Battery replacement device for self-moving device

Abstract

The application relates to the technical field of battery replacing devices, and discloses a battery replacing device of a self-moving device, which comprises a battery replacing cabin, a door body and a driving module, the battery replacing cabin is provided with an inlet and outlet for replacing batteries; the door body is arranged at the inlet and outlet and used for opening or closing the inlet and outlet; the driving module is arranged in the battery replacing cabin, the driving module comprises a driving piece and a connecting rod assembly, the connecting rod assembly is connected with the door body and the driving piece respectively, and the driving piece is used for driving the connecting rod assembly to move, so that the door body moves to the outside of the battery replacing cabin in a state of being perpendicular to a horizontal plane. The application aims to solve the technical problem that the waterproof, dustproof and insect-proof effects of the battery replacing device are poor.

Description

Technical Field

[0001] This application relates to the field of battery swapping technology, and in particular to a battery swapping device for a self-moving device. Background Technology

[0002] Existing intelligent mobile robots, such as lawnmowers, household robot vacuums, and industrial AGVs, generally use rechargeable batteries as their power source. When the battery level drops below a preset threshold, the robot quickly replaces the battery using a battery swapping device, shortening its recharging time.

[0003] In related technologies, internal and external batteries are exchanged through the inlet and outlet of the battery swapping device. However, since the battery swapping device is set up in an outdoor environment, its waterproof, dustproof, and insect-proof effects are not good, which can easily damage the equipment inside the battery swapping device. Utility Model Content

[0004] The purpose of this application is to provide a battery swapping device for self-moving equipment, so as to solve the technical problems of poor waterproof, dustproof and insect-proof effects of battery swapping devices.

[0005] To achieve the above objectives, this application provides a battery swapping device for a self-moving device, the battery swapping device comprising: The battery swapping compartment is equipped with an inlet and outlet for exchanging batteries; A door, located at the entrance / exit, is used to open or close the entrance / exit; A drive module is located inside the battery swapping compartment. The drive module includes a drive component and a linkage assembly. The linkage assembly is connected to the door and the drive component respectively. The drive component is used to drive the linkage assembly to move so that the door moves to the outside of the battery swapping compartment in a vertical and horizontal state.

[0006] In the battery swapping device of this application, the linkage assembly includes a first linkage and a second linkage, the first linkage and the second linkage are spaced apart in the vertical direction, and the first linkage is located above the second linkage; One end of the first connecting rod is connected to the driving component, and the other end of the first connecting rod is rotatably connected to the door body; an installation component is provided inside the battery swapping compartment, one end of the second connecting rod is rotatably connected to the installation component, and the other end of the second connecting rod is rotatably connected to the door body; The driving component is used to drive the first link to move, so that the first link supports the movement of the door.

[0007] In the battery swapping device of this application, the driving component includes a reversible motor, and the main shaft of the motor is connected to the first connecting rod.

[0008] In the battery swapping device of this application, the mounting component is provided with a clearance hole, and the main shaft of the motor passes through the clearance hole and is connected to the first connecting rod.

[0009] In the battery swapping device of this application, the drive module includes at least two of the linkage assemblies, which are spaced apart in the horizontal direction, and the drive member is used to drive at least one of the linkage assemblies to move.

[0010] In the battery swapping device of this application, the battery swapping device further includes a gripping mechanism, which is disposed in the battery swapping compartment and is used to grip and move the battery.

[0011] In the battery swapping device of this application, the gripping mechanism is also used to abut against the door body after the door body closes the inlet and outlet.

[0012] In the battery swapping device of this application, the battery swapping device further includes a detection component, which is used to cooperate with the self-moving device to generate a detection signal; wherein, when the detection component generates a detection signal, the driving member drives the linkage assembly to move.

[0013] In the battery swapping device of this application, the detection assembly includes at least two detection elements arranged at intervals. When both detection elements generate detection signals, the door assembly is controlled to open the inlet and outlet.

[0014] In the battery swapping device of this application, the battery swapping device also includes a base, which is connected to the battery swapping compartment for parking the self-moving equipment.

[0015] This application provides a battery swapping device for self-moving equipment, which has the following advantages: The battery swapping device of this application includes a battery swapping compartment, a door, and a drive module. The drive module includes a drive component and a linkage assembly. When the door is opened, the drive component drives the linkage assembly to move the door in a vertical and horizontal plane to the outside of the battery swapping compartment, thereby opening the inlet and outlet of the battery swapping compartment for battery replacement. When the door is closed, the drive assembly drives the door to the inlet and outlet, thereby closing the inlet and outlet. The door isolates the battery swapping compartment from the outside world, preventing water, dust, and insects from entering the battery swapping compartment and protecting it from external influences. Because the door moves vertically and horizontally both when opening and closing, its movement is small and its movement speed is faster, shortening the door's movement time and thus shortening the overall battery swapping time and improving battery replacement efficiency. The door's movement occupies little space, eliminating the need for a large space for door movement, making the overall structure of the battery swapping device more compact and saving installation space. Attached Figure Description

[0016] 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.

[0017] Figure 1 This is a schematic diagram of the overall structure of the battery swapping device provided in the embodiments of this application; Figure 2 This is a schematic diagram of the door's closed state provided in an embodiment of this application; Figure 3 This is a schematic diagram of the door's open state provided in an embodiment of this application; Figure 4 This is a partial structural diagram of the battery swapping device provided in an embodiment of this application; Figure 5 This is one of the schematic diagrams showing the usage status of the battery swapping device provided in the embodiments of this application; Figure 6 This is the second schematic diagram of the usage state of the battery swapping device provided in the embodiments of this application; Figure 7 This is the third schematic diagram showing the usage status of the battery swapping device provided in the embodiments of this application.

[0018] The markings in the image are as follows: 10. Battery swapping compartment; 11. Entrance / exit; 12. Mounting components; 13. Clearance hole; 20. Door body; 30. Drive module; 31. Drive component; 311. Motor; 32. Linkage assembly; 321. First link; 322. Second link; 40. Gripping mechanism; 50. Detection assembly; 51. Detection element; 60. Base; 100. Self-moving device; X: Horizontal direction; Y: Vertical direction. Detailed Implementation

[0019] 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.

[0020] 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.

[0021] 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.

[0022] The following is in conjunction with the appendix Figure 1 To be continued Figure 7 This application will be described in further detail.

[0023] For ease of understanding, in the embodiments of this application, a horizontal direction X and a vertical direction Y that are perpendicular to each other are predefined, which together form a two-dimensional coordinate system.

[0024] like Figures 1 to 4 As shown, this application embodiment provides a battery swapping device for a self-moving device. The battery swapping device includes a battery swapping compartment 10, a door 20, and a drive module 30. The battery swapping compartment 10 is provided with an inlet / outlet 11 for swapping batteries. The door 20 is located at the inlet / outlet 11 and is used to open or close the inlet / outlet 11. The drive module 30 is located inside the battery swapping compartment 10 and includes a drive component 31 and a linkage assembly 32. The linkage assembly 32 is connected to the door 20 and the drive component 31 respectively. The drive component 31 is used to drive the linkage assembly 32 to move so that the door 20 moves to the outside of the battery swapping compartment 10 in a vertical and horizontal state.

[0025] In this embodiment, the self-moving device 100 can be a lawnmower robot, a sweeping robot, or a cleaning robot, etc. The battery swapping device is a battery swapping station, and the self-moving device 100 has the ability to automatically return to the battery swapping station, so that it can move to the battery swapping station to replace the battery when the power is low.

[0026] The battery swapping device includes a battery swapping compartment 10, a door 20, and a drive module 30. The battery swapping compartment 10 contains a new battery for replacement, and the self-moving device 100 carries the old battery to be replaced. The battery is swapped through the inlet / outlet 11 of the battery swapping compartment 10. The door 20 is located at the inlet / outlet 11. When swapping batteries, the door 20 opens the inlet / outlet 11; when not swapping batteries, the door 20 closes the inlet / outlet 11.

[0027] Based on the above technical solution, when the door 20 is opened, the driving component 31 drives the linkage assembly 32 to move, causing the door 20 to move in a vertical and horizontal plane outside the battery swapping compartment 10, thereby opening the inlet and outlet 11 of the battery swapping compartment 10 for battery replacement. When the door 20 is closed, the driving module 30 drives the door 20 to move to the inlet and outlet 11, thereby closing the inlet and outlet 11. The door 20 isolates the battery swapping compartment 10 from the outside world, preventing water, dust, and insects from entering the battery swapping compartment 10 and protecting it from external influences. Because the door 20 moves in a vertical and horizontal plane when opening and closing, its movement range is small, and its movement speed is faster, shortening the door 20's movement time and thus shortening the overall battery swapping time and improving battery replacement efficiency. In addition, the door 20's movement range occupies little space, eliminating the need for a large space for door 20 movement, making the overall structure of the battery swapping device more compact and saving installation space.

[0028] Please refer to further information. Figures 5 to 7 , Figures 5 to 7 The diagram illustrates the specific process of the door 20 moving to the outside of the battery swapping compartment 10. (As shown...) Figure 5 As shown, the drive module 30 is in the initial state, and the door 20 closes the entrance / exit 11; Figure 6 As shown, the drive module 30 drives the door 20 to move outside the battery swapping compartment 10, and the entrance / exit 11 is partially opened; as Figure 7 As shown, the drive module 30 further drives the door 20 to move, so that the door 20 is in a fully open state, at which point the entrance and exit 11 are fully opened. It is worth noting that during the movement of the door 20, the door 20 always maintains a vertical and horizontal orientation.

[0029] In some embodiments, such as Figure 3 and Figure 4 As shown, the linkage assembly 32 includes a first linkage 321 and a second linkage 322. The first linkage 321 and the second linkage 322 are spaced apart in the vertical direction Y, with the first linkage 321 located above the second linkage 322. One end of the first linkage 321 is connected to the drive member 31, and the other end of the first linkage 321 is rotatably connected to the door body 20. The battery swapping compartment 10 is provided with a mounting member 12. One end of the second linkage 322 is rotatably connected to the mounting member 12, and the other end of the second linkage 322 is rotatably connected to the door body 20. The drive member 31 is used to drive the first linkage 321 to move, so that the first linkage 321 supports the movement of the door body 20.

[0030] Specifically, the driving member 31 is connected to one end of the first connecting rod 321. Driven by the driving member 31, the first connecting rod 321 rotates around its connection point with the driving member 31. The movement trajectory of the other end of the first connecting rod 321 is an arc centered on the connection point of the driving member 31, and the other end of the first connecting rod 321 generates displacement in both the horizontal and vertical directions. In the vertical direction, the first connecting rod 321 lifts the door body 20 upward; in the horizontal direction, the first connecting rod 321 pushes the door body 20 outward. While the first connecting rod 321 drives the door body 20 to move, the second connecting rod 322 moves in an arc around its connection point with the mounting member 12. The second connecting rod 322 provides auxiliary support for the door body 20. Through the dual-point support of the first connecting rod 321 and the second connecting rod 322, the door body 20 is prevented from flipping over during movement, so that the door body 20 always maintains a vertical and horizontal posture, thereby improving the movement stability of the door body 20.

[0031] In this embodiment, the first link 321 is driven by the drive component 31. The first link 321 and the second link 322 together support the door 20 to move outward from the battery swapping compartment 10, so that the door 20 moves in a vertical and horizontal position. When the first link 321 and the second link 322 move to a certain position, the door 20 completely leaves the inlet and outlet 11 of the battery swapping compartment 10, at which point the inlet and outlet 11 is fully opened.

[0032] When the door 20 is closed, the first link 321 is driven to rotate in the opposite direction by the drive component 31. The first link 321 and the second link 322 rotate in the opposite direction simultaneously, and the door 20 gradually moves downward and inward. When the first link 321 and the second link 322 return to their initial positions, the door 20 is reset to the inlet / outlet 11 of the battery swapping compartment 10. At this time, the inlet / outlet 11 is in the closed state to prevent dust, moisture and insects from entering the interior of the battery swapping compartment 10.

[0033] In this embodiment, the mounting component 12 is disposed inside the battery swapping compartment 10. The mounting component 12 is detachably connected to the battery swapping compartment 10, or it is integrally formed with the battery swapping compartment 10. No limitation is made here.

[0034] In some embodiments, the drive unit 31 includes a reversible motor 311, the main shaft of which is connected to the first link 321.

[0035] Specifically, since the main shaft of the motor 311 is connected to the first connecting rod 321, after the motor 311 is started, the first connecting rod 321 will rotate synchronously with the rotation of the main shaft of the motor 311. The forward and reverse rotation of the motor 311 respectively drive the first connecting rod 321 to rotate in different directions.

[0036] For example, when motor 311 rotates clockwise, it drives the first link 321 to rotate clockwise, and the first link 321 and the second link 322 rotate clockwise simultaneously, pushing the door 20 upward and outward, thereby opening the entrance / exit 11. When motor 311 rotates counterclockwise, it drives the first link 321 to rotate counterclockwise, and the first link 321 and the second link 322 rotate counterclockwise simultaneously, pulling the door 20 inward and downward to the entrance / exit 11, thereby closing the entrance / exit 11.

[0037] In some embodiments, the rotational speed of the linkage assembly 32 is adjusted by regulating the rotational speed of the motor 311, thereby controlling the movement speed of the door 20. During the opening and closing of the door 20, the door 20 can move smoothly, preventing the door 20 from shaking or being impacted, and avoiding damage to the door 20 and other components inside the battery swapping compartment 10.

[0038] In some embodiments, such as Figure 4 As shown, the mounting component 12 is provided with a clearance hole 13, and the main shaft of the motor 311 passes through the clearance hole 13 and is connected to the first connecting rod 321.

[0039] Understandably, the door 20 typically has a certain weight. During opening and closing, the weight of the door 20 exerts a significant force on the first connecting rod 321, indirectly resulting in a heavy load on the motor 311. By passing the motor 311's main shaft through the clearance hole 13 to form a rotational support point, a rotational support structure is formed between the hole wall of the clearance hole 13 and the motor 311's main shaft. This support point can withstand the radial and axial forces generated during the rotation of the main shaft, providing a stable support foundation for the rotation of the first connecting rod 321. During the movement of the door 20, the first connecting rod 321 is subjected to the weight of the door 20. The support point formed by the clearance hole 13 can transfer the weight of the door 20 to the battery compartment 10 through the mounting component 12, thereby reducing the load on the motor 311 and preventing the first connecting rod 321 from becoming unstable due to excessive weight, thus ensuring that the door 20 can move smoothly and steadily.

[0040] In some embodiments, such as Figure 3 and Figure 4 As shown, the drive module 30 includes at least two linkage assemblies 32, which are spaced apart in the horizontal direction X. The drive member 31 is used to drive at least one linkage assembly 32 to move.

[0041] Specifically, at least two linkage assemblies 32 are spaced apart in the horizontal direction X to increase the number of connections between the linkage assemblies 32 and the door body 20. Multiple linkage assemblies 32 together support the door body 20, improving the motion balance of the door body 20 and making the door body 20 more stable during movement.

[0042] The drive component 31 is used to drive at least one linkage assembly 32. It can drive one linkage assembly 32 with only one drive component 31, and then drive other linkage assemblies 32 to move in coordination through the transmission relationship between the linkage assemblies 32. Alternatively, different drive components 31 can drive different linkage assemblies 32 simultaneously to enhance driving force and motion smoothness. For example, during the opening phase of the door 20, multiple linkage assemblies 32 are driven simultaneously to quickly overcome the static friction of the door 20 and provide a larger driving force; while during the smooth movement phase of the door 20, only one linkage assembly 32 can be driven to reduce overall energy consumption.

[0043] For example, the drive module 30 includes two linkage assemblies 32, at least two linkage assemblies 32 are symmetrically arranged in the horizontal direction X. Under the driving action of the drive member 31, the two linkage assemblies 32 move in the same pattern and rhythm to ensure that the door 20 moves smoothly and steadily.

[0044] In some embodiments, such as Figure 2 As shown, the battery swapping device also includes a gripping mechanism 40, which is located inside the battery swapping compartment 10 and is used to grip and move the battery.

[0045] Specifically, when the battery power of the self-moving device 100 is lower than a preset value, the self-moving device 100 returns to the battery swapping station and docks with the inlet / outlet 11 outside the battery swapping compartment 10. The gripping mechanism 40 then grabs the old battery from the self-moving device 100 from the inlet / outlet 11, and grabs a new battery from inside the battery swapping compartment 10, placing it on the self-moving device 100 to complete the battery replacement operation. The gripping mechanism 40, located inside the battery swapping compartment 10, can move horizontally, vertically, and rotate at a certain angle, allowing it to reach the battery location and perform the gripping action.

[0046] In some embodiments, the gripping mechanism 40 may employ a robotic arm structure, consisting of multiple joints and links. The robotic arm structure exhibits high flexibility, enabling a wide range of movements in both horizontal and vertical directions, and allowing for adjustments to different angles through joint rotation. The end effector of the robotic arm is equipped with gripping devices, such as claws or suction cups, for firmly grasping the battery.

[0047] In the horizontal direction, the gripping mechanism 40 can be mounted on a linear guide rail, and its linear movement along the guide rail can be achieved through a lead screw or belt drive. In the vertical direction, a lifting platform can be set up, and the gripping device can be moved up and down using a hydraulic cylinder, pneumatic cylinder, or electric push rod drive device. This embodiment does not impose specific limitations.

[0048] In some embodiments, the battery swapping device further includes at least two battery compartments (not shown in the figures), each of which can hold one battery. By placing a new battery in each battery compartment, the battery swapping needs of multiple self-moving devices 100 can be met simultaneously.

[0049] For example, the battery swapping device includes two battery compartments, one for holding the old battery that has been replaced, and the other for holding a fully charged new battery that is ready to be replaced.

[0050] In some embodiments, such as Figure 2 As shown, the gripping mechanism 40 is also used to abut against the door body 20 after the door body 20 closes the entrance / exit 11.

[0051] Specifically, after the door 20 closes the inlet / outlet 11, the gripping mechanism 40 is driven to abut against the door 20, applying a resisting force to make the door 20 fit tightly against the periphery of the inlet / outlet 11, thereby improving the sealing performance of the door 20. This embodiment utilizes the gripping mechanism 40 to improve sealing performance, reduce the number of devices, and lower production costs.

[0052] In some embodiments, such as Figure 1 As shown, the battery swapping device also includes a detection component 50, which is used to cooperate with the self-moving device 100 to generate a detection signal; wherein, when the detection component 50 generates a detection signal, the driving member 31 drives the linkage assembly 32 to move.

[0053] Specifically, the detection component 50 can generate detection signals based on various physical principles, such as photoelectric sensing, electromagnetic sensing, and pressure sensing. Taking photoelectric sensing as an example, the detection component 50 includes a transmitter and a receiver. When the mobile device 100 enters a specific position, it will block or reflect the light emitted by the transmitter, thereby allowing the receiver to receive the light signal and convert it into an electrical signal as a detection signal.

[0054] In this embodiment, the detection component 50 monitors the position of the self-moving device 100 in real time and automatically generates a detection signal when specific conditions are met. This triggers the drive component 31 to drive the linkage assembly 32, causing the door 20 to move to the outside of the battery swapping compartment 10 in a vertical and horizontal state. The entire process requires no manual intervention, achieving an automated process from detection to response. Therefore, by using the detection component 50 in conjunction with the self-moving device 100 to generate a detection signal, the automation level and efficiency of battery replacement can be improved.

[0055] In some embodiments, such as Figure 1 As shown, the detection assembly 50 includes at least two detection elements 51 spaced apart. When both detection elements 51 generate detection signals, the door assembly 20 is controlled to open the entrance / exit 11.

[0056] Specifically, when the self-moving device 100 completes its task and automatically moves to the corresponding position in the battery swapping compartment 10, different parts of the self-moving device 100 abut against at least two detection elements 51. Both detection elements 51 generate detection signals. Based on these signals, it is determined that the self-moving device 100 has returned to its designated position. The control door 20 then opens the entrance / exit 11 of the battery swapping compartment 10, and the battery carried by the self-moving device 100 is replaced with a new battery in the battery swapping compartment 10 through the entrance / exit 11, completing the battery swapping operation of the self-moving device 100. This embodiment uses at least two detection elements 51 to detect whether the self-moving device 100 has returned to its designated position, which improves the accuracy of the return-to-base detection.

[0057] In some embodiments, the detection element 51 may be a pressure sensor.

[0058] In some embodiments, the self-moving device 100 includes a device body and wheels mounted on the device body, the wheels being used to drive the robot body to move, thereby realizing its self-movement function.

[0059] For example, when the self-moving device 100 returns to the station, it approaches the battery swapping compartment 10. When the two wheels abut against the two pressure sensors respectively, the two pressure sensors generate pressure detection signals. Based on the detection signals, it is determined that the self-moving device 100 has returned to the station.

[0060] In some embodiments, such as Figure 1 and Figure 2 As shown, the battery swapping device also includes a base 60, which docks with the battery swapping compartment 10 for parking the self-moving device 100. When the self-moving device 100 moves onto the base 60, its battery is positioned opposite the inlet / outlet 11 of the battery swapping compartment 10. The base 60 supports the self-moving device 100, ensuring that the self-moving device 100 does not move when the battery is being replaced.

[0061] In some embodiments, the base 60 and the battery swapping compartment 10 are integrally formed; in other embodiments, the base 60 and the battery swapping compartment 10 are detachably connected, which is not limited here.

[0062] 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.

[0063] 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 swapping device for a self-moving device, characterized in that, include: The battery swapping compartment is equipped with an inlet and outlet for exchanging batteries; A door, located at the entrance / exit, is used to open or close the entrance / exit; A drive module is located inside the battery swapping compartment. The drive module includes a drive component and a linkage assembly. The linkage assembly is connected to the door and the drive component respectively. The drive component is used to drive the linkage assembly to move so that the door moves to the outside of the battery swapping compartment in a vertical and horizontal state.

2. The battery swapping device according to claim 1, characterized in that, The linkage assembly includes a first link and a second link, the first link and the second link being spaced apart in the vertical direction, with the first link located above the second link; One end of the first connecting rod is connected to the driving component, and the other end of the first connecting rod is rotatably connected to the door body; The battery swapping compartment is equipped with an installation component. One end of the second connecting rod is rotatably connected to the installation component, and the other end of the second connecting rod is rotatably connected to the door. The driving component is used to drive the first link to move, so that the first link supports the movement of the door.

3. The battery swapping device according to claim 2, characterized in that, The drive unit includes a reversible motor, the main shaft of which is connected to the first connecting rod.

4. The battery swapping device according to claim 3, characterized in that, The mounting component is provided with a clearance hole, and the main shaft of the motor passes through the clearance hole and connects to the first connecting rod.

5. The battery swapping device according to claim 1, characterized in that, The drive module includes at least two linkage assemblies, which are spaced apart in the horizontal direction, and the drive member is used to drive at least one linkage assembly to move.

6. The battery swapping device according to claim 1, characterized in that, The battery swapping device also includes a gripping mechanism located inside the battery swapping compartment, which is used to grip and move the battery.

7. The battery swapping device according to claim 6, characterized in that, The gripping mechanism is also used to abut against the door after the door closes the entrance / exit.

8. The battery swapping device according to claim 1, characterized in that, The battery swapping device further includes a detection component, which is used to cooperate with the self-moving device to generate a detection signal; wherein, when the detection component generates a detection signal, the driving member drives the linkage assembly to move.

9. The battery swapping device according to claim 8, characterized in that, The detection assembly includes at least two detection elements spaced apart. When both detection elements generate a detection signal, the door assembly is controlled to open the entrance / exit.

10. The battery swapping device according to claim 1, characterized in that, The battery swapping device also includes a base, which is connected to the battery swapping compartment for parking the self-moving equipment.

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