodiment of this application.

[0027] Figure 5 This is a structural diagram of a battery according to an embodiment of this application.

[0028] Figure 6 This is a structural diagram of the back side of a battery according to an embodiment of this application.

[0029] Figure 7 This is a structural diagram of the back of a battery according to another embodiment of this application.

[0030] Figure 8 This is a structural diagram of the locking mechanism in a battery swapping robot according to an embodiment of this application.

[0031] Figure 9 for Figure 8 The side view of the locking mechanism shown.

[0032] Figure 10 This is a structural diagram of the ejection mechanism and adapter plate according to an embodiment of this application.

[0033] Figure 11 for Figure 10 The side view of the ejection mechanism and adapter plate shown.

[0034] Figure 12 This is a structural diagram of the ejection mechanism and adapter plate according to another embodiment of this application.

[0035] Figure 13 for Figure 12 The side view of the ejection mechanism and adapter plate shown.

[0036] Figure 14 This is a structural diagram of the battery, ejection mechanism, and adapter plate according to another embodiment of this application.

[0037] Figure 15 for Figure 14 The diagram shows the structure of the adapter plate.

[0038] Figure 16 for Figure 14 The side view of the adapter plate shown.

[0039] Figure 17 This is a structural diagram of the battery, ejection mechanism, and adapter plate according to another embodiment of this application.

[0040] Figure 18 This is a structural diagram of a battery swapping robot moving to the power-consuming equipment according to an embodiment of this application.

[0041] Figure 19This is a structural diagram of a battery-swapping robot moving to an electrical appliance according to another embodiment of this application.

[0042] Explanation of reference numerals in the attached figures:

[0043] 10. Movable chassis; 11. Rollers; 12. Safety contact edge mechanism; 20. Body; 21. Battery compartment; 211. Inlet / outlet; 22. Indicator component; 30. Push-out mechanism; 31. Ejector pin; 32. Second elastic element; 33. Multi-link assembly; 34. Third elastic element; 335. Push plate; 351. First magnetic suction element; 36. Strong magnet; 37. Electric push rod; 40. Battery; 41. Function button; 42. Indicator light; 43. Handle; 44. Wear-resistant anti-slip sheet; 45. Slide groove; 46. Locking mating part; 47. Output connector; 48. Input connector; 491. Positioning hole; 492 493. Abutment surface; 50. Second magnetic suction element; 51. Electrical equipment; 60. Robotic arm; 61. Locking mechanism; 62. Mounting base; 63. Locking element; 64. Locking pin; 65. Guide slope; 66. Connecting part; 67. First elastic element; 78. Electromagnetic coil; 79. Manual unlocking element; 70. Transmission element; 81. Adapter plate; 82. First connector; 83. Second connector; 84. Through hole; 95. Navigation system; 916. LiDAR; 96. Multi-degree-of-freedom adjustable joint; 97. Camera; 98. Sensor; 99. Heat dissipation component; 90. Power on / off button; 99. Emergency stop button. Detailed Implementation

[0044] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0045] As described in the background section, the robot's work area is located at a distance from charging piles or battery swapping stations. When the robot's battery is low, the time spent moving back and forth between the work area and the charging piles or battery swapping stations is considerable. Furthermore, when the robot chooses to charge at a charging pile, a long waiting time is required, resulting in low battery swapping efficiency.

[0046] Based on the above reasons, this application provides a battery swapping robot, which is a technical solution that can improve battery swapping efficiency.

[0047] The following will combine Figures 1 to 19 A detailed description of a battery-swapping robot according to an embodiment of this application is provided.

[0048] It should be noted that, for ease of description and understanding, the terms "front," "rear," "up," "down," "left," and "right" in this embodiment refer to the state of the battery swapping robot during normal use. The direction facing the user is "front," the direction away from the user is "rear," the vertical direction is "up and down," and the direction perpendicular to both the front-back and up-down directions is "left and right." For example... Figure 1 As shown.

[0049] It should be noted that the electrical equipment 50 in this embodiment includes, but is not limited to, instruments and devices that provide power to robots, new energy vehicles, or other devices powered by batteries 40. No specific limitations are imposed here, and the specific equipment can be flexibly adjusted and configured according to actual needs. For ease of description, the electrical equipment 50 in this embodiment will be described using a robot as an example. Specifically, the robot is a humanoid robot, and more specifically, a wheeled humanoid robot (such as...). Figure 18 (as shown) or bipedal humanoid robots (such as) Figure 19 (As shown), but of course, this is not a limitation.

[0050] See Figure 1 , Figure 2 and Figure 18 , Figure 1 This paper shows a front view structural diagram of a battery swapping robot according to an embodiment of the present application. Figure 2 It shows Figure 1 The image shows a side view of the battery swapping robot. One embodiment of this application provides a battery swapping robot, which includes a movable chassis 10, a body 20, and an ejection mechanism 30.

[0051] Among them, the movable chassis 10 serves as the mobile platform for the battery swapping robot, and can be flexibly moved to the vicinity of the power-consuming equipment 50 as needed.

[0052] Please see Figure 2 and Figure 3 , Figure 3 It shows Figure 2 The diagram shows a top view of the battery-swapping robot. For example, the movable chassis 10 includes a main body, a power mechanism, and wheels 11. The power mechanism is located within the main body and includes, but is not limited to, a motor. The power mechanism is connected to the wheels 11 and drives their rotation. The power mechanism is also electrically connected to a controller, which controls the operation of the power mechanism to move the movable chassis 10. The wheels 11 are located at the bottom of the main body, and the number of wheels 11 includes, but is not limited to, one, two, three, four, six, or more. To enhance mobility, the wheels 11 are omnidirectional wheels. The movable chassis 10, acting as a carrier, moves in the forward-backward direction, correspondingly driving the battery-swapping robot to move in the same direction.

[0053] For example, the fuselage 20 is connected to the movable chassis 10. The movable chassis 10 serves to support the fuselage 20 and can move the fuselage 20 synchronously to adjust its position.

[0054] The fuselage 20 is equipped with a battery compartment 21, which is used to house the battery 40.

[0055] For example, the device body 20 also includes a prompting component 22, which may include, but is not limited to, a status light. The status light is electrically connected to the controller. The status light is correspondingly set to the battery compartment 21. Specifically, the status light is, for example, a color-changing light. The status light displays the power level of the battery 40 in the corresponding battery compartment 21 by changing color, thereby indicating whether the battery 40 is fully charged.

[0056] Specifically, the battery compartment 21 is provided with an inlet and outlet 211 for loading and unloading the battery 40. That is, the battery 40 is loaded into the battery compartment 21 or taken out of the battery compartment 21 through the inlet and outlet 211.

[0057] Optionally, to facilitate the removal and placement of the battery 40, the inlet / outlet 211 is located on the side of the body 20, extending laterally from the side of the body 20 into the body 20 to form the battery compartment 21. Alternatively, the inlet / outlet 211 can be located on the top surface of the body 20, extending vertically downward from the top surface of the body 20 into the body 20 to form the battery compartment 21.

[0058] The battery compartment 21 is not limited to one, but can be multiple, such as two, three, four, six, eight or more, without limitation, and can be flexibly adjusted and set according to actual needs. When there are multiple battery compartments 21, the number of batteries 40 installed on the body 20 is correspondingly multiple. In this way, the battery swapping robot can provide multiple batteries 40, which can provide batteries 40 for more than one electrical device 50, meeting the battery replacement needs of more electrical devices 50. Furthermore, the type and size of the various batteries 40 installed on the battery swapping robot can be the same or different, and can be flexibly adjusted and set according to actual needs, without limitation. For example, the body 20 can be equipped with multiple batteries 40, and the types of batteries 40 are not exactly the same, so that batteries 40 can be provided for different types of electrical devices 50.

[0059] Optionally, at least one side of the fuselage 20 is provided with an inlet / outlet 211. Specifically, at least two sides of the fuselage 20 are provided with inlets / outlets 211. For more details, please refer to [link to relevant documentation]. Figure 1 and Figure 2In this embodiment, each of the two adjacent sides of the fuselage 20 is provided with an inlet / outlet 211, and the number of inlets / outlets 211 provided on each of the two adjacent sides is not less than two. Thus, the number of batteries 40 installed on each of the adjacent sides of the fuselage 20 is not less than two; and the batteries 40 can be replaced facing different sides of the fuselage 20, making battery replacement more flexible and efficient.

[0060] Please see Figure 4 For example, an ejection mechanism 30 is disposed within the battery compartment 21. The ejection mechanism 30 is used to eject at least a portion of the battery 40 from the battery compartment 21. When removing the battery 40 from the battery compartment 21, the ejection mechanism 30 ejects at least a portion of the battery 40 from the battery compartment 21, allowing the robotic arm 51 or human hand of the electrical device 50 to easily grasp the portion of the battery 40 ejected from the battery compartment 21 and continue to completely remove the battery 40 from the battery compartment 21. The battery 40 is then inserted into the battery compartment 40 of the electrical device 50. Furthermore, under the action of the ejection mechanism 30, the battery 40 can be quickly ejected from the battery compartment 21, effectively avoiding arcing defects caused by slow disconnection speed, thus improving safety and increasing service life.

[0061] The aforementioned battery swapping robot, equipped with a movable chassis 10 and an ejection mechanism 30, moves via the chassis 10 to approach the device 50 requiring battery replacement 40. The ejection mechanism 30 then actively ejects at least a portion of the battery 40 from the battery compartment 21. The ejected battery 40 is then removed and inserted into the device 50. This not only reduces the time the device 50 spends traveling between the battery swapping station and the work site, thus improving swapping efficiency, but also allows for quick and easy removal of the ejected battery 40, further optimizing swapping efficiency.

[0062] Please see Figures 5 to 7 , Figure 5 A structural diagram of a battery 40 according to an embodiment of this application is shown. Figure 6 and Figure 7 The rear structural diagrams of the battery 40 according to two embodiments of this application are shown respectively. The outer contour of the battery 40 includes, but is not limited to, a cube, a cylinder, or other regular and irregular shapes, and is not limited here. In order to facilitate stable gripping and replacement of the battery 40, the battery 40 in this example is specifically unfolded as a cube. The shape of the battery compartment 21 is adapted to the shape of the battery 40, so that the battery 40 can be stably installed.

[0063] Please refer to the following: Figure 5For example, the battery 40 is provided with a function button 41. The function button 41 is located on the front of the battery 40, and the function button 41 may be, for example, a power switch for controlling the battery 40 to be turned on or off, or for other functions, which are not limited here.

[0064] For example, the battery 40 also includes an indicator light 42 to display the battery level. To facilitate user observation of the battery level, the indicator light 42 is specifically positioned on the front of the battery 40, which is exposed through the inlet / outlet 211 of the battery compartment 21 for user observation. The number of indicator lights 42 is not limited to one; it can be two, three, five, or other numbers. In this embodiment, for instance... Figure 5 The indicator lights 42 shown are five in total, but this is not a limitation; the number of indicator lights 42 can be more or less. Indicator lights 42 are, for example, LEDs, with five LEDs used to display the SOC of battery 40. One indicator light 42 displays two colors (e.g., red and green), while the remaining indicator lights 42 display one color (e.g., single-color green). The remaining power of battery 40 is proportional to the number of indicator lights 42 lit. After battery 40 is powered on, the remaining power of battery 40 can be determined by the number of lit indicator lights 42. When the battery is low, all single-color indicator lights 42 are off, and the two-color indicator lights 42 display red light. Indicator lights 42 can also support flashing (at a frequency of, for example, 1Hz) to indicate the charging status.

[0065] To enhance the flexibility of battery 40 removal and replacement, the battery 40 can be replaced not only by the robotic arm 51 of the wheeled humanoid robot itself, but also manually by a person. For example, the battery 40 is also equipped with a handle 43. The handle 43 is located on the front of the battery 40 and is exposed through the inlet / outlet 211 of the battery compartment 21. The handle 43 facilitates manual removal or placement of the battery 40 from or into the battery compartment 21 by a person.

[0066] Please continue reading. Figure 5 For example, the side of the battery 40 is provided with wear-resistant anti-slip plates 44. Specifically, there are two wear-resistant anti-slip plates 44, which are located on opposite sides of the battery 40. When the robotic arm 51 contacts the wear-resistant anti-slip plates 44, the friction is large, which can realize stable picking and placing of the battery 40 and effectively prevent the battery 40 from accidentally falling or shifting.

[0067] For example, the side of the battery 40 is also provided with a sliding groove 45, and the number of sliding grooves 45 is one, two or more. The inner wall of the battery compartment 21 is provided with a guide. The guide and the sliding groove 45 are slidably engaged along the infeed direction of the battery 40. The guide includes, but is not limited to, guide blocks, guide ribs, etc. The sliding groove 45 and the wear-resistant anti-slip plate 44 can be arranged on the same side of the battery 40 or on two adjacent sides of the battery 40, without limitation. During the process of entering and exiting the battery compartment 21, the sliding engagement between the guide and the sliding groove 45 allows the battery 40 to smoothly and quickly enter and exit along the sliding direction of the sliding groove 45, avoiding jamming defects.

[0068] For example, the side of the battery 40 is also provided with a locking engagement portion 46, which includes, but is not limited to, a groove or locking hole formed on the side of the battery 40. The locking engagement portion 46 cooperates with the locking mechanism 60 of the battery swapping robot to lock and position the battery 40, so that the battery 40 is stably placed in the battery compartment 21. In addition, the battery 40 is also provided with a sensing engagement portion, which is correspondingly arranged with the locking engagement portion 46 and is specifically located, for example, within the locking engagement portion 46. The battery swapping robot also includes a sensor 94, which is connected to the locking mechanism 60. The sensor 94 includes, but is not limited to, a Hall sensor 94 or a photoelectric sensor 94. The sensing engagement portion is set according to the sensor 94. Taking the sensor 94 as a Hall sensor 94 as an example, the sensing engagement portion is a magnetic component, specifically a magnet. When the locking mechanism 60 and the locking engagement part 46 are locked together, the sensor 94 and the sensing engagement part are close to each other, and the sensor can then sense the sensing engagement part. Conversely, when the locking mechanism 60 and the locking engagement part 46 are separated, the sensor 94 and the sensing engagement part are spaced apart, and the sensor cannot sense the sensing engagement part. Therefore, the locking mechanism 60 can be used to determine whether the battery 40 is locked based on the sensing signal of the sensor 94.

[0069] Please see Figure 6 or Figure 7 The battery 40 is equipped with an output connector 47 and an input connector 48. The output connector 47 is the interface for the battery 40 to supply power, and the input connector 48 is the interface for charging the battery 40. Both the output connector 47 and the input connector 48 are located on the back of the battery 40. After the battery 40 is inserted into the battery compartment 21, the output connector 47 and the input connector 48 are successfully connected. The battery swapping robot can charge the battery 40 through the input connector 48. Specifically, the output connector 47 has two positive and two negative terminals, and the two positive terminals are as follows: Figure 6 As shown in P1 and P2, the two negative electrodes are as follows: Figure 6 As shown in P3 and P4. The output connector 47 also has multiple signal input sections, such as... Figure 6The signals S1 to S6 are shown in the diagram. S1 and S2 correspond to the presence detection signals of battery 40, S3 and S4 correspond to the power-on trigger signals of battery 40, and S5 and S6 correspond to the communication signals of battery 40, which can be either RS485 or CAN communication signals. Furthermore, the input connector 48 provides a charging interface and a communication interface to battery 40, facilitating charging of battery 40.

[0070] Figure 6 and Figure 7 The specific differences mainly depend on the deployment mechanism 30 of the battery swapping robot. Specifically, Figure 6 The reverse side of the battery 40 shown is specifically the same as Figure 10 and Figure 11 The ejection mechanism 30 shown is adapted to the configuration. Figure 7 The reverse side of the battery 40 shown is specifically the same as Figure 12 and Figure 13 The ejection mechanism 30 shown is adapted to the configuration. Figure 6 and Figure 7 The cooperation between each entity and the launching agency 30 will be described in detail later.

[0071] Please refer to the following: Figure 4 Based on the aforementioned embodiments, the battery swapping robot also includes a locking mechanism 60. The locking mechanism 60 is disposed on the body 20. Furthermore, the locking mechanism 60 has a locked state and an unlocked state. When the locking mechanism 60 is in the locked state, the locking mechanism 60 locks the battery 40 located in the battery compartment 21, so that the battery 40 is stably disposed in the battery compartment 21 and will not be pushed outward by the push-out mechanism 30; conversely, when the locking mechanism 60 is in the unlocked state, the locking mechanism 60 releases the battery 40 located in the battery compartment 21, and the push-out mechanism 30 pushes at least a portion of the battery 40 out of the battery compartment 21.

[0072] In this embodiment, the ejection mechanism 30 can eject the battery 40 from the battery compartment 21 based on elastic restoring force, or based on electric thrust, or in other ways. There are no restrictions here, and it can be flexibly adjusted and set according to actual needs.

[0073] In this embodiment, the locking mechanism 60 can be electrically controlled, manually controlled, or a combination of both. There are no restrictions here, as long as it can work together with the ejection mechanism 30 to enable the replacement of the battery 40 and to insert it into the battery compartment 21 and lock it stably so as not to be accidentally ejected. The specific design can be flexibly adjusted and set according to actual needs, and there are no restrictions here.

[0074] For example, the locking mechanism 60 is an electromagnetic lock. After receiving an unlocking command from the controller, the electromagnetic lock switches to the unlocked state, thereby releasing the battery 40 in the battery compartment 21; after receiving a locking command from the controller, the electromagnetic lock switches to the locked state, thereby locking the battery 40 in the battery compartment 21.

[0075] Based on the aforementioned embodiments, the locking mechanism 60 includes a mounting base 61, a locking member 62, a first elastic member 63, and an electromagnetic coil 64. The mounting base 61 is connected to the movable chassis 10. The locking member 62 is movably disposed on the mounting base 61. The first elastic member 63 is connected between the locking member 62 and the mounting base 61, and the first elastic member 63 may include, but is not limited to, a spring. The electromagnetic coil 64 is wound around the mounting base 61. After receiving an unlocking command, the locking mechanism 60 energizes the electromagnetic coil 64, and the mounting base 61 generates a magnetic force that causes the locking member 62 to move, switching to the unlocked state, and the locking member 62 causes the first elastic member 63 to elastically deform; conversely, after receiving an unlocking command, the locking mechanism 60 de-energizes the electromagnetic coil 64, the magnetic force of the mounting base 61 disappears, and the first elastic member 63, under its own restoring force, causes the locking member 62 to move in the opposite direction, switching to the locked state. For details, please refer to... Figure 8 When the electromagnetic coil 64 is energized, the mounting base 61 generates a magnetic attraction force that causes the locking member 62 to move closer. The locking member 62 moves upward and switches to the unlocked state, and the first elastic member 63 is compressed accordingly. Conversely, when the electromagnetic coil 64 is de-energized, the magnetic attraction force of the mounting base 61 disappears, and the elastic force of the first elastic member 63 causes the locking member 62 to move away from the mounting base 61. The locking member 62 moves downward and switches to the locked state.

[0076] Based on the aforementioned embodiment, the locking member 62 includes a locking pin 621. Furthermore, a locking engagement portion 46 is provided on the side of the battery 40. The locking pin 621 engages with the locking engagement portion 46, thereby stably locking the battery 40 in the locked state. The sensor 94 is specifically connected to the locking pin 621. When the locking pin 621 extends into the locking engagement portion 46, the locking pin 621 engages with the locking engagement portion 46, the battery 40 is locked and positioned in the battery compartment 21, and the sensor 94 extends into the locking engagement portion 46, thereby sensing the engagement portion. The sensor 94 transmits a locking signal to the controller. Conversely, when the locking pin 621 disengages from the locking engagement portion 46, the locking pin 621 releases the locking engagement portion 46, the battery 40 is in an unlocked state, and the sensor 94 disengages from the locking engagement portion 46, thereby no longer sensing the engagement portion. The sensor 94 transmits an unlocking signal to the controller.

[0077] Please see Figure 8 and Figure 9Optionally, the end of the locking pin 621 is provided with a guide slope 622, which is set at an angle to the insertion direction of the battery 40. The guide slope 622 is located on the side of the locking pin 621 facing the inlet / outlet 211. When the battery 40 is inserted into the battery compartment 21, the battery 40 contacts the locking pin 621 and abuts against the guide slope 622, causing the locking pin 621 to gradually retract, thereby unlocking. Until the battery 40 is fully inserted, the locking pin 621 enters the locking engagement part 46 under the elastic force of the first elastic member 63.

[0078] In some embodiments, the battery swapping robot also includes a manual unlocking component 71. The manual unlocking component 71 is connected to the locking mechanism 60 and extends at least partially beyond the movable chassis 10. The manual unlocking component 71 can move the locking mechanism 60 to the unlocked state. Thus, when it is necessary to remove the battery 40 from the battery compartment 21, the battery 40 can be automatically retrieved and placed by the robot's robotic arm 51, or manually by a person. Especially when the battery swapping robot is in a powered-off or faulty state, the locking mechanism 60 cannot be automatically unlocked, but the battery 40 can be manually replaced by unlocking the locking mechanism 60 using the manual unlocking component 71. Specifically, a person uses the manual unlocking component 71 to move the locking mechanism 60 to the unlocked state, and then pulls the handle 43 to remove the battery 40 from the battery compartment 21; conversely, after a person places a fully charged battery 40 into the battery compartment 21, the manual unlocking component 71 is released, and the locking mechanism 60 locks the battery 40.

[0079] Please refer to the following: Figure 8 and Figure 9 , Figure 9 for Figure 8 The side view of the locking mechanism 60 shown indicates that the manual unlocking component 71 is specifically connected to the locking component 62 in a transmission manner. The manual unlocking component 71 can drive the locking component 62 to move upward, causing the locking component 62 to switch from the locked state to the unlocked state. Figure 9The dashed line M represents the surface of the body 20. The left side of the dashed line M represents the interior of the body 20, and the right side represents the exterior of the movable chassis 10. The manual unlocking component 71 extends outside the body 20 for easy manual unlocking. The battery swapping robot also includes a transmission component 72, through which the manual unlocking component 71 is connected to the unlocking component. The manual unlocking component 71 drives the transmission component 72, which in turn drives the unlocking component to move, thus unlocking the component. Optionally, the transmission component 72 is a transmission link, and the locking component 62 also includes a connecting part 623 connected to one end of the transmission link. Pressing down on the manual unlocking component 71 causes one end of the transmission link to move downwards, and the other end of the transmission link correspondingly drives the connecting part 623 to move upwards, thus switching the locking component 62 to the unlocked state. Of course, it is understandable that the transmission component 72 and the manual unlocking component 71 can also adopt a gear combination or other structure. That is, by rotating the manual unlocking component 71, the manual unlocking component 71 drives the transmission component 72 to rotate. When the transmission component 72 rotates, it drives the locking component 62 to move accordingly, thereby unlocking the locking mechanism 60.

[0080] Based on the aforementioned embodiments, the battery swapping robot also includes an adapter plate 80. The adapter plate 80 is disposed within the battery compartment 21, located on the side of the battery compartment 21 opposite to the inlet / outlet 211. With the assistance of the adapter plate 80, the inserted battery 40 can be quickly and accurately connected to the battery swapping robot's electrical and communication systems. After the battery 40 is installed in the battery compartment 21 and connected to the adapter plate 80, an electrical and communication connection is established with the battery swapping robot. Specifically, the adapter plate 80 is provided with a first connector 81 and a second connector 82. The first connector 81 is used for electrical connection with the output connector 47 of the battery 40, and the second connector 82 is used for electrical connection with the input connector 48 of the battery 40. The ejection mechanism 30 is specifically connected to the adapter plate 80. The adapter plate 80 supports the ejection mechanism 30, allowing the ejection mechanism 30 to act on the back of the battery 40 and eject at least a portion of the battery 40 out of the battery compartment 21. Furthermore, if the disconnection speed between the battery 40 and the adapter plate 80 is slow, and due to the large current between the battery 40 and the adapter plate 80, a sudden current change during the disconnection process can cause arcing defects, making the first connector 81 and the second connector 82 of the battery 40, and the output connector 47 and the input connector 48 of the adapter plate 80 prone to damage. However, when the pushing force of the push-out mechanism 30 in this embodiment acts on the battery 40, it enables the battery 40 to disconnect quickly from the adapter plate 80, reducing the contact time between the battery 40 and the adapter plate 80, thereby reducing the sudden current change and arcing defects during the disconnection process, and extending the service life of the battery 40 and the adapter plate 80.

[0081] Please see Figure 10 and Figure 11 , Figure 10This diagram illustrates the structure of the ejection mechanism 30 and the adapter plate 80 according to one embodiment. Figure 11 for Figure 10 The diagram shows a side view of the ejection mechanism 30 and the adapter plate 80. Specifically, the ejection mechanism 30 includes a ejector pin 31 and a second elastic element 32. The adapter plate 80 has a through hole 83, through which the ejector pin 31 is movably inserted. The ejector pin 31 is connected to at least one of the housing 20 and the adapter plate 80 via the second elastic element 32. Specifically, the second elastic element 32 includes, but is not limited to, a spring, which is sleeved on the ejector pin 31. The spring can be connected between the ejector pin 31 and the housing 20, or between the ejector pin 31 and the adapter plate 80; this is not limited here. One end of the ejector pin 31 that extends into the battery compartment 21 also abuts against the back of the battery 40. Thus, before the locking mechanism 60 is unlocked, the second elastic element 32 is in a stretched or compressed state, and the ejector pin 31 is not ejected by the second elastic element 32; after the locking mechanism 60 is unlocked, the second elastic element 32 can drive the ejector pin 31 to pop out through its own elastic restoring force, and the ejector pin 31 acts on the back of the battery 40, so that the battery 40 is quickly pushed out of the battery compartment 21.

[0082] Based on the aforementioned embodiments, there are multiple ejector pins 31, second elastic elements 32, and through holes 83. Each ejector pin 31 is correspondingly arranged with each through hole 83, and each ejector pin 31 is also correspondingly arranged with each second elastic element 32. Multiple through holes 83 are arranged at intervals on the adapter plate 80. Specifically, the number of through holes 83 is not less than three, for example, four, five, six, eight, or more. The more through holes 83 there are, the more ejector pins 31 there are. After the locking mechanism 60 is unlocked, all ejector pins 31 simultaneously abut against the back of the battery 40, allowing the battery 40 to quickly pop outwards.

[0083] Please refer to the following: Figure 6 , Figure 10 and Figure 11 The back of the battery 40 is provided with positioning holes 491, which are correspondingly set with the ejector pins 31. The number of positioning holes 491 is the same as the number of ejector pins 31. When the battery 40 is inserted into the battery compartment 21, each ejector pin 31 extends into its corresponding positioning hole 491. The ejector pins 31 provide better positioning for the battery 40 and enable the battery 40 to be ejected quickly and stably.

[0084] The outward ejection distance of the battery 40 is adaptively adjusted according to the length of the ejector pin 31. Therefore, the outward ejection distance of the battery 40 can be adaptively adjusted by adjusting the length of the ejector pin 31. After the battery 40 is ejected from the battery compartment 21, the robotic arm 51 grabs the ejected battery 40, removes the battery 40 from the battery compartment 21, and places the battery 40 in the battery swapping device for charging.

[0085] Of course, the 30 launching institutions are not limited to being set as Figure 10 and Figure 11 The structure shown can also be flexibly adjusted and set to various other structural forms according to actual needs, which will be introduced in detail below.

[0086] Please see Figure 12 and Figure 13 , Figure 12 A structural diagram of the ejection mechanism 30 and the adapter plate 80 according to another embodiment of this application is shown. Figure 13 It shows Figure 12 The side view of the ejection mechanism 30 and the adapter plate 80 is shown. In another embodiment, the ejection mechanism 30 includes a multi-link assembly 33, a third elastic element 34, and a push plate 335. The multi-link assembly 33 and the third elastic element 34 are each connected between the push plate 335 and the adapter plate 80. The push plate 335 is used to abut against the back of the battery 40. The multi-link assembly 33 includes, but is not limited to, a scissor lift assembly. The third elastic element 34 includes, but is not limited to, a spring or elastic strip. When the locking mechanism 60 is unlocked, the third elastic element 34 acts on the push plate 335 through its own elastic force, and the push plate 335 correspondingly acts on the back of the battery 40, causing the battery 40 to be ejected outwards. During the movement of the push plate 335, the multi-link assembly 33 adaptably moves and supports the push plate 335, which facilitates the smooth ejection of the battery 40 by the push plate 335. Compared to... Figure 10 and Figure 12 Regarding the ejection mechanism 30 shown, Figure 12 and Figure 13 In the ejection mechanism 30 shown, the push plate 335 makes surface contact with the back of the battery 40. (See also...) Figure 7 The back of the battery 40 has an abutment surface 492, which abuts against the push plate 335. Therefore, the push plate 335 can make the battery 40 more stable when pushed outward, and there is no need to set up a dense set of ejector pins 31.

[0087] Based on the foregoing embodiments, the number of ejection mechanisms 30 is not limited to one, but may include, for example, two, three, four or more, without limitation. In this embodiment, two ejection mechanisms 30 are used as an example, with the two ejection mechanisms 30 respectively arranged at opposite ends of the adapter plate 80. Thus, after the locking mechanism 60 is unlocked, the two ejection mechanisms 30 act synchronously on the back of the battery 40, allowing the battery 40 to be stably ejected outward.

[0088] Based on the aforementioned embodiment, the push plate 335 is provided with a first magnetic suction member 351, and the back of the battery 40 is provided with a second magnetic suction member 493. The first magnetic suction member 351 and the second magnetic suction member 493 are magnetically attracted to each other. Optionally, at least one of the first magnetic suction member 351 and the second magnetic suction member 493 is a permanent magnet, and the other is a magnetic component that cooperates with the permanent magnet. In this way, under the magnetic attraction of the first magnetic suction member 351 and the second magnetic suction member 493, the battery 40 and the push plate 335 are always attracted together. Then, when the push plate 335 pushes the battery 40 outward, it can prevent the pushing force from being too large and causing the battery 40 to fly out of the battery compartment 21. That is, it can ensure that the battery 40 is pushed out of the battery compartment 21 according to the preset requirements, for example, so that part of the battery 40 is pushed out of the battery compartment 21, while the other part of the battery 40 is still in the battery compartment 21. This makes it easier for the robotic arm 51 to smoothly grasp the battery 40 pushed out of the battery compartment 21.

[0089] Please see Figures 14 to 16 , Figure 14 A structural diagram of the battery 40, the ejection mechanism 30, and the adapter plate 80 according to another embodiment of this application is shown. Figure 15 It shows Figure 14 The diagram shows the structure of the adapter plate 80. Figure 16 It shows Figure 14 The diagram shows a side view of the adapter plate 80. For example, the ejection mechanism 30 includes two strong magnets 36 with opposite polarities. One strong magnet 36 is disposed on the adapter plate 80, and the other strong magnet 36 is disposed on the back of the battery 40. Thus, when the locking mechanism 60 is unlocked, the repulsive force between the two strong magnets 36 allows the battery 40 to be ejected from the battery compartment 21. There are two ejection mechanisms 30, located at opposite ends of the adapter plate 80. This ensures that the battery 40 experiences balanced force during ejection, allowing it to be ejected stably.

[0090] Please see Figure 17 , Figure 17 A structural diagram of a battery 40, an ejection mechanism 30, and an adapter plate 80 according to another embodiment of this application is shown. For example, the ejection mechanism 30 includes an electric push rod 37. The electric push rod 37 is connected to the adapter plate 80 and also abuts against the back of the battery 40. Thus, when the locking mechanism 60 is unlocked, the electric push rod 37 actuates to eject the battery 40 out of the battery compartment 21. The outward ejection distance of the battery 40 can be adaptively adjusted by adjusting the length of the electric push rod 37. Furthermore, to improve the stability of the outward ejection of the battery 40, for example, two electric push rods 37 are used, with each electric push rod 37 connected to opposite ends of the adapter plate 80.

[0091] In some embodiments, the battery swapping robot also includes a power supply component. The power supply component is electrically connected to each of the battery swapping robot's electrical components, providing power to these components and enabling the battery swapping robot to operate normally. The various electrical components of the battery swapping robot include, but are not limited to, the battery 40, controller, power mechanism, locking mechanism 60, status lights, and, as described later, positioning device and camera 93, etc., and are not limited thereto.

[0092] In some embodiments, the battery-swapping robot further includes a controller and a positioning device. The controller is electrically connected to the positioning device and is also used to communicate with a server. The positioning device is used to obtain a first position of the battery-swapping robot, and the controller is used to transmit the first position to the server, receive movement instructions returned by the server based on the first position, and control the movable chassis 10 to move according to the movement instructions. The device 50 can transmit the battery power of its battery 40 and its second position to the server. When the server determines that the battery power of the device 50 is lower than a target value, it will generate movement instructions based on the second and first positions, i.e., obtain a suitable movement route based on the second and first positions. Thus, when the battery power of the device 50 is low, the battery-swapping robot can autonomously move to the vicinity of the device 50 according to the movement instructions, thereby enabling the replacement of the battery 40. Furthermore, because the battery-swapping robot moves according to the movement instructions, it can avoid obstacles.

[0093] Optionally, the positioning device includes, but is not limited to, a navigation system 91. The navigation system 91 includes, but is not limited to, at least one of a lidar 911, an ultrasonic radar, etc. Taking the navigation system 91 including a lidar 911 as an example, the number of lidars 911 may be one, two, three, or more. The lidars 911 are connected to at least one of the movable chassis 10 and the body 20. In this embodiment, there are specifically two lidars 911, respectively arranged on opposite sides of the front and rear of the movable chassis 10. For example, the navigation system 91 is electrically connected to a controller. The navigation system 91 can obtain the nearest battery swapping device, and the controller controls the battery swapping robot to move to the nearest battery swapping device based on the navigation position information of the navigation system 91.

[0094] Please see Figure 3 Based on the aforementioned embodiments, safety contact mechanisms 12 may be provided on the front and rear sides or around the movable chassis 10. When the safety contact mechanism 12 touches an obstacle, it can generate a sensing signal and transmit it to the controller. The controller then controls the movable chassis 10 to stop moving, thereby preventing collision damage.

[0095] Please see Figures 1 to 3Based on the foregoing embodiments, the battery-swapping robot also includes a camera 93. The camera 93 is electrically connected to the controller and is connected to at least one of the movable chassis 10 and the body 20. Optionally, the number of cameras 93 may include, but is not limited to, one, two, three, or more. Specifically, there may be multiple cameras 93, arranged at multiple different locations on the body 20 and the movable chassis 10. In this embodiment, there are three cameras 93, with two cameras 93 respectively arranged on two adjacent sides of the top surface of the body 20, and the other camera 93 arranged on the front side of the movable chassis 10.

[0096] For example, camera 93 is used to acquire obstacle information about the environment in which the battery swapping robot is located. The controller is used to control the movement of the movable chassis 10 based on this obstacle information. This effectively prevents collision damage to the battery swapping robot.

[0097] Please see Figure 18 or Figure 19 For example, camera 93 is used to acquire the distance between camera body 20 and electrical device 50. A controller is used to control the movement of the movable chassis 10 to control the distance. This allows the distance between camera body 20 and electrical device 50 to be precisely controlled within a preset range, thereby facilitating battery 40 replacement.

[0098] Please refer to the following: Figure 18 and Figure 19 In some embodiments, the battery-swapping robot also includes a multi-degree-of-freedom adjustable joint 92. The multi-degree-of-freedom joint is electrically connected to a controller, allowing for flexible adjustment of various degrees of freedom under the controller's control. The multi-degree-of-freedom adjustable joint 92 is connected between the body 20 and the movable chassis 10. Specifically, the multi-degree-of-freedom adjustable joint 92 includes at least one of a lifting joint and a rotating joint. The lifting joint can raise and lower the body 20, allowing the body 20 to adjust its position relative to the movable chassis 10. The rotating joint can drive the body 20 to rotate around its central axis, i.e., the vertical direction, thereby allowing the body 20 to rotate in the front-back and left-right directions, facilitating the removal of the battery 40 from the side of the body 20. Thus, under the action of the multi-degree-of-freedom adjustable joint 92, the body 20 can flexibly adjust its height and orientation as needed, facilitating the removal or insertion of the battery 40 from the battery compartments 21 at different locations on the body 20. Furthermore, since the body 20 can be rotated to adjust its orientation, it is particularly suitable for replacing the battery 40 of electrical equipment 50 in confined spaces.

[0099] Please see Figure 1For example, the battery swapping robot also includes a heat dissipation component 95, which is mounted on the body 20 and serves to dissipate heat. The battery swapping robot also includes a power on / off button 96 and an emergency stop button 97, both located on the body 20. The power on / off button 96 is electrically connected to the controller and functions as a power switch. The emergency stop button 97 is electrically connected to the controller and functions as an emergency stop button.

[0100] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0101] It should be noted that if a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component. If a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0102] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0103] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A battery swapping robot, characterized in that, The battery replacing robot comprises: a movable chassis; a machine body connected with the movable chassis, the machine body being provided with a battery compartment for accommodating a battery; a pushing mechanism arranged in the battery compartment, the pushing mechanism being used for pushing at least part of the battery out of the battery compartment. The battery replacing robot further comprises a locking mechanism arranged in the machine body, the locking mechanism being provided with a locked state and an unlocked state; when the locking mechanism is in the locked state, the locking mechanism locks the battery in the battery compartment; when the locking mechanism is in the unlocked state, the locking mechanism releases the battery in the battery compartment, and the pushing mechanism pushes the battery out of the battery compartment.

2. The battery replacing robot according to claim 1, characterized in that, The locking mechanism comprises a mounting seat, a locking piece, a first elastic piece and an electromagnetic coil, the mounting seat being connected with the machine body, the locking piece being movably arranged in the mounting seat, the first elastic piece being connected between the locking piece and the mounting seat, and the electromagnetic coil being arranged around the mounting seat; when the electromagnetic coil is powered on, the mounting seat generates a magnetic force to move the locking piece to switch to the unlocked state, and the locking piece causes the first elastic piece to be elastically deformed; when the electromagnetic coil is powered off, the first elastic piece causes the locking piece to move reversely under the action of its own restoring force to switch to the locked state.

3. The battery replacing robot according to claim 2, characterized in that, The battery replacing robot further comprises a manual unlocking piece; the manual unlocking piece is connected with the locking mechanism, the manual unlocking piece at least partially extending out of the machine body, and the manual unlocking piece being capable of driving the locking mechanism to move to the unlocked state.

4. The battery replacing robot according to claim 2, characterized in that, The battery replacing robot further comprises an adapter plate arranged in the battery compartment, the adapter plate being provided with a first connector and a second connector, the first connector being used for electrically connecting with an output connector of the battery, and the second connector being used for electrically connecting with an input connector of the battery; the pushing mechanism is connected with the adapter plate.

5. The battery replacing robot according to claim 1, characterized in that, The pushing mechanism comprises a plunger and a second elastic piece, the adapter plate being provided with a through hole, the plunger being movably arranged in the through hole, the plunger being connected with at least one of the movable chassis and the adapter plate through the second elastic piece, and the plunger further abuttingly matching with the back surface of the battery.

6. The battery replacing robot according to claim 5, characterized in that, The plunger, the second elastic piece and the through hole are all in plurality, each plunger and each through hole being correspondingly arranged, each plunger and each second elastic piece being correspondingly arranged, and the plurality of through holes being arranged at intervals on the adapter plate.

7. The battery replacing robot according to claim 6, characterized in that, The pushing mechanism comprises a multi-link assembly, a third elastic piece and a push plate, the multi-link assembly and the third elastic piece each being connected between the push plate and the adapter plate, and the push plate being used for abuttingly matching with the back surface of the battery.

8. The battery replacing robot of claim 5, wherein, The pushing mechanism is in two, and the two pushing mechanisms are respectively arranged at opposite ends of the adapter plate.

9. The battery replacing robot according to claim 8, characterized in that, The push plate is provided with a first magnetic attraction piece, and the first magnetic attraction piece is used for magnetically attracting the second magnetic attraction piece on the battery.

10. The battery replacing robot of claim 8, wherein, ​ 11. The battery replacing robot of claim 5, wherein, The ejection mechanism includes two strong magnets with opposite polarities, one of which is disposed on the adapter plate and the other is disposed on the back of the battery; or, the ejection mechanism includes an electric push rod connected to the adapter plate and also engaging with the battery.

12. The battery swapping robot of any one of claims 1 to 11, wherein, The battery swapping robot also includes a controller and a positioning device. The controller is electrically connected to the positioning device and the movable chassis. The controller is also used to communicate with a server. The positioning device is used to obtain the first position of the battery swapping robot. The controller is used to transmit the first position to the server, receive the movement command returned by the server based on the first position, and control the movement of the movable chassis according to the movement command.

13. The battery swapping robot of claim 12, wherein, The battery swapping robot also includes a camera, which is electrically connected to the controller. The camera is used to connect to at least one of the movable chassis and the body. The camera is used to acquire at least one of obstacle information in the environment where the battery swapping robot is located and distance information between the battery swapping robot and the power-consuming equipment. The controller is used to control the movement of the movable chassis based on at least one of the obstacle information and the distance information. 14.The battery replacing robot according to any one of claims 1-11, characterized in that, The battery swapping robot also includes a multi-degree-of-freedom adjustable joint and a controller. The multi-degree-of-freedom adjustable joint is connected between the body and the movable chassis, and the multi-degree-of-freedom adjustable joint is electrically connected to the controller.

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