Battery replacement mechanism, battery replacement station and self-moving device

Abstract

The utility model provides a kind of battery replacement mechanism, battery swap station and self-moving device, this battery replacement mechanism is applied to battery swap station, for self-moving device is replaced battery, first mobile subassembly is used to set in the base station of battery swap station;Second mobile subassembly is equipped on first mobile subassembly, third mobile subassembly is equipped on second mobile subassembly, rotating assembly is equipped on third mobile subassembly, rotating assembly is detachably connected with battery replacement tool, battery replacement tool is used to with the battery in base station or the battery in self-moving device is connected.This utility model can adjust the position of battery by first mobile subassembly, second mobile subassembly, third mobile subassembly and rotating assembly, so as to realize the battery in base station is replaced to self-moving device, or the battery in self-moving device is replaced to base station, convenient for self-moving device is replaced battery, improve the working efficiency when battery swap station provides battery replacement service for self-moving device.

Description

Technical Field

[0001] This utility model relates to the field of battery replacement mechanism technology, and in particular to a battery replacement mechanism, a battery swapping station and a self-moving device. Background Technology

[0002] Battery swapping stations are facilities that centrally store, charge, and distribute a large number of batteries, similar to centralized charging stations, and provide battery replacement services for mobile devices. For example, when a lawnmower's battery is low, it can return to a battery swapping station to have its battery replaced. However, existing battery swapping stations are inefficient in providing battery replacement services for mobile devices, thus affecting the user experience. Summary of the Invention

[0003] This invention provides a battery swapping mechanism, a battery swapping station, and a self-moving device to solve the problem of poor efficiency of existing battery swapping stations in providing battery swapping services for self-moving devices.

[0004] A battery replacement mechanism is applied at a battery swapping station for replacing the battery of a self-moving device. The battery replacement mechanism includes a first moving component, a second moving component, a third moving component, a rotating component, and a battery replacement tool. The first mobile component is used to be installed on the base station of the battery swapping station; The first moving component is provided with a second moving component, which is used to drive the second moving component to move along the first direction; The second moving component is provided with a third moving component, which is used to drive the third moving component to move along the second direction; The third moving component is provided with a rotating component for driving the rotating component to move along a third direction; A battery-changing tool is detachably connected to the rotating assembly, which is used to drive the battery-changing tool to rotate; the battery-changing tool is used to connect to the battery in the base station or the battery in the self-moving device.

[0005] Preferably, the first moving component includes two first moving shafts, two first moving seats, and two first power units; Two first moving axes are arranged at intervals along a second direction on the base station; Each of the first movable seats is movably mounted on a first movable shaft along a first direction; Each of the first power units is connected to a first movable seat for driving the first movable seat to move; The two ends of the second movable component are respectively connected to the two first movable seats.

[0006] Preferably, the second moving component includes a second moving shaft, a second moving base, and a second power unit; The two ends of the second movable shaft are respectively mounted on the two first movable seats; The second movable seat is movably mounted on the second movable shaft along the second direction and is connected to the third movable component; The second power unit is connected to the second movable seat and is used to drive the second movable seat to move.

[0007] Preferably, the third moving component includes a telescopic motor and a telescopic rod; the telescopic motor is mounted on the second moving base, the first end of the telescopic rod is connected to the telescopic motor, and the second end of the telescopic rod is connected to the rotating component.

[0008] Preferably, the rotating assembly includes a rotating motor and a rotating shaft; the rotating motor is mounted on the second end of the telescopic rod, the first end of the rotating shaft is connected to the rotating motor, and the second end of the rotating shaft is detachably connected to the battery changing tool.

[0009] Preferably, the battery replacement mechanism is further provided with a first positioning module, a second positioning module, and a controller; The first positioning module is disposed on the third moving component and is used to identify the first position information of the battery changing tool; The second positioning module is disposed on the battery changing tool and is used to identify the second position information of the battery changing tool; The controller is connected to the first positioning module, the second positioning module, the first moving component, the second moving component, the third moving component, and the rotating component, and is used to control the first moving component, the second moving component, the third moving component, and the rotating component to work according to the first position information and the second position information.

[0010] Preferably, the battery changing tool includes any one of a handle, a gripper, and a suction cup.

[0011] Preferably, the battery changing tool is detachably connected to the rotating assembly via a connecting structure; The connection structure can be any one of the following: magnetic structure, snap-fit ​​structure, adhesive structure, and screw connection structure.

[0012] Preferably, the magnetic attraction structure includes a first magnetic attraction element and a second magnetic attraction element, wherein the first magnetic attraction element and the second magnetic attraction element are magnetically connected; One of the first magnetic suction element and the second magnetic suction element is disposed on the battery changing tool, and the other is disposed on the rotating assembly.

[0013] A battery swapping station includes a base station and the aforementioned battery swapping mechanism; The battery replacement mechanism is installed on the base station and is used to replace the battery of the self-moving device.

[0014] Preferably, the base station includes a lower main body and an upper main body; at least a portion of the upper main body protrudes horizontally from the lower main body; The lower main body is provided with multiple base station battery compartments, and each base station battery compartment contains one battery. The battery replacement mechanism is mounted on the upper body and is used to pick up and put in the battery.

[0015] A self-moving device adapted to the aforementioned battery swapping station; The battery swapping station has a battery swapping area on its base station, where the self-moving device is parked. The battery replacement mechanism of the battery swapping station is used to replace the battery of the self-moving device.

[0016] Preferably, the self-moving device includes a device body, a device battery compartment, and a protective cover; The battery compartment is mounted on the main body of the device and is used to house the battery; The protective cover is installed on the device's battery compartment to protect the battery inside the battery compartment; The battery replacement mechanism picks up and places the protective cover or the battery to replace the battery for the self-moving device.

[0017] The battery replacement mechanism provided in this embodiment of the invention, through the cooperation of a first moving component, a second moving component, a third moving component, and a rotating component, can drive a battery replacement tool to move and rotate in three-dimensional space. This allows the battery replacement tool to be moved to a position corresponding to the battery in the base station or the battery in the self-moving device. The docking angle of the battery replacement tool is adjusted by rotation to achieve accurate docking between the battery replacement tool and the handle on the battery. Once the battery replacement tool is docked with the handle on the battery, the position of the battery can be adjusted by the first moving component, the second moving component, the third moving component, and the rotating component. This enables the battery in the base station to be replaced in the self-moving device, or the battery in the self-moving device to be replaced in the base station, facilitating battery replacement for self-moving devices and improving the working efficiency of the battery swapping station in providing battery replacement services for self-moving devices. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a first axonometric view of a battery replacement mechanism in one embodiment of the present invention; Figure 2 This is a second axonometric view of the battery replacement mechanism in one embodiment of the present invention; Figure 3 This is an isometric view of a battery swapping station according to one embodiment of the present invention; Figure 4 This is an axonometric view of a self-moving device according to an embodiment of the present invention; Figure 5 This is an exploded view of a self-moving device according to an embodiment of the present invention.

[0020] The components include: 1. Battery replacement mechanism; 11. First moving component; 111. First moving shaft; 112. First moving base; 12. Second moving component; 121. Second moving shaft; 122. Second moving base; 13. Third moving component; 131. Telescopic motor; 132. Telescopic rod; 14. Rotating component; 141. Rotating motor; 142. Rotating shaft; 15. Battery replacement tool; 2. First positioning module; 3. Second positioning module; 4. Magnetic structure; 41. First magnetic component; 42. Second magnetic component; 5. Base station; 51. Lower main body; 511. Base station battery compartment; 52. Upper main body; 6. Self-moving device; 61. Device main body; 62. Device battery compartment; 63. Protective cover; 7. Battery; 8. Support frame; 9. Handle. Detailed Implementation

[0021] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0022] In the description of this application, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0023] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0024] This utility model embodiment provides a battery replacement mechanism, see reference Figures 1-4 This battery swapping mechanism 1, applied in a battery swapping station, is used to replace the battery 7 of a self-moving device 6. The mechanism includes a first moving component 11, a second moving component 12, a third moving component 13, a rotating component 14, and a battery swapping tool 15. The first moving component 11 is mounted on a base station 5 of the battery swapping station. The second moving component 12 is mounted on the first moving component 11 and is used to move the second moving component 12 along a first direction. The third moving component 13 is mounted on the second moving component 12 and is used to move the third moving component 13 along a second direction. The rotating component 14 is mounted on the third moving component 13 and is used to move the rotating component 14 along a third direction. The battery swapping tool 15 is detachably connected to the rotating component 14 and is used to rotate the battery swapping tool 15. The battery swapping tool 15 is used to connect to the battery 7 in the base station 5 or the battery 7 in the self-moving device 6.

[0025] Among them, the first direction, the second direction, and the third direction are mutually perpendicular directions. Taking the battery swapping station as the reference, the first direction is the front-back direction of the battery swapping station, the second direction is the left-right direction of the battery swapping station, and the third direction is the up-down direction of the battery swapping station. In the three-dimensional coordinate system, the first direction is the X direction, the second direction is the Y direction, and the third direction is the Z direction.

[0026] As an example, a battery replacement mechanism is applied to a battery swapping station to replace the battery 7 of a self-moving device 6, such as a lawnmower. The battery replacement mechanism 1 includes a first moving component 11, a second moving component 12, a third moving component 13, a rotating component 14, and a battery replacement tool 15. During installation, the first moving component 11 is mounted on a base station 5 of the battery swapping station. Specifically, a support frame 8 is provided on the base station 5, and the first moving component 11 is mounted on the support frame 8. The second moving component 12 is mounted on the first moving component 11, the third moving component 13 is mounted on the second moving component 12, and the rotating component 14 is mounted on the third moving component 13. The battery replacement tool 15 is detachably connected to the rotating component 14. With this configuration, the first moving component 11 can drive the second moving component 12 along the first moving component 13. The components move in a direction to adjust the positions of the second moving component 12, the third moving component 13, the rotating component 14, and the battery changing tool 15 in a first direction; the second moving component 12 can drive the third moving component 13 to move along a second direction to adjust the positions of the third moving component 13, the rotating component 14, and the battery changing tool 15 in the second direction; the third moving component 13 can drive the rotating component 14 to move along a third direction to adjust the positions of the rotating component 14 and the battery changing tool 15 in the third direction; the rotating component 14 can drive the battery changing tool 15 to rotate to adjust the docking angle of the battery changing tool 15. In this example, the battery swapping tool 15 can connect to the battery 7 in the base station 5 or the battery 7 in the self-moving device 6. Through the cooperation of the first moving component 11, the second moving component 12, the third moving component 13 and the rotating component 14, the battery swapping tool 15 can be moved and rotated in three-dimensional space to move the battery swapping tool 15 to the corresponding position of the battery 7 in the base station 5 or the battery 7 in the self-moving device 6. The docking angle of the battery swapping tool 15 can be adjusted by rotation to achieve accurate docking between the battery swapping tool 15 and the handle 9 on the battery 7. After the battery swapping tool 15 docks with the handle 9 on the battery 7, the position of the battery 7 can be adjusted by the first moving component 11, the second moving component 12, the third moving component 13 and the rotating component 14, thereby realizing the replacement of the battery 7 in the base station 5 into the self-moving device 6, or the replacement of the battery 7 in the self-moving device 6 into the base station 5. This facilitates the replacement of the battery 7 for the self-moving device 6 and improves the working efficiency of the battery swapping station in providing battery 7 replacement services for the self-moving device 6.

[0027] In one example, a 3D printer-style frame (synchronous belt drive) is used to move the battery changing tool 15 in the first and second directions, a push rod motor is used to move the battery changing tool 15 in the third direction, and a rotary motor is used to rotate the battery changing tool 15. This results in higher positioning accuracy, eliminates the degree of freedom of the battery changing tool 15, and allows for direct positioning and extraction of the battery 7.

[0028] For example, if the self-moving device 6 is a lawnmower, and the existing lawnmower needs to return to base station 5 to recharge after the battery 7 is depleted, the lawnmower will take a certain amount of time to recharge at base station 5. During the charging period, the lawnmower cannot work, resulting in a reduction in the effective working time and low overall efficiency. Using the battery replacement mechanism in this example allows for rapid battery swapping, increasing the lawnmower's battery life and improving its cutting efficiency.

[0029] In one embodiment, reference is made to Figure 1 and Figure 2 The first moving component 11 includes two first moving shafts 111, two first moving seats 112, and two first power units; the two first moving shafts 111 are arranged at intervals along a second direction on the base station 5; each first moving seat 112 is movably mounted on a first moving shaft 111 along a first direction; each first power unit is connected to a first moving seat 112 and is used to drive the first moving seat 112 to move; the two ends of the second moving component 12 are respectively connected to the two first moving seats 112.

[0030] As an example, the first moving component 11 includes two first moving shafts 111, two first moving seats 112, and two first power units. During installation, the two first moving shafts 111 are arranged at intervals along the second direction on the base station 5, specifically, the two first moving shafts 111 are arranged at intervals along the second direction on the support frame 8. Each first moving seat 112 is movably mounted on a first moving shaft 111 along the first direction, and each first power unit is connected to a first moving seat 112. The two ends of the second moving component 12 are respectively connected to the two first moving seats 112. With this configuration, the two first power units can simultaneously drive the two first moving seats 112 to move on the two first moving shafts 111 respectively. Even if the two first moving seats 112 move simultaneously, the second moving component 12 can be driven to move along the first direction, thereby adjusting the position of the second moving component 12, the third moving component 13, the rotating component 14, and the battery replacement tool 15 in the first direction, which facilitates adjusting the position of the battery 7 in the first direction and provides convenience for replacing the battery 7. The first moving axis 111 and the first moving seat 112 can be replaced by a slide rail and a slider.

[0031] In one embodiment, reference is made to Figure 1 and Figure 2 The second moving component 12 includes a second moving shaft 121, a second moving seat 122, and a second power unit; the two ends of the second moving shaft 121 are respectively mounted on two first moving seats 112; the second moving seat 122 is movably mounted on the second moving shaft 121 along a second direction and is connected to the third moving component 13; the second power unit is connected to the second moving seat 122 and is used to drive the second moving seat 122 to move.

[0032] As an example, the second moving assembly 12 includes a second moving shaft 121, a second moving base 122, and a second power unit. During installation, both ends of the second moving shaft 121 are respectively mounted on two first moving bases 112. The second moving base 122 is movably mounted on the second moving shaft 121 along a second direction and is connected to the third moving assembly 13. The second power unit is connected to the second moving base 122. This configuration allows the second moving base 122 to move along the second moving shaft 121 via the second power unit, thereby adjusting the positions of the third moving assembly 13, the rotating assembly 14, and the battery replacement tool 15 in the second direction. This facilitates adjusting the position of the battery 7 in the second direction and provides convenience for replacing the battery 7. The second moving shaft 121 and the second moving base 122 can be replaced with a slide rail and a slider.

[0033] In one embodiment, reference is made to Figure 1 and Figure 2 The third moving component 13 includes a telescopic motor 131 and a telescopic rod 132; the telescopic motor 131 is mounted on the second moving seat 122, the first end of the telescopic rod 132 is connected to the telescopic motor 131, and the second end of the telescopic rod 132 is connected to the rotating component 14.

[0034] As an example, the third moving component 13 includes a telescopic motor 131 and a telescopic rod 132. During installation, the telescopic motor 131 is mounted on the second moving base 122, the first end of the telescopic rod 132 is connected to the telescopic motor 131, and the second end of the telescopic rod 132 is connected to the rotating component 14. This configuration allows the telescopic motor 131 to drive the telescopic rod 132 to extend and retract in a third direction, thereby adjusting the position of the rotating component 14 and the battery changing tool 15 in the third direction, facilitating the adjustment of the battery 7's position in the third direction, and providing convenience for battery 7 replacement. The telescopic motor 131 and telescopic rod 132 can be replaced with a push rod motor and a push rod.

[0035] In one embodiment, reference is made to Figure 1 and Figure 2 The rotating assembly 14 includes a rotating motor 141 and a rotating shaft 142; the rotating motor 141 is mounted on the second end of the telescopic rod 132, the first end of the rotating shaft 142 is connected to the rotating motor 141, and the second end of the rotating shaft 142 is detachably connected to the battery changing tool 15.

[0036] As an example, the rotating assembly 14 includes a rotating motor 141 and a rotating shaft 142. During installation, the rotating motor 141 is mounted on the second end of the telescopic rod 132, the first end of the rotating shaft 142 is connected to the rotating motor 141, and the second end of the rotating shaft 142 is detachably connected to the battery changing tool 15. With this configuration, the rotating motor 141 can drive the rotating shaft 142 to rotate, thereby adjusting the docking angle of the battery changing tool 15, facilitating docking of the battery changing tool 15 with the battery 7, and also facilitating the adjustment of the orientation of the battery 7, thus facilitating the replacement of the battery 7.

[0037] In one embodiment, reference is made to Figure 1 and Figure 2 The battery replacement mechanism is also equipped with a first positioning module 2, a second positioning module 3, and a controller. The first positioning module 2 is mounted on the third moving component 13 and is used to identify the first position information of the battery replacement tool 15. The second positioning module 3 is mounted on the battery replacement tool 15 and is used to identify the second position information of the battery replacement tool 15. The controller is connected to the first positioning module 2, the second positioning module 3, the first moving component 11, the second moving component 12, the third moving component 13, and the rotating component 14 and is used to control the operation of the first moving component 11, the second moving component 12, the third moving component 13, and the rotating component 14 according to the first position information and the second position information.

[0038] As an example, the battery replacement mechanism also includes a first positioning module 2, a second positioning module 3, and a controller. During installation, the first positioning module 2 is placed on the third moving component 13, which can identify the first position information of the battery replacement tool 15, specifically by taking a picture to identify the horizontal position of the battery replacement tool 15. The second positioning module 3 is placed on the battery replacement tool 15, which can identify the second position information of the battery replacement tool 15, specifically by taking a picture to identify the relative height of the battery replacement tool 15 and the handle 9 on the battery 7. The controller is connected to the first positioning module 2, the second positioning module 3, the first moving component 11, the second moving component 12, the third moving component 13, and the rotating component 14. With this configuration, the controller can control the first moving component 11, the second moving component 12, and the third moving component 14 based on the first and second position information. The operation of component 3 and rotating component 14 can drive the battery swapping tool 15 to move and rotate in three-dimensional space, so as to move the battery swapping tool 15 to the corresponding position of the battery 7 in the base station 5 or the battery 7 in the self-moving device 6. The docking angle of the battery swapping tool 15 can be adjusted by rotation to achieve accurate docking between the battery swapping tool 15 and the handle 9 on the battery 7. After the battery swapping tool 15 docks with the handle 9 on the battery 7, the position of the battery 7 can be adjusted by the first moving component 11, the second moving component 12, the third moving component 13 and rotating component 14, so as to replace the battery 7 in the base station 5 into the self-moving device 6, or replace the battery 7 in the self-moving device 6 into the base station 5, which facilitates the replacement of the battery 7 for the self-moving device 6 and improves the working efficiency of the battery swapping station in providing battery 7 replacement services for the self-moving device 6.

[0039] In one embodiment, the battery changing tool 15 includes any one of a handle, a gripper, and a suction cup.

[0040] As an example, the structure of the battery changing tool 15 is introduced. The battery changing tool 15 can select any one of the handle, gripper, and suction cup as the tool to dock with the battery 7 according to actual needs, so that the battery changing tool 15 can be used in a variety of scenarios to improve the applicability of the device. Among them, the handle includes a connecting plate, a connecting post, and a U-shaped frame. One end of the connecting post is connected to the connecting plate, and the other end of the connecting post is connected to the U-shaped frame. The connecting plate is detachably connected to the rotating component 14, and the U-shaped frame is used to dock with the handle 9 of the battery 7.

[0041] In one embodiment, reference is made to Figure 2 The battery changing tool 15 is detachably connected to the rotating assembly 14 via a connecting structure; the connecting structure is any one of the following: magnetic structure 4, snap-fit ​​structure, adhesive structure, and screw-fit structure.

[0042] As an example, the structural form of the connection structure is introduced. The battery changing tool 15 is detachably connected to the rotating component 14 through the connection structure. The connection structure can be any one of the magnetic structure 4, snap-fit ​​structure, adhesive structure and screw structure. In this way, the battery changing tool 15 can be connected to the rotating component 14 by magnetic connection, snap-fit, adhesive or screw connection according to actual needs, which provides convenience for disassembling and assembling the battery changing tool 15.

[0043] In one embodiment, reference is made to Figure 2 The magnetic structure 4 includes a first magnetic member 41 and a second magnetic member 42, with the first magnetic member 41 and the second magnetic member 42 being magnetically connected; either the first magnetic member 41 or the second magnetic member 42 is disposed on the battery changing tool 15, and the other is disposed on the rotating assembly 14.

[0044] As an example, the magnetic structure 4 includes a first magnetic member 41 and a second magnetic member 42. During installation, either the first magnetic member 41 or the second magnetic member 42 is placed on the battery changing tool 15, and the other is placed on the rotating assembly 14. The first magnetic member 41 and the second magnetic member 42 are magnetically connected, which facilitates the installation of the battery changing tool 15 on the rotating assembly 14. The principle of magnetic connection provides convenience for the installation and removal of the battery changing tool 15.

[0045] This utility model embodiment provides a battery swapping station, referencing... Figures 1-5 It includes a base station 5 and a battery replacement mechanism 1; the battery replacement mechanism 1 is installed on the base station 5 and is used to replace the battery 7 for the self-moving device 6.

[0046] As an example, a battery swapping station includes a base station 5 and a battery swapping mechanism 1. The battery swapping mechanism 1 includes a first moving component 11, a second moving component 12, a third moving component 13, a rotating component 14, and a battery swapping tool 15. During installation, the first moving component 11 is mounted on the base station 5 of the battery swapping station. Specifically, a support frame 8 is provided on the base station 5, and the first moving component 11 is mounted on the support frame 8. The second moving component 12 is mounted on the first moving component 11, the third moving component 13 is mounted on the second moving component 12, and the rotating component 14 is mounted on the third moving component 13. The battery swapping tool 15 is detachably connected to the rotating component 14. With this configuration, the first moving component 11 can drive... The second moving component 12 moves along the first direction to adjust the positions of the second moving component 12, the third moving component 13, the rotating component 14, and the battery changing tool 15 in the first direction; the second moving component 12 can drive the third moving component 13 to move along the second direction to adjust the positions of the third moving component 13, the rotating component 14, and the battery changing tool 15 in the second direction; the third moving component 13 can drive the rotating component 14 to move along the third direction to adjust the positions of the rotating component 14 and the battery changing tool 15 in the third direction; the rotating component 14 can drive the battery changing tool 15 to rotate to adjust the docking angle of the battery changing tool 15. In this example, the battery swapping tool 15 can connect to the battery 7 in the base station 5 or the battery 7 in the self-moving device 6. Through the cooperation of the first moving component 11, the second moving component 12, the third moving component 13 and the rotating component 14, the battery swapping tool 15 can be moved and rotated in three-dimensional space to move the battery swapping tool 15 to the corresponding position of the battery 7 in the base station 5 or the battery 7 in the self-moving device 6. The docking angle of the battery swapping tool 15 can be adjusted by rotation to achieve accurate docking between the battery swapping tool 15 and the handle 9 on the battery 7. After the battery swapping tool 15 docks with the handle 9 on the battery 7, the position of the battery 7 can be adjusted by the first moving component 11, the second moving component 12, the third moving component 13 and the rotating component 14, thereby realizing the replacement of the battery 7 in the base station 5 into the self-moving device 6, or the replacement of the battery 7 in the self-moving device 6 into the base station 5. This facilitates the replacement of the battery 7 for the self-moving device 6 and improves the working efficiency of the battery swapping station in providing battery 7 replacement services for the self-moving device 6.

[0047] In one embodiment, reference is made to Figure 3 and Figure 4 The base station 5 includes a lower body 51 and an upper body 52; at least a portion of the upper body 52 protrudes horizontally from the lower body 51; the lower body 51 is provided with a plurality of base station battery compartments 511, and each base station battery compartment 511 contains a battery 7; the battery replacement mechanism 1 is installed on the upper body 52 for taking and placing the battery 7.

[0048] As an example, the structure of base station 5 is described. Base station 5 includes a lower body 51 and an upper body 52. ​​The lower body 51 contains multiple base station battery compartments 511, each containing a battery 7. A battery replacement mechanism 1 is mounted on the upper body 52, allowing the battery 7 to be placed and removed. At least a portion of the upper body 52 protrudes horizontally from the lower body 51, providing sufficient horizontal movement space for the battery replacement mechanism 1 to replace the battery 7 for the self-moving device 6.

[0049] This utility model embodiment provides a self-moving device, as shown in the following figure. Figure 3 , Figure 4 and Figure 5 The self-moving device 6 is adapted to the battery swapping station in the above embodiment; the base station 5 of the battery swapping station is provided with a battery swapping area, the self-moving device 6 is parked in the battery swapping area, and the battery replacement mechanism 1 of the battery swapping station is used to replace the battery 7 of the self-moving device 6.

[0050] As an example, the self-moving device 6 is adapted to the battery swapping station in the above embodiment. The base station 5 of the battery swapping station has a battery swapping area where the self-moving device 6 can be parked. The battery 7 of the self-moving device 6 is replaced by the battery swapping mechanism 1 of the battery swapping station. Specifically, the battery 7 is removed from the self-moving device 6 and placed in another location using the battery swapping mechanism 1. Then, the battery 7 is removed from the base station 5 and placed into the self-moving device 6. Finally, the battery 7 placed in another location is placed back into the base station 5 using the battery swapping mechanism 1. The protruding part of the upper body 52 of the base station 5 can also provide shelter for the self-moving device 6. For example, after completing its work, the self-moving device 6, such as a lawnmower, can park in the battery swapping area of ​​the battery swapping station, and the protruding part of the upper body 52 serves as a sunshade and rain shield. A protective door can be installed at the opening of the battery swapping area. Under normal circumstances, the protective door is closed; it is opened during battery swapping. The self-moving device 6 can be a lawnmower robot, a snow removal robot, or an inspection robot, etc.

[0051] In one embodiment, reference is made to Figure 5 The self-moving device 6 includes a device body 61, a device battery compartment 62, and a protective cover 63. The device battery compartment 62 is installed on the device body 61 and is used to house the battery 7. The protective cover 63 is installed on the device battery compartment 62 and is used to protect the battery 7 inside the device battery compartment 62. The battery replacement mechanism 1 takes the protective cover 63 or the battery 7 to replace the battery 7 for the self-moving device 6.

[0052] As an example, the self-moving device 6 includes a device body 61, a device battery compartment 62, and a protective cover 63. During installation, the device battery compartment 62 is installed on the device body 61 to house the battery 7. The protective cover 63 is installed on the device battery compartment 62 to protect the battery 7 inside, providing waterproofing and dustproofing. The battery replacement mechanism 1 removes or places the protective cover 63 or the battery 7 to replace the battery 7 in the self-moving device 6. Specifically, the self-moving device 6 is first parked in the battery swapping area of ​​the base station 5. Then, the battery replacement mechanism 1 removes the protective cover 63, takes out the battery 7 from the self-moving device 6 and places it in another location. Next, the battery 7 from the base station 5 is taken out and placed into the self-moving device 6. Then, the battery 7 placed in another location is placed into the base station 5 through the battery replacement mechanism 1. Finally, the protective cover 63 is installed on the device battery compartment 62. The battery compartment 62 can be installed inside the housing of the main body 61 or separated from the housing of the main body 61. The protective cover 63 can be removed from the outside of the self-moving device 6. The protective cover 63 can be connected to the battery compartment 62 by other quick-release connection methods such as permanent magnet and electromagnetic lock magnetic attraction, snap-fit ​​elastic engagement, pin insertion and removal locking, and track sliding buckle connection. For example, a first magnetic block is set at the four corners of the protective cover 63 and a second magnetic block is set at the four corners of the battery compartment 62. The magnetic connection is achieved through the cooperation of the first magnetic block and the second magnetic block. At the same time, due to the existence of multiple cooperation points, the position of the protective cover 63 can be positioned to ensure that its closing position is correct. The protective cover 63 is equipped with a handle 9. When the battery 7 of the self-moving device 6 is below the threshold, the protective cover 63 is pulled up in a vertical / horizontal / tilted direction by the battery replacement mechanism 1 to expose the device battery compartment 62. The battery 7 is also equipped with a handle 9. The battery 7 is pulled out of the device battery compartment 62 in a vertical / horizontal / tilted direction by the battery replacement mechanism 1 and a new battery 7 is installed so that the self-moving device 6 can continue to work (for example, a lawnmower can continue to perform lawn mowing operations).

[0053] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A battery replacement mechanism, applied in a battery swapping station, for replacing the battery (7) of a self-moving device (6), characterized in that, The battery replacement mechanism (1) includes a first moving component (11), a second moving component (12), a third moving component (13), a rotating component (14), and a battery replacement tool (15). The first mobile component (11) is used to be installed on the base station (5) of the battery swapping station; The first moving component (11) is provided with a second moving component (12) for driving the second moving component (12) to move along a first direction; The second moving component (12) is provided with a third moving component (13) for driving the third moving component (13) to move along the second direction; The third moving component (13) is provided with a rotating component (14) for driving the rotating component (14) to move along a third direction; A battery replacement tool (15) is detachably connected to the rotating assembly (14). The rotating assembly (14) is used to drive the battery replacement tool (15) to rotate. The battery replacement tool (15) is used to connect to the battery (7) in the base station (5) or the battery (7) in the self-moving device (6).

2. The battery replacement mechanism according to claim 1, characterized in that, The first moving component (11) includes two first moving shafts (111), two first moving seats (112), and two first power units; Two of the first moving axes (111) are arranged at intervals along the second direction on the base station; Each of the first movable seats (112) is movably mounted on a first movable shaft (111) along a first direction; Each of the first power units is connected to a first movable seat (112) for driving the first movable seat (112) to move; The two ends of the second moving component (12) are respectively connected to the two first moving seats (112).

3. The battery replacement mechanism according to claim 2, characterized in that, The second moving component (12) includes a second moving shaft (121), a second moving base (122), and a second power unit; The two ends of the second movable shaft (121) are respectively mounted on the two first movable seats (112); The second movable seat (122) is movably mounted on the second movable shaft (121) along the second direction and is connected to the third movable component (13); The second power unit is connected to the second movable seat (122) and is used to drive the second movable seat (122) to move.

4. The battery replacement mechanism according to claim 3, characterized in that, The third moving component (13) includes a telescopic motor (131) and a telescopic rod (132); the telescopic motor (131) is mounted on the second moving seat (122), the first end of the telescopic rod (132) is connected to the telescopic motor (131), and the second end of the telescopic rod (132) is connected to the rotating component (14).

5. The battery replacement mechanism according to claim 4, characterized in that, The rotating assembly (14) includes a rotating motor (141) and a rotating shaft (142); the rotating motor (141) is installed at the second end of the telescopic rod (132), the first end of the rotating shaft (142) is connected to the rotating motor (141), and the second end of the rotating shaft (142) is detachably connected to the battery changing tool (15).

6. The battery replacement mechanism according to claim 1, characterized in that, The battery replacement mechanism is also equipped with a first positioning module (2), a second positioning module (3), and a controller; The first positioning module (2) is disposed on the third moving component (13) and is used to identify the first position information of the battery changing tool (15); The second positioning module (3) is disposed on the battery changing tool (15) and is used to identify the second position information of the battery changing tool (15); The controller is connected to the first positioning module (2), the second positioning module (3), the first moving component (11), the second moving component (12), the third moving component (13), and the rotating component (14), and is used to control the first moving component (11), the second moving component (12), the third moving component (13), and the rotating component (14) to work according to the first position information and the second position information.

7. The battery replacement mechanism according to claim 1, characterized in that, The battery changing tool (15) includes any one of a handle, a gripper, and a suction cup.

8. The battery replacement mechanism according to claim 1, characterized in that, The battery changing tool (15) is detachably connected to the rotating assembly (14) via a connecting structure; The connection structure is any one of the following: magnetic structure (4), snap-fit ​​structure, adhesive structure, and screw connection structure.

9. The battery replacement mechanism according to claim 8, characterized in that, The magnetic structure (4) includes a first magnetic element (41) and a second magnetic element (42), wherein the first magnetic element (41) and the second magnetic element (42) are magnetically connected; One of the first magnetic chuck (41) and the second magnetic chuck (42) is disposed on the battery changing tool (15), and the other is disposed on the rotating assembly (14).

10. A battery swapping station, characterized in that, Includes a base station (5) and a battery replacement mechanism (1) as described in any one of claims 1-9; The battery replacement mechanism (1) is installed on the base station (5) and is used to replace the battery (7) of the self-moving device (6).

11. The battery swapping station according to claim 10, characterized in that, The base station (5) includes a lower body (51) and an upper body (52); at least a portion of the upper body (52) protrudes horizontally from the lower body (51). The lower main body (51) is provided with multiple base station battery compartments (511), and each base station battery compartment (511) contains a battery (7). The battery replacement mechanism (1) is installed on the upper body (52) for taking and placing the battery (7).

12. A self-moving device, characterized in that, The self-moving device (6) is adapted to the battery swapping station according to any one of claims 10-11; The base station (5) of the battery swapping station is equipped with a battery swapping area, and the self-moving device (6) is parked in the battery swapping area. The battery replacement mechanism (1) of the battery swapping station is used to replace the battery (7) of the self-moving device (6).

13. The self-moving device according to claim 12, characterized in that, The self-moving device (6) includes a device body (61), a device battery compartment (62), and a protective cover (63). The battery compartment (62) is installed on the main body (61) of the device and is used to house the battery (7). The protective cover (63) is installed on the device battery compartment (62) to protect the battery (7) inside the device battery compartment (62). The battery replacement mechanism (1) takes the protective cover (63) or the battery (7) to replace the battery (7) for the self-moving device (6).

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