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 assembly. 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 assembly is arranged in the battery replacing cabin and comprises a driving piece and a traction piece. The two ends of the traction piece are respectively connected with the door body and the driving piece. The driving piece is used for driving the traction piece to pull the door body, so as to open the inlet and outlet. The upper end of the door body is rotationally connected with the battery replacing cabin, and the traction piece is connected with the lower end of the door body. 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, 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 poor, 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 assembly is located inside the battery swapping compartment. The drive assembly includes a drive component and a traction component. The two ends of the traction component are respectively connected to the door and the drive component. The drive component is used to drive the traction component to pull the door to open the entrance / exit. The upper end of the door is rotatably connected to the battery swapping compartment, and the traction component is connected to the lower end of the door.

[0006] In the battery swapping device of this application, the battery swapping device further includes a rotating shaft, and the door body is rotatably connected to the battery swapping compartment through the rotating shaft.

[0007] In the battery swapping device of this application, the battery swapping device further includes an elastic reset member, which is disposed on the rotating shaft. One end of the elastic reset member abuts against the battery swapping compartment, and the other end of the elastic reset member abuts against the door body.

[0008] In the battery swapping device of this application, the driving component includes a rotating rod and a reversible motor, and the traction component includes at least one rope, with the two ends of the at least one rope connected to the door body and the rotating rod respectively. The motor is used to drive the rotating rod to rotate so that the rotating rod winds the rope and pulls the door body.

[0009] In the battery swapping device of this application, the driving component includes a reversible motor, the traction component includes a rope, the two ends of the rope are respectively connected to the door body and the main shaft of the motor, and the motor is used to drive the rope 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 traction member to move, so that the traction member pulls the door.

[0013] In the battery swapping device of this application, the detection component includes at least two pressure sensors arranged at intervals. When both pressure sensors 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 assembly. The drive assembly includes a drive component and a traction component. The drive component drives the traction component to move, causing the traction component to pull the door, thereby opening the inlet and outlet of the battery swapping compartment to facilitate battery replacement. Since the upper end of the door is rotatably connected to the battery swapping compartment, and the traction component is connected to the lower end of the door, when the door is opened, it rotates upwards and inwards into the battery swapping compartment; when the door is closed, its own weight returns it to the initial position, closing the inlet and outlet, isolating the battery swapping compartment from the outside world, preventing water, dust, and insects from entering the battery swapping compartment, and protecting the equipment inside from damage. 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 1This 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 illustrating another state of the door when it is closed, as provided in an embodiment of this application. Figure 4 This is a schematic diagram of the door's open state provided in an embodiment of this application; Figure 5 This is a cross-sectional view of the door when it is open, as provided in an embodiment of this application.

[0018] The markings in the image are as follows: 10. Battery swapping compartment; 11. Entrance / exit; 20. Door; 30. Drive assembly; 31. Drive component; 311. Rotating rod; 312. Motor; 32. Traction component; 321. Rope; 40. Rotating shaft; 50. Elastic reset component; 60. Gripping mechanism; 70. Detection assembly; 71. Pressure sensor; 80. Base; 100. Self-moving device. 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] like Figures 1 to 4As shown in the figure, this application embodiment provides a battery swapping device for a self-moving device 100. The battery swapping device includes a battery swapping compartment 10, a door 20, and a drive assembly 30. The battery swapping compartment 10 is provided with an inlet and outlet 11 for swapping batteries. The door 20 is located at the inlet and outlet 11 and is used to open or close the inlet and outlet 11. The drive assembly 30 is located inside the battery swapping compartment 10 and includes a drive member 31 and a traction member 32. The two ends of the traction member 32 are respectively connected to the door 20 and the drive member 31. The drive member 31 is used to drive the traction member 32 to pull the door 20 to open the inlet and outlet 11. The upper end of the door 20 is rotatably connected to the battery swapping compartment 10, and the traction member 32 is connected to the lower end of the door 20.

[0023] 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.

[0024] The battery swapping device includes a battery swapping compartment 10, a door 20, and a drive assembly 30. The battery swapping compartment 10 contains a new battery for replacement, while 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.

[0025] Based on the above technical solution, the driving component 31 drives the traction component 32 to move, causing the traction component 32 to pull the door 20, thereby opening the inlet and outlet 11 of the battery swapping compartment 10 so that the battery can be replaced from the inlet and outlet 11. Since the upper end of the door 20 is rotatably connected to the battery swapping compartment 10 and the traction component 32 is connected to the lower end of the door 20, when the door 20 is opened, the door 20 rotates upward and flips into the battery swapping compartment 10; when the door 20 is closed, it uses its own weight to return to the initial position and close the inlet and outlet 11, isolating the battery swapping compartment 10 from the outside world, preventing water, dust and insects from entering the battery swapping compartment 10, and protecting the equipment inside the battery swapping compartment 10 from damage.

[0026] In some embodiments, the traction member 32 may be one of a wire rope, chain or belt, but is not limited to the above types, and may also be other structures with traction and pulling functions.

[0027] In some embodiments, such as Figure 5 As shown, the battery swapping device also includes a rotating shaft 40, and the door 20 is rotatably connected to the battery swapping compartment 10 via the rotating shaft 40.

[0028] For example, the pivot 40 extends horizontally, with its two ends penetrating the ends of the door body 20 and the corresponding connection points of the battery swapping compartment 10, forming a stable rotational support structure. The door body 20 is rotatably connected to the battery swapping compartment 10 via the pivot 40, and can rotate relative to the door body 20 within a certain angle range, enabling the door body 20 to switch between different position states, thereby opening and closing the door body 20. This pivotal connection method not only ensures the structural stability of the door body 20, but also ensures the smoothness and reliability of the door body 20 during rotation.

[0029] In some embodiments, such as Figure 5 As shown, the battery swapping device also includes an elastic reset member 50, which is mounted on the rotating shaft 40. One end of the elastic reset member 50 abuts against the battery swapping compartment 10, and the other end of the elastic reset member 50 abuts against the door body 20.

[0030] For example, the elastic reset member 50 is a torsion spring. The helical coil of the torsion spring is sleeved on the rotating shaft 40. One end of its support arm abuts against the inner wall of the battery swapping compartment 10, and the other end of its support arm abuts against the door body 20. Through the torsional action generated by the torsion spring, elastic energy is stored inside the torsion spring. The torsion spring is used to enhance the operating speed of the door body 20 and strengthen the sealing performance of the door body 20 after it is closed.

[0031] Specifically, during the closing process of the door 20, the torsion spring releases its stored elastic energy, and the resulting elastic force is in the same direction as the closing direction of the door 20. This accelerates the rotation speed of the door 20, allowing it to close the inlet / outlet 11 more quickly. When the door 20 is closed to a near-fully closed position, the elastic force of the torsion spring will create a pre-tightening force between the door 20 and the edge of the inlet / outlet 11 of the battery swapping compartment 10. This ensures a tight fit between the door 20 and the edge of the inlet / outlet 11, improving the sealing performance of the door 20 and preventing external water, dust, and insects from entering the battery swapping compartment 10. This protects the batteries and other equipment inside the battery swapping compartment 10 from damage and improves the reliability and service life of the battery swapping device.

[0032] In some embodiments, such as Figure 3 and Figure 4 As shown, the driving component 31 includes a rotating rod 311 and a reversible motor 312. The traction component 32 includes at least one rope 321. The two ends of the at least one rope 321 are respectively connected to the door body 20 and the rotating rod 311. The motor 312 is used to drive the rotating rod 311 to rotate so that the rotating rod 311 winds around the rope 321 and pulls the door body 20.

[0033] Specifically, one end of rope 321 is connected to the lower end of door 20, and the other end is directly or indirectly connected to rotating rod 311. Motor 312 drives rotating rod 311 to rotate, causing it to wind one or more ropes 321, thereby pulling door 20 upwards to open entrance / exit 11. Rope 321 can be made of steel wire rope, aramid rope, nylon rope, or polyester rope; the material of rope 321 is not limited here. The number of ropes 321 can be one or more; this is also not limited here.

[0034] In this embodiment, since the rotating rod 311 is connected to the output shaft of the motor 312, after the motor 312 is started, the rotating rod 311 will rotate synchronously with the rotation of the motor 312. The forward and reverse rotation of the motor 312 will drive the rotating rod 311 to rotate in different directions respectively.

[0035] For example, when the motor 312 rotates forward, the rotating rod 311 rotates under the drive of the motor 312, and the rope 321 gradually winds around the rotating rod 311. As the rope 321 winds around the rotating rod 311, the length of the rope 321 becomes shorter, and the rope 321 exerts a pulling force on the door body 20, causing the door body 20 to rotate around the rotating shaft 40, thereby opening the entrance / exit 11. When the motor 312 rotates in reverse, it drives the rotating rod 311 to rotate in the opposite direction, the rope 321 is released from the rotating rod 311, and the door body 20 closes the entrance / exit 11 under its own weight and the action of the elastic reset member 50.

[0036] In some embodiments, by adjusting the rotation speed of the motor 312, the rotation speed of the rotating rod 311 can be controlled, thereby controlling the winding speed of the rope 321 and 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.

[0037] In some embodiments, the drive member 31 includes a reversible motor 312, and the traction member 32 includes a rope 321. The two ends of the rope 321 are respectively connected to the door body 20 and the main shaft of the motor 312, and the motor 312 is used to drive the rope 321 to move.

[0038] Specifically, when motor 312 rotates forward, its output shaft rotates, and rope 321 gradually winds around the output shaft. Since one end of rope 321 is fixed to door 20, as rope 321 winds around the output shaft, it exerts a pulling force on door 20, causing door 20 to rotate around shaft 40, thereby opening entrance / exit 11. When motor 312 rotates in reverse, its output shaft rotates in the opposite direction, and rope 321 is released from the output shaft. Door 20 can then close entrance / exit 11 under its own weight or the action of elastic reset member 50.

[0039] In this embodiment, the door body 20 can be driven by one motor 312 and one rope 321, or by multiple motors 312 and multiple ropes 321. The specific number of motors 312 and ropes 321 is not limited here.

[0040] In some embodiments, such as Figures 2 to 5 As shown, the battery swapping device also includes a gripping mechanism 60, which is located inside the battery swapping compartment 10 and is used to grip and move the battery.

[0041] 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 60 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 60, 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 complete the gripping action.

[0042] In some embodiments, the gripping mechanism 60 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.

[0043] In the horizontal direction, the gripping mechanism 60 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.

[0044] 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.

[0045] 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.

[0046] In some embodiments, such as Figure 5 As shown, the gripping mechanism 60 is also used to abut against the door body 20 after the door body 20 closes the entrance / exit 11.

[0047] Specifically, after the door 20 closes the inlet / outlet 11, the gripping mechanism 60 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 60 to improve sealing performance, reduce the number of devices, and lower production costs.

[0048] In some embodiments, such as Figure 1 As shown, the battery swapping device also includes a detection component 70, which is used to cooperate with the self-moving device 100 to generate a detection signal; wherein, when the detection component 70 generates a detection signal, the driving member 31 drives the traction member 32 to move, so that the traction member 32 pulls the door 20.

[0049] Specifically, the detection component 70 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 70 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.

[0050] In this embodiment, the detection component 70 monitors the position of the self-moving device 100 in real time and automatically generates a detection signal when specific conditions are met, triggering the traction component 32 to pull the door 20. The entire process requires no manual intervention, achieving an automated flow from detection to response. For example, when the self-moving device 100 approaches the battery swapping device and enters the detection range, the detection component 70 generates a detection signal, and the drive component 31 automatically drives the traction component 32 to pull the door 20 open. Therefore, by using the detection component 70 in conjunction with the self-moving device 100 to generate a detection signal, the automation level of battery replacement is improved, and the efficiency of battery replacement is increased.

[0051] In some embodiments, such as Figure 1 As shown, the detection component 70 includes at least two pressure sensors 71 spaced apart. When both pressure sensors 71 generate detection signals, the door 20 component is controlled to open the inlet / outlet 11.

[0052] 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 pressure sensors 71. Both pressure sensors 71 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 inlet / outlet 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 inlet / outlet 11, completing the battery swapping operation of the self-moving device 100. This embodiment uses at least two pressure sensors 71 to detect whether the self-moving device 100 has returned to its designated position, which improves the accuracy of the return-to-base detection.

[0053] 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.

[0054] For example, when the self-moving device 100 returns to the station, it approaches the battery swapping compartment 10. When the two wheels respectively abut against the two pressure sensors 71, the two pressure sensors 71 generate detection signals. Based on the detection signals, it is determined that the self-moving device 100 has returned to the station.

[0055] In some embodiments, such as Figures 1 to 5 As shown, the battery swapping device also includes a base 80, 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 80, its battery is positioned opposite the inlet / outlet 11 of the battery swapping compartment 10. The base 80 supports the self-moving device 100, ensuring that the self-moving device 100 does not move when the battery is being replaced.

[0056] In some embodiments, the base 80 and the battery swapping compartment 10 are integrally formed; in other embodiments, the base 80 and the battery swapping compartment 10 are detachably connected, which is not limited here.

[0057] 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.

[0058] 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 assembly is located inside the battery swapping compartment. The drive assembly includes a drive component and a traction component. The two ends of the traction component are respectively connected to the door and the drive component. The drive component is used to drive the traction component to pull the door to open the entrance / exit. The upper end of the door is rotatably connected to the battery swapping compartment, and the traction component is connected to the lower end of the door.

2. The battery swapping device according to claim 1, characterized in that, The battery swapping device also includes a rotating shaft, and the door is rotatably connected to the battery swapping compartment via the rotating shaft.

3. The battery swapping device according to claim 2, characterized in that, The battery swapping device also includes an elastic reset member, which is disposed on the rotating shaft. One end of the elastic reset member abuts against the battery swapping compartment, and the other end of the elastic reset member abuts against the door.

4. The battery swapping device according to claim 1, characterized in that, The driving component includes a rotating rod and a reversible motor. The traction component includes at least one rope, with both ends of the rope connected to the door body and the rotating rod, respectively. The motor is used to drive the rotating rod to rotate so that the rotating rod winds around the rope and pulls the door body.

5. The battery swapping device according to claim 1, characterized in that, The driving component includes a reversible motor, and the traction component includes a rope, with the two ends of the rope connected to the door body and the main shaft of the motor, respectively. The motor is used to drive the rope 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 also 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 traction member to move, so that the traction member pulls the door.

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

10. The battery swapping device according to any one of claims 1 to 9, 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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