Battery grabbing mechanism, battery grabbing device and battery swap station

Abstract

The embodiment of the application provides a battery grabbing mechanism, a battery grabbing device and a battery swap station. The battery grabbing mechanism comprises a base, a magnetic attraction assembly which is telescopically arranged on the base, the magnetic attraction assembly having opposite first and second ends, the first end of the magnetic attraction assembly being used for engaging with a battery pack to be adsorbed, a first detection assembly which is used for detecting position information of the battery pack to be adsorbed, and a second detection assembly, the magnetic attraction assembly being compressed and moving towards the second detection assembly after abutting against the battery pack to be adsorbed, the second detection assembly being used for detecting a compression state of the magnetic attraction assembly. The battery grabbing mechanism provided by the embodiment of the application can accurately position the position of the battery pack to be adsorbed, and adsorb the battery pack through the magnetic attraction assembly when the magnetic attraction assembly is compressed to a certain compression state by the battery pack, so that the overall structure is simple, the cost can be reduced, and the battery swap efficiency is improved on the premise of ensuring the position accuracy.

Description

Technical Field

[0001] This application relates to the field of battery swapping equipment technology, and in particular to a battery gripping mechanism, a battery gripping device, and a battery swapping station. Background Technology

[0002] Existing intelligent mobile robots, such as lawnmowers, sweepers, and automated guided vehicles (AGVs), all carry batteries and require charging stations for recharging. Returning to a charging station for recharging takes time, which is generally quite long, during which the robots cannot operate. Using battery swapping stations can significantly shorten this recharging time.

[0003] Existing battery swapping equipment mainly uses expensive robotic arms, robotic hands, electric grippers, and other devices, which require high precision and are therefore costly. Utility Model Content

[0004] This application provides a battery grabbing mechanism for a battery swapping station, including: Base; A magnetic attraction component is retractably disposed on the base. The magnetic attraction component has a first end and a second end opposite to each other. The first end of the magnetic attraction component is used to engage with the battery pack to be attracted. A first detection component is disposed on the base and faces the battery pack to be adsorbed. The first detection component is used to detect the position information of the battery pack to be adsorbed. The second detection component is located on the movement path of the magnetic attraction component. After the magnetic attraction component comes into contact with the battery pack to be attracted, it can be compressed and moved toward the second detection component. The second detection component is used to detect the compression state of the magnetic attraction component.

[0005] In some embodiments, the base includes: The base portion, wherein both the magnetic attraction component and the second detection component are disposed on the base portion, and the first end of the magnetic attraction component is exposed outside the base portion; An extension portion protrudes above the base portion, and the first detection component is disposed on the extension portion. The first detection component and the magnetic attraction component are located on the same side of the extension portion.

[0006] In some embodiments, the base portion is configured with a first receiving cavity, and the magnetic suction assembly is retractably disposed within the first receiving cavity.

[0007] In some embodiments, the magnetic attraction component includes: The mounting component has a second receiving cavity; A first magnetic element is disposed within the second accommodating cavity; The telescopic spring has one end abutting against the side of the mounting component away from the first magnetic component, and the other end abutting against the bottom wall of the first accommodating cavity.

[0008] In some embodiments, the second detection component includes a second magnetic element and a Hall sensor, wherein one of the second magnetic element and the Hall sensor is disposed on the mounting member and the other is disposed on the base portion.

[0009] In some embodiments, the mounting member has a third accommodating cavity on the side away from the second accommodating cavity, and the second magnetic member is mounted in the third accommodating cavity.

[0010] In some embodiments, the first magnetic element is a permanent magnet or an electromagnet.

[0011] In some embodiments, the magnetic attraction components include at least two, and the at least two magnetic attraction components are disposed at intervals on the base.

[0012] This application embodiment also provides a battery gripping device, including a drive mechanism and a battery gripping mechanism as described above. The battery gripping mechanism is disposed on the drive mechanism and is drively connected to it. The drive mechanism is used to drive the battery gripping mechanism to move.

[0013] This application embodiment also provides a battery swapping station, including a battery swapping compartment and the aforementioned battery gripping device, wherein the battery gripping device is disposed inside the battery swapping compartment.

[0014] The battery gripping mechanism provided in this application includes a magnetic suction component, a first detection component, and a second detection component. The first detection component detects the position information of the battery pack, and the second detection component detects the compression state of the magnetic suction component after it comes into contact with and is compressed by the battery pack. Therefore, the position of the battery pack can be accurately located, and the battery pack can be attracted by the magnetic suction component when it is compressed to a certain compression state. The overall structure is simple, and it can reduce costs and improve battery swapping efficiency while ensuring positional accuracy. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0016] Figure 1 This is a schematic diagram of the first structure of the battery gripping mechanism according to an embodiment of this application.

[0017] Figure 2 for Figure 1The diagram shows a cross-sectional view of the battery gripping mechanism.

[0018] Figure 3 This is a schematic diagram of a second structure of the battery gripping mechanism according to an embodiment of this application.

[0019] Figure 4 for Figure 3 The diagram shows a cross-sectional view of the battery gripping mechanism.

[0020] Figure 5 This is a schematic diagram of the battery gripping device according to an embodiment of this application.

[0021] Figure 6 This is a schematic diagram of the structure of a battery swapping station according to an embodiment of this application.

[0022] Figure 7 This is a perspective view of the internal structure of a battery swapping station according to an embodiment of this application.

[0023] Explanation of reference numerals in the attached figures: 100 - Battery gripping mechanism; 10 - Base; 20 - Magnetic suction assembly; 30 - First detection assembly; 40 - Second detection assembly; 11-Base portion; 11a-First accommodating cavity; 12-Extension portion; 21-Mounting component; 21a-Second accommodating cavity; 21b-Third accommodating cavity; 22-First magnetic component; 23-Telescopic spring; 41-Second magnetic component; 42-Hall sensor; 200-Battery gripping device; 201-First support platform; 202-First driving component; 203-Second support platform; 204-Second driving component; 205-Third support platform; 300 - Battery swapping station; 301 - Base; 302 - Battery compartment; 303 - Pressure sensor; 400 - Vehicle; X - First direction; Y - Second direction. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0025] This application provides a battery grabbing mechanism for a battery swapping station, which can be used to swap battery packs of intelligent mobile robots such as lawnmowers, sweepers, and automated guided vehicles (AGVs) to achieve rapid energy replenishment.

[0026] refer to Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of a first structure of the battery gripping mechanism 100 according to an embodiment of this application. Figure 2 for Figure 1 The diagram shows a cross-sectional view of the battery gripping mechanism 100. The battery gripping mechanism 100 includes a base 10, a magnetic suction component 20, a first detection component 30, and a second detection component 40.

[0027] The base 10 is the supporting structure of the battery gripping mechanism 100, used to install and support other structural components.

[0028] The magnetic suction component 20 is used to magnetically attract a battery pack, for example, to attract the battery pack of the device to be swapped during battery swapping. Understandably, the outer shell of the battery pack can be made of a ferromagnetic material, capable of being magnetically attracted. The magnetic suction component 20 is retractably mounted on the base 10. The magnetic suction component 20 has a first end 20a and a second end 20b, wherein the first end 20a is used to engage with the battery pack to be attracted. In practical applications, during battery swapping, after the magnetic suction component 20 comes into contact with the battery pack to be attracted, the magnetic suction component 20 is pressed by the battery pack (or, as understood, the device to be swapped), and retracts along a predetermined movement path.

[0029] The first detection component 30 is disposed on the base 10 and faces the battery pack to be adsorbed. The first detection component 30 is used to detect the position information of the battery pack to be adsorbed, thereby realizing the position positioning of the battery pack to be adsorbed. In some embodiments, the first detection component 30 is a vision module, which includes a camera, and can be used to acquire images of the battery pack to be adsorbed, and realize the positioning of the battery pack by parsing the images.

[0030] The second detection component 40 is disposed on the base 10 and located on the movement path of the magnetic attraction component 20. In practical applications, the second detection component 40 can be disposed inside the base 10. During battery swapping, the magnetic attraction component 20 is compressed after contacting the battery pack to be attracted and moves towards the second detection component 40. The second detection component 40 is used to detect the compression state of the magnetic attraction component 20.

[0031] Understandably, in practical applications, the battery gripping mechanism 100 may also include a control unit. The control unit is connected to the magnetic suction component 20, the first detection component 30, and the second detection component 40. The control unit is used to acquire the battery pack position information detected by the first detection component 30 and the compression state of the magnetic suction component 20 detected by the second detection component 40. When the battery pack is within an appropriate range and the compression state of the magnetic suction component 20 reaches a set state, it indicates that the battery pack is in a good gripping position. At this time, the control unit can control the magnetic suction component 20 to attract the battery pack, thus achieving the gripping of the battery pack.

[0032] The battery gripping mechanism 100 of this embodiment detects the position information of the battery pack through the first detection component 30, and the second detection component 40 detects the compression state of the magnetic suction component 20 after it comes into contact with and is compressed by the battery pack. Therefore, it can accurately locate the position of the battery pack and attract the battery pack through the magnetic suction component 20 when the magnetic suction component 20 is compressed to a certain compression state. Therefore, the battery gripping mechanism 100 of this embodiment does not require complex mechanisms such as robotic arms, robotic hands, and electric grippers. The overall structure is simple, and it can reduce costs and improve battery swapping efficiency while ensuring positional accuracy.

[0033] In some embodiments, such as Figure 1 As shown, the base 10 includes a base portion 11 and an extension portion 12. The base portion 11 is located at the bottom, forming an integral base platform, and the extension portion 12 protrudes above the base portion 11. In practical applications, the extension portion 12 and the base portion 11 can be integrally formed, or they can be formed separately and joined together by means such as welding or screw connection.

[0034] The magnetic attraction component 20 and the second detection component 40 are both disposed on the base portion 11. The first end 20a of the magnetic attraction component 20 is exposed outside the base portion 11. The second detection component 40 may be disposed inside the base portion 11. The first detection component 30 is disposed on the extension portion 12. The first detection component 30 and the magnetic attraction component 20 are located on the same side of the extension portion 12, for example, both the first detection component 30 and the magnetic attraction component 20 face the battery pack to be attracted.

[0035] In some embodiments, reference Figure 2 The base portion 11 has a first accommodating cavity 11a. A magnetic suction assembly 20 is retractably disposed within the first accommodating cavity 11a. During battery swapping, the magnetic suction assembly 20 can move along the first accommodating cavity 11a. In practical applications, the shape and size of the first accommodating cavity 11a can be customized according to actual needs.

[0036] In some embodiments, continue to refer to Figure 2 The magnetic component 20 includes a mounting component 21, a first magnetic component 22, and a telescopic spring 23.

[0037] The mounting component 21 has a second accommodating cavity 21a, and a first magnetic component 22 is disposed within the second accommodating cavity 21a. In one example, the second accommodating cavity 21a may be located on the side facing the battery pack to be adsorbed. The first magnetic component 22 is disposed within the second accommodating cavity 21a, and the end face of the first magnetic component 22 protrudes outside the second accommodating cavity 21a, so that the first magnetic component 22 can abut against the battery pack to be adsorbed and magnetically adsorb the battery pack.

[0038] One end of the telescopic spring 23 abuts against the side of the mounting member 21 away from the first magnetic member 22, and the other end abuts against the bottom wall of the first accommodating cavity 11a. That is, the telescopic spring 23 is disposed between the first mounting member 21 and the bottom wall of the first accommodating cavity 11a.

[0039] In practical applications, during battery swapping, the first magnetic component 22, after contacting and being compressed against the battery pack to be attracted, moves along the first accommodating cavity 11a towards its bottom wall. During this movement, the first magnetic component 22 drives the mounting component 21 to move as well, compressing the telescopic spring 23. After the battery swap is completed, the first magnetic component 22 releases the attracted battery pack. At this point, the first magnetic component 22 is no longer compressed by the battery pack, the telescopic spring 23 returns to its original shape, and pushes the mounting component 21 and the first magnetic component 22 together towards a direction away from the bottom wall of the first accommodating cavity 11a.

[0040] Understandably, during battery swapping, the telescopic spring 23 enables the magnetic suction assembly 20 to move retractably. The telescopic spring 23 has a buffering and floating function, allowing the magnetic suction assembly 20 to float within the first accommodating cavity 11a. This means that the magnetic suction assembly 20 can have a certain tilt angle. Therefore, even when the battery pack and the first magnetic component 22 are not directly opposite each other and are tilted, the magnetic suction assembly 20 can still attract the battery pack and successfully grab it. Furthermore, it can prevent damage to the internal structure of the battery gripping mechanism 100 due to the pressure from the battery pack, thus protecting the structure.

[0041] In some embodiments, the first magnetic element 22 is a permanent magnet or an electromagnet, and the first magnetic element 22 can magnetically attract the battery pack.

[0042] In some embodiments, continue to refer to Figure 2 The second detection component 40 includes a second magnetic element 41 and a Hall sensor 42. One of the second magnetic element 41 and the Hall sensor 42 is disposed on the mounting member 21, and the other is disposed on the base portion 11. In some embodiments, the second magnetic element 41 is a permanent magnet or an electromagnet.

[0043] For example, in one example, such as Figure 2 As shown, the second magnetic element 41 is disposed on the mounting member 21. A third accommodating cavity 21b is constructed on the side of the mounting member 21 away from the second accommodating cavity 21a. The second magnetic element 41 is mounted within the third accommodating cavity 21b. In this case, the Hall sensor 42 is disposed on the base portion 11.

[0044] Taking a scenario where the second magnetic component 41 is disposed on the mounting component 21 and the Hall sensor 42 is disposed on the base 11, during battery swapping, the first magnetic component 22 drives the mounting component 21 to move, and the mounting component 21 drives the second magnetic component 41 to move, while the Hall sensor 42 remains stationary. Therefore, the relative distance between the second magnetic component 41 and the Hall sensor 42 changes, and the magnetic field strength detected by the Hall sensor 42 also changes. Based on the detected magnetic field strength, the relative distance between the second magnetic component 41 and the Hall sensor 42 can be determined, thus obtaining the compression state of the magnetic attraction assembly 20. The compression state of the magnetic attraction assembly 20 is the same as the compression state of the telescopic spring 23.

[0045] In some embodiments, reference Figure 3 and Figure 4 , Figure 3 This is a schematic diagram of a second structure of the battery gripping mechanism 100 according to an embodiment of this application. Figure 4 for Figure 3 A cross-sectional schematic diagram of the battery gripping mechanism 100 shown.

[0046] The battery gripping mechanism 100 differs from the previous embodiment in that it includes at least two magnetic suction components 20, which are spaced apart on the base 10, for example, spaced apart on the base portion 11. For instance, in one example... Figure 3 and Figure 4 As shown, there are two magnetic suction components 20. The battery gripping mechanism 100 is similar to the embodiments described above, and will not be repeated here.

[0047] Understandably, the magnetic components 20 are set to at least two, so when adsorbing the battery pack, different parts of the battery pack can be adsorbed at the same time, and the adsorption area is larger, which can make the adsorption of the battery pack more stable and improve the stability and safety of the battery swapping process.

[0048] This application also provides a battery gripping device. The battery gripping device includes a drive mechanism and a battery gripping mechanism 100 of any of the above embodiments. The battery gripping mechanism 100 is disposed on the drive mechanism and is pulsatorically connected to it, and the drive mechanism is used to drive the battery gripping mechanism 100 to move.

[0049] refer to Figure 5 , Figure 5 This is a schematic diagram of the battery gripping device 200 according to an embodiment of this application. The driving mechanism includes a first support platform 201, a first driving member 202, a second support platform 203, a second driving member 204, and a third support platform 205.

[0050] The battery gripping mechanism 100 is mounted on the third support platform 205. The third support platform 205 is mounted on the second support platform 203 and is connected to the second support platform 203 via a second driving member 204. The second support platform 203 is mounted on the first support platform 201 and is connected to the first support platform 201 via a first driving member 202.

[0051] The first driving member 202 drives the second support platform 203 to move along the first direction X. The second driving member 204 drives the third support platform 205 to move relative to the second support platform 203 along the second direction Y. The third support platform 205 drives the battery gripping mechanism 100 to move together. In some embodiments, the first direction X is perpendicular to the second direction Y. Therefore, the first driving member 202 and the second driving member 204 enable the battery gripping mechanism 100 to move freely, facilitating alignment with the battery pack during battery swapping.

[0052] In some embodiments, both the first drive member 202 and the second drive member 204 are lead screws.

[0053] This application also provides a battery swapping station. The battery swapping station includes a battery swapping compartment and the aforementioned battery gripping device 200, which is disposed inside the battery swapping compartment.

[0054] refer to Figure 6 and Figure 7 , Figure 6 This is a schematic diagram of the structure of the battery swapping station 300 according to an embodiment of this application. Figure 7 This is a perspective view of the internal structure of a battery swapping station 300 according to an embodiment of this application. The battery swapping station 300 includes a base 301, a battery compartment 302, and a pressure sensor 303.

[0055] The base 301 supports the vehicle 400, which is the equipment requiring battery swapping, such as a lawnmower, sweeper, or automated guided vehicle (AGV). The vehicle 400 includes the battery pack to be swapped. The battery compartment 302 is connected to the base 301. A battery gripping device 200 is disposed within the battery swapping compartment 302. The battery swapping compartment 302 has an opening on the side facing the base 301 for the battery gripping device 200 to perform the battery swapping operation. A pressure sensor 303 is disposed on one or both sides of the opening. The pressure sensor 303 detects the magnitude of the contact force when it comes into contact with the vehicle 400 to determine whether the vehicle 400 is in a suitable position. For example, in one example... Figure 6 As shown, there are two pressure sensors 303, one on each side of the opening.

[0056] In the description of this application, it should be understood that terms such as “first” and “second” are used only to distinguish similar objects and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0057] The battery gripping mechanism, battery gripping device, and battery swapping station provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application, and the descriptions of the embodiments above are only for the purpose of helping to understand this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A battery gripping mechanism, characterized in that, include: Base; A magnetic attraction component is retractably disposed on the base. The magnetic attraction component has a first end and a second end opposite to each other. The first end of the magnetic attraction component is used to engage with the battery pack to be attracted. A first detection component is disposed on the base and faces the battery pack to be adsorbed. The first detection component is used to detect the position information of the battery pack to be adsorbed. The second detection component is located on the movement path of the magnetic attraction component. After the magnetic attraction component comes into contact with the battery pack to be attracted, it can be compressed and moved toward the second detection component. The second detection component is used to detect the compression state of the magnetic attraction component.

2. The battery gripping mechanism according to claim 1, characterized in that, The base includes: The base portion, wherein both the magnetic attraction component and the second detection component are disposed on the base portion, and the first end of the magnetic attraction component is exposed outside the base portion; An extension portion protrudes above the base portion, and the first detection component is disposed on the extension portion. The first detection component and the magnetic attraction component are located on the same side of the extension portion.

3. The battery gripping mechanism according to claim 2, characterized in that, The base portion has a first accommodating cavity, and the magnetic suction assembly is retractably disposed within the first accommodating cavity.

4. The battery gripping mechanism according to claim 3, characterized in that, The magnetic attraction component includes: The mounting component has a second receiving cavity; A first magnetic element is disposed within the second accommodating cavity; The telescopic spring has one end abutting against the side of the mounting component away from the first magnetic component, and the other end abutting against the bottom wall of the first accommodating cavity.

5. The battery gripping mechanism according to claim 4, characterized in that, The second detection component includes a second magnetic element and a Hall sensor, wherein one of the second magnetic element and the Hall sensor is disposed on the mounting component and the other is disposed on the base portion.

6. The battery gripping mechanism according to claim 5, characterized in that, The mounting component has a third accommodating cavity on the side away from the second accommodating cavity, and the second magnetic component is installed in the third accommodating cavity.

7. The battery gripping mechanism according to claim 4, characterized in that, The first magnetic component is a permanent magnet or an electromagnet.

8. The battery gripping mechanism according to any one of claims 1 to 7, characterized in that, The magnetic attraction components include at least two, and the at least two magnetic attraction components are disposed at intervals on the base.

9. A battery gripping device, characterized in that, It includes a drive mechanism and a battery gripping mechanism as described in any one of claims 1 to 8, wherein the battery gripping mechanism is disposed on the drive mechanism and is drively connected thereto, and the drive mechanism is used to drive the battery gripping mechanism to move.

10. A battery swapping station, characterized in that, It includes a battery swapping compartment and the battery gripping device as described in claim 9, wherein the battery gripping device is disposed inside the battery swapping compartment.

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