CN115384456A - Battery replacing equipment and battery replacing station - Google Patents

Abstract

The present invention relates to the technical field of power exchange equipment, and provides a power exchange equipment and a power exchange station, wherein the power exchange equipment includes a mobile component for the power exchange equipment to move to the power exchange area; a pair of grasping components are arranged on the mobile component; and one of a pair of grasping components is used to pre-grasp fully charged batteries, and the other is used to grasp weak batteries. In the power exchange equipment and the power exchange station provided by the present invention, the entire power exchange equipment is moved to the power exchange area through the moving component, one of a pair of grasping components is used to pre-grasp the fully charged battery, and the other is used to grasp When changing batteries, one grasping component pre-grasps the fully charged battery, and then the mobile component moves the battery swapping device to the battery replacement area. The fully charged battery can be replaced, which saves the reciprocating times of the battery replacement equipment and improves the power replacement efficiency.

Description

Power exchange equipment and power station

technical field

The invention relates to the technical field of power exchange equipment for new energy vehicles, in particular to a power exchange equipment and a power exchange station.

Background technique

New energy vehicles relying on power batteries as driving energy are increasingly favored by people because they have no harmful gas emissions and low noise during driving.

New energy vehicles include rechargeable electric vehicles and battery swapping electric vehicles. Rechargeable electric vehicles are directly charged at the charging station when the battery is low. However, due to the long charging time, it will affect the normal travel when there is an urgent need to hurry, which seriously restricts the development of rechargeable electric vehicles. The battery-swapping vehicle does not need on-site charging. When the battery is running low, it is only necessary to remove the battery and install the fully-charged battery on the battery-swapping vehicle, so that the battery can be replaced to continue on the road. In the battery replacement process, a battery replacement device, that is, a battery replacement device, is required.

In the prior art, most of the power exchange equipment is only equipped with a set of grabbing devices. During the power exchange process, the power exchange device needs to reciprocate many times, and the power exchange efficiency is low.

Contents of the invention

The present invention provides a power swapping device and a power swapping station, which are used to solve the defect of low replacement efficiency of the power swapping device in the prior art, so as to improve the power swapping efficiency.

The invention provides a power exchange device, including:

a moving component, used for the power swapping equipment to move to the power swapping area;

A pair of grasping components is arranged on the moving component; and one of the pair of grasping components is used for pre-grabbing fully charged batteries, and the other is used for grasping weak batteries.

According to a power exchange device provided by the present invention, the mobile component includes:

a walking mechanism, used for walking of the power exchange equipment;

The column body is located on the top of the walking mechanism;

a rotating mechanism, used to realize the relative rotation of the column body and the running mechanism;

A pair of lifting mechanisms are respectively arranged on both sides of the column body, and the grabbing assembly is correspondingly arranged on the top of the lifting mechanism.

According to a battery swapping device provided by the present invention, the running mechanism includes:

a base, the base is provided with the rotation mechanism;

The wheel set is arranged on the base;

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

According to a power exchange device provided by the present invention, the rotating mechanism includes:

a slewing support, rotatably arranged on the base;

The rotating power module is arranged on the column body, and the rotating power module is connected to the slewing support through transmission.

According to a power exchange device provided by the present invention, the lifting mechanism includes:

The ball screw nut is arranged on the column body, and the ball screw nut is connected with the grasping assembly;

The lifting driving structure is arranged on the column body, and the lifting driving structure is connected with the ball screw nut through transmission.

According to the power exchange equipment provided by the present invention, a pair of linear slide rails are vertically provided on both sides of the column body, and a slider is slidably provided on each of the linear slide rails; The slider is fixedly connected.

According to a power exchange device provided by the present invention, the grabbing component includes:

a tray, connected with the ball screw nut and the slider;

a side-moving mechanism connected to the tray, and the side-moving mechanism is arranged horizontally;

The gripper is connected with the lateral movement mechanism, and the gripper is used for grabbing the battery.

According to the power exchange equipment provided by the present invention, the lateral movement mechanism can expand and contract in the horizontal direction.

According to a power exchange device provided by the present invention, the gripper includes:

The gripper body is connected with the lateral movement mechanism;

The gripping head is connected with the gripper body through a floating link.

The present invention also provides a power exchange station, including: a battery exchange channel, a battery rack, and the battery exchange equipment as described above, and the battery exchange equipment is used to realize the communication between the vehicle in the battery exchange channel and the battery rack. battery replacement.

In the power exchange equipment provided by the present invention, the entire power exchange equipment is moved to the battery exchange area through the moving component. A pair of grasping components are arranged on the moving component, and one of the pair of grasping components is used to pre-grasp the fully charged battery. The other is used to grab the battery with low power. When changing the battery, one grabbing component first grabs the fully charged battery, and then the moving component moves the battery swapping device to the battery swapping area, and the other grabbing component takes out the dead battery After that, the pre-fetched fully charged battery is replaced immediately, which saves the number of reciprocations of the battery replacement equipment and improves the power replacement efficiency.

The power exchange station provided by the present invention has the above-mentioned various advantages because it includes the above-mentioned power exchange equipment.

Description of drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the For some embodiments of the present invention, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

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

Fig. 2 is the structural representation of running mechanism provided by the present invention;

Fig. 3 is a schematic diagram of the connection relationship between the column body and the lifting mechanism provided by the present invention;

Fig. 4 is a schematic structural view of the grasping assembly provided by the present invention;

Fig. 5 is a side view of the grabbing assembly provided by the present invention;

Fig. 6 is a sectional view of the gripper provided by the present invention;

Reference signs:

1. Mobile component; 2. Grabbing component; 3. Traveling guide rail; 4. Battery;

11. Walking mechanism; 12. Column body; 13. Rotating mechanism; 14. Lifting mechanism; 15. Linear slide rail; 16. Slider;

111, base; 112, wheel set; 113, walking drive structure;

131. Slewing support; 132. Rotational power module;

141. Ball screw nut; 142. Lifting drive structure;

21. Tray; 22. Side shifting mechanism; 23. Handle; 24. Floating locking mechanism;

221, base; 222, first-level fork; 223, second-level fork; 224, fork drive module; 225, third-level fork;

231. Grab body; 232. Grab head; 2321. Support frame; 2322. Connecting plate; 2323. Grab driving mechanism; 2324. Grab shaft;

241, locking power source; 242, locking shaft; 243, locking ring.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts 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 "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right" , "vertical", "horizontal", "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing this The embodiments and simplified descriptions of the invention do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

The power exchange device of the present invention is described below with reference to FIGS. 1 to 6 , which is used to replace the battery 4 .

As shown in Figure 1, the power exchange equipment provided by the present invention includes a moving component 1 and a pair of grasping components 2. The mobile component 1 is used to move the whole machine power exchange equipment to the power exchange area; the power exchange area here can be understood For the vicinity of the battery replacement vehicle, a pair of grasping components 2 are arranged on the mobile component 1; Before the battery replacement, the fully charged battery is pre-grabbed; the other, called the second grabbing component, is used to grab the weak battery, that is, after reaching the battery replacement area, the second grabbing component takes out the weak battery, Then adjust the position of the battery replacement equipment of the whole machine by moving the component 1, and replace the pre-grabbed fully charged battery to an empty space.

The power exchange equipment provided by the present invention moves the entire power exchange equipment to the power exchange area through the moving assembly 1. A pair of grabbing assemblies 2 are arranged on the moving assembly 1, and one of the pair of grabbing assemblies 2 is used for pre-grabbing. The battery is fully charged, and the other is used to grab the weak battery. When changing the battery, the first grabbing component first grabs the fully charged battery, and then the moving component 1 moves the battery swapping device to the battery swapping area, and the second grabbing component After taking out the deficient battery, the first grabbing component replaces the pre-captured fully charged battery, and the battery swapping device transports the deficient battery away, which saves the reciprocating times of the power swapping device and improves the power swapping efficiency .

During the implementation process, the position of the power exchange device can be preliminarily determined by moving the component 1, and then grasped by aligning the battery with the grasping component 2.

In the embodiment of the present invention, the mobile component 1 refers to the component that adjusts the position of the whole power exchange equipment, which can realize the adjustment of multiple degrees of freedom such as walking, rotation, lifting, etc., and may include a walking mechanism 11, a column body 12. The rotating mechanism 13 and a pair of lifting mechanisms 14. The walking mechanism 11 is used for walking the power exchange equipment. Usually, the power exchange equipment is moved to the vicinity of the vehicle to be replaced in the power exchange area through the walking mechanism 11; the column body 12 is located on the running mechanism 11 The top of the column body 12 provides an installation platform for the rotating mechanism 13 and the lifting mechanism 14; the rotating mechanism 13 is used to realize the relative rotation of the column body 12 and the running mechanism 11 to adjust the position of the grabbing assembly 2; a pair of lifting mechanisms 14 are respectively Arranged on both sides of the column body 12 , the top of the lifting mechanism 14 is correspondingly provided with grabbing components 2 , so that the first grabbing component and the second grabbing component work independently without affecting each other.

As shown in FIG. 1 , the moving assembly 1 is used to adjust the Y-axis and Z-axis direction of the complete power exchange equipment in the space Cartesian coordinate system through the traveling mechanism 11 and the lifting mechanism 14 respectively, and realizes the adjustment of the X-axis and Y-axis through the rotating mechanism 13. The adjustment of the angle in the plane of the axis.

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 support for the whole machine of the power exchange equipment, and the base 111 is provided with a rotating mechanism 13; The wheel set 112 is arranged on the base 111; the wheel set 112 includes a driving wheel and a driven wheel, and the walking driving structure 113 is connected with the driving wheel for driving the driving wheel, and the driving wheel and the driven wheel work together to drive the base 111 to walk.

Wherein, the traveling mechanism 11 can also be in other structural forms, as long as it can realize walking. Preferably, a guide rail is provided on the power exchange 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. When the walking driving structure 113 is turned on, the driving wheel will rotate accordingly, thereby realizing walking.

As shown in Figure 3, in the embodiment of the present invention, the rotating mechanism 13 includes a rotary support 131 and a rotating power module 132, the rotary support 131 is rotatably arranged on the base 111, and the rotary support 131 is a The large bearings can withstand large axial and radial loads and overturning moments at the same time. The column body 12 is connected to the slewing support 131, and the column body 12 can rotate around the slewing support 131; the rotating power module 132 is arranged on the column body 12, and the rotating power module 132 is connected to the slewing support 131. When the rotating power module When 132 works, the slewing support 131 rotates.

Specifically, one of the base 111 and the column body 12 is fixedly connected to the inner ring of the rotary support 131 , and the other is fixedly connected to the outer ring of the rotary support 131 . When the rotary power module 132 is working and rotating, the inner ring and the outer ring of the slewing support 131 rotate relatively, then the base 111 remains stationary, and the column body 12 rotates, thereby realizing the adjustment of the angle of the column body 12 .

In the embodiment of the present invention, the lifting mechanism 14 is a structure that can realize the lifting of the grasping assembly 2, and specifically can include a ball screw nut 141 and a lifting driving structure 142. The ball screw nut 141 is arranged on the column body 12, and The ball screw nut 141 is connected with the grasping assembly 2 ; the lifting driving structure 142 is arranged on the column body 12 , and the lifting driving structure 142 is in transmission connection with the ball screw nut 141 . When the lifting drive structure 142 works, it drives the ball screw to rotate, and the ball screw nut 141 moves up and down along the ball screw. Since the grabbing component is fixedly connected with the ball screw nut 141, the lifting of the grabbing component 2 is realized, namely , to realize the adjustment of the grasping component 2 in the Z direction.

Of course, the lifting mechanism 14 can also adopt other structural forms, as long as it can realize lifting, for example, it can be a sprocket chain transmission, a rack and pinion transmission.

In an embodiment of the present invention, a pair of linear slide rails 15 are vertically arranged on both sides of the column body 12, and a slider 16 is slidably arranged on each linear slide rail 15; the grabbing assembly 2 is fixedly connected with the slider 16 .

In an embodiment of the present invention, the grabbing assembly 2 includes a tray 21, a side shift mechanism 22 and a gripper 23, the tray 21 is connected with the ball screw nut 141 and the slider 16; the side shift mechanism 22 is connected with the tray 21, and the side shift The mechanism 22 is arranged horizontally, and the lateral movement mechanism 22 can expand and contract in the opposite direction horizontally, that is, expand and contract in the X direction; the gripper 23 is connected with the lateral movement mechanism 22, and the gripper 23 is used for grasping the battery.

As shown in Figure 4, specifically, the telescoping mode of the lateral movement mechanism 22 can be in any structural form, and can be in the form of a fork. The lateral movement mechanism 22 includes a base 221, a primary fork 222, a secondary fork 223 and a The fork drive module 224, the first-level cargo fork 222 is fixedly connected to the top of the pallet 21, the first-level cargo fork 222 is fixed on the base 221, and the inner side of the first-level cargo fork 222 is equipped with a guide wheel (not shown in the figure), The secondary fork 223 is provided with a guide groove, and the guide groove matches the guide wheel, so that the secondary fork 223 can slide inside the primary fork 222 to realize the expansion and contraction of the secondary fork 223 . At this time, the gripper 23 is disposed on the bottom of the secondary fork 223 . The secondary fork 223 is driven by the fork driving module 224, and the fork driving module 224 can be arranged on the base, and the top of the secondary fork 223 is provided with a rack. The bars are engaged, so that the secondary pallet fork 223 slides in the primary pallet fork 222 to realize the expansion and contraction of the secondary pallet fork 223 .

In order to further realize the telescopic length of the side shifting mechanism 22, the side shifting mechanism 22 may also include a third-stage fork 225, which is slidably arranged on the second-stage fork 223. When there is a third-stage fork 225, the gripper 23 is then arranged on the three-stage pallet fork 225.

Through the arrangement of the primary fork 222 , the secondary fork 223 , and the tertiary fork 225 , the lateral movement mechanism 22 can have a wider expansion and contraction range, so as to adapt to a wide range.

As shown in Figure 5, in the embodiment of the present invention, the gripper 23 includes a gripper body 231 and a gripper head 232, and the gripper body 231 is connected to the lateral movement mechanism 22; the gripper body 232 and the gripper body 231 are connected through a floating link The rings are connected, and a floating locking mechanism 24 is provided between the grip head 232 and the grip body 231 .

The flexible connection between the gripper head 232 and the gripper body 231 is realized by setting the floating link, so that the gripper 23 can adapt to a larger gripping range, that is, the positioning accuracy of the gripper 23 is reduced.

Specifically, the floating locking mechanism 24 may include: a locking power source 241, a locking shaft 242 and a locking ring 243, the locking power source 241 is arranged on the handle body 231; the locking shaft 242 and the locking power source 241 Connection; the locking ring 243 is arranged on the gripping head 232, and the locking shaft 242 can penetrate the locking ring 243 driven by the locking power source 241, so that the locking of the gripper body 231 and the gripping head 232 can be realized. That is to say, both the flexible connection and the rigid connection can be realized between the gripper body 231 and the gripper head 232 . Before grabbing the battery, the flexible connection is used to reduce the positioning accuracy of the gripper 23, and after the battery is grabbed, the rigid connection is switched,

Further, as shown in FIG. 6 , the grabbing head 232 includes a support frame 2321 , a connecting plate 2322 , a grabbing drive mechanism 2323 and a grabbing shaft 2324 , the supporting frame 2321 is flexibly connected to the gripper body 231 ; the connecting plate 2322 is arranged on the supporting frame The bottom of 2321; the grasping drive mechanism 2323 is arranged at the bottom of the connection plate 2322; the grasping shaft 2324 is connected to the output end of the grasping drive mechanism 2323; the protruding grasping shaft 2324 can realize the grasping of the battery.

The power exchange equipment provided by the present invention is a power exchange equipment with multiple degrees of freedom, including a base 111 , a column body 12 , a pair of trays 21 , a pair of lateral movement mechanisms 22 and a pair of grippers 23 .

The base 111 can be arranged on the traveling guide rail 3, the base 111 advances along the traveling guide rail 3, the traveling guide rail 3 can be installed on a base, the base 111 is equipped with a wheel set 112 for traveling, and the wheel set 112 can be 2 driving wheels With 2 driven wheels, the driving wheel walks on the traveling guide rail 3 under the drive of walking power, and the top of the base 111 is equipped with a rotary support 131 .

The column body 12 is installed on the slewing support 131, and the column body 12 is rotatably connected with the base 111. The rotation power module 132 is installed on the lower part of the column body 12. The rotation power module 132 drives the column body 12 to rotate around the slewing support 131, and the two sides are symmetrical. A linear slide rail 15 and a ball screw nut 141 are installed.

The pallet 21 is connected and guided with the linear slide rail 15 through the slider 16, and is driven by the ball screw nut 141 along the length direction of the linear slide rail 15; There is a fork mounting plate below the 224 for installing a fork.

The fork includes a base 221, a primary fork 222, a secondary fork 223 and a fork drive module 224, the primary fork 222 is fixedly connected to the top of the pallet 21, and the primary fork 222 is fixed on the base 221 , the inner side of the primary fork 222 is equipped with a guide wheel (not shown), the secondary fork 223 is provided with a guide groove, the guide groove matches the guide wheel, so that the secondary fork 223 can move on the first stage The internal sliding of the pallet fork 222 realizes the expansion and contraction of the secondary pallet fork 223 . At this time, the gripper 23 is disposed on the bottom of the secondary fork 223 . The secondary fork 223 is driven by the fork driving module 224, the fork driving module 224 can be arranged on the base 221, the top of the secondary fork 223 is provided with a rack, and when the fork driving module 224 works, the The racks are engaged, so that the secondary pallet fork 223 slides in the primary pallet fork 222 to realize the expansion and contraction of the secondary pallet fork 223 .

In order to further realize the telescopic length of the lateral movement mechanism 22 and optimize the rapid positioning effect of the handle body 231, in the embodiment of the present invention, the lateral movement mechanism 22 may also include a three-stage fork 225, which is slidably arranged on On the secondary fork 223, when there is a tertiary fork 225, the gripper 23 is arranged on the tertiary fork 225. The third-stage fork 225 is horizontally arranged on the bottom of the second-stage fork 223 , and the handle body 231 is arranged on the bottom of the third-stage fork 225 . The third-stage fork 225 can be driven by the second-stage fork 223 , or can be driven by a separate driving device, which is not specifically limited here.

Through the arrangement of the primary fork 222 , the secondary fork 223 , and the tertiary fork 225 , the lateral movement mechanism 22 can have a wider expansion and contraction range, so as to adapt to a wide range.

The working process is:

Depleted battery: When the vehicle to be replaced enters the battery replacement area, the battery replacement device detects through the photoelectric sensor installed on the base 111, initially locates the three-axis position of the device and the battery, and adjusts the posture of the device by walking, lifting, and rotating After the adjustment, one of the side-shifting mechanisms 22 and the gripper 23 move sideways to the top of the battery, and the photoelectric sensor on the gripper 23 retests the position of the battery. When it is within the allowable range, the tray 21 descends, so that the gripper 232 is under gravity and Under the action of the guide surface, it falls into the top of the battery, and then the grasping shaft 2324 stretches out to hold the battery tightly. After lifting to a certain height, the lateral movement mechanism 22 and the gripper 23 are recovered to complete the grasping of the power-deficient battery.

Fully charged battery: When the gripper 23 retrieves the deficient battery to the battery replacement device, the control system moves another group of grippers 23 to the Corresponding position; the gripper 23 has a fully charged battery in advance, and under the lateral movement of the lateral movement mechanism 22 and the gripper 23, the fully charged battery is moved to the corresponding position of the vehicle that is deficient in electricity, and then the locking shaft 242 is released, so that The gripping head 232 is disconnected from the battery, and the tray 21 rises to the rear side where the gripping head 232 is separated from the battery and moves back to the battery replacement device to complete the battery replacement.

Another aspect of the present invention also provides a battery exchange station, including a battery exchange channel, a battery rack and the above-mentioned battery exchange equipment, and the battery exchange equipment is used to replace the battery between the vehicle and the battery rack in the battery exchange channel .

The power exchange station provided by the present invention has the above-mentioned various advantages because it includes the above-mentioned power exchange equipment.

In the description of the embodiments of the present invention, it should be noted that unless otherwise specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, Or integrated connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present invention according to specific situations.

In the description of this specification, descriptions with reference to the terms "one embodiment", "some embodiments", "mode", "specific ways", or "some ways" mean specific features described in conjunction with the embodiment or mode , structure, material or feature is included in at least one embodiment or mode of the embodiments of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or mode. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or modes. In addition, those skilled in the art can combine and combine different embodiments or modes and features of different embodiments or modes described in this specification without conflicting with each other.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

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 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.

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;

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

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

5. The battery swapping device of claim 2, wherein 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.

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;

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.

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;

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

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.

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