CN115384456A

CN115384456A - Battery replacing equipment and battery replacing station

Info

Publication number: CN115384456A
Application number: CN202210976039.1A
Authority: CN
Inventors: 王萍; 张星; 蒋建平
Original assignee: Sany Heavy Industry Co Ltd
Current assignee: Sany Lithium Energy Co ltd
Priority date: 2022-08-15
Filing date: 2022-08-15
Publication date: 2022-11-25
Also published as: WO2024036997A1

Abstract

The invention relates to the technical field of battery replacing equipment, and provides battery replacing equipment and a battery replacing station, wherein the battery replacing equipment comprises a moving assembly, and the moving assembly is used for moving the battery replacing equipment to a battery replacing area; a pair of grabbing components arranged on the moving component; and one of the pair of grabbing components is used for pre-grabbing a full-charge battery, and the other grabbing component is used for grabbing a low-charge battery. According to the battery replacing equipment and the battery replacing station provided by the invention, the whole battery replacing equipment is moved to the battery replacing area through the moving assembly, one of the pair of grabbing assemblies is used for pre-grabbing a full-charge battery, the other one is used for grabbing a power-shortage battery, when the battery is replaced, one grabbing assembly pre-grabs the full-charge battery firstly, then the moving assembly moves the battery replacing equipment to the battery replacing area, and the pre-grabbed full-charge battery is replaced immediately after the power-shortage battery is taken out by the other grabbing assembly, so that the reciprocating times of the battery replacing equipment are saved, and the battery replacing efficiency is improved.

Description

Battery replacing equipment and battery replacing station

Technical Field

The invention relates to the technical field of battery replacing equipment of new energy vehicles, in particular to battery replacing equipment and a battery replacing station.

Background

New energy vehicles relying on power batteries as driving energy are increasingly favored because of no harmful gas emission and low noise during driving.

The new energy vehicle comprises a charging type electric vehicle and a battery replacement type electric vehicle. The rechargeable electric vehicle is directly charged in a charging station when the battery is in power shortage, but normal travel is influenced when a road is urgently needed due to long charging time, and development of the rechargeable electric vehicle is severely restricted. And the battery replacement type vehicle does not need on-site charging, when the battery is in short supply, the battery in short supply only needs to be unloaded, and the fully charged battery is installed on the battery replacement type vehicle, so that the battery can be continuously driven after being replaced, and the battery replacement device, namely the battery replacement equipment, needs to be used in the battery replacement process.

In the prior art, most of battery replacement equipment is only provided with one set of grabbing device, and in the battery replacement process, the battery replacement device needs to reciprocate for multiple times, so that the battery replacement efficiency is low.

Disclosure of Invention

The invention provides a battery replacing device and a battery replacing station, which are used for solving the defect of low replacement efficiency of the battery replacing device in the prior art and improving the battery replacing efficiency.

The invention provides a battery replacement device, which comprises:

the mobile assembly is used for moving the battery swapping device to a battery swapping area;

the pair of grabbing components are arranged on the moving component; and one of the pair of grabbing components is used for pre-grabbing a fully charged battery, and the other grabbing component is used for grabbing a undercharged battery.

According to an embodiment of the present invention, the mobile assembly includes:

the traveling mechanism is used for traveling of the battery replacement equipment;

the upright post body is positioned at the top of the travelling mechanism;

the rotating mechanism is used for realizing the relative rotation of the upright post body and the travelling mechanism;

the lifting mechanisms are respectively arranged on two sides of the upright post body, and the grabbing components are correspondingly arranged at the tops of the lifting mechanisms.

According to the battery replacement device provided by the invention, the traveling mechanism comprises:

the base is provided with the rotating mechanism;

the wheel set is arranged on the base;

and the walking driving structure is connected with the wheel set and used for driving the wheel set to walk.

According to the battery replacement equipment provided by the invention, the rotating mechanism comprises:

the rotary support is rotatably arranged on the base;

the rotating power module is arranged on the upright post body and is in transmission connection with the rotary support.

According to the battery replacement equipment provided by the invention, the lifting mechanism comprises:

the ball screw nut is arranged on the upright post body and is connected with the grabbing assembly;

and the lifting driving structure is arranged on the upright post body and is in transmission connection with the ball screw nut.

According to the battery replacement equipment provided by the invention, a pair of linear slide rails is respectively and vertically arranged on two sides of the upright post body, and each linear slide rail is provided with a slide block in a sliding manner; the grabbing component is fixedly connected with the sliding block.

According to the battery replacing equipment provided by the invention, the grabbing component comprises:

the tray is connected with the ball screw nut and the sliding block;

the side shifting mechanism is connected with the tray and horizontally arranged;

the hand grip is connected with the side moving mechanism and used for gripping the battery.

According to the battery replacement equipment provided by the invention, the side shifting mechanism can stretch and retract along the horizontal direction.

According to the battery replacing equipment provided by the invention, the gripper comprises:

the gripper body is connected with the side moving mechanism;

the grabbing head is connected with the grabbing body through a floating connecting chain ring.

The invention also provides a power exchanging station, comprising: the battery replacing device comprises a battery replacing channel, a battery frame and the battery replacing device, wherein the battery replacing device is used for realizing battery replacement between a vehicle in the battery replacing channel and the battery frame.

According to the battery replacement equipment provided by the invention, the whole battery replacement equipment is moved to the battery replacement area through the moving assembly, the moving assembly is provided with the pair of grabbing assemblies, one grabbing assembly of the pair of grabbing assemblies is used for pre-grabbing a full-charge battery, the other grabbing assembly is used for grabbing a power-loss battery, when the battery is replaced, one grabbing assembly pre-grabs the full-charge battery firstly, then the moving assembly moves the battery replacement equipment to the battery replacement area, and the pre-grabbed full-charge battery is replaced immediately after the power-loss battery is taken out by the other grabbing assembly, so that the reciprocating times of the battery replacement equipment are saved, and the battery replacement efficiency is improved.

The battery swapping station provided by the invention has various advantages as described above because the battery swapping device is provided.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a battery swapping device provided by the present invention;

FIG. 2 is a schematic structural diagram of a traveling mechanism provided by the present invention;

FIG. 3 is a schematic view of the connection between the column body and the lifting mechanism provided by the present invention;

FIG. 4 is a schematic view of a grasping element according to the present invention;

FIG. 5 is a side view of a grasping element provided by the present invention;

FIG. 6 is a cross-sectional view of a grip provided by the present invention;

reference numerals are as follows:

1. a moving assembly; 2. a grasping assembly; 3. a travel guide rail; 4. a battery;

11. a traveling mechanism; 12. a column body; 13. a rotating mechanism; 14. a lifting mechanism; 15. a linear slide rail; 16. a slider;

111. a base; 112. a wheel set; 113. a travel drive structure;

131. a rotary support; 132. a rotating power module;

141. a ball screw nut; 142. a lifting drive structure;

21. a tray; 22. a lateral movement mechanism; 23. a gripper; 24. a floating locking mechanism;

221. a base; 222. a first-level pallet fork; 223. a secondary pallet fork; 224. a fork drive module; 225. a third-level fork;

231. the gripper body; 232. grabbing a head; 2321. a support frame; 2322. a connecting plate; 2323. a gripping drive mechanism; 2324. grabbing the shaft;

241. locking the power source; 242. a lock shaft; 243. a locking ring.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the embodiments of the present invention, it should be noted that the terms "central", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The battery replacement device of the present invention is described below with reference to fig. 1 to 6, and is used to replace the battery 4.

As shown in fig. 1, the battery replacing device provided by the invention comprises a moving assembly 1 and a pair of grabbing assemblies 2, wherein the moving assembly 1 is used for moving the whole battery replacing device to a battery replacing area; the battery replacement area can be understood as the area near a vehicle with a battery replacement, and a pair of grabbing assemblies 2 are arranged on the moving assembly 1; one of the pair of grabbing components 2, referred to as a first grabbing component, is used for pre-grabbing a fully charged battery, that is, pre-grabbing the fully charged battery before replacing the battery; the other is called a second grabbing component and is used for grabbing the insufficient battery, namely after the insufficient battery reaches the battery replacement region, the second grabbing component takes out the insufficient battery, the position of the complete machine battery replacement equipment is adjusted through the moving component 1, and the full-battery grabbed in advance is replaced to the vacant position.

According to the battery replacement equipment provided by the invention, the whole battery replacement equipment is moved to a battery replacement area through the moving component 1, the moving component 1 is provided with the pair of grabbing components 2, one grabbing component of the pair of grabbing components 2 is used for pre-grabbing a full-charge battery, the other grabbing component is used for grabbing a insufficient-charge battery, when the battery is replaced, the first grabbing component pre-grabs the full-charge battery firstly, then the moving component 1 moves the battery replacement equipment to the battery replacement area, the first grabbing component replaces the pre-grabbed full-charge battery immediately after the insufficient-charge battery is taken out by the second grabbing component, and the battery replacement equipment carries away the insufficient-charge battery, so that the reciprocating times of the battery replacement equipment are saved, and the battery replacement efficiency is improved.

In the implementation process, the position of the battery replacement equipment can be preliminarily determined by moving the component 1, and then the grabbing component 2 is aligned with the battery to grab the battery.

In the embodiment of the invention, the moving assembly 1 refers to an assembly for adjusting the position of the entire power exchanging device, can realize adjustment of multiple degrees of freedom such as walking, rotating, lifting and the like, and may include a walking mechanism 11, an upright post body 12, a rotating mechanism 13 and a pair of lifting mechanisms 14, wherein the walking mechanism 11 is used for walking of the power exchanging device, and the power exchanging device is generally moved to the vicinity of a vehicle to be exchanged in a power exchanging area through the walking mechanism 11; the upright post body 12 is positioned at the top of the travelling mechanism 11, and the upright post body 12 provides a mounting platform for the rotating mechanism 13 and the lifting mechanism 14; the rotating mechanism 13 is used for realizing the relative rotation of the upright post body 12 and the travelling mechanism 11 so as to adjust the position of the grabbing component 2; a pair of elevating system 14 sets up respectively in the both sides of stand body 12, and the top of elevating system 14 corresponds is provided with snatchs subassembly 2 to make first snatch the subassembly and snatch the subassembly independent work with the second, each other does not influence.

As shown in fig. 1, the moving assembly 1 is used for respectively realizing the adjustment of the complete machine of the battery replacement equipment in the directions of the Y axis and the Z axis of a space rectangular coordinate system through the traveling mechanism 11 and the lifting mechanism 14, and realizing the adjustment of the angle of the plane where the X axis and the Y axis are located through the rotating mechanism 13.

As shown in fig. 2, in the embodiment of the present invention, the traveling mechanism 11 includes a base 111, a wheel set 112, and a traveling driving structure 113, the base 111 provides a support for the entire battery replacement device, and the base 111 is provided with a rotating mechanism 13; the wheel set 112 is disposed on the base 111; the wheel set 112 includes a driving wheel and a driven wheel, the walking driving structure 113 is connected to the driving wheel for driving the driving wheel to walk, and the driving wheel and the driven wheel cooperate together to drive the base 111 to walk.

The traveling mechanism 11 may also be in other structural forms as long as traveling can be achieved. Preferably, a guide rail is arranged on the battery replacement channel, and the wheel set 112 can roll along the guide rail.

In addition, the walking driving structure 113 can be set as a motor or a motor, the output shaft of the walking driving structure 113 is connected with the driving wheel, and when the walking driving structure 113 is opened, the driving wheel rotates along with the driving wheel, so that walking is realized.

As shown in fig. 3, in the embodiment of the present invention, the rotating mechanism 13 includes a rotating support 131 and a rotating power module 132, the rotating support 131 is rotatably disposed on the base 111, and the rotating support 131 is a large bearing capable of bearing a combined load and can simultaneously bear a large axial load, a large radial load and a large overturning moment. The upright post body 12 is connected with a rotary support 131, and the upright post body 12 can rotate around the rotary support 131; the rotating power module 132 is disposed on the column body 12, the rotating power module 132 is in transmission connection with the rotating support 131, and when the rotating power module 132 works, the rotating support 131 rotates.

Specifically, one of the base 111 and the column body 12 is fixedly connected to an inner ring of the rotary support 131, and the other is fixedly connected to an outer ring of the rotary support 131. When the rotary power module 132 rotates, the inner ring and the outer ring of the rotary support 131 rotate relatively, and the base 111 remains stationary, so that the column body 12 rotates, thereby adjusting the angle of the column body 12.

In the embodiment of the present invention, the lifting mechanism 14 is a structure capable of lifting the grabbing component 2, and specifically includes a ball screw nut 141 and a lifting driving structure 142, the ball screw nut 141 is disposed on the column body 12, and the ball screw nut 141 is connected to the grabbing component 2; the lifting driving structure 142 is disposed on the column body 12, and the lifting driving structure 142 is in transmission connection with the ball screw nut 141. When the lifting driving structure 142 works, the ball screw is driven to rotate, the ball screw nut 141 lifts along the ball screw, and the assembly 2 is lifted due to the fixed connection of the grabbing assembly and the ball screw nut 141, namely, the adjustment of the grabbing assembly 2 in the Z direction is realized.

Of course, the lifting mechanism 14 may also take other structural forms as long as lifting can be achieved, and for example, the lifting mechanism may be in a chain wheel transmission manner or a rack and pinion transmission manner.

In the embodiment of the present invention, two sides of the pillar body 12 are further vertically provided with a pair of linear sliding rails 15, and each linear sliding rail 15 is slidably provided with a sliding block 16; the grabbing component 2 is fixedly connected with the sliding block 16.

In the embodiment of the invention, the grabbing assembly 2 comprises a tray 21, a side shifting mechanism 22 and a hand grip 23, wherein the tray 21 is connected with a ball screw nut 141 and a slide block 16; the side-moving mechanism 22 is connected with the tray 21, the side-moving mechanism 22 is horizontally arranged, and the side-moving mechanism 22 can be extended and retracted along the horizontal direction and the reverse direction, namely along the X direction; the hand grip 23 is connected with the side shift mechanism 22, and the hand grip 23 is used for gripping the battery.

As shown in fig. 4, specifically, the telescopic manner of the side shift mechanism 22 may be any structural form, and may be a fork form, the side shift mechanism 22 includes a base 221, a first-level fork 222, a second-level fork 223 and a fork driving module 224, the first-level fork 222 is fixedly connected to the top of the tray 21, the first-level fork 222 is fixed on the base 221, a guide wheel (not shown in the figure) is installed on the inner side of the first-level fork 222, a guide groove is arranged on the second-level fork 223, and the guide groove is matched with the guide wheel, so that the second-level fork 223 can slide inside the first-level fork 222, and the telescopic manner of the second-level fork 223 is realized. At this time, the hand grip 23 is disposed at the bottom of the secondary fork 223. Second grade fork 223 passes through the drive of fork drive module 224, and fork drive module 224 can set up on the base, and the top of second grade fork 223 is provided with the rack, and fork drive module 224 during operation, with rack toothing to realize that second grade fork 223 slides in one-level fork 222, realize the flexible of second grade fork 223.

In order to further realize the telescopic length of the side shifting mechanism 22, the side shifting mechanism 22 may further include a third-stage fork 225, the third-stage fork 225 is slidably disposed on the second-stage fork 223, and when there is the third-stage fork 225, the gripper 23 is disposed on the third-stage fork 225.

Through the setting of one-level fork 222, second grade fork 223, tertiary fork 225, can make side shift mechanism 22 have wider flexible scope to accommodation is wide.

As shown in fig. 5, in the embodiment of the present invention, the hand grip 23 includes a hand grip body 231 and a hand grip 232, the hand grip body 231 is connected with the side shift mechanism 22; the grasping head 232 is connected with the grasping body 231 through a floating connecting link, and a floating locking mechanism 24 is arranged between the grasping head 232 and the grasping body 231.

Through setting up the connecting link that floats, realize grabbing the flexible connection between head 232 and the tongs body 231 to make tongs 23 can adapt to bigger scope of grabbing, promptly, reduce the positioning accuracy of tongs 23.

Specifically, the floating lock mechanism 24 may include: a locking power source 241, a locking shaft 242, and a locking ring 243, the locking power source 241 being disposed on the gripper body 231; the locking shaft 242 is connected to the locking power source 241; the locking ring 243 is disposed on the gripper 232, and the locking shaft 242 can be driven by the locking power source 241 to penetrate into the locking ring 243, so that the gripper body 231 and the gripper 232 can be locked. That is, the gripper body 231 and the gripper head 232 can be flexibly connected and rigidly connected. The positioning accuracy of the hand grip 23 is reduced by using the flexible connection before gripping the battery, and the rigid connection is switched after gripping the battery,

further, as shown in fig. 6, the gripper head 232 includes a support frame 2321, a connecting plate 2322, a gripping driving mechanism 2323 and a gripping shaft 2324, wherein the support frame 2321 is flexibly connected to the gripper body 231; the connecting plate 2322 is arranged at the bottom of the supporting frame 2321; the grabbing driving mechanism 2323 is arranged at the bottom of the connecting plate 2322; the grabbing shaft 2324 is connected with the output end of the grabbing driving mechanism 2323; the protruding gripping shaft 2324 enables gripping of the battery.

The invention provides a battery replacement device with multiple degrees of freedom, which comprises a base 111, an upright post body 12, a pair of trays 21, a pair of side shifting mechanisms 22 and a pair of grippers 23.

The base 111 can set up on the guide rail 3 of marcing, and the base 111 advances along the guide rail 3 of marcing, and the guide rail 3 of marcing can be installed on a base, installs the wheelset 112 that is used for marcing on the base 111, and the wheelset 112 can be 2 action wheels and 2 driven wheels, and the action wheel walks on the guide rail 3 of marcing under walking power drive, and the top of base 111 is installed and is rotated and support 131.

The upright body 12 is mounted on the rotary support 131, the upright body 12 is rotatably connected with the base 111, the rotary power module 132 is mounted on the lower portion of the upright body 12, the rotary power module 132 drives the upright body 12 to rotate around the rotary support 131, and the linear slide rails 15 and the ball screw nuts 141 are symmetrically mounted on two side faces.

The tray 21 is connected with the linear slide rail 15 through the slide block 16, is guided, and is driven by the ball screw nut 141 to lift along the length direction of the linear slide rail 15; the pallet 21 is provided with a fork driving module 224 at the top, and a fork mounting plate is arranged below the fork driving module 224 and used for mounting the fork.

The fork includes base 221, one-level fork 222, second grade fork 223 and fork drive module 224, one-level fork 222 fixed connection is in the top of tray 21, one-level fork 222 is fixed in on the base 221, the leading wheel (not shown in the figure) is installed to the inboard of one-level fork 222, be provided with the guide way on the second grade fork 223, guide way and leading wheel phase-match, so that second grade fork 223 can slide in the inside of one-level fork 222, realize the flexible of second grade fork 223. At this time, the hand grip 23 is disposed at the bottom of the secondary fork 223. Second grade fork 223 passes through the drive of fork drive module 224, and fork drive module 224 can set up on base 221, and the top of second grade fork 223 is provided with the rack, and fork drive module 224 during operation, with rack toothing to realize that second grade fork 223 slides in one-level fork 222, realize the flexible of second grade fork 223.

In order to further achieve the telescopic length of the side shift mechanism 22 and optimize the quick positioning effect of the gripper body 231, in the embodiment of the present invention, the side shift mechanism 22 may further include a third-stage fork 225, the third-stage fork 225 is slidably disposed on the second-stage fork 223, and when there is the third-stage fork 225, the gripper 23 is disposed on the third-stage fork 225. Tertiary fork 225 horizontal slip sets up in the bottom of second grade fork 223, and tongs body 231 sets up in the bottom of tertiary fork 225. The third-stage forks 225 may be driven by the second-stage forks 223, or may be driven by a separate driving device, which is not particularly limited herein.

Through the arrangement of the first-level fork 222, the second-level fork 223 and the third-level fork 225, the side shift mechanism 22 can have a wider telescopic range, so that the application range is wide.

The working process is as follows:

taking a power-lack battery: when a vehicle to be switched drives into a switching area, the switching equipment detects through a photoelectric sensor arranged on a base 111, positions the equipment and the battery in three axes preliminarily, and adjusts the posture of the equipment through walking, lifting and rotating; after adjustment, one of the side-shifting mechanism 22 and the hand grip 23 is laterally shifted to the position above the battery, the position of the battery is retested by a photoelectric sensor on the hand grip 23, when the position is within an allowable range, the tray 21 descends, the gripping head 232 falls into the top of the battery under the action of gravity and a guide surface, then the gripping shaft 2324 extends out to tightly hold the battery, and after the height is raised to a certain height, the side-shifting mechanism 22 and the hand grip 23 are recovered, so that the gripping of the insufficient-power battery is completed.

Fully storing the electric battery: when the grippers 23 take the insufficient-voltage battery back to the battery replacement equipment, the control system moves the other group of grippers 23 to the corresponding position through walking, rotating and lifting actions according to the position of the battery detected in the previous step; the gripper 23 grips the fully charged battery in advance, the fully charged battery is moved to the corresponding position of the power-deficient vehicle under the lateral movement of the lateral movement mechanism 22 and the gripper 23, the lock shaft 242 is released afterwards, the gripper 232 is disconnected from the battery, the tray 21 is lifted until the gripper 232 is separated from the battery, and then the battery replacement equipment is moved backwards, so that the battery replacement is completed.

The invention further provides a battery replacement station, which comprises a battery replacement channel, a battery frame and the battery replacement equipment, wherein the battery replacement equipment is used for realizing battery replacement between a vehicle and the battery frame in the battery replacement channel.

In the description of the embodiments of the present invention, it should be noted that the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection, unless explicitly stated or limited otherwise; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.

Reference throughout this specification to the description of "one embodiment," "some embodiments," "a manner," "a particular manner," or "some manner" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or manner is included in at least one embodiment or manner of an embodiment of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or mode. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or modes. Furthermore, various embodiments or modes described in this specification, as well as features of various embodiments or modes, may be combined and combined by those skilled in the art without contradiction.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. An electricity swapping device, comprising:

the mobile component is used for moving the battery swapping device to a battery swapping area;

the pair of grabbing components are arranged on the moving component; and one of the pair of the grabbing components is used for pre-grabbing a full-charge battery, and the other one is used for grabbing a low-charge battery.

2. The charging apparatus as recited in claim 1, wherein the moving assembly comprises:

the upright post body is positioned at the top of the travelling mechanism;

3. The battery swapping device of claim 2, wherein the traveling mechanism comprises:

the base is provided with the rotating mechanism;

the wheel set is arranged on the base;

4. The battery swapping device of claim 3, wherein the rotation mechanism comprises:

the rotary support is rotatably arranged on the base;

5. The battery swapping device of claim 2, wherein the lifting mechanism comprises:

6. The battery replacement equipment as claimed in claim 5, wherein a pair of linear slide rails are respectively vertically arranged on two sides of the upright post body, and each linear slide rail is provided with a slide block in a sliding manner; the grabbing component is fixedly connected with the sliding block.

7. The battery swapping device of claim 6, wherein the grasping assembly comprises:

the tray is connected with the ball screw nut and the sliding block;

8. The swapping device of claim 7, wherein the side-shifting mechanism is retractable in a horizontal direction.

9. The battery swapping apparatus of claim 7, wherein the hand grip comprises:

the gripper body is connected with the side moving mechanism;

10. A battery swapping station, comprising a battery swapping channel, a battery rack and the battery swapping device as claimed in any one of claims 1 to 9, wherein the battery swapping device is configured to implement battery replacement between a vehicle in the battery swapping channel and the battery rack.