Battery carrying device and battery swap station for self-moving device

Abstract

The application relates to the technical field of battery swap stations, and discloses a battery carrying device and a battery swap station for a self-moving device. The battery carrying device comprises a base, the base having a first end and a second end opposite to each other; a first driving mechanism is arranged on the base; a supporting mechanism is slidably arranged on the base and used for carrying a battery; a first elastic element is connected between the supporting mechanism and the base and used for driving the supporting mechanism to reset towards the first end; a grabbing mechanism is in transmission connection with the first driving mechanism and abuts against the supporting mechanism, and the grabbing mechanism is used for grabbing a battery to be replaced; when the first driving mechanism drives the grabbing mechanism to move towards the first end, the supporting mechanism moves towards the first end under the action of the first elastic element; when the first driving mechanism drives the grabbing mechanism to move towards the second end, the grabbing mechanism drives the supporting mechanism to move towards the second end. The application aims to solve the technical problem that different motors need to be used to control the grabbing and moving of the execution mechanism, resulting in the complexity of the structure of the battery swap station.

Description

Technical Field

[0001] This application relates to the field of battery swapping station technology, and more particularly to a battery handling device and a battery swapping station for self-moving equipment. Background Technology

[0002] Existing intelligent robots, such as lawnmowers, robot vacuums, and AGVs, generally use rechargeable batteries as their power source. When the battery level drops below a preset threshold, the robot replenishes its power by swapping the battery at a battery swapping station.

[0003] In existing battery swapping stations, the actuators for grabbing and moving batteries are controlled by separate motors, resulting in a complex structure and high manufacturing costs. Utility Model Content

[0004] The purpose of this application is to provide a battery handling device and a battery swapping station for self-moving equipment, so as to solve the technical problem that the actuators for grabbing and moving batteries in existing battery swapping stations need to be controlled by separate motors, resulting in a complex structure of the battery swapping station.

[0005] To achieve the above objectives, this application provides a battery handling device, comprising: The base has a first end and a second end that are opposite each other; A first drive mechanism is disposed on the base; A support mechanism, slidably mounted on the base, is used to support the battery; A first elastic element is connected between the support mechanism and the base, and is used to drive the support mechanism to reset towards the first end; A gripping mechanism is connected to the first driving mechanism and abuts against the supporting mechanism. The gripping mechanism is used to grip the battery to be replaced. When the first driving mechanism drives the gripping mechanism to move toward the first end, the supporting mechanism moves toward the first end under the action of the first elastic element; when the first driving mechanism drives the gripping mechanism to move toward the second end, the gripping mechanism drives the supporting mechanism to move toward the second end together.

[0006] In the battery handling device of this application, the bottom of the supporting mechanism is provided with a clearance hole, which extends between the first end and the second end. The gripping mechanism passes through the clearance hole and can abut against the side wall of the clearance hole.

[0007] In the battery handling device of this application, the supporting mechanism includes a base plate and two side plates, the two side plates being spaced apart on both sides of the base plate, and the clearance hole being constructed on the base plate.

[0008] In the battery handling device of this application, the supporting mechanism further includes two sets of first rolling elements disposed on the base plate. The two sets of first rolling elements are respectively located on both sides of the clearance hole, and each set of first rolling elements is spaced apart along the direction from the first end to the second end.

[0009] In the battery handling device of this application, the supporting mechanism further includes two sets of second rolling elements, which are respectively disposed on the two side plates, with each set of second rolling elements spaced apart.

[0010] In the battery handling device of this application, the battery handling device further includes a locking mechanism, which is disposed between the base and the supporting mechanism and is used to lock relative to the base when the supporting mechanism moves to the first end.

[0011] In the battery handling device of this application, the locking mechanism includes a locking component and a locking groove. The locking component is disposed on the supporting mechanism, and the locking groove is disposed on the base. The locking component can lock and cooperate with the locking groove.

[0012] In the battery handling device of this application, the locking component includes: Two locking members are located on both sides of the clearance hole, and both locking members can extend or retract in the direction of approaching or moving away from the clearance hole; The second elastic element has its two ends connected to the two locking members respectively, and the second elastic element is used to drive the two locking members to extend and retract; The unlocking component abuts against the two locking components and is located within the clearance hole. The unlocking component is used to abut against and cooperate with the gripping mechanism to unlock the two locking components. The third elastic element has one end abutting against the unlocking member and the other end abutting against the inner wall of the supporting mechanism.

[0013] In the battery handling device of this application, the battery handling device further includes a position detection mechanism, which is disposed between the base and the support mechanism and is used to detect the position of the support mechanism.

[0014] In the battery handling device of this application, the position detection mechanism includes a first sensor, a second sensor and a trigger. The first sensor and the second sensor are spaced apart on the base along the direction from the first end to the second end, and the trigger is disposed on the support mechanism.

[0015] Secondly, this application also provides a battery swapping station for self-moving equipment, which includes a battery swapping compartment and the battery transport device, wherein the battery transport device is disposed within the battery swapping compartment.

[0016] This application provides a battery handling device, which has the following advantages: The battery handling device of this application includes a base, a first drive mechanism, a support mechanism, a first elastic element, and a gripping mechanism. When handling a battery, the first drive mechanism is activated, driving the gripping mechanism to move from a first end to a second end of the base. Simultaneously, the gripping mechanism moves the support mechanism to the second end, where it abuts against the first elastic element, causing the element to undergo elastic deformation and store elastic potential energy. When the gripping mechanism reaches the second end, it grips the battery and places it on the support mechanism. Subsequently, the first drive mechanism drives the gripping mechanism to move from the second end to the first end, releasing the elastic potential energy from the first elastic element. Under the action of the first elastic element, the support mechanism, carrying the battery and the gripping mechanism, moves together to the second end, returning to its initial position, thus completing the battery handling process.

[0017] This application controls the reciprocating motion of the gripping mechanism on the base via a first drive mechanism, which in turn drives the supporting mechanism to move from the first end to the second end. A first elastic element controls the supporting mechanism to move from the second end to the first end, thus achieving the reciprocating motion of the supporting mechanism on the base. This application utilizes the gripping and supporting mechanisms to achieve the gripping and moving functions of the battery. Compared to mechanisms that use multiple motors to control the gripping and moving of the battery separately, this application can reduce the number of drive mechanisms, save installation space, and simplify the structure of the battery handling device. 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 will be briefly introduced below. Obviously, the drawings described below are 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 schematic diagram of the structure of a battery swapping station provided in an embodiment of this application; Figure 2 This is a schematic diagram of the battery handling device provided in the embodiments of this application; Figure 3 This is another structural schematic diagram of the battery handling device provided in the embodiments of this application; Figure 4 An exploded view of the battery handling device provided in the embodiments of this application; Figure 5 This is another structural schematic diagram of the battery handling device provided in the embodiments of this application; Figure 6 A schematic diagram of the supporting mechanism provided in the embodiments of this application; Figure 7 An exploded view of the support mechanism provided in the embodiments of this application; Figure 8 An exploded view of the locking assembly provided in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of the base provided in an embodiment of this application.

[0020] The markings in the image are as follows: 10. Base; 11. First end; 12. Second end; 20. First drive mechanism; 30. Support mechanism; 31. Alternating hole; 32. Base plate; 33. Side plate; 34. First rolling element; 35. Second rolling element; 40. First elastic element; 50. Gripping mechanism; 60. Locking mechanism; 61. Locking assembly; 611. Locking element; 612. Second elastic element; 613. Unlocking element; 614. Third elastic element; 62. Locking groove; 70. Position detection mechanism; 71. First sensor; 72. Second sensor; 73. Trigger; 80. Second drive mechanism; 90. Base; 100. Battery handling device; 200. Battery swapping compartment; 300. Self-moving device. Detailed Implementation

[0021] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application.

[0022] In the description of this application, it should be noted that the terms "upper", "lower", "front", "rear", "inner", "outer", etc. used in this application to indicate the orientation or positional relationship are based on the positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device and 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.

[0023] In the description of this application, it should be understood that the terms "first," "second," etc., are used to describe various types of information, but these terms are not limited to them and are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

[0024] like Figure 1As shown in the illustration, this application provides a battery swapping station for a self-moving device 300. The battery swapping station includes a battery swapping compartment 200 and a battery transport device 100, which is disposed within the battery swapping compartment 200. When the battery power of the self-moving device 300 is lower than a preset value, the self-moving device 300 returns to the battery swapping station and docks with the inlet and outlet of the battery swapping compartment 200. The battery transport device 100 then picks up the old battery from the self-moving device 300 from the inlet and outlet and picks up a new battery from the battery swapping compartment 200, moving it onto the self-moving device 300 to complete the battery replacement operation.

[0025] The self-moving device 300 can be a lawnmower robot, a cleaning robot, or a sweeping robot, etc. Of course, the battery handling device 100 is not limited to the aforementioned battery swapping station and can also be applied to other battery handling scenarios; this embodiment does not impose specific limitations.

[0026] In existing battery swapping stations, the actions of grabbing and moving the battery are performed by different actuators. Each actuator is equipped with a separate motor for control, which requires the installation of multiple motors and corresponding transmission and control systems, making the structure of the battery swapping station complex and occupying space in the battery swapping compartment.

[0027] like Figures 2 to 4 As shown, this application embodiment provides a battery handling device 100, including a base 10, a first driving mechanism 20, a supporting mechanism 30, a first elastic element 40, and a gripping mechanism 50. The base 10 has a first end 11 and a second end 12 opposite to each other. The first driving mechanism 20 is disposed on the base 10. The supporting mechanism 30 is slidably disposed on the base 10 for carrying a battery. The first elastic element 40 is connected between the supporting mechanism 30 and the base 10 for driving the supporting mechanism 30 to reset towards the first end 11. The gripping mechanism 50 is drivenly connected to the first driving mechanism 20 and abuts against the supporting mechanism 30. The gripping mechanism 50 is used to grip the battery to be replaced. When the first driving mechanism 20 drives the gripping mechanism 50 to move towards the first end 11, the supporting mechanism 30 moves towards the first end 11 under the action of the first elastic element 40. When the first driving mechanism 20 drives the gripping mechanism 50 to move towards the second end 12, the gripping mechanism 50 drives the supporting mechanism 30 to move towards the second end 12 together.

[0028] In this embodiment, the base 10 serves as a support structure, supporting the support mechanism 30 and the gripping mechanism 50. The second end 12 of the base 10 connects to the inlet / outlet of the battery swapping compartment 200, while the first end 11 of the base 10 is located away from the inlet / outlet of the battery swapping compartment 200. A first drive mechanism 20 is mounted on the base 10 and drives the gripping mechanism 50 to move between the first end 11 and the second end 12. The gripping mechanism 50 grips the battery to be replaced and places it on the support mechanism 30, ensuring the support mechanism 30 supports the battery and that the battery is stably positioned. One end of a first elastic element 40 is connected to the support mechanism 30, and the other end is connected to the base 10. This element drives the support mechanism 30 to reset towards the first end 11, allowing the support mechanism 30 to return to its initial position.

[0029] Based on the above technical solution, when transporting the battery, the first drive mechanism 20 is activated. The first drive mechanism 20 drives the gripping mechanism 50 to move from the first end 11 to the second end 12 of the base 10. Simultaneously, the gripping mechanism 50 drives the supporting mechanism 30 to move towards the second end 12. The supporting mechanism 30 abuts against the first elastic element 40, causing the first elastic element 40 to undergo elastic deformation and store elastic potential energy. When the gripping mechanism 50 moves to the second end 12, it grips the battery to be replaced from the inlet / outlet and places the battery on the supporting mechanism 30. Subsequently, the first drive mechanism 20 drives the gripping mechanism 50 to move from the second end 12 to the first end 11. The first elastic element 40 releases its elastic potential energy, and the supporting mechanism 30, under the action of the first elastic element 40, carries the battery and the gripping mechanism 50 together to move towards the second end 12, returning to its initial position, thus completing the battery transport process.

[0030] After the battery is placed, the first drive mechanism 20 drives the gripping mechanism 50 back to its initial position (or the first end 11 of the base 10), and at the same time, the supporting mechanism 30 also returns to its initial position under the action of the first elastic element 40. At this time, the entire battery handling device 100 completes one handling process, returns to its initial state, and waits for the next handling.

[0031] In this embodiment, the first drive mechanism 20 controls the reciprocating motion of the gripping mechanism 50 on the base 10. The gripping mechanism 50 drives the supporting mechanism 30 to move from the first end 11 to the second end 12. The first elastic element 40 controls the movement of the supporting mechanism 30 from the second end 12 to the first end 11, thereby realizing the reciprocating motion of the supporting mechanism 30 on the base 10. By utilizing the gripping mechanism 50 and the supporting mechanism 30, the battery gripping and moving functions are achieved. Compared with a mechanism that uses multiple motors to control the gripping and moving of the battery separately, this embodiment can reduce the number of drive mechanisms, save installation space, and simplify the structure of the battery handling device 100.

[0032] In some embodiments, the first drive mechanism 20 includes a first motor and a first lead screw. The gripping mechanism 50 is drivenly connected to the first lead screw. The first motor drives the first lead screw to rotate forward or backward, so that the gripping mechanism 50 can reciprocate between the first end 11 and the second end 12 of the first lead screw. Of course, the first drive mechanism 20 may also include drive structures such as gear transmission and chain transmission, which are not specifically limited here.

[0033] In some embodiments, the first elastic element 40 is a tension spring, which is made of spring steel wire and has hook and loop structures at both ends, which are respectively connected to the support mechanism 30 and the base 10. When an external force (tension or pressure) is applied to the tension spring, the spring will undergo elastic deformation and its length will change; when the external force is removed, the tension spring will return to its initial length by relying on elastic force.

[0034] In some embodiments, such as Figures 5 to 7 As shown, the bottom of the supporting mechanism 30 has a clearance hole 31, which extends between the first end 11 and the second end 12. The gripping mechanism 50 passes through the clearance hole 31 and can abut against the side wall of the clearance hole 31.

[0035] Specifically, the gripping mechanism 50 moves between the first end 11 and the second end 12 of the base 10 to complete the gripping and placement of the battery. In this embodiment, a clearance hole 31 extending from the first end 11 to the second end 12 is provided at the bottom of the supporting mechanism 30. The clearance hole 31 provides clearance space for the movement of the gripping mechanism 50, avoiding obstruction by the bottom of the supporting mechanism 30 during the movement of the gripping mechanism 50, and ensuring that the gripping mechanism 50 can move between the first end 11 and the second end 12.

[0036] The gripping mechanism 50 abuts against the side wall of the clearance hole 31. During the movement of the gripping mechanism 50, the clearance hole 31 provides a limit, preventing the gripping mechanism 50 from moving in other directions and avoiding deviation or wobbling during movement, thereby improving the movement accuracy of the gripping mechanism 50. In addition, the abutment between the gripping mechanism 50 and the side wall of the clearance hole 31 can transmit force, transferring the force to the supporting mechanism 30 through the abutment, enhancing the structural stability of the entire device.

[0037] In some embodiments, such as Figure 5 , Figure 6 and Figure 7 As shown, the support mechanism 30 includes a base plate 32 and two side plates 33, which are spaced apart on both sides of the base plate 32, and the clearance hole 31 is constructed on the base plate 32.

[0038] Specifically, the base plate 32 and the side plates 33 extend along the direction from the first end 11 to the second end 12. Along this direction, the two side plates 33 are respectively connected to the left and right sides of the base plate 32, forming a groove-shaped frame structure. The two side plates 33 guide and limit the gripping mechanism 50. The bottom of the gripping mechanism 50 abuts against the side wall of the clearance hole 31, and both sides of the gripping mechanism 50 abut against the two side plates 33 respectively. The side plates 33 restrict the movement of the gripping mechanism 50 between the first end 11 and the second end 12, ensuring the stability of the gripping mechanism 50's movement.

[0039] In some embodiments, the base plate 32 and the side plate 33 are integrally formed; in other embodiments, the base plate 32 and the side plate 33 are detachable, and no specific limitations are imposed here.

[0040] In some embodiments, such as Figures 5 to 7 As shown, the supporting mechanism 30 also includes two sets of first rolling elements 34 disposed on the base plate 32. The two sets of first rolling elements 34 are respectively located on both sides of the clearance hole 31 and are distributed at intervals along the direction from the first end 11 to the second end 12.

[0041] Specifically, each group of first rolling elements 34 includes multiple first rolling elements 34, that is, multiple first rolling elements 34 are spaced apart on the base plate 32. During battery handling, the battery can move on the support mechanism 30. For example, it can move from the initial position to the gripping position, or from the gripping position to the initial position. The first rolling elements 34 convert the sliding friction between the battery and the base plate 32 into rolling friction. Since the coefficient of rolling friction is much smaller than the coefficient of sliding friction, the frictional resistance experienced by the battery during movement can be reduced, movement loss can be reduced, and handling efficiency can be improved.

[0042] Understandably, since the bottom of the battery contacts the first rolling element 34, the first rolling element 34 rolls around its own axis when the battery moves, thereby supporting the battery and forming a rolling support surface below it. The first rolling element 34 reduces the frictional resistance of the battery movement, moves the battery on the support mechanism 30, and increases the battery handling speed to meet the needs of rapid battery swapping.

[0043] In some embodiments, such as Figures 5 to 7 As shown, the supporting mechanism 30 also includes two sets of second rolling elements 35, which are respectively disposed on the two side plates 33, with each set of second rolling elements 35 spaced apart.

[0044] Specifically, each group of second rolling elements 35 includes multiple second rolling elements 35, which are spaced apart on the two side plates 33. The second rolling elements 35 can be located either on the opposite side of the two side plates 33 or on the top of the two side plates 33. The two sides of the gripping mechanism 50 abut against the second rolling elements 35 on the two side plates 33 respectively. When the gripping mechanism 50 moves, its two sides contact the second rolling elements 35, and the second rolling elements 35 roll around their own axes. The frictional force between the gripping mechanism 50 and the second rolling elements 35 is rolling friction. Since the coefficient of rolling friction is much smaller than the coefficient of sliding friction, the frictional resistance experienced by the gripping mechanism 50 during movement can be reduced, enabling the gripping mechanism 50 to move quickly, reducing energy loss, and improving movement efficiency.

[0045] In some embodiments, both side plates 33 are connected to tension springs. One end of the tension spring is connected to the side plate 33 of the support mechanism 30, and the other end is connected to the base 10. The two side plates 33 are connected by the two tension springs respectively, thereby improving the motion balance of the support mechanism 30.

[0046] In some embodiments, such as Figure 7 As shown, the battery handling device 100 also includes a locking mechanism 60, which is disposed between the base 10 and the support mechanism 30, and is used to lock relative to the base 10 when the support mechanism 30 moves to the first end 11.

[0047] Specifically, in the initial state, the gripping mechanism 50 is located at the first end 11 of the base 10, and the supporting mechanism 30 pulls the first elastic element 40. The first drive mechanism 20 is activated, and the gripping mechanism 50 moves from the first end 11 of the base 10 to the second end 12. Under the action of the first elastic element 40, the supporting mechanism 30 follows the gripping mechanism 50 to the locking position at the second end 12. The locking mechanism 60 locks with the base 10, locking the supporting mechanism 30 in its current position to prevent it from retracting and affecting the gripping mechanism 50's gripping of the battery. Then, the gripping mechanism 50 grips the battery and moves it to the supporting mechanism 30. When the battery comes into contact with the locking mechanism 60, the locking mechanism 60 unlocks from the base 10, and the first drive mechanism 20 drives the gripping mechanism 50, carrying the battery and the supporting mechanism 30, to move towards the first end 11 of the base 10. In this embodiment, the locking action of the locking mechanism 60 ensures stability during the gripping and placement of the battery.

[0048] In some embodiments, such as Figure 7 and Figure 9 As shown, the locking mechanism 60 includes a locking component 61 and a locking groove 62. The locking component 61 is disposed on the supporting mechanism 30, and the locking groove 62 is disposed on the base 10. The locking component 61 can lock into the locking groove 62.

[0049] Specifically, when the supporting mechanism 30 moves to the second end 12 (or locked position) of the base 10 along with the gripping mechanism 50, the locking component 61 on the supporting mechanism 30 aligns with the corresponding locking groove 62 on the base 10. At this time, the locking component 61, under the action of its own structure (such as the elastic force of a spring pushing the latch to extend), enters the locking groove 62, thereby locking the supporting mechanism 30 and the base 10. After locking, the supporting mechanism 30 cannot move relative to the base 10, preventing the supporting mechanism 30 from moving during the battery gripping process and causing gripping failure. When the gripping mechanism 50 grips the battery and moves the battery to the supporting mechanism 30, the battery abuts against the locking component 61, causing the locking component 61 to release from the locking groove 62. Under the action of the first elastic element 40, the supporting mechanism 30 moves to the initial position.

[0050] In some embodiments, such as Figure 8 As shown, the locking assembly 61 includes two locking members 611, a second elastic element 612, an unlocking member 613, and a third elastic element 614. The two locking members 611 are located on both sides of the clearance hole 31, and both locking members 611 can extend or retract in the direction of approaching or moving away from the clearance hole 31. The two ends of the second elastic element 612 are connected to the two locking members 611 respectively, and the second elastic element 612 is used to drive the two locking members 611 to extend or retract. The unlocking member 613 abuts against the two locking members 611 respectively and is located in the clearance hole 31. The unlocking member 613 is used to abut against the gripping mechanism 50 to unlock the two locking members 611. One end of the third elastic element 614 abuts against the unlocking member 613, and the other end abuts against the inner wall of the supporting mechanism 30.

[0051] For example, each of the two locking members 611 has a mounting hole on one side facing each other, and the two ends of the second elastic element 612 are respectively embedded in the mounting holes of the two locking members 611. Under the action of the second elastic element 612, the two locking members 611 can move closer to each other or further away from each other.

[0052] In this embodiment, when the supporting mechanism 30 has not reached the locking position, the two locking members 611 are not aligned with the locking groove 62, and the locking members 611 do not enter the locking groove 62. The unlocking member 613 is located in the clearance hole 31 and remains in contact with the two locking members 611. When the supporting mechanism 30 moves to the locking position on the base 10 with the gripping mechanism 50, the locking members 611 are aligned with the locking groove 62, and the second elastic element 612 applies an outward elastic force to the two locking members 611. Under the action of the elastic force, the two locking members 611 move away from the clearance hole 31 (i.e., outward on both sides) and enter the locking groove 62. When the locking members 611 are fully inserted into the locking groove 62, the supporting mechanism 30 and the base 10 are locked.

[0053] After the gripping mechanism 50 completes the battery gripping, the first drive mechanism 20 drives the gripping mechanism 50 to move in the opposite direction. The gripping mechanism 50 applies abutting force to the unlocking member 613. Under the abutting action of the gripping mechanism 50, the unlocking member 613 overcomes the elastic force of the third elastic element 614 and moves along the clearance hole 31. Since the unlocking member 613 abuts against the two locking members 611 respectively, when the unlocking member 613 moves, it pushes the two locking members 611 to retract along the direction close to the clearance hole 31 (i.e., from both sides inward), causing the locking members 611 to exit from the locking groove 62, and the locking state between the supporting mechanism 30 and the base 10 is released. When the locking member 611 is completely withdrawn from the locking groove 62, the supporting mechanism 30 moves towards the first end 11 of the base 10 under the action of the first elastic element 40. The gripping mechanism 50, carrying the battery and the supporting mechanism 30 together, moves towards the first end 11 to the initial position, thereby completing the battery transport task.

[0054] In some embodiments, such as Figure 4 As shown, the battery handling device 100 also includes a position detection mechanism 70, which is disposed between the base 10 and the support mechanism 30 and is used to detect the position of the support mechanism 30.

[0055] Specifically, the position detection mechanism 70 can be a proximity switch, micro switch, or photoelectric sensor, etc., and the specific type of the position detection mechanism 70 is not limited here. In this embodiment, the position detection mechanism 70 detects the position of the supporting mechanism 30. For example, in the initial state, if the supporting mechanism 30 is detected not in the initial preset position, the control system issues a command to drive the first drive mechanism 20 to move the supporting mechanism 30 to the initial position. Alternatively, when the supporting mechanism 30 moves to the second end 12 (or the locking position), the position detection mechanism 70 detects this position information and sends a signal to the control system. The control system determines that the locking condition is met and controls the locking assembly 61 to act. Under the action of the second elastic element 612, the two locking members 611 enter the locking groove 62 of the base 10, thereby locking the supporting mechanism 30 to the base 10. In some embodiments, such as Figure 5 , Figure 6 and Figure 9 As shown, the position detection mechanism 70 includes a first sensor 71, a second sensor 72 and a trigger 73. In the direction from the first end 11 to the second end 12, the first sensor 71 and the second sensor 72 are spaced apart on the base 10, and the trigger 73 is disposed on the support mechanism 30.

[0056] Specifically, the movement of the support mechanism 30 can drive the trigger 73 to move relative to the base 10. As the trigger 73 approaches the first sensor 71 and the second sensor 72 respectively, the first sensor 71 and the second sensor 72 generate corresponding signals, thereby achieving the position detection function. For example, when the trigger 73 approaches the first sensor 71, the first sensor 71 detects the trigger 73 and its internal circuit outputs a corresponding signal. When the trigger 73 approaches the second sensor 72, the internal circuit of the second sensor 72 outputs a corresponding signal.

[0057] In some embodiments, the trigger 73 is a magnetic element (such as a magnet), and the first sensor 71 and the second sensor 72 are Hall sensors.

[0058] It is understandable that Hall sensors work based on the Hall effect. Specifically, a Hall sensor contains a Hall element. When an external magnetic field acts on the Hall element, the Hall element generates a corresponding electrical signal and outputs it. The magnitude of the output signal is related to the strength of the external magnetic field.

[0059] In this embodiment, the trigger 73 is a magnetic element. When the magnetic element moves on the base 10 along with the support mechanism 30, it changes the magnetic field distribution of the surrounding space. The first sensor 71 and the second sensor 72 are Hall sensors mounted on the base 10. When the magnetic element approaches a Hall sensor, the magnetic field strength at the location of that Hall sensor changes. The Hall element generates different magnitudes of Hall potential according to the change in magnetic field strength, and then outputs a corresponding electrical signal. The control system determines the position of the magnetic element through the detection signals of the first sensor 71 and the second sensor 72, thereby detecting the position of the support mechanism 30.

[0060] In some embodiments, a first sensor 71 is disposed at a first position on the base 10, and a second sensor 72 is disposed at a second position on the base 10. When the first sensor 71 detects the position of the trigger 73, it determines that the supporting mechanism 30 is in the locked position; when the second sensor 72 detects the position of the trigger 73, it determines that the supporting mechanism 30 is in the initial position.

[0061] In some embodiments, such as Figure 2 As shown, the battery handling device 100 also includes a second drive mechanism 80 and a base 90. The base 10 is movably mounted on the base 90, and the second drive mechanism 80 is used to drive the base 10 to move on the base 90. Specifically, the first drive mechanism 20 is used to drive the gripping mechanism 50 to move along a first direction (i.e., the direction from the first end 11 to the second end 12), and the second drive mechanism 80 is used to drive the base 10 to move along a second direction. The first direction and the second direction intersect or are perpendicular. Driving the gripping mechanism 50 to move in both directions allows the gripping mechanism 50 to operate over a wider range, facilitating battery gripping.

[0062] In some embodiments, the second drive mechanism 80 includes a second motor and a second lead screw. The base 10 is driven by the second lead screw, and the second motor drives the second lead screw to rotate forward or reverse so that the base 10 can reciprocate along the second lead screw. Of course, the second drive mechanism 80 may include drive structures such as gear transmission and chain transmission, and no specific limitation is made here.

[0063] It should be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0064] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A battery handling device, characterized in that, include: The base has a first end and a second end that are opposite each other; A first drive mechanism is disposed on the base; A support mechanism, slidably mounted on the base, is used to support the battery; A first elastic element is connected between the support mechanism and the base, and is used to drive the support mechanism to reset towards the first end; A gripping mechanism is connected to the first driving mechanism and abuts against the supporting mechanism. The gripping mechanism is used to grip the battery to be replaced. When the first driving mechanism drives the gripping mechanism to move toward the first end, the supporting mechanism moves toward the first end under the action of the first elastic element; when the first driving mechanism drives the gripping mechanism to move toward the second end, the gripping mechanism drives the supporting mechanism to move toward the second end together.

2. The battery handling device according to claim 1, characterized in that, The bottom of the supporting mechanism is provided with a clearance hole, which extends between the first end and the second end. The gripping mechanism passes through the clearance hole and can abut against the side wall of the clearance hole.

3. The battery handling device according to claim 2, characterized in that, The supporting mechanism includes a base plate and two side plates, the two side plates being spaced apart on both sides of the base plate, and the clearance holes being constructed on the base plate.

4. The battery handling device according to claim 3, characterized in that, The supporting mechanism further includes two sets of first rolling elements disposed on the base plate. The two sets of first rolling elements are respectively located on both sides of the clearance hole, and the first rolling elements in each set are spaced apart along the direction from the first end to the second end.

5. The battery handling device according to claim 3, characterized in that, The supporting mechanism further includes two sets of second rolling elements, which are respectively disposed on the two side plates, with each set of second rolling elements spaced apart.

6. The battery handling device according to claim 2, characterized in that, The battery handling device further includes a locking mechanism disposed between the base and the supporting mechanism, which is used to lock relative to the base when the supporting mechanism moves to the first end.

7. The battery handling device according to claim 6, characterized in that, The locking mechanism includes a locking component and a locking groove. The locking component is disposed on the supporting mechanism, and the locking groove is disposed on the base. The locking component can lock into the locking groove.

8. The battery handling device according to claim 7, characterized in that, The locking component includes: Two locking members are located on both sides of the clearance hole, and both locking members can extend or retract in the direction of approaching or moving away from the clearance hole; The second elastic element has its two ends connected to the two locking members respectively, and the second elastic element is used to drive the two locking members to extend and retract; The unlocking component abuts against the two locking components and is located within the clearance hole. The unlocking component is used to abut against and cooperate with the gripping mechanism to unlock the two locking components. The third elastic element has one end abutting against the unlocking member and the other end abutting against the inner wall of the supporting mechanism.

9. The battery handling device according to claim 1, characterized in that, The battery handling device also includes a position detection mechanism, which is disposed between the base and the support mechanism and is used to detect the position of the support mechanism.

10. The battery handling device according to claim 9, characterized in that, The position detection mechanism includes a first sensor, a second sensor, and a trigger. The first sensor and the second sensor are spaced apart on the base along the direction from the first end to the second end, and the trigger is disposed on the support mechanism.

11. A battery swapping station for self-moving equipment, characterized in that, It includes a battery swapping compartment and a battery handling device as described in any one of claims 1 to 10, wherein the battery handling device is disposed within the battery swapping compartment.

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