Energy storage robots and energy storage systems

Abstract

This application discloses an energy storage robot and an energy storage system. The energy storage robot includes a body, a moving component, a battery module, a photovoltaic module, and a regulating component. The moving component drives the energy storage robot to move relative to a support surface. The photovoltaic module is electrically connected to the battery module. The photovoltaic module includes multiple photovoltaic elements and multiple photovoltaic actuators, with the multiple photovoltaic actuators connected to the multiple photovoltaic elements respectively. The regulating component includes a first actuation component and a second actuation component, with the second actuation component disposed on the first actuation component and the photovoltaic module disposed on the second actuation component. The first actuation component is configured to rotate about a first axis, such that the first actuation component drives the second actuation component to rotate relative to the first axis, thereby changing the pitch angle of the photovoltaic module, or, such that the second actuation component rotates relative to the first actuation component about a second axis, thereby changing the roll angle of the photovoltaic module, wherein the first axis is perpendicular to the second axis. The photovoltaic actuators are configured to drive the photovoltaic elements to move relative to the regulating component.

Description

Technical Field

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

[0002] When users are outdoors and need electricity, they typically choose outdoor power supplies. However, the weight of outdoor power supplies increases with the amount of stored energy, making it impossible to simultaneously meet the needs of convenience and high capacity for outdoor power use. Therefore, energy storage robots equipped with photovoltaic modules have autonomous power generation capabilities, which can solve the above problems to some extent.

[0003] Energy storage robots typically incorporate adjustment components to adjust the attitude angle of photovoltaic modules according to the angle of sunlight, ensuring high power generation efficiency. However, these adjustment components are complex in structure and have poor adjustment precision. Utility Model Content

[0004] This application provides an energy storage robot and an energy storage system.

[0005] This application provides an energy storage robot. The energy storage robot includes a body, a moving component, a battery module, a photovoltaic module, and an adjustment component. The moving component is disposed within the body. The moving component is configured to drive the energy storage robot to move relative to a support surface. The battery module is housed within the body. The photovoltaic module is electrically connected to the battery module and is configured to convert solar energy into electrical energy. The photovoltaic module includes multiple photovoltaic elements and multiple photovoltaic actuators, each of which is connected to one of the photovoltaic elements. The adjustment component is disposed within the body. The adjustment component includes a first actuation component and a second actuation component. The first actuation component is housed within the body, and the second actuation component is disposed on the first actuation component. The photovoltaic module is disposed on the second actuation component. The first actuation component is configured to rotate about a first axis, thereby causing the second actuation component to rotate relative to the first axis to change the pitch angle of the photovoltaic module, or to cause the second actuation component to rotate relative to the first actuation component about a second axis to change the roll angle of the photovoltaic module. The first axis is perpendicular to the second axis. The photovoltaic actuator is configured to drive the photovoltaic element to move relative to the regulating component.

[0006] In some embodiments, the first actuation component includes a base, a drive member, and a first rotating member. A pivot bracket is provided on the base. The drive member is supported on the base. The drive member includes a first pivot shaft whose extension direction is aligned with the direction of the first axis. The first rotating member is disposed on the pivot bracket, connected to the first pivot shaft, and configured to rotate about the first axis.

[0007] In some embodiments, the first actuation assembly further includes a connector. The connector is rotatably connected to the rotating shaft bracket, the connector is rotatable about the first axis, and the connector is also selectively connected to the first rotating shaft. The second actuation assembly includes a first support and a second rotating member. The first support is connected to the connector. The second rotating member is rotatably connected to the first support via a second rotating shaft, the extension direction of the second rotating shaft being consistent with the direction of the second axis, and the second rotating member is connected to the first rotating member.

[0008] In some embodiments, the adjusting assembly further includes a self-locking element. The self-locking element is disposed on the first bracket or the rotating shaft frame and configured to lock or unlock the transmission between the second rotating member and the first rotating member. The adjusting assembly includes a first state and a second state. In the first state, the connecting member is connected to the first rotating shaft, the transmission between the second rotating member and the first rotating member is locked by the self-locking element, and the first rotating shaft drives the second actuating assembly to rotate about the first axis. In the second state, the connecting member is disconnected from the first rotating shaft, the self-locking element unlocks the transmission between the second rotating member and the first rotating member, and the first rotating member drives the second rotating member to rotate about the second axis.

[0009] In some embodiments, the second actuation component further includes a second support and a support platform. The second support is connected to the second rotating shaft. The support platform is supported by the second support, and the photovoltaic module is disposed on the support platform.

[0010] In some embodiments, the adjustment assembly further includes a third actuation assembly. The third actuation assembly is connected to the first actuation assembly and is configured to rotate along a third axis. The first axis, the second axis, and the third axis are all perpendicular to each other.

[0011] In some embodiments, the photovoltaic module includes a housing and a telescopic structure. The telescopic structure is connected to the housing, and the photovoltaic element is disposed on the telescopic structure. The telescopic structure is configured such that, in a retracted state, the photovoltaic element is housed within the housing, and in an extended state, the photovoltaic element extends outward from the housing. The light-receiving area of ​​the photovoltaic element in the retracted state is smaller than the light-receiving area of ​​the photovoltaic element in the extended state.

[0012] In some embodiments, the energy storage robot further includes a support assembly foldably disposed on the body and configured to switch between a stowed state and a supported state. In the stowed state, the support assembly is spaced apart from the bearing surface; in the supported state, at least a portion of the support assembly is located outside the body and abuts against the bearing surface.

[0013] In some embodiments, the support assembly includes a support body, a rotation drive, a telescopic drive, and a locking member. The support body includes multiple telescopic sections, which are capable of extending and retracting sequentially. The rotation drive connects the support body and the fuselage, and is configured to drive the support body to rotate relative to the fuselage to fold and conform to the side of the fuselage, thus placing the support body in a retracted state, and to drive the support body to rotate to a target angle, thus placing the support body in an extended state. The telescopic drive is nested within the support body and is configured to drive the multiple telescopic sections to extend and retract sequentially. The locking member is coupled to the telescopic sections and is configured to lock or unlock the telescopic sections to maintain the support body at a target length.

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

[0015] In the energy storage robot and system of this application, the first actuation component can rotate around a first axis, driving the second actuation component to rotate relative to the first axis. Alternatively, the first actuation component can drive the second actuation component to rotate relative to the first actuation component around a second axis, thereby enabling the second actuation component to rotate in two directions. This allows the photovoltaic module to change its pitch angle around the first axis or its roll angle around the second axis. Thus, by using the first actuation component as a single driving source, the attitude angle of the photovoltaic module can be adjusted in two directions, reducing the number of components in the adjustment assembly and lowering structural complexity. Furthermore, the photovoltaic actuator can drive the corresponding photovoltaic element to move, further optimizing the accuracy of the movement of each photovoltaic element.

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

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein: Figure 1 This is a plan view of the energy storage robot in its retracted state according to some embodiments of this application; Figure 2 This is a plan view of the energy storage robot in its deployed state according to some embodiments of this application; Figure 3 This is a plan view of a portion of the structure of an energy storage robot according to some embodiments of this application; Figure 4 This is a plan view of a portion of the structure of an energy storage robot according to some embodiments of this application; Figure 5 This is a schematic diagram of the energy storage system according to some embodiments of this application.

[0018] The reference numerals in the detailed embodiments are as follows: Energy storage system 1000; charging device 300; energy storage robot 100; body 10; battery module 30; adjustment component 40; first actuation component 41; base 411; rotating frame 412; drive component 413; first rotating shaft 4131; first rotating component 417; connector 419; second actuation component 43; first bracket 431; main body 4311; connecting part 4313; second rotating component 433; second rotating shaft 435; second bracket 437; support platform 439; self-locking component 44; third actuation component 45; moving component 50; support component 60; support body 61; rotation drive component 63; telescopic drive component 65; locking component 67; photovoltaic module 90; housing 91; photovoltaic component 93; telescopic structure 95; photovoltaic actuator 97. Detailed Implementation

[0019] 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.

[0020] In the description of this application, it should be understood that the terms "center", "length", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0022] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," 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 according to the specific circumstances.

[0023] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0024] When users are outdoors and need electricity, they typically choose outdoor power sources. However, the weight of outdoor power sources increases with the amount of stored energy, making it impossible to simultaneously meet the needs of convenience and large capacity for outdoor power use. Therefore, energy storage robots equipped with photovoltaic modules have autonomous power generation capabilities, which can solve the above problems to some extent. Energy storage robots are usually equipped with adjustment components to adjust the attitude angle of the photovoltaic modules according to the angle of sunlight, ensuring that the photovoltaic modules have high power generation efficiency. However, existing adjustment components cover attitude angles in multiple directions such as pitch and roll, requiring multiple drive components, resulting in numerous adjustment components and a complex structure. To solve this problem, this application provides an energy storage robot 100 ( Figure 1 and Figure 2 (as shown) and energy storage system 1000 ( Figure 5 (As shown).

[0025] Please see Figures 1 to 4 This application provides an energy storage robot 100. The energy storage robot 100 includes a body 10, a battery module 30, an adjustment component 40, a moving component 50, and a photovoltaic module 90. The moving component 50 is disposed on the body 10. The moving component 50 is configured to drive the energy storage robot 100 to move relative to a support surface. The battery module 30 is housed in the body 10. The photovoltaic module 90 is electrically connected to the battery module 30 and is configured to convert solar energy into electrical energy. The photovoltaic module 90 includes a plurality of photovoltaic elements 93 and a plurality of photovoltaic actuators 97, with the plurality of photovoltaic actuators 97 respectively connected to the plurality of photovoltaic elements 93. The adjustment component 40 is disposed on the body 10. The adjustment component 40 includes a first actuation component 41 and a second actuation component 43. The first actuation component 41 is housed within the body 10, the second actuation component 43 is disposed on the first actuation component 41, and the photovoltaic module 90 is disposed on the second actuation component 43. The first actuation component 41 is configured to rotate about a first axis M1, so that the first actuation component 41 drives the second actuation component 43 to rotate relative to the first axis M1 to change the pitch angle of the photovoltaic module 90, or so that the second actuation component 43 rotates relative to the first actuation component 41 about a second axis M2 to change the roll angle of the photovoltaic module 90, wherein the first axis M1 is perpendicular to the second axis M2.

[0026] The energy storage robot 100 is a power distribution device integrating energy storage, autonomous mobility, and intelligent control functions. The energy storage robot 100 can autonomously move to a target location based on the user's power demand and provide regular or temporary power supply. The energy storage robot 100 can be used, but is not limited to, in scenarios such as outdoor camping, dynamic energy management, emergency disaster relief, and microgrid support to address the power needs of areas without a power grid or with unstable power. The energy of the energy storage robot 100 can be provided by rechargeable battery modules 30, non-rechargeable battery modules 30, or power generation structures (such as photovoltaic modules 90) installed within the energy storage robot 100, ensuring that the energy storage robot 100 has sufficient stored energy.

[0027] The housing 10 is a structure used to mount other components. The cross-sectional shape of the housing 10 can be, but is not limited to, circular, elliptical, rectangular, or other polygonal shapes, and the material of the housing 10 can be plastic or metal. When the housing 10 is made of plastic, it has good insulation performance, low cost, and light weight. When the housing 10 is made of metal, it has high strength, good wear resistance, and a long service life.

[0028] Battery module 30 is the core module of the energy storage robot 100, used for storing and releasing electrical energy. Depending on the different application scenarios of the energy storage robot 100, the energy storage robot 100 has different capacities, meaning the battery module 30 has different capacities. For example, in small household or commercial energy storage robots 100, the capacity of battery module 30 is typically from several kilowatt-hours to tens of kilowatt-hours. In industrial energy storage robots 100, the capacity of battery module 30 is typically from tens of kilowatt-hours to hundreds of kilowatt-hours. Battery module 30 is housed within the body 10 and can be electrically connected to other functional components. Battery module 30 can be a rechargeable battery module or a non-rechargeable battery module. When battery module 30 is a rechargeable battery module, the energy storage robot 100 can be charged via a charging device 300 (such as a charging pile) to replenish its electrical energy. When the battery module 30 is a non-rechargeable battery module, the energy storage robot 100 can replace the battery module 30 via the charging device 300 to replenish its power. The charging device 300 is a device that provides power to devices with energy storage functions. For example, the charging device 300 can provide power to new energy vehicles, the energy storage robot 100, or other energy storage devices. This application uses a charging pile as an example to illustrate the charging device 300. The charging device 300 provides power to the energy storage robot 100 by charging the battery module 30 in the energy storage robot 100, and also by replacing the battery module 30 in the energy storage robot 100 (battery swapping).

[0029] The moving component 50 is a module in the energy storage robot 100 used to drive the movement of the energy storage robot 100. The moving component 50 is disposed on the body 10 of the energy storage robot 100, typically on the bottom side of the body 10 (the side of the body 10 opposite to the bearing surface when the energy storage robot 100 is supported on the bearing surface). The moving component 50 includes a moving drive element (not shown) and moving parts. The moving drive element is a power-providing component, such as a drive motor, internal combustion engine, or pneumatic motor. The moving parts are components used to move the body 10, such as tracks or wheels. For example, the moving parts include tracks. Tracks are highly adaptable and can adapt to various terrains, including mud, ruggedness, and unevenness; tracks have a high load-bearing capacity and can carry heavier weights; tracks have stronger traction and can travel on steeper slopes; tracks have a larger ground contact area and can provide more stable movement. For example, the moving component includes wheels. Wheels have less rolling friction, providing higher speeds and greater flexibility, making turning and U-turns easier. The moving drive component is directly connected to the moving component and transmits power directly to it, driving the moving component to move, thereby enabling the moving component 50 to move the energy storage robot 100. The movement of the energy storage robot 100 driven by the moving component 50 can be, but is not limited to, translation, rotation, or a combination of translation and rotation. Furthermore, the moving component 50 may also include a transmission component, which connects the moving drive component and the moving component. That is, the moving drive component is indirectly connected to the moving component through the transmission component, and the moving drive component directly transmits power to the transmission component, which then transmits it to the moving component to move it, thereby enabling the moving component 50 to move the energy storage robot 100.

[0030] Photovoltaic module 90 is a component that converts light energy into electrical energy. Photovoltaic module 90 can charge devices (such as battery module 30) that are electrically connected to it. Battery module 30 and photovoltaic module 90 can be electrically connected directly via cables, or they can be electrically connected through intermediate devices such as junction boxes or combiner boards.

[0031] Photovoltaic element 93 is a solar energy conversion device that converts solar energy into electrical energy. Photovoltaic element 93 can be of different types, such as monocrystalline silicon, polycrystalline silicon, or thin-film solar cells. Users can select photovoltaic elements 93 with different efficiencies and sizes according to their application requirements.

[0032] Photovoltaic actuator 97 is connected to photovoltaic element 93. The connection can be direct or indirect; in this application, it is an indirect connection. Photovoltaic actuator 97 is connected to photovoltaic element 93 via telescopic structure 95 (described later). Each photovoltaic actuator 97 can drive photovoltaic element 93 to move. For example, in this application, photovoltaic actuator 97 can drive photovoltaic element 93 to rotate about axis M4.

[0033] Specifically, the adjustment component 40 is used to support the photovoltaic module 90 and adjust the attitude angles of the photovoltaic module 90. The attitude angles include roll angle, pitch angle, and yaw angle. Taking the fuselage 10 as a reference, this application defines the length direction of the fuselage 10 as the length direction X of the energy storage robot 100, the width direction of the fuselage 10 as the width direction Y of the energy storage robot 100, and the height direction of the fuselage 10 as the height direction Z of the energy storage robot 100. The pitch angle is the angle of rotation about a first axis M1 parallel to the width direction Y; the roll angle is the angle of rotation about a second axis M2 parallel to the length direction X; and the yaw angle is the angle of rotation about a third axis M3 parallel to the height direction Z.

[0034] The adjustment component 40 is disposed on the housing 10, and can be directly supported on the housing 10 or at least partially housed within the housing 10. Exemplarily, the first actuation component 41 of this application is housed within the housing 10, and a portion of the second actuation component 43 is housed within the housing 10, while another portion extends out of the housing 10 and connects to the photovoltaic module 90. The housing 10 can provide protection for the first actuation component 41 and the second actuation component 43, extending their service life. At least a portion of the first actuation component 41 is capable of rotating around a first axis M1. When the first actuation component 41 rotates around the first axis M1, the second actuation component 43 rotates with the first actuation component 41 around the first axis M1, or rotates around a second axis M2. That is, the first actuation component 41 can drive the second actuation component 43 to rotate synchronously, or the first actuation component 41 drives the second actuation component 43 to rotate around the second axis M2.

[0035] The energy storage robot 100 can actively change the orientation of the photovoltaic module 90 based on the sun's actual position in the sky (e.g., according to different times of day or different seasons of the year). On one hand, it can adjust the attitude angle of the photovoltaic module 90 based on real-time light intensity and angle, improving the photoelectric conversion efficiency of the photovoltaic module 90. On the other hand, the adjustment component 40 can control the attitude angle of the photovoltaic module 90, enhancing the stability of the energy storage robot 100 in complex environments. For example, when the moving component 50 moves and the energy storage robot 100 faces bumpy roads or inclined slopes, the adjustment component 40 can adjust the attitude angle of the photovoltaic module 90, thereby adjusting the center of gravity distribution of the energy storage robot 100, reducing the risk of tipping over, and ensuring its smooth movement. In windy conditions, the adjustment component 40 can control the attitude angle of the photovoltaic module 90, reducing or increasing wind resistance to adapt to tailwind or headwind conditions. This not only helps maintain stability in windy conditions and prevents it from being overturned, but also regulates the driving acceleration and speed of the energy storage robot 100, keeping the acceleration and speed within the expected range, thus adapting to various complex working conditions.

[0036] Furthermore, when the adjustment component 40 adjusts the pitch or roll angle of the photovoltaic module 90, the photovoltaic actuator 97 can drive the corresponding photovoltaic module 93 to rotate around axis M4, that is, further adjust the pitch angle of the photovoltaic module 93. For example, during the movement of the energy storage robot 100, the photovoltaic module 90 as a whole has its attitude angles (pitch and roll angles) adjusted by the adjustment component 40 to adapt to terrain changes or wind resistance. It is understood that the magnitude and direction of wind resistance experienced by different photovoltaic modules 93 may be different. Based on this, the photovoltaic actuator 97 can independently adjust the pitch angle of each photovoltaic module 93, further minimizing the air resistance of each photovoltaic module 93, thereby reducing the energy consumption of the energy storage robot 100. Furthermore, even though the adjustment component 40 has adjusted the photovoltaic module 90 to the optimal angle of sunlight incidence, the photovoltaic module 90 is under non-uniform illumination conditions due to the shading of the energy storage robot 100's own structure (such as the body 10 and other components) or the influence of the local environment (such as tree shade and building shadows). The intensity and angle of light received by different photovoltaic elements 93 may vary. The photovoltaic actuator 97 can independently adjust the pitch angle (rotation around axis M4) of each photovoltaic element 93 to ensure that each photovoltaic element 93 can maximize the conversion of light energy into electrical energy under non-uniform illumination conditions, thereby improving the power generation efficiency of the energy storage robot 100.

[0037] In the energy storage robot 100 of this application, the first actuation component 41 can rotate around the first axis M1, driving the second actuation component 43 to rotate relative to the first axis M1. Alternatively, the first actuation component 41 can drive the second actuation component 43 to rotate relative to the first actuation component 41 around the second axis M2, thereby enabling the second actuation component 43 to rotate in two directions. This drives the photovoltaic module 90 to change its pitch angle around the first axis M1 or its roll angle around the second axis M2. Thus, the first actuation component 41, as a single driving source, enables the photovoltaic module 90 to adjust its attitude angle in two directions, reducing the number of components in the adjustment component 40 and lowering structural complexity. Furthermore, the photovoltaic actuator 97 can drive the corresponding photovoltaic module 93 to move, further optimizing the accuracy of the movement of each photovoltaic module 93.

[0038] Please see Figure 3 In some embodiments, the first actuation assembly 41 includes a base 411, a drive member 413, and a first rotating member 417. A pivot bracket 412 is provided on the base 411. The drive member 413 is supported on the base 411. The drive member 413 includes a first rotating shaft 4131, the extension direction of which is consistent with the direction of the first axis M1. The first rotating member 417 is disposed on the pivot bracket 412, connected to the first rotating shaft 4131, and configured to rotate about the first axis M1.

[0039] Specifically, the base 411 is a structure used to support the drive component 413, the shaft bracket 412, and the first rotating component 417. The drive component 413, the shaft bracket 412, and the first rotating component 417 are all mounted on the base 411. The base 411 can be made of materials including, but not limited to, plastic, aluminum alloy, copper, iron, steel, and carbon fiber composite materials. For example, when the base 411 is made of plastic, it has good insulation properties, low cost, and light weight. When the base 411 is made of a metal such as aluminum alloy, it has high strength, good wear resistance, and a long service life.

[0040] The number of driving members 413, first rotating members 417, and pivot brackets 412 is not limited in this application. Exemplarily, this application includes two driving members 413, two pivot brackets 412, and one first rotating member 417. In the width direction Y, the two driving members 413 are located at opposite ends of the base 411, and the two pivot brackets 412 are located between the two driving members 413. The first rotating member 417 passes through the two pivot brackets 412 in the width direction Y. One end of the first rotating member 417 is connected to the first pivot 4131 of one driving member 413, and the other end is connected to the first pivot 4131 of the other driving member 413. Thus, the first rotating member 417 has two connections, which can improve the installation stability of the first rotating member 417. The first axis M1 is the central axis of the rotating member and the first pivot 4131 of the driving member 413. At least one driving member 413 can drive the first rotating member 417 to rotate around the first axis M1. Thus, on the one hand, the two drive components 413 are redundantly designed, so that even if one drive component 413 fails, the other can still provide driving force to the first rotating component 417. The two drive components 413 can also work alternately, improving their service life. The two drive components 413 can also provide two connections to the first rotating component 417, further supporting it. When the drive component 413 drives the first rotating component 417 to rotate around the first axis M1, the photovoltaic module 90 supported by the second actuation component 43 can change its pitch angle.

[0041] Please see Figure 3 and Figure 4 In some embodiments, the first actuation assembly 41 further includes a connector 419. The connector 419 is rotatably connected to the rotating shaft bracket 412, and is capable of rotating about the first axis M1. The connector 419 is also selectively connected to the first rotating shaft 4131. The second actuation assembly 43 includes a first support 431 and a second rotating member 433. The first support 431 is connected to the connector 419. The second rotating member 433 is rotatably connected to the first support 431 via a second rotating shaft 435, the extension direction of which is consistent with the direction of the second axis M2. The second rotating member 433 is selectively connected to the first rotating member 417.

[0042] Specifically, the connector 419 is used to connect the first bracket 431, wherein the number of connectors 419 is the same as the number of pivot brackets 412. In an embodiment where two pivot brackets 412 are included, two connectors 419 are included, and the two connectors 419 are respectively connected to the two pivot brackets 412. The first bracket 431 includes a body portion 4311 and two connecting portions 4313, which are respectively located at both ends of the body portion 4311 in the width direction Y and extend from the body portion 4311 toward the pivot bracket 412. The two connecting portions 4313 are respectively connected to the two connectors 419, and there is no relative movement between the connecting portions 4313 and the connectors 419.

[0043] The main body 4311 has an opening extending through in the height direction Z. At least a portion of the second rotating member 433 passes through the opening and connects to the first rotating member 417. In one example, the first rotating member 417 is a worm gear, and the second rotating member 433 is a worm wheel, with the second rotating member 433 meshing with the first rotating member 417. A second rotating shaft 435 passes through the center of the second rotating member 433 along the length direction X and connects to the opposite ends of the main body 4311 in the length direction X. The second rotating member 433 is capable of rotating around the second rotating shaft 435. When the second rotating member 433 rotates around the second rotating shaft 435, the photovoltaic module 90 supported on the second actuation component 43 can change its roll angle.

[0044] Please see Figure 3 In some embodiments, the adjusting assembly 40 further includes a self-locking member 44. The self-locking member 44 is disposed on the first bracket 431 or the rotating shaft bracket 412 and configured to lock or unlock the transmission between the second rotating member 433 and the first rotating member 417. The adjusting assembly 40 includes a first state and a second state. In the first state, the connecting member 419 is connected to the first rotating shaft 4131, and the transmission between the second rotating member 433 and the first rotating member 417 is locked by the locking member 44. The first rotating shaft 4131 drives the second actuating assembly 43 to rotate around the first axis M1. In the second state, the connecting member 419 is disconnected from the first rotating shaft 4131, and the locking member 44 unlocks the transmission between the second rotating member 433 and the first rotating member 417. The first rotating member 417 drives the second rotating member 433 to rotate around the second axis M2.

[0045] Specifically, in the embodiment where the first rotating member 417 is a worm and the second rotating member 433 is a worm wheel, in the first state, the connecting member 419 is connected to the first rotating shaft 4131. The first rotating shaft 4131 can drive the connecting member 419 and the first rotating member 417 to rotate synchronously around the first axis M1. The transmission between the first rotating member 417 and the second rotating member 433 is locked by the self-locking member 44. The first rotating member 417 and the second rotating member 433 are relatively stationary. Therefore, the first rotating shaft 4131 synchronously drives the connecting member 419 and the first support 431 to rotate around M1. When the first support 431 rotates around M1, the second actuation component 43 and the photovoltaic module 90 located on the second actuation component 43 also rotate synchronously around the first axis M1 with the first support 431 to change the pitch angle of the photovoltaic module 90.

[0046] In the second state, the connector 419 is disconnected from the first rotating shaft 4131, while the first rotating component 417 of the first rotating shaft 4131 remains connected. The first rotating shaft 4131 can drive the first rotating component 417 to rotate synchronously around the first axis M1. The self-locking component 44 is unlocked, and relative movement can occur between the first rotating component 417 and the second rotating component 433. The first rotating component 417 drives the second rotating component 433 to rotate around the second axis M2. The second rotating component 433 synchronously drives the photovoltaic module 90 on the second rotating component 433 to rotate around the second axis M2, thereby changing the roll angle of the photovoltaic module 90.

[0047] Please see Figure 3 and Figure 4 In some embodiments, the second actuation assembly 43 further includes a second support 437 and a support platform 439. The second support 437 is connected to the second rotating shaft 435. The support platform 439 is supported on the second support 437, and the photovoltaic module 90 is disposed on the support platform 439.

[0048] Specifically, the second bracket 437 connects the support platform 439 and the first bracket 431. The second bracket 437 includes two opposite ends in the length direction X, each end connected to a second rotating shaft 435. The second bracket 437 is fixedly connected to the second rotating shaft 435, which can drive the second bracket 437 to rotate around the second axis M2. The support platform 439 supports the photovoltaic module 90. For example, the projected area of ​​the support platform 439 in the XY plane is larger than the projected area of ​​the second bracket 437 in the XY plane. Thus, the support platform 439 can provide a larger support surface for the photovoltaic module 90, making the photovoltaic module 90 more securely installed.

[0049] Please see Figure 2 and Figure 3In some embodiments, the adjustment assembly 40 further includes a third actuation assembly 45. The third actuation assembly 45 is connected to the first actuation assembly 41 and is configured to rotate about a third axis M3. The first axis M1, the second axis M2, and the third axis M3 are all perpendicular to each other.

[0050] Specifically, the third actuation component 45 is used to change the yaw angle of the photovoltaic module 90. The third actuation component 45 is disposed on the side of the base 411 opposite to the drive component 413. The third actuation component 45 extends along the height direction Z, and the third axis M3 is the central axis of the third actuation component 45 itself. When the third actuation component 45 rotates around the third axis M3, it can drive the photovoltaic module 90, the first actuation component 41 and the second actuation component 43 to rotate synchronously around the third axis M3, thereby changing the yaw angle of the photovoltaic module 90.

[0051] Please see Figure 2 and Figure 3 In some embodiments, the photovoltaic module 90 includes a housing 91, a photovoltaic element 93, and a telescopic structure 95. The telescopic structure 95 is connected to the housing 91, and the photovoltaic element 93 is disposed on the telescopic structure 95. The telescopic structure 95 is configured such that in the retracted state, the photovoltaic element 93 is housed within the housing 91, and in the extended state, the photovoltaic element 93 extends outward from the housing 91. The light-receiving area of ​​the photovoltaic element 93 in the retracted state is smaller than that in the extended state.

[0052] Specifically, the housing 91 is used to house the photovoltaic element 93 and the telescopic structure 95. The cross-sectional shape of the housing 91 can be, but is not limited to, circular, elliptical, rectangular, or other polygonal shapes, and the material of the housing 91 can be plastic or metal. When the housing 91 is made of plastic, it has good insulation performance, low cost, and light weight. When the housing 91 is made of metal, it has high strength, good wear resistance, and long service life. The housing 91 is provided with through holes for the photovoltaic element 93 to extend out from the housing 91. There can be one or more through holes; the housing 91 of this application has at least two through holes, which are opposite each other in the width direction Y.

[0053] The telescopic structure 95 is connected to the housing 91. The telescopic structure 95 can control the photovoltaic module 90 to be in a retracted or extended state through its own structure. In the retracted state, the telescopic structure 95 controls the photovoltaic element 93 to be fitted against or housed within the housing 91, reducing the space occupied by the energy storage robot 100. In the extended state, the telescopic structure 95 causes the photovoltaic element 93 to protrude relative to the housing 91 and extend outwards. The light-receiving area of ​​the photovoltaic element 93 in the retracted state is smaller than that in the extended state.

[0054] Furthermore, in the unfolded state, the telescopic structure 95 can also control the area of ​​the photovoltaic element 93 protruding relative to the housing 91. That is, in the unfolded state, the photovoltaic element 93 can be partially housed within the housing 91, with another portion extending outward from the housing 91, and the ratio between the two can be controlled by the telescopic structure 95. It is understood that the portion of the photovoltaic element 93 protruding relative to the housing 91 can perform photoelectric conversion under illumination; therefore, the area of ​​the portion extending outward from the housing 91 is also the light-receiving area of ​​the photovoltaic element 93, which can characterize the photoelectric conversion efficiency of the energy storage robot 100. It should be noted that photovoltaic panels attached to or housed within the housing 91 can also perform photoelectric conversion in certain scenarios. For example, a photovoltaic element 93 attached to the outer surface of the housing 91 can also perform photoelectric conversion in an external environment; similarly, a photovoltaic panel housed within the housing 91 can also perform photoelectric conversion of light transmitted through the housing 91. That is, regardless of the state of the photovoltaic element 93, this application does not limit the photoelectric conversion process of the photovoltaic element 93.

[0055] For example, when the energy storage robot 100 moves to an area with good lighting, open surroundings, and low wind speed, the energy storage robot 100 can be fixed in one place, and the photovoltaic element 93 can extend entirely from the housing 91 to maximize photoelectric conversion. For example, when the energy storage robot 100 moves in a confined area, the photovoltaic element 93 can be completely housed within the housing 91 to prevent it from being scratched by branches or other objects during movement. For example, when the energy storage robot 100 follows a user, part of the photovoltaic element 93 can be housed within the housing 91, while the other part extends outward from the housing 91, thus avoiding scratches from branches or other objects during movement while still enabling photoelectric conversion.

[0056] Please see Figure 1 and Figure 2 In some embodiments, the energy storage robot 100 further includes a support component 60, which is foldably disposed on the body 10 and configured to switch between a stowed state and a supported state. In the stowed state, the support component 60 is spaced apart from the bearing surface; in the supported state, at least a portion of the support component 60 is located outside the body 10 and abuts against the bearing surface.

[0057] Specifically, the support component 60 is a component that supports the energy storage robot 100. The support component 60 can have a retracted state and a supported state. In the retracted state, the support component 60 does not contact the bearing surface, reducing interference and collisions between the support component 60 and external objects (such as obstacles on the bearing surface). This extends the service life of the support component 60 and prevents it from hindering the movement of the energy storage robot 100, improving its stability. When the energy storage robot 100 is moving smoothly, the support component 60 is in the retracted state, reducing its forward resistance, saving energy required for movement, and extending its runtime. In the supported state, at least a portion of the support component 60 is located outside the body 10, and it can contact the bearing surface. This increases the contact points between the energy storage robot 100 and the bearing surface, improving its stability and preventing it from tipping over in windy or other adverse conditions.

[0058] The support components 60 include multiple components. For example, the support components 60 include four components. The four support components 60 are evenly distributed near the four corners of the body 10, thereby forming a large support surface after deployment, preventing the energy storage robot 100 from shaking or overturning due to uneven bearing surface or external disturbances (such as strong winds).

[0059] Please see Figure 1 and Figure 2 In some embodiments, the support assembly 60 includes a support body 61, a rotation drive 63, a telescopic drive 65, and a locking member 67. The support body 61 includes multiple telescopic sections, which can extend and retract sequentially. The rotation drive 63 connects the support body 61 and the body 10. The rotation drive 63 is configured to drive the support body 61 to rotate relative to the body 10, folding it and fitting it against the side of the body 10 to place the support body 61 in a retracted state, and to drive the support body 61 to rotate to a target angle to place it in an extended state. The telescopic drive 65 is nested within the support body 61 and is configured to drive the multiple telescopic sections to extend and retract sequentially. The locking member 67 is coupled to the telescopic sections and is configured to lock or unlock the telescopic sections to keep the support body 61 at a target length.

[0060] Specifically, the support body 61 is the structure in the support assembly 60 that abuts against the bearing surface and bears the supporting function. The end of the support body 61 that contacts the bearing surface may be provided with a wear-resistant and non-slip pad to increase the friction with the bearing surface and ensure the reliability of the support.

[0061] The rotation drive component 63 provides rotational driving force, which drives the support body 61 to rotate relative to the body 10. The rotation drive component 63 can be located inside or outside the body 10; this is not limited in this application. When it is necessary to switch the state of the support component 60, for example, from a retracted state to an unfolded state, the rotation drive component 63 rotates. The rotation of the rotation drive component 63 causes the support body 61 to rotate synchronously around its connecting axis on the body 10 to a target angle, so that the end of the support body 61 away from the rotation drive component 63 contacts the bearing surface, thereby strengthening the support for the energy storage robot 100. The target angle is a preset adjustable angle value of the energy storage robot 100, and the energy storage robot 100 can adaptively adjust the size of the target angle according to the environment.

[0062] The telescopic drive component 65 provides the telescopic driving force. Nested within the support body 61, the telescopic drive component 65 drives the multi-section telescopic portion of the support body 61 to extend or retract sequentially to a target length. When the multi-section telescopic portion extends sequentially, causing the end of the support body 61 furthest from the telescopic drive component 65 to contact the bearing surface, the support for the energy storage robot 100 is strengthened. When the multi-section telescopic portion retracts sequentially, the volume of the support assembly 60 is reduced. The target length is a preset adjustable length value for the energy storage robot 100, which can adaptively adjust the target length according to its environment.

[0063] Locking member 67 is used to lock or unlock the telescopic section to keep the support body 61 at the target length. Locking member 67 is coupled to the telescopic section and can be an electromagnetic brake or an electrically controlled locking pin, etc., without limitation. It is understood that the dimension of the Z-distance between the support body 61 and the bearing surface in the height direction can vary, regardless of whether it is in the retracted or supported state. For example, the distance between the support body 61 and the bearing surface can be 50cm or 30cm, etc. When locked, locking member 67 can lock the multiple telescopic sections, preventing them from extending or retracting. This keeps the support body 61 at the target length, preventing displacement due to external forces and maintaining the stability of the energy storage robot 100 when parked. When unlocked, locking member 67 can unlock the multiple telescopic sections, allowing them to extend and retract segment by segment. The energy storage robot 100 can adaptively adjust the target length according to the environment.

[0064] Please see Figure 2 and Figure 4 This application also provides an energy storage system 1000. The energy storage system 1000 includes an energy storage robot 100 according to any of the above embodiments and a charging device 300, wherein the charging device 300 is configured to provide electrical energy to the energy storage robot 100.

[0065] Specifically, in the above embodiments, the energy storage system 1000 is a system for storing, scheduling, and utilizing energy. The energy storage system 1000 includes an energy storage device (energy storage robot 100) for scheduling or utilizing energy, and an energy supply device for powering the energy storage robot 100. The energy storage system 1000 can be any system possessing the above functions, for example: the energy storage system 1000 is a cleaning system, the energy storage robot 100 is a cleaning robot, the energy supply device is a power supply base station, and the power supply base station supplies power to the cleaning robot so that the cleaning robot can move using electrical energy; the energy storage system 1000 is a logistics system, the energy storage robot 100 is a logistics robot, the energy supply device is a charging device, and the charging device supplies power to the logistics robot so that the logistics robot can move using electrical energy; the energy storage system 1000 is a new energy vehicle system, the energy storage robot 100 is a new energy vehicle, the energy supply device is a charging device, and the charging device supplies power to the new energy vehicle so that the new energy vehicle can move using electrical energy. This application takes the energy storage system 1000 as an example of a power dispatching system. In this case, the energy storage robot 100 is a mobile energy storage power source, and the power supply device is a charging device 300. The charging device 300 supplies power to the energy storage robot 100 so that the energy storage robot 100 can move using electrical energy and perform power dispatching and utilization.

[0066] It should be noted that the specific structure and properties of the charging device 300 in this embodiment are exactly the same as those of the charging device 300 in the above embodiment, and the specific structure and properties of the energy storage robot 100 in this embodiment are exactly the same as those of the energy storage robot 100 in the above embodiment, and will not be explained again here.

[0067] When the energy storage robot 100 arrives at the charging device 300, the charging device 300 can charge or replace the battery module 30 of the energy storage robot 100. Taking charging as an example, the charging device 300 can charge the energy storage robot 100 via wired charging or wireless charging. When the charging device 300 charges the energy storage robot 100 via wired charging, the energy storage robot 100 connects to the physical plug (such as Type 1, Type 2, GB / T, or a customized interface) of the charging device 300 through a connection device (not shown) or a guide device (not shown). In this case, the charging process of the charging device 300 to charge the energy storage robot 100 is simple, reliable, and fast. When the charging device 300 charges the energy storage robot 100 via wireless charging, both the energy storage robot 100 and the charging device 300 are equipped with induction coils. The induction coil of the charging device 300 generates a magnetic field and transfers energy to the energy storage robot 100 through the induction coil of the energy storage robot 100 to charge the battery module 30 of the energy storage robot 100. When the charging device 300 is swapping the battery for the energy storage robot 100, the charging device 300 directly replaces the battery module 30 of the energy storage robot 100 with a fully charged one. At this time, the energy storage robot 100 has a faster energy replenishment speed and a longer working time.

[0068] Since the energy storage system 1000 in this application embodiment includes an energy storage robot 100, it is understood that the energy storage system 1000 includes at least the same beneficial effects as the energy storage robot 100. Therefore, the beneficial effects of the energy storage system 1000 are described above with reference to the beneficial effects of the energy storage robot 100, and will not be repeated here.

[0069] The technical features of the embodiments described above can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. Furthermore, other implementation methods can be derived from the above embodiments, allowing for structural and logical substitutions and changes without departing from the scope of this disclosure.

Claims

1. An energy storage robot, characterized by, include: body; A mobile component, disposed on the body, is configured to drive the energy storage robot to move relative to the bearing surface; The battery module is housed within the body; A photovoltaic module is electrically connected to the battery module. The photovoltaic module is configured to convert solar energy into electrical energy. The photovoltaic module includes multiple photovoltaic elements and multiple photovoltaic actuators, and the multiple photovoltaic actuators are respectively connected to the multiple photovoltaic elements. and An adjustment assembly is disposed in the body. The adjustment assembly includes a first actuation assembly and a second actuation assembly. The first actuation assembly is housed within the body, and the second actuation assembly is disposed on the first actuation assembly. The photovoltaic module is disposed on the second actuation assembly. The first actuation assembly is configured to rotate about a first axis, thereby causing the first actuation assembly to drive the second actuation assembly to rotate relative to the first axis to change the pitch angle of the photovoltaic module, or to cause the second actuation assembly to rotate relative to the first actuation assembly about a second axis to change the roll angle of the photovoltaic module. The first axis is perpendicular to the second axis. The photovoltaic actuator is configured to drive the photovoltaic module to move relative to the adjustment assembly.

2. The energy storage robot of claim 1, wherein, The first actuation component includes: A base, on which a rotating shaft bracket is provided; A driving component, supported on the base, the driving component including a first rotating shaft, the extension direction of the first rotating shaft being consistent with the direction of the first axis; and A first rotating component is disposed on the rotating shaft frame, the first rotating component is connected to the first rotating shaft, and the first rotating component is configured to rotate about the first axis.

3. The energy storage robot of claim 2, wherein, The first actuation assembly further includes a connector rotatably connected to the rotating shaft bracket, the connector being capable of rotating about the first axis, and the connector also being selectively connected to the first rotating shaft. The second actuation assembly includes: The first bracket is connected to the connector; and The second rotating component is rotatably connected to the first bracket via a second rotating shaft. The extension direction of the second rotating shaft is consistent with the direction of the second axis. The second rotating component is connected to the first rotating component.

4. The energy storage robot according to claim 3, characterized in that, The adjustment assembly further includes a self-locking element; the self-locking element is disposed on the first bracket or the rotating shaft bracket and configured to lock or unlock the transmission between the second rotating member and the first rotating member; the adjustment assembly includes a first state and a second state. In the first state, the connecting member is connected to the first rotating shaft, the transmission between the second rotating member and the first rotating member is locked by the self-locking member, and the first rotating shaft drives the second actuation component to rotate around the first axis. In the second state, the connector is disconnected from the first rotating shaft, the self-locking component unlocks the transmission between the second rotating component and the first rotating component, and the first rotating component drives the second rotating component to rotate around the second axis.

5. The energy storage robot according to claim 3, characterized in that, The second actuation component further includes: The second bracket is connected to the second rotating shaft; and The support platform is supported by the second bracket, and the photovoltaic module is mounted on the support platform.

6. The energy storage robot according to claim 1, characterized in that, The adjustment assembly further includes a third actuation assembly connected to the first actuation assembly. The third actuation assembly is configured to rotate along a third axis, wherein the first axis, the second axis, and the third axis are perpendicular to each other.

7. The energy storage robot according to claim 1, characterized in that, The photovoltaic module also includes: Casing; and A telescopic structure is connected to the housing, and the photovoltaic element is disposed on the telescopic structure. The telescopic structure is configured such that the photovoltaic element is housed inside the housing in the retracted state, and the photovoltaic element extends outward from the housing in the extended state. The light-receiving area of ​​the photovoltaic element in the retracted state is smaller than the light-receiving area of ​​the photovoltaic element in the extended state.

8. The energy storage robot according to claim 2, characterized in that, The energy storage robot also includes a support component, which is foldably disposed on the body and configured to switch between a stowed state and a supported state. In the stowed state, the support component is spaced apart from the bearing surface. In the supported state, at least a portion of the support assembly is located outside the fuselage and abuts against the bearing surface.

9. The energy storage robot according to claim 8, characterized in that, The support components include: The support body includes multiple telescopic sections, which can extend and retract section by section. A rotation drive unit connects the support body and the body. The rotation drive unit is configured to drive the support body to rotate relative to the body to fold and fit against the side of the body so that the support body is in a stored state, and to drive the support body to rotate to a target angle so that the support body is in an unfolded state. A telescopic drive component, nested within the support body, is configured to drive the multiple telescopic sections to extend and retract sequentially. A locking element, coupled to the telescopic portion, is configured to lock or unlock the telescopic portion to keep the support body at a target length.

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

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