CN112776656A

CN112776656A - Charging and battery replacing system and method

Info

Publication number: CN112776656A
Application number: CN202011636951.XA
Authority: CN
Inventors: 梁雄俊; 王俊; 李永昌; 王伟; 赵伟; 何忠祖; 温华锋
Original assignee: Shenzhen Jingzhi Machine Co Ltd
Current assignee: Shenzhen Jingzhi Machine Co Ltd
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-05-11

Abstract

The invention relates to a charging and battery replacing system and a method, wherein the charging and battery replacing system comprises: the lateral moving platform comprises a platform frame, wherein the platform frame is used for moving along a first direction, and is used for bearing the battery box and driving the battery box to move integrally along the first direction; the hoisting mechanism comprises a moving frame and a grabbing mechanism, the moving frame is movably arranged above the lateral moving platform along the second direction, and the grabbing mechanism is movably connected to the moving frame along the vertical direction and used for grabbing the battery box and moving along the second direction along with the moving frame to replace the battery box for the vehicle. According to the charging and replacing system and the charging and replacing method, the target battery box is moved to the position below the grabbing mechanism to be grabbed through the integral side movement of the platform frame where the target battery box of the side movement platform is located, the other integral side movement of the platform frame forms a moving channel for the target battery box, the target battery box is moved rapidly, and therefore the battery replacing efficiency can be improved.

Description

Charging and battery replacing system and method

Technical Field

The invention belongs to the field of battery charging and replacing equipment, and particularly relates to a battery charging and replacing system and a battery charging and replacing method.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

With the development of new energy vehicles, the body shadow of the electric vehicle gradually disperses from an initial single passenger vehicle to various fields and types of vehicles, such as engineering vehicles and special vehicles. Heavy trucks are also one of the many oil-to-electricity vehicle categories, and the battery replacement mode has been greatly developed as one of the main modes of supplementing energy for electric vehicles.

The existing battery back type heavy truck charging and replacing system is mainly in a hoisting and replacing mode, a charging storage area is arranged on one side of a vehicle parking area, a battery replacing robot is arranged above the charging storage area and the vehicle parking area, the battery replacing robot moves freely on the plane above the charging storage area and the vehicle parking area, and the lowest height of the battery replacing robot during battery carrying needs to be completely higher than that of a battery on a charging frame.

When the battery box is carried by the battery replacing robot, the height of the battery box needs to be lifted to be above other battery boxes, namely the lifted lowest height needs to be completely higher than the battery box on the charging frame, so that the lifting stroke of the battery replacing robot is large, the battery replacing time is increased, and the efficiency is reduced.

Disclosure of Invention

In view of the above, it is desirable to provide a battery charging and swapping system and method to improve the battery swapping efficiency.

A charging and swapping system comprising:

the lateral moving platform comprises a platform frame, wherein the platform frame is used for moving along a first direction, and is used for bearing the battery box and driving the battery box to move integrally along the first direction;

the hoisting mechanism comprises a moving frame and a grabbing mechanism, the moving frame is movably arranged above the lateral moving platform along the second direction, and the grabbing mechanism is movably connected to the moving frame along the vertical direction and used for grabbing the battery box and moving along the second direction along with the moving frame to replace the battery box for the vehicle.

Preferably, the side shift platform further comprises a side shift rail extending in a first direction, the platform frame being movably connected to the side shift rail to move in the first direction.

Preferably, the side shift platform further comprises a side shift module, the side shift module comprises a base, a side shift motor and a side shift wheel, the base is connected to the platform frame, the side shift wheel is rotatably connected to the base and located on the side shift rail, and the side shift motor is connected to the side shift wheel and is used for driving the side shift wheel to rotate along the side shift rail so as to drive the platform frame to laterally shift integrally.

Preferably, the side moving platform further comprises a charger, a charging frame and a charging interface, the charging frame is arranged on the platform frame, the charging interface is arranged on the charging frame and connected with the charger, and when the battery box is placed on the charging frame, the charging interface is in butt joint with the interface of the battery box, so that the charger charges the battery box through the charging interface.

Preferably, the charging rack comprises a guide post for guiding the battery box to be placed on the charging rack.

Preferably, the hoisting mechanism further comprises a hoisting track and a traveling mechanism, and the hoisting track extends along the second direction; running gear includes walking seat, walking wheel and walking motor, the walking seat connect in remove the frame, the walking wheel connect with rotating remove the frame and with the hoist and mount track contact, the walking motor connect in the walking wheel is used for driving the walking wheel is followed hoist and mount track removes in order to drive remove the frame and follow the second direction removes.

Preferably, said hoisting mechanism further comprises a lifting member, said lifting member comprising:

the lifting motor is arranged on the moving frame;

a pair of first lifting wheels and a first lifting chain, wherein the pair of first lifting wheels are arranged in the horizontal direction and are rotatably connected to the moving frame, the first lifting chain bypasses the pair of first lifting wheels and extends in the horizontal direction, and at least one of the pair of first lifting wheels is connected to the lifting motor and is driven by the lifting motor to rotate so as to drive the first lifting chain to move in the horizontal direction;

second lifting wheel and second lifting chain, the second lifting wheel connect with rotating the removal frame, the one end of second lifting chain connect in snatch the mechanism, the other end extends along vertical direction and bypasses the second lifting wheel connect in first lifting chain is used for when first lifting chain removes, drive snatch the mechanism and remove along vertical direction.

Preferably, the grabbing mechanism comprises a grabbing frame and a telescopic part, and the grabbing frame is connected to the second lifting chain; the telescopic part comprises a telescopic motor and a bolt, the bolt is movably connected to the grabbing frame, and a rack is arranged at the end part of the bolt; the telescopic motor is meshed with the rack through a gear to drive the bolt to extend into the clamping hole of the battery box so as to be connected with the battery box or retract from the clamping hole so as to place the battery box.

A charging and battery replacing method comprises the following steps:

the moving frame of the hoisting mechanism moves above the vehicle through the traveling mechanism, and the lifting part drives the grabbing mechanism to move along the vertical direction, so that the grabbing mechanism is in contact with a battery box of the vehicle and is clamped with the battery box;

the battery rack is driven by the side-shifting platform to laterally shift along a first direction integrally, so that the target position of the side-shifting platform is within the grabbing range of the hoisting mechanism;

the lifting component drives the grabbing mechanism to move in the vertical direction, and the traveling mechanism drives the moving frame to move in the second direction, so that the battery box is moved to the target position of the battery frame from the vehicle.

Preferably, the method further comprises the following steps:

the side shifting platform drives the whole battery box on the battery rack to laterally shift along a first direction, so that a target battery box on the side shifting platform is positioned in the grabbing range of the hoisting mechanism;

the moving frame moves along a first direction and/or a second direction, so that the grabbing mechanism is located above the target battery box, and the lifting part drives the grabbing mechanism to move along the vertical direction, so that the grabbing mechanism is in contact with the target battery box and clamped with the target battery box;

the lifting component drives the grabbing mechanism to move in the vertical direction, and the traveling mechanism drives the moving frame to move in the second direction, so that the target battery box is moved to the vehicle from the battery frame.

Compared with the prior art, the battery charging and replacing system and the battery charging and replacing method have the advantages that the moving frame of the hoisting mechanism moves above the battery box, the whole platform frame where the target battery box of the side-moving platform is located moves to the position below the grabbing mechanism to be grabbed, the whole platform frames move to the side to make a moving channel for the target battery box, the target battery box moves rapidly, the moving stroke of the battery box in the vertical direction can be reduced, and accordingly the battery replacing efficiency can be improved.

Drawings

In order to illustrate the embodiments more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are some embodiments of the invention, and that other drawings may be derived from those drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a battery swapping system.

Fig. 2 is a schematic structural view of a side-shifting platform.

FIG. 3 is a schematic diagram of the structure of the side shift module.

Figure 4 is a schematic structural view of the hoisting mechanism.

Fig. 5 is a schematic structural view of the traveling mechanism.

Fig. 6 is a schematic view of the structure of the lifting member.

Fig. 7 is a schematic structural view of the telescopic member.

Fig. 8 is a schematic structural view of the battery case.

Fig. 9a to 9e are schematic diagrams of the charging and replacing process.

Description of the main elements

The following detailed description will further illustrate the invention in conjunction with the above-described figures.

Detailed Description

So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict. In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely a subset of the embodiments of the present invention, rather than a complete embodiment. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

In various embodiments, for convenience in description and not limitation, the term "coupled" as used in the specification and claims of the present application is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.

Fig. 1 is a schematic structural diagram of a battery swapping system. As shown in fig. 1, the charging and replacing system includes a side shift platform 30 and a hoisting mechanism 10. A plurality of battery boxes 40 are placed on the side shift platform 30 for battery exchange for the vehicle 20. The sling mechanism 10 is used to move the battery box 40 between the side shift platform 30 and the vehicle 20 to replace the battery box 40 for the vehicle 20. In the present embodiment, the vehicle 20 may be a heavy truck, and the battery box 40 is disposed on the vehicle 20, so that the hoisting mechanism 10 may place the battery box 40 on the vehicle 20 in the vertical direction, or hoist the battery box 40 of the vehicle 20 in the vertical direction to transfer the battery box 40.

Fig. 2 is a schematic structural view of the side-shifting stage 30. As shown in fig. 2, the side-shifting stage 30 includes a stage frame 31 and a side-shifting module 35. The side shifting platform 30 is placed in a charging and replacing area, each charging and replacing area may be provided with one side shifting platform 30, or a plurality of side shifting platforms 30 may be arranged in parallel, each side shifting platform 30 may be configured with a plurality of battery boxes 40, and each side shifting platform 30 may independently move along the first direction to drive the battery boxes 40 placed on the side shifting platform 30 to integrally move along the first direction.

The platform frame 31 is substantially a frame-shaped structure, and is configured to move along a first direction, and is configured to carry the battery box 40 and drive the battery box 40 to move along the first direction as a whole. In the present embodiment, the first direction is the X-axis direction shown in fig. 2, and the vertical direction is the Z-axis direction. To facilitate movement of the platform shelf 31, the side shift platform 30 further includes a side shift rail 32 extending in a first direction, the platform shelf 31 being movably coupled to the side shift rail 32 to move in the first direction.

Fig. 3 is a schematic structural view of the side shift module 35. The side shift module 35 is used for driving the platform frame 31 of the side shift platform 30 to move, so that the battery box 40 can move back and forth along the first direction as a whole. As shown in fig. 3, the side shift module 35 illustratively includes a base 352, a side shift motor 354, and a side shift wheel 351. The number of the side shift modules 35 may be plural, and the side shift modules are disposed at the bottom of the platform frame 31. The base 352 is a generally frame-like structure that is attached to the bottom of the platform shelf 31. The side shift wheel 351 is rotatably coupled to the base 352 and has a plane of rotation on the side shift rail 32. The side shifting motor 354 is connected to the side shifting wheel 351 and used for driving the walking wheel 132 to rotate along the side shifting track 32 so as to drive the platform frame 31 to shift laterally integrally. In other embodiments, the side-shifting module 35 may further include a chain-sprocket structure, a ball screw structure, and a rack-and-pinion structure, so that the side-shifting motor 354 may drive the platform frame 31 to integrally shift laterally through a similar transmission mechanism, and the present invention is not limited to the specific transmission manner.

In addition, in order to charge the battery box 40 when storing the battery box 40, the side shift platform 30 further includes a charger 33, a charging rack 34, and a charging interface 341. The charging rack 34 is disposed on the platform rack 31, and is provided with a guide post 342 extending upward in a vertical direction, and the guide post 342 has a structure corresponding to the bottom structure of the battery box 40 for guiding the battery box 40 to be placed on the charging rack 34. In other embodiments, the guiding post 342 may be disposed at the bottom of the battery box 40, and the charging rack 34 may have a structure corresponding to the guiding post 342. The charger 33 may be disposed on the charging rack 34 and located between the platform rack 31 and the charging rack 34, or may be disposed on the ground or at another location and connected to the charging interface 341 in a drag chain manner. The charging interface 341 is disposed on the charging rack 34 and connected to the charger 33, and when the battery box 40 is placed on the charging rack 34, the charging interface 341 is connected to the interface of the battery box 40, so that the charger 33 charges the battery box 40 through the charging interface 341.

Figure 4 is a schematic structural view of the sling mechanism 10. As shown in fig. 4, the hoisting mechanism 10 includes a hoisting rail 11, a moving frame 15, a traveling mechanism 13, and a gripping mechanism 12. The moving frame 15 is generally a frame-like structure for moving in the second direction, and the side-shifting platform 30 is moved in the first direction in cooperation so that the grasping mechanism 12 is movably connected to the moving frame 15 in the vertical direction, and can grasp the battery box 40 and move in the second direction along with the moving frame 15 to replace the battery box 40 for the vehicle 20.

In this embodiment, the hoisting track 11 is disposed on the top of a large-sized support, the lateral movement platform 30 is disposed in the support, and the hoisting mechanism 10 is disposed on the top of the support, so that the hoisting mechanism 10 is disposed above the battery box 40 disposed on the lateral movement platform 30. In operation, the hoist 10 may hoist the battery box 40 from above in a vertical direction to replace the battery box 40 for the vehicle 20. The hoisting track 11 extends in a second direction, wherein the second direction is a Y-axis direction shown in fig. 1, and is perpendicular to the first direction and the vertical direction. The moving frame 15 is substantially a frame-like structure, and can be movably connected to the hoisting rail 11 by means of rollers, slide-rails, etc. so that the moving frame 15 is located above the side-shifting platform 30.

Fig. 5 is a schematic structural view of the traveling mechanism 13. As shown in fig. 5, the traveling mechanism 13 includes a traveling base, traveling wheels 132 (shown in fig. 4), and a traveling motor 131. The number of the travelling mechanisms 13 is four, and the travelling seat is fixedly connected to the movable frame 15. The traveling wheels 132 are rotatably connected to the moving frame 15 and the rotating surfaces of the traveling wheels 132 are in contact with the lifting rail 11. The walking motor 131 is connected to the walking wheel 132, and is configured to drive the walking wheel 132 to move along the hoisting track 11 so as to drive the moving frame 15 to move along the second direction. In some embodiments, the travel mechanism further includes guide wheels 353, the guide wheels 353 being clamped to both sides of the side shift rail 32 for the purpose of preventing the travel wheels 132 from disengaging the side shift rail 32.

Fig. 6 is a schematic structural view of the lifting member 14. As shown in fig. 6, the lifting part 14 includes a lifting motor 141, a pair of first lifting wheels 142 and first lifting chains 143, and second lifting wheels 144 and second lifting chains 145.

The lifting motor 141 is provided to the moving frame 15, and the pair of first lifting wheels 142 are rotatably disposed at both ends of the moving frame 15 in the horizontal direction, respectively, so that the single-thread length of the first lifting chain 143 can be greatly increased. The first lifting chain 143 passes around the pair of first lifting wheels 142 and extends in a horizontal direction. In this embodiment, the number of the first lifting wheels 142 is 2, and each pair of the first lifting wheels 142 bypasses one first lifting chain 143. At least one of the pair of first lifting wheels 142 is connected to the lifting motor 141, and is driven by the lifting motor 141 to rotate so as to drive the first lifting chain 143 to move in the horizontal direction.

The second lifting wheel 144 is rotatably connected to the moving frame 15, one end of the second lifting chain 145 is connected to the gripping mechanism 12, and the other end extends in the vertical direction to bypass the second lifting wheel 144 and is connected to the first lifting chain 143, so that when the first lifting chain 143 moves, the gripping mechanism 12 is driven by the second lifting chain 145 to move in the vertical direction. In the present embodiment, in order to connect the grasping mechanisms 12 more evenly, the number of the second lifting wheels 144 is four, and the second lifting wheels are provided at four corners of the moving frame 15. Correspondingly, the number of the second lifting chains 145 is four, and the second lifting chains are respectively connected to four corners of the grasping mechanism 12 and then connected to the first lifting chains 143 around the second lifting wheels 144. In this way, by controlling the stroke direction of the first lifting chain 143, the lifting operation of the gripping mechanism 12 is controlled.

Referring again to fig. 4, the gripping mechanism 12 includes a gripping frame 121 and a telescoping member 122. The grabbing frame 121 is substantially a frame structure, is connected to the moving frame 15 through the second lifting chain 145, and can move up and down in the vertical direction under the traction of the second lifting chain 145, and can also move in the second direction along with the moving frame 15. In other embodiments, the moving frame 15 may further include a connecting block (not shown) movably connected to the moving frame 15 in the first direction, for example, the connecting block may be connected to the moving frame 15 by a ball screw structure, a slider-slide structure, and the like, and the grasping frame 121 is connected to the connecting block by the second lifting chain 145. Like this, the grabbing frame 121 both can be lifted and lowered under the traction of the second lifting chain 145 and moved along the vertical direction, and can also be moved along the second direction by the moving frame 15 to drive the grabbing frame 121 to move along the second direction, and meanwhile, can also be moved along the first direction by the connecting block relative to the moving frame 15 to drive the grabbing frame 121 to move along the first direction.

Fig. 7 is a schematic structural view of the telescopic member 122. As shown in fig. 7, the telescopic member 122 includes a telescopic motor 1221 and a latch 1222. The latch 1222 is movably connected to the catching frame 121, and a front end thereof may be extended or retracted from the catching frame 121. The bolt 1222 has a rack 1224 at the rear end thereof, and the rack 1224 has teeth extending in the extension direction. In some embodiments, the rack 1224 may be fixedly attached to the latch 1222 via a connector, or may be integrally formed with the latch 1222 (as shown in fig. 7). The telescopic motor 1221 is mounted to the gripper frame 121, and a gear 1223 is connected to a motor shaft of the telescopic motor, and the gear 1223 is engaged with the rack 1224 to drive the latch 1222 to extend or retract from the gripper frame 121.

Fig. 8 is a schematic structural view of the battery case 40. As shown in fig. 8, the top of the battery box 40 is provided with a plurality of insertion holes 41, and the latch 1222 of the grasping mechanism 12 can be inserted into the clipping holes of the battery box 40 to connect the battery box 40 or retracted from the clipping holes to place the battery box 40.

Fig. 9a to 9e are schematic diagrams of the charging and replacing process. The following describes in detail the steps of implementing the battery charging and replacing method by using the above battery charging and replacing system with reference to fig. 9a to 9 e.

As shown in fig. 9a, when it is necessary to replace battery box 40, vehicle 20 is parked near the charging area for transferring battery box 40 of vehicle 20 to side-shifting platform 30.

As shown in fig. 9b, the side-shifting platform 30 is integrally moved in the first direction such that the target position (position indicated by "x" in fig. 9 b) is moved to below the moving frame 15 (i.e., to the passage position).

Next, as shown in fig. 9c, the moving frame 15 is moved in the second direction so that the gripping mechanism 12 is positioned above the vehicle 20. In some embodiments, the position of the gripping rack 121 of the gripping mechanism 12 may also be finely adjusted by moving the connecting block relative to the moving rack 15 in the first direction. The gripping mechanism 12 is moved in the vertical direction to the height of the battery box 40, the telescopic motor 1221 of the telescopic part 122 of the gripping mechanism 12 drives the latch 1222 to protrude and pass through the insertion hole 41 of the battery box 40 so as to be connected with the battery box 40, and then the gripping mechanism 12 is moved in the vertical direction and the moving frame 15 is moved in the second direction to transfer the battery box 40 from the vehicle 20 to the target position of the side shift platform 30.

Next, as shown in fig. 9d, the lateral moving platform 30 drives the battery box 40 on the battery rack to laterally move in the first direction, so that the target battery box 40 on the lateral moving platform 30 is within the grabbing range of the hoisting mechanism 10. Then, the moving rack 15 is moved in the first direction so that the grasping mechanism 12 is positioned above the target battery box 40. In some embodiments, the grasping mechanism 12 may also be moved in a first direction for fine adjustment so that the grasping mechanism 12 is just above the target battery box 40. Then, the lifting component 14 drives the grabbing mechanism 12 to move in the vertical direction, so that the grabbing mechanism 12 contacts with the target battery box 40 and is clamped with the battery box 40, and the function of grabbing the target battery box 40 is achieved.

Finally, as shown in fig. 9e, the lifting component 14 drives the grabbing mechanism 12 to move in the vertical direction, and the traveling mechanism 13 drives the moving frame 15 to move in the second direction, so as to transfer the target battery box 40 from the side shift platform 30 to the vehicle 20, and complete the battery replacement function.

According to the charging and replacing system and the charging and replacing method, the moving frame 15 of the hoisting mechanism 10 moves above the battery box 40, the whole platform frame 31 where the target battery box 40 of the side-moving platform 30 is located moves laterally to move the target battery box 40 to the position below the grabbing mechanism 12 to be grabbed, the whole platform frames 31 move laterally to make a moving channel for the target battery box 40, so that the target battery box 40 moves rapidly, the moving stroke of the battery box 40 in the vertical direction can be reduced, and the battery replacing efficiency can be improved.

In the several embodiments provided in the present invention, it is apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. The terms first, second, etc. are used to denote names, but not any particular order.

Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention.

Claims

1. A charging and battery replacing system, comprising:

2. The battery charging and replacement system of claim 1, wherein the side-shifting platform further comprises a side-shifting rail extending in a first direction, the platform frame being movably coupled to the side-shifting rail to move in the first direction.

3. The charging and replacing system as claimed in claim 2, wherein the side-shifting platform further comprises a side-shifting module, the side-shifting module comprises a base, a side-shifting motor and a side-shifting wheel, the base is connected to the platform frame, the side-shifting wheel is rotatably connected to the base and located on the side-shifting rail, and the side-shifting motor is connected to the side-shifting wheel and is used for driving the side-shifting wheel to rotate along the side-shifting rail to drive the platform frame to laterally shift integrally.

4. The charging and replacing system as claimed in claim 3, wherein the side-shift platform further comprises a charger, a charging rack and a charging interface, the charging rack is disposed on the platform rack, the charging interface is disposed on the charging rack and connected to the charger, and when the battery box is placed on the charging rack, the charging interface is connected to the interface of the battery box, so that the charger charges the battery box through the charging interface.

5. The charging system as recited in claim 4, wherein the charging rack comprises a guide post for guiding the battery box to be placed on the charging rack.

6. The battery charging and replacing system as recited in claim 1, wherein the hoisting mechanism further comprises a hoisting rail and a traveling mechanism, the hoisting rail extending along the second direction; running gear includes walking seat, walking wheel and walking motor, the walking seat connect in remove the frame, the walking wheel connect with rotating remove the frame and with the hoist and mount track contact, the walking motor connect in the walking wheel is used for driving the walking wheel is followed hoist and mount track removes in order to drive remove the frame and follow the second direction removes.

7. The battery charging and replacing system of claim 6, wherein the hoisting mechanism further comprises a lifting component, the lifting component comprising:

the lifting motor is arranged on the moving frame;

8. The battery charging and replacing system as recited in claim 7, wherein the gripping mechanism comprises a gripping bracket and a telescoping member, the gripping bracket being connected to the second lifting chain; the telescopic part comprises a telescopic motor and a bolt, the bolt is movably connected to the grabbing frame, and a rack is arranged at the end part of the bolt; the telescopic motor is meshed with the rack through a gear to drive the bolt to extend into the clamping hole of the battery box so as to be connected with the battery box or retract from the clamping hole so as to place the battery box.

9. A charging and battery replacing method is characterized by comprising the following steps:

10. The battery charging and replacing method as claimed in claim 9, further comprising: