Battery replacing device for self-moving device

Abstract

A battery replacing device for a self-moving device, the battery replacing device comprising a housing, a grabbing mechanism, a vision mechanism and at least two battery compartments, the housing having a receiving space and an inlet and outlet communicating with the receiving space; the at least two battery compartments are arranged in the receiving space, each of the battery compartments being used for placing a battery; the grabbing mechanism is located in the receiving space and comprises a moving assembly and a grabbing assembly arranged thereon, the moving assembly being used for driving the grabbing assembly to move so as to grab a battery on the self-moving device and move the battery to the battery compartment, or grab a battery in the battery compartment and move the battery to the self-moving device; the vision mechanism is arranged on the grabbing mechanism and is used for identifying the position of the battery or the battery compartment and guiding the moving assembly and the grabbing assembly to cooperate to complete the grabbing and moving of the battery.

Description

Technical Field

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

[0002] With the increasing popularity of self-mobile devices, the issue of battery life has become particularly important. Using battery swapping to replace the batteries of self-mobile devices can save the long waiting time required for charging and greatly alleviate battery anxiety.

[0003] The battery swapping method for self-moving devices involves removing the battery from the device using a gripping mechanism, moving it to the battery compartment of the device, and exchanging it with the battery inside. However, the location where the self-moving device stops for each battery swap is not exactly the same, resulting in a certain degree of error. This can easily lead to the gripping mechanism failing to grasp the battery, or even damaging the device or the battery. Utility Model Content

[0004] This application provides a battery swapping device for self-moving equipment, which aims to solve at least one of the technical problems existing in the prior art.

[0005] This application provides a battery swapping device for self-moving equipment, the battery swapping device comprising:

[0006] The housing has an accommodating space and an inlet / outlet communicating with the accommodating space;

[0007] At least two battery compartments are provided within the accommodating space, each of the battery compartments being used to hold one battery;

[0008] A gripping mechanism, located within the accommodating space, includes a moving component and a gripping component disposed thereon. The moving component is used to drive the gripping component to move so as to grip and move the battery on the self-moving device to the battery compartment, or to grip and move the battery in the battery compartment to the self-moving device.

[0009] A vision mechanism, disposed on the gripping mechanism, is used to identify the position of the battery or the battery compartment and guide the moving component to cooperate with the gripping component to complete the gripping and moving of the battery.

[0010] In a battery swapping device according to one embodiment of this application, the gripping component includes:

[0011] The mounting component is connected to the moving assembly via a transmission connection.

[0012] A gripper, disposed on the mounting component, is used for a detachable connection to a battery in the battery compartment or a battery on the self-moving device;

[0013] The vision mechanism is mounted on the mounting component, and the vision mechanism and the gripping component move under the drive of the mounting component.

[0014] In a battery swapping device according to one embodiment of this application, the mounting component includes:

[0015] The main body is connected to the moving component via a transmission mechanism;

[0016] An extension is provided above the main body and extends in a direction away from the main body, and the vision mechanism is provided on the side of the extension facing the inlet / outlet.

[0017] In a battery swapping device according to one embodiment of this application, the gripping member includes a magnet, an electromagnet, or a hook. The magnet and the electromagnet can be magnetically connected to the magnetic suction member on the battery, and the hook can be hooked to the handle on the battery.

[0018] In a battery swapping device according to one embodiment of this application, the moving component includes:

[0019] A first linear module, wherein the gripping component is disposed on the first linear module, and the first linear module is used to drive the gripping component to move along a first direction;

[0020] A second linear module is connected to the first linear module, and the second linear module is used to drive the first linear module and the gripping component to move along a second direction.

[0021] In one embodiment of the battery swapping device of this application, the battery swapping device further includes a battery tray, which is disposed on the moving component and at least partially located below the gripping component to support the battery gripped by the gripping component.

[0022] In a battery swapping device according to one embodiment of this application, a plurality of first guide wheels are rotatably provided on the bottom of the battery tray, and the plurality of first guide wheels are spaced apart for contacting the battery gripped by the gripping mechanism.

[0023] In one embodiment of the battery swapping device of this application, the battery swapping device further includes a door assembly, which is movably disposed on the housing and located at the inlet / outlet for opening or closing the inlet / outlet.

[0024] In a battery swapping device according to one embodiment of this application, the housing includes a compartment and a base plate that docks with the compartment. The base plate is used for the self-moving device to be parked thereon. The compartment is a closed structure and hollow inside to form the accommodating space. The inlet and outlet are opened on the compartment.

[0025] In one embodiment of the battery swapping device of this application, the battery swapping device further includes a positioning detection mechanism, which is disposed on the base plate or the compartment body to detect whether the self-moving device is parked at a preset position on the base plate.

[0026] The technical solution provided in this application embodiment can include the following beneficial effects: This battery swapping device, by setting a vision mechanism on the gripping mechanism, achieves intelligent identification of the battery and battery compartment positions. Guided by the identification results, it drives the moving component to precisely cooperate with the gripping component, thereby ensuring that the battery can be accurately gripped and placed. Compared with traditional battery swapping stations that rely on fixed guidance or mechanical limits, this solution significantly improves positioning accuracy and adaptability through visual recognition, effectively solving the problem of gripping failure caused by positional deviations. This not only significantly improves the automation and reliability of the battery swapping process and reduces dependence on structural precision, but also enhances compatibility with batteries of different models or with offset positions, enabling self-moving equipment to complete battery swapping operations more efficiently and safely.

[0027] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0028] 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.

[0029] Figure 1 This is a schematic diagram of the structure of a self-moving device and a battery swapping device provided in an embodiment of this application;

[0030] Figure 2 yes Figure 1 A partial schematic diagram of the self-moving equipment and battery swapping device in the diagram;

[0031] Figure 3 yes Figure 1 A cross-sectional schematic diagram of the self-moving equipment and battery swapping device in the diagram;

[0032] Figure 4 yes Figure 1 An exploded view of the self-moving equipment and battery swapping device in the diagram;

[0033] Figure 5 yes Figure 1 An exploded view of the battery swapping device in the diagram;

[0034] Figure 6 yes Figure 5 A schematic diagram of the battery compartment layout;

[0035] Figure 7 yes Figure 5 A schematic diagram of the grasping and vision mechanisms in the image;

[0036] Figure 8 yes Figure 6 A schematic diagram of the grasping component and vision mechanism in the image;

[0037] Figures 9 to 14 This is a schematic diagram of the applied self-moving device during the battery swapping process.

[0038] Explanation of reference numerals in the attached figures:

[0039] 100. Battery swapping device; 200. Self-moving equipment; 201. Wheels; 300. Battery;

[0040] 10. Shell; 10a. Compartment; 11. Storage space; 12. Inlet / outlet; 10b. Bottom plate;

[0041] 20. Gripping mechanism; 21. Moving component; 211. First linear module; 212. Second linear module; 213. Battery tray; 2131. First guide wheel; 22. Gripping component; 221. Mounting part; 221a. Main body; 221b. Extension; 222. Gripping member;

[0042] 30. Battery compartment; 31. First battery compartment; 32. Second battery compartment; 33. Third battery compartment;

[0043] 40. Vision mechanism; 50. Door assembly; 51. Door panel; 60. Arrival detection mechanism. Detailed Implementation

[0044] 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 some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] It should also be understood that the terminology used in this application specification is merely for describing specific realities within the scope of this application. It is important to understand that terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used solely for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0046] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0047] like Figures 1 to 3 As shown, this application provides a battery swapping device 100 for a self-moving device 200. The battery swapping device 100 includes a housing 10, a gripping mechanism 20, a vision mechanism 40, and at least two battery compartments 30. The housing 10 has an accommodating space 11 and an inlet / outlet 12 communicating with the accommodating space 11. The gripping mechanism 20 is located in the accommodating space 11, the vision mechanism 40 is disposed on the gripping mechanism 20, and at least two battery compartments 30 are disposed in the accommodating space 11. Each battery compartment 30 is used to hold one battery 300. The vision mechanism 40 is used to identify the position of the battery 300 or the battery compartment 30 and guide the gripping mechanism 20 to complete the gripping and movement of the battery 300. This makes the gripping action of the gripping mechanism 20 no longer blindly move along a preset dead path, but can dynamically adjust the movement trajectory of the gripping mechanism 20 according to the real-time coordinates of the visual feedback, without manual intervention. This enables precise positioning and flexible adaptive adjustment of the battery 300 during the swapping process, making the success rate of each gripping much higher than that of a system without vision. This greatly overcomes the impact of the docking error of the self-moving device 200 and also solves the problems of precise positioning and reliability of the self-moving device 200 during the battery swapping process.

[0048] By adopting the above technical solution, the application incorporates a vision mechanism 40 on the gripping mechanism, enabling intelligent identification of the battery 300 and the battery compartment's position. Guided by the identification results, the moving component and gripping component work together precisely to ensure the battery 300 is accurately gripped and placed. Compared to traditional battery swapping stations that rely on fixed guidance or mechanical limits, this solution significantly improves positioning accuracy and adaptability through visual recognition, effectively solving the problem of gripping failure caused by positional deviations. This not only significantly improves the automation and reliability of the battery swapping process and reduces dependence on structural precision, but also enhances compatibility with batteries 300 of different models or with offset positions, enabling the self-moving device 200 to complete the battery swapping operation more efficiently and safely.

[0049] In one alternative implementation, such as Figures 4 to 7 As shown, the gripping mechanism 20 includes a moving component 21 and a gripping component 22 disposed thereon. The moving component 21 is used to drive the gripping component 22 to move, so as to grip and move the battery on the self-moving device 200 to the battery compartment 30, or to grip and move the battery 300 in the battery compartment 30 to the self-moving device 200, thereby completing the battery swapping process of the self-moving device 200. The moving component 21 includes, but is not limited to, a robotic arm assembly. The gripping component 22 is disposed in the accommodating space 11 via the robotic arm assembly, and is used to grip and move the battery 300 on the self-moving device 200 to the battery compartment 30, or to grip and move the battery 300 in the battery compartment 30 to the self-moving device 200. When the gripping component 22 grips the battery 300, the robotic arm assembly can extend, retract, and rotate to remove the battery 300 from the self-moving device 200 and place it into the battery compartment 30, and to grip and move the battery in the battery compartment 30 to the self-moving device 200.

[0050] For example, the robotic arm assembly includes a rotating structure, a first robotic arm, and a second robotic arm. The rotating structure is disposed within the accommodating space 11. The fixed end of the first robotic arm is connected to the rotating structure, and the execution end of the first robotic arm is connected to the fixed end of the second robotic arm. The execution end of the second robotic arm is connected to the gripping component 22. When the mobile device 200 moves to the inlet / outlet 12 of the battery swapping device 100, after the rotating structure rotates to a designated position, the first robotic arm is used to adjust the position of the second robotic arm in the height direction, and the second robotic arm is used to adjust the position of the gripping component 22 in the horizontal direction. This allows the gripping component 22 to swap the battery 300 on the mobile device 200 by rotating the structure, the first robotic arm, and the second robotic arm. The battery 300 on the mobile device 200 is gripped and moved to a battery compartment 30, and then a fully charged battery in another battery compartment 30 is gripped and moved to the mobile device 200, thus completing the battery swapping process. This greatly reduces the battery replacement time, improves work efficiency, reduces the waiting time of the mobile device 200, and also reduces the floor space of the battery swapping device 100.

[0051] Alternatively, the moving component 21 may also include a first linear module 211 that moves along a first direction and a second linear module 212 that moves along a second direction. The gripping component 22 is disposed on the first linear module 211, the first linear module 211 is disposed on the second linear module 212, and the second linear module 212 is disposed in the accommodating space 11, with the first direction perpendicular to the second direction. This allows the gripping component 22 to grip and move the battery on the self-moving device 200 to the battery compartment 30, or to grip and move the battery in the battery compartment 30 to the self-moving device 200, through the coordinated movement of the first linear module 211 and the second linear module 212. This not only enables the gripping component 22 to accurately, reliably, and efficiently grip and move the battery 300 in three-dimensional space, but also ensures that the movement trajectory of the gripping component 22 is a predictable linear rectangular space, which is easy to plan and layout, and can avoid interference with the housing 10 or other components.

[0052] In an optional implementation, the vision mechanism 40 is used to identify the position of the battery 300 or the battery compartment 30 and guide the moving component 21 to cooperate with the gripping component 22 to complete the gripping and moving of the battery. This allows the gripping component 22 to dynamically adapt to the docking error of the self-moving device 200, thereby achieving a reliable battery 300 replacement operation without human intervention. This avoids the gripping mechanism 20 from failing to accurately dock due to large docking errors of the self-moving device 200, resulting in gripping failure or even damage to the equipment or battery 300. Therefore, after the self-moving device 200 docks, this application can scan and identify the battery 300 on the self-moving device 200 or the battery in the battery compartment 30 through the vision mechanism 40, determine its precise real-time three-dimensional coordinates and attitude angle, and dynamically calculate and adjust the motion trajectory of the moving component 21 and the grasping component 22 so that the moving component 21 and the grasping component 22 can adaptively move to the optimal grasping position under the guidance of the vision mechanism 40, thereby completing the grasping and placement operation of the battery 300. This greatly overcomes the error caused by the inaccurate docking of the self-moving device 200, ensures the success rate of each grasp and the reliability of the battery swapping process, and the entire battery swapping process does not require any manual intervention. It can flexibly adapt to various complex situations and has a high degree of intelligence.

[0053] In an optional embodiment, the battery compartment 30 includes a first battery compartment 31, a second battery compartment 32, and a third battery compartment 33, which are arranged in the accommodating space 11 along a first direction, so that the battery swapping device 100 always maintains at least two fully charged batteries 300, so that the two batteries 300 on the self-moving device 200 can be replaced in a timely manner.

[0054] In one alternative implementation, such as Figure 4 , Figure 7 and Figure 8 As shown, the gripping component 22 includes a mounting member 221 and a gripping member 222. The mounting member 221 is connected to the moving component 21 via a transmission connection. The gripping member 222 is mounted on the mounting member 221 and is detachably connected to the battery 300 in the battery compartment 30 or the battery 300 on the self-moving device 200. The vision mechanism 40 is mounted on the mounting member 221, and the vision mechanism 40 and the gripping member 222 can move under the drive of the mounting member 221. This allows the mounting member 221 to move the vision mechanism 40 and the gripping member 222 together to a precise position. By using the relatively fixed positions of the vision mechanism 40 and the gripping member 222, the accumulated errors caused by multiple coordinate system transformations are eliminated, ensuring that the gripping member 222 performs high-precision gripping tasks.

[0055] In an optional embodiment, the mounting component 221 includes a main body 221a and an extension 221b. The main body 221a is tractively connected to the moving component 21 to withstand all the forces and torques generated when the gripper 222 grips the battery 300. The extension 221b is located above the main body 221a and extends in a direction away from the main body 221a. The vision mechanism 40 is located on the side of the extension 221b facing the inlet / outlet 12, allowing it to see the target clearly ahead beyond the gripper 222 and the top of the battery 300. This effectively avoids self-obstruction and ensures that the vision mechanism 40's line of sight is directly facing the inlet / outlet 12. When the self-moving device 200 is parked at the inlet / outlet 12, the vision mechanism 40 can immediately see it and begin identification and positioning, thus saving more time for the entire battery swapping process.

[0056] In one optional embodiment, the gripper 222 includes a magnet, an electromagnet, or a hook. Both the magnet and electromagnet can form a magnetic connection with the magnetic attractor on the battery 300, and the hook can form a hook connection with the handle on the battery 300, adapting to different battery 300 designs through different gripping methods. When the gripper 222 is a permanent magnet, it can generate a strong magnetic attraction between itself and the magnetic attractor on the battery 300, thus tightly attracting them together to complete the gripping task. The connection process is simple and reliable, allowing for a certain degree of positional tolerance. When the gripper 222 is an electromagnet, it can actively control the establishment and disconnection of the connection between the gripper 222 and the battery 300 by controlling the on / off state of the current. The action is clean and efficient, easily achieving precise automated control. However, it requires continuous power to maintain the attraction; if there is an unexpected power outage, the connection will immediately fail, posing a risk of the battery 300 falling out. Its cost and complexity are higher than that of a permanent magnet. When the gripper 222 is a hook, it needs to cooperate with the handle or groove on the battery 300 to achieve connection and locking through mechanical force. The connection is very reliable, with strong resistance to vibration and impact, and does not affect the battery 300 or other sensitive electronic components. However, the connection of the hook requires very precise positioning accuracy to align it with the handle of the battery 300, which places very high precision requirements on the vision mechanism 40. Therefore, this application can select grippers 222 with different structures or use grippers 222 with both structures simultaneously, according to the design requirements of the self-moving device 200 and the battery swapping device 100. For example, a magnetic connection can be used for coarse positioning and initial gripping, and then the hook can move to mechanically lock, ensuring the reliability of the final connection.

[0057] In an alternative embodiment, the gripping mechanism 20 is floatably mounted on the moving assembly 21 via the mounting member 221, allowing the gripper 222 to adaptively move or deflect slightly at a small angle upon contact, thereby naturally conforming to the actual position of the battery 300, so that the magnet, electromagnet, or hook can be smoothly aligned and engaged.

[0058] In an optional embodiment, the moving component 21 includes a first linear module 211 and a second linear module 212. The gripping component 22 is disposed on the first linear module 211. The first linear module 211 is used to drive the gripping component 222 to move along a first direction. The second linear module 212 is connected to the first linear module 211 and is used to drive the first linear module 211 and the gripping component 22 to move along a second direction. Through the coordinated movement of the first linear module 211 and the second linear module 212, the gripping component 222 can perform linear, oblique, or complex trajectory movements, thereby expanding the working range from a one-dimensional line to a two-dimensional surface. This allows it to serve multiple batteries 300 or larger battery compartments 30, with a stable structure that can withstand a certain weight and torque generated by movement.

[0059] In an optional embodiment, the first linear module 211 includes a first conveyor seat, a first lead screw, and a first drive member. The first conveyor seat is mounted on the second linear module 212 and can extend along the first direction. The first lead screw is disposed on the first conveyor seat. The first drive member is connected to the input end of the first lead screw and is used to drive the first lead screw to rotate about its own axis so that the gripping assembly 22 can move in the first direction.

[0060] In an optional embodiment, the second linear module 212 includes a second conveyor seat, a second lead screw, and a second drive member. The second conveyor seat is installed in the accommodating space 11 and can extend along the second direction. The second lead screw is disposed on the second conveyor seat. The second drive member is connected to the input end of the second lead screw and is used to drive the second lead screw to rotate about its own axis so that the first linear module 211 and the gripping assembly 22 can move in the second direction.

[0061] In an optional embodiment, the second linear module 212 further includes a guide member disposed along the length direction of the second conveyor and located on one or both sides of the second lead screw member, for limiting the ability of the first linear module 211 and the gripping assembly 22 to slide relative to the second conveyor in a second direction.

[0062] In an optional embodiment, the battery swapping device 100 further includes a battery tray 213, which is disposed on the moving component 21 and at least partially located below the gripping component 22 to support the battery 300 gripped by the gripping component 22. This supports the battery 300 successfully gripped by the gripping component 22, preventing the battery 300 from falling in the event of accidental power failure of the electromagnet, accidental release of the mechanical lock, or severe impact. At the same time, it can also restrict the degree of freedom of the battery 300, share most of the static load, provide holding force for the battery, and make its movement more stable. This solves the safety and stability problems during transportation and can even prevent the connectors on the battery from being damaged due to long-term tension.

[0063] In an optional embodiment, the bottom of the battery tray 213 is rotatably provided with a plurality of first guide wheels 2131, which are spaced apart for contacting the battery gripped by the gripping mechanism 20. This causes the contact between the bottom of the battery and the battery tray 213 to become rolling friction when the gripping component 22 puts the battery 300 onto the battery tray 213 or lifts the battery from the battery tray 213. In other words, only a small horizontal force is needed to overcome the static friction to move or detach the battery 300 from the battery tray 213, making the operation of the gripping component 22 smoother and easier. It also eliminates the risk of jamming in the horizontal direction and ensures high reliability and consistency of the pick-up and put-down operation.

[0064] In an optional embodiment, the battery tray 213 has inclined guide surfaces on both sides of the end facing the inlet / outlet 12, and the two guide surfaces form an expanded guide opening for guiding the battery 300 into the placement slot.

[0065] In one alternative implementation, such as Figures 2 to 5 As shown, the battery swapping device 100 also includes a door assembly 50, which is movably mounted on the housing 10 and located at the inlet / outlet 12 for opening or closing the inlet / outlet 12. This not only effectively prevents the operator's hand or other foreign objects from accidentally entering the moving area and jamming or damaging the precision moving assembly 21 and gripping assembly 22, thus avoiding the risk of mechanical injury and improving the long-term reliability and lifespan of the equipment, but also provides a relatively clean and dry enclosed environment inside the battery swapping device 100, further improving the long-term reliability and lifespan of the equipment.

[0066] In one optional embodiment, the door assembly 50 includes a door panel 51, a door panel 51 drive member, and a door panel 51 transmission member. The door panel 51 is rotatably mounted on the inlet / outlet 12. The door panel 51 drive member is connected to the door panel 51 via the door panel 51 transmission member and is used to drive the door panel 51 to open or close the inlet / outlet 12. The door panel 51 transmission member includes, but is not limited to, a rope. One end of the rope is flexibly connected to the door panel 51, and the other end of the rope is driveably connected to the door panel 51 drive member, enabling the door panel 51 drive member to extend or shorten the rope to control opening or closing.

[0067] In one alternative implementation, such as Figures 1 to 5 As shown, the housing 10 includes a compartment 10a and a base plate 10b that docks with the compartment 10a. The base plate 10b is used for the self-moving device 200 to be parked on it. The compartment 10a is a closed structure with a hollow interior to form an accommodating space 11. An inlet and outlet 12 are opened on the compartment 10a so that the self-moving device 200 can be accurately parked on the base plate 10b and its battery compartment 30 aligned with the inlet and outlet 12 on the compartment 10a. Then, the inlet and outlet 12 are opened through the door assembly 50, so that the moving component 21 in the accommodating space 11 can drive the gripping component 22 to extend and perform a battery swapping operation on the self-moving device 200. At the same time, when the battery swapping device 100 needs maintenance, the compartment 10a can be easily opened or separated to directly contact all the components inside the battery swapping device 100, while the sturdy base plate 10b continues to maintain the stability of the overall structure.

[0068] In an optional embodiment, the battery swapping device 100 further includes a positioning detection mechanism 60, which is disposed on the base plate 10b or the compartment 10a to detect whether the self-moving device 200 is parked at a preset position on the base plate 10b. This ensures that the battery compartment 30 of the self-moving device 200 is precisely aligned with the inlet / outlet 12 on the compartment 10a, creating optimal conditions for the gripping component 22 to successfully grip the battery 300. This ensures that the opening of the door component 50, the movement of the moving component 21, and the gripping of the gripping component 22 can all be completed successfully in one go, preventing mechanical collisions between the gripping component 22 and the compartment 10a due to inaccurate positioning of the self-moving device 200, or even damage to the compartment 10a or the self-moving device 200.

[0069] In an optional implementation, the positioning detection mechanism 60 includes a pressure sensor located near the inlet / outlet 12 to detect the pressure on the wheels 201 of the mobile robot as it moves to the inlet / outlet 12, enabling the door panel 51 drive to open the door panel 51 according to the position of the self-moving device 200.

[0070] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0071] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0072] The foregoing disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0073] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A battery swapping device for self-moving equipment, characterized in that, The battery swapping device includes: The housing has an accommodating space and an inlet / outlet communicating with the accommodating space; At least two battery compartments are provided within the accommodating space, each of the battery compartments being used to hold one battery; A gripping mechanism, located within the accommodating space, includes a moving component and a gripping component disposed thereon. The moving component is used to drive the gripping component to move so as to grip and move the battery on the self-moving device to the battery compartment, or to grip and move the battery in the battery compartment to the self-moving device. A vision mechanism, disposed on the gripping mechanism, is used to identify the position of the battery or the battery compartment and guide the moving component to cooperate with the gripping component to complete the gripping and moving of the battery.

2. The battery swapping device according to claim 1, characterized in that, The crawling component includes: The mounting component is connected to the moving assembly via a transmission connection. A gripper, disposed on the mounting component, is used for a detachable connection to a battery in the battery compartment or a battery on the self-moving device; The vision mechanism is mounted on the mounting component, and the vision mechanism and the gripping component move under the drive of the mounting component.

3. The battery swapping device according to claim 2, characterized in that, The mounting component includes: The main body is connected to the moving component via a transmission mechanism; An extension is provided above the main body and extends in a direction away from the main body, and the vision mechanism is provided on the side of the extension facing the inlet / outlet.

4. The battery swapping device according to claim 2, characterized in that, The gripping component includes a magnet, an electromagnet, or a hook. The magnet and the electromagnet can be magnetically connected to the magnetic attraction component on the battery, and the hook can be hooked to the handle on the battery.

5. The battery swapping device according to any one of claims 1 to 4, characterized in that, The moving component includes: A first linear module, wherein the gripping component is disposed on the first linear module, and the first linear module is used to drive the gripping component to move along a first direction; A second linear module is connected to the first linear module, and the second linear module is used to drive the first linear module and the gripping component to move along a second direction.

6. The battery swapping device according to claim 1, characterized in that, The battery swapping device also includes a battery tray disposed on the moving component and at least partially located below the gripping component to support the battery gripped by the gripping component.

7. The battery swapping device according to claim 1, characterized in that, The bottom of the battery tray is rotatably provided with a plurality of first guide wheels, which are spaced apart to contact the battery gripped by the gripping mechanism.

8. The battery swapping device according to claim 1, characterized in that, The battery swapping device also includes a door assembly, which is movably disposed on the housing and located at the inlet / outlet for opening or closing the inlet / outlet.

9. The battery swapping device according to claim 1 or 8, characterized in that, The housing includes a compartment and a base plate that docks with the compartment. The base plate is used for the self-moving device to be parked on it. The compartment is a closed structure and hollow inside to form the accommodating space. The inlet and outlet are located on the compartment.

10. The battery swapping device according to claim 9, characterized in that, The battery swapping device also includes a positioning detection mechanism, which is disposed on the base plate or the compartment to detect whether the self-moving device is parked at a preset position on the base plate.

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