CN218141459U - Battery replacing equipment and battery replacing system - Google Patents

Abstract

The embodiment of the application relates to a new energy equipment trades electric technical field, discloses a trade electric equipment and trade electric system, trade electric equipment and include base, mobile device, elevating gear, rotating device and grabbing device, the mobile device sets up in the base, elevating gear sets up in the mobile device, rotating device set up in elevating gear, grabbing device set up in rotating device, the mobile device is used for driving elevating gear, rotating device and grabbing device along first direction reciprocating motion, elevating gear is used for driving rotating device and grabbing device along second direction reciprocating motion, rotating device is used for driving grabbing device and rotates, grabbing device is used for changing the battery on the power equipment, wherein, first direction and second direction mutually perpendicular, through above-mentioned structure, can improve the efficiency of changing the battery for power equipment, improve production efficiency.

Description

Battery replacing equipment and battery replacing system

Technical Field

The embodiment of the application relates to the technical field of battery replacement of new energy equipment, in particular to battery replacement equipment and a battery replacement system.

Background

In new forms of energy power equipment, the battery power supply generally includes two modes of direct charging and battery replacement, and the mode of direct charging generally needs to consume longer time, resulting in low power equipment use efficiency, and in the current market, the scheme of replacing the battery is adopted to solve the problem of power equipment continuation of the journey more.

In the implementation process of the embodiment of the application, the inventor finds that: the equipment that can trade the electricity for power equipment automatically lacks in the market, can only change the battery through artifical manual, leads to work efficiency low.

SUMMERY OF THE UTILITY MODEL

The technical problem that this application embodiment mainly solved provides a trade electrical equipment and trade electric system, can effectively promote the efficiency of changing the battery to power equipment.

In order to solve the above technical problem, one technical solution adopted in the embodiments of the present application is: the battery replacing equipment comprises a base, a moving device, a lifting device, a rotating device and a grabbing device, wherein the moving device is arranged on the base; the lifting device is arranged on the moving device; the rotating device is arranged on the lifting device; the grabbing device set up in rotating device, rotating device is used for the drive grabbing device rotates, the mobile device is used for the drive elevating gear rotating device and grabbing device along the reciprocating motion of first direction, elevating gear is used for the drive rotating device with grabbing device along second direction reciprocating motion, grabbing device is used for changing the battery on the power equipment, wherein, first direction with second direction mutually perpendicular, grabbing device's axis of rotation with the second direction is parallel.

Optionally, grabbing device includes the transfer mounting bracket, snatchs subassembly and first actuating mechanism, the transfer mounting bracket set up in elevating gear, the transfer mounting bracket is equipped with first chamber of acceping, first actuating mechanism set up in first intracavity of acceping, snatch the subassembly set up in first actuating mechanism, first actuating mechanism is used for the drive snatch the subassembly and be in first intracavity motion of acceping.

Optionally, the grabbing assembly comprises a mounting seat, a base plate, a first clamping jaw, a first connecting piece, a second clamping jaw, a second connecting piece and a driving module, the first clamping jaw is rotatably arranged on the mounting seat, two ends of the first clamping jaw are respectively located on two sides of the mounting seat, the first clamping jaw is rotatably connected with a rotating joint of the mounting seat, the second clamping jaw is connected with the first clamping jaw in a crossed mode and in a rotating mode, two ends of the first connecting piece are respectively connected with one end of the first clamping jaw and the base plate in a rotating mode, two ends of the second connecting piece are respectively connected with one end of the second clamping jaw and the base plate in a rotating mode, the driving module is connected with the base plate, the driving module is used for driving the base plate to move relative to the mounting seat, under the action of the first connecting piece and the second connecting piece, one end of the base plate is far away from the first clamping jaw, and one end of the base plate is far away from the second clamping jaw, and the one end of the base plate is opened or closed.

Optionally, the driving module includes a first driving motor and a lead screw, the first driving motor is disposed in the mounting base, the lead screw is rotatably disposed in the mounting base, the substrate is connected to the lead screw, the first driving motor is connected to the lead screw, and the first driving motor drives the lead screw to rotate, so as to drive the substrate to reciprocate relative to the mounting base.

Optionally, the battery replacement equipment further comprises a positioning assembly and a controller, the positioning assembly is arranged on the transfer mounting frame and electrically connected with the controller, the positioning assembly is used for identifying a positioning area on the power equipment and sending identification information to the controller, and the controller is used for controlling the grabbing device to move according to the identification information so as to replace the battery of the power equipment.

Optionally, the rotating device includes a support frame and a second driving motor, one end of the support frame is disposed on the lifting device, the second driving motor is respectively connected to the other end of the support frame and the gripping device, and the second driving motor is used for driving the gripping device to rotate relative to the support frame.

Optionally, the moving device includes a first guide rail, a first mounting bracket, and a second driving mechanism, the first guide rail is disposed on the base along the first direction, the second driving mechanism is disposed on the first mounting bracket, and the second driving mechanism is configured to drive the first mounting bracket to slide back and forth along the first guide rail.

Optionally, the lifting device includes a second guide rail, a second mounting bracket, and a third driving mechanism, the second guide rail is disposed on the first mounting bracket along the second direction, the third driving mechanism is disposed on the second mounting bracket, and the third driving mechanism is configured to drive the second mounting bracket to slide back and forth along the second guide rail.

In order to solve the above technical problem, another technical solution adopted in the embodiment of the present application is: the utility model provides a trade electric system, including charging cabinet, power supply unit, battery module storehouse, a plurality of battery module and as above trade electric equipment, power supply unit set up in the charging cabinet, the battery module storehouse is equipped with a plurality of battery storehouses and the subassembly that charges, the subassembly that charges set up in the battery storehouse, the subassembly that charges with the power supply unit electricity is connected, battery module accept in the battery storehouse, trade electric equipment and be used for taking out and putting into the battery module on the power equipment charge in the battery storehouse, and will accomplish the battery module that charges in the battery storehouse and install in on the power equipment.

Optionally, the battery module bin is provided with a plurality of buffer bins, the buffer bins are located at the bottom layer of the battery module bin, and the buffer bins are used for accommodating the battery modules which are charged.

The battery replacing equipment comprises a base, a moving device, a lifting device, a rotating device and a grabbing device, wherein the moving device is arranged on the base, the lifting device is arranged on the moving device, the rotating device is arranged on the lifting device, the grabbing device is arranged on the rotating device, the moving device is used for driving the lifting device, the rotating device and the grabbing device to reciprocate along a first direction, the lifting device is used for driving the rotating device and the grabbing device to reciprocate along a second direction, the rotating device is used for driving the grabbing device to rotate, the grabbing device is used for replacing a battery on power equipment, and the first direction and the second direction are perpendicular to each other. Through above-mentioned structure, can improve the efficiency of changing the battery for power equipment, improve production efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is a schematic view of a battery swapping device according to an embodiment of the present disclosure.

Fig. 2 is a schematic view of a view angle of a gripping device in the battery swapping apparatus according to the embodiment of the present application.

Fig. 3 is a schematic view of a view angle of a grasping element in a power switching device according to an embodiment of the application.

Fig. 4 is a schematic view of a battery swapping system according to another embodiment of the present application.

Detailed Description

In order to facilitate an understanding of the present application, the present application is described in more detail below with reference to the accompanying drawings and specific embodiments. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used herein, the terms "vertical," "horizontal," and the like refer to an orientation or positional relationship based on that shown in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

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 application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. In addition, the technical features mentioned in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

Referring to fig. 1 and 4, the battery replacement apparatus 100 includes a base 10, a moving device 20, a lifting device 30, a gripping device 40, and a rotating device 60, wherein the moving device 20 is disposed on the base 10, the lifting device 30 is disposed on the moving device 20, the rotating device 60 is disposed on the lifting device 30, the gripping device 40 is disposed on the lifting device 30, the moving device 20 is configured to drive the lifting device 30, the gripping device 40, and the rotating device 60 to reciprocate along a first direction X, the lifting device 30 is configured to drive the gripping device 40 and the rotating device 60 to reciprocate along a second direction Y, and the rotating device 60 is configured to rotate the direction of the gripping device 40 to facilitate the gripping device 40 to replace a battery on the power apparatus, wherein the first direction X and the second direction Y are perpendicular to each other, and a rotation axis of the gripping device 40 is parallel to the second direction Y. In the present embodiment, the first direction X is parallel or substantially parallel to the horizontal plane.

With reference to the base 10 and the moving device 20, please continue to refer to fig. 1, the base 10 is provided with casters 11, and the casters 11 are used for the user to move the base 10 to push the base 10 to a predetermined working position. In some embodiments, the casters 11 further have a self-locking function, and after the base 10 is moved to the predetermined working position, the casters 11 are set to a locking state to prevent the base 10 from being moved without human control.

It can be understood that, in some embodiments, the power exchanging apparatus 100 further includes a driving device, the driving device is disposed on the base 10, and the driving device is configured to drive the power exchanging apparatus 100 to integrally move to a predetermined working position. The driving device can also be in signal connection with an external control device, the external control device sends a control signal to the driving device, and the driving device drives the electricity changing device 100 to move according to the control signal.

The moving device 20 includes a first rail 21, a first mounting frame 22, and a second driving mechanism 23. The first guide rail 21 is disposed on the base 10 along the first direction X, the first mounting frame 22 is disposed on the first guide rail 21 and can reciprocate along the first guide rail 21, the second driving mechanism 23 is respectively connected with the first mounting frame 22 and the base 10, and the second driving mechanism 23 is configured to drive the first mounting frame 22 to move. In some embodiments, the second driving mechanism 23 includes a driving motor detachably fixed to the first mounting frame 22, a gear disposed on a rotating shaft of the driving motor, and a rack fixed to the base 10 and engaged with the gear. When the drive motor is operated, the gear on the shaft moves on the rack to move the first mount 22 relative to the base 10. It is understood that in other embodiments, the second driving mechanism 23 drives the first mounting frame 22 to move through the lead screw 4272 or the like.

With reference to the above-mentioned lifting device 30, please refer to fig. 1, the lifting device 30 includes a second guide rail 31, a second mounting bracket 32, and a third driving mechanism 33. The second rail 31 is disposed at the first mount 22 along the second direction Y, the second mount 32 is reciprocally movable along the second rail 31, the third driving mechanism 33 is disposed at the second mount 32, and the third driving mechanism 33 is used for driving the second mount 32 to reciprocally move along the second rail 31. In the embodiment of the present application, the second direction Y is perpendicular to the first direction X, and the second direction Y is perpendicular or substantially perpendicular to the horizontal plane when the battery swapping device 100 is in the normal operating posture. In some embodiments, the third driving mechanism 33 includes a driving motor disposed on the second rail 31 and used for driving the second mounting frame 32 to move, and a plurality of rollers rotatably disposed on the second mounting frame 32 and respectively restricting the second mounting frame 32 from moving in the first direction X and the third direction Z, so that the second mounting frame 32 can reciprocate only in the second direction Y. Wherein the third direction Z is perpendicular or substantially perpendicular to the first direction X and the third direction Z, respectively.

Referring to fig. 2 and 3, the grasping apparatus 40 includes a transfer frame 41, a grasping assembly 42, and a first driving mechanism 43. The transfer mounting frame 41 is fixed to the second mounting frame 32, the first driving mechanism 43 is fixed to the transfer mounting frame 41, the grabbing component 42 is connected to the first driving mechanism 43, the first driving mechanism 43 is used for driving the grabbing component 42 to reciprocate relative to the transfer mounting frame 41, and the grabbing component 42 is used for grabbing a battery on the power equipment to be replaced. In the embodiment of the present application, the first driving mechanism 43 drives the grabbing component 42 to reciprocate along the third direction Z to realize the side-edge power exchange of the power equipment.

The transfer rack 41 is provided with a first accommodating cavity 411 and a sliding support part 412, the grabbing component 42 and the first driving mechanism 43 are both accommodated in the first accommodating cavity 411, and the sliding support part 412 is used for supporting the battery pulled into the first accommodating cavity 411 by the grabbing component 42, so that the battery can slide in the first accommodating cavity 411, and the battery is transferred from the charging cabinet 200 to the power equipment.

The grasping assembly 42 includes a mount 421, a base plate 422, a first jaw 423, a first connector 424, a second jaw 425, a second connector 426, and a drive module 427. The first clamping jaw 423 is rotatably arranged on the mounting base 421, two ends of the first clamping jaw 423 are respectively located at two sides of the mounting base 421, at a rotary connection position of the first clamping jaw 423 and the mounting base 421, the second clamping jaw 425 is crossed with the first clamping jaw 423 and is rotatably connected with the first clamping jaw 423, that is, the first clamping jaw 423 and the second clamping jaw 425 are rotatably connected with the mounting base 421 in a scissor shape, two ends of the first connecting piece 424 are respectively rotatably connected with one end of the first clamping jaw 423 and the base plate 422, two ends of the second connecting piece 426 are respectively rotatably connected with one end of the second clamping jaw 425 and the base plate 422, the driving module 427 is fixed on the mounting base 421, the driving module 427 is connected with the base plate 422, the driving module 427 is used for driving the base plate 422 to reciprocate relative to the mounting base 421, and under the action of the first connecting piece 424 and the second connecting piece 426, one end of the first clamping jaw 423 far away from the base plate 422 and one end of the second clamping jaw 425 far away from the base plate 422 are opened or closed. In some embodiments, the mounting base 421 is L-shaped, or the mounting base 421 has a cavity, the end of the first jaw 423, the end of the second jaw 425, the substrate 422, the first connector 424 and the second connector 426 are received in the cavity, and the driving module 427 is received outside the cavity.

The driving module 427 comprises a first driving motor 4271 and a screw rod 4272, the first driving motor 4271 is fixed on the mounting seat 421, the screw rod 4272 is arranged on the mounting seat 421 and can rotate relatively on the mounting seat 421, a threaded hole is arranged on the base plate 422, the screw rod 4272 penetrates through the threaded hole of the base plate 422, the axis of the screw rod 4272 is perpendicular to the plane of the base plate 422, and the first driving motor 4271 is used for driving the screw rod 4272 to rotate, so that the base plate 422 is driven to reciprocate relative to the mounting seat 421. In some embodiments, two lead screws 4272 may be disposed through both sides of the base plate 422, and the first driving motor 4271 simultaneously drives the two lead screws 4272 to rotate, so as to enable substantially smooth movement; or a screw 4272 is provided at one end of the base 422 and a guide bar is provided at the other end, so that the base 422 can be moved smoothly.

In some embodiments, the drive module 427 further includes a first gear 4273 and a second gear 4274, the first gear 4273 is connected with the first drive motor 4271, the second gear 4274 is connected with the lead screw 4272, the first gear 4273 is in meshing connection with the second gear 4274, the first drive motor 4271 and the lead screw 4272 are located on the same side of the first gear 4273 and the second gear 4274, the size of the drive module 427 can be reduced, and the layout of the first drive motor 4271 is more reasonable.

In some embodiments, the number of the first driving motors 4271 is two, two first driving motors 4271 are both disposed on the mounting seat 421 and are connected with the lead screw 4272 through a gear set, and the two first driving motors 4271 independently control the forward rotation and the reverse rotation of the lead screw 4272, respectively, so as to achieve the reciprocating motion of the base plate 422.

It is understood that the first driving mechanism 43, the second driving mechanism 23 and the third driving mechanism 33 are all driven by motors in the embodiment of the present application, and in other embodiments, the first driving mechanism 43, the second driving mechanism 23 and the third driving mechanism 33 may be driven by other driving methods, such as cylinder driving, hydraulic driving, etc.

In some embodiments, referring to fig. 1, the battery replacing apparatus 100 further includes a positioning assembly 50 and a controller (not shown). The positioning assembly 50 is arranged at one end of the transfer mounting frame 41, the controller is arranged at any position of the base 10, the moving device 20, the lifting device 30 or the transfer mounting frame 41, the controller is electrically connected with the positioning assembly 50, the moving device 20, the lifting device 30 and the grabbing device 40 respectively, the positioning assembly 50 is used for identifying a positioning area on the power equipment and sending identification information to the controller, and the controller is used for controlling the grabbing device 40 to move according to the identification information so as to replace the battery of the power equipment. In the embodiment of the present application, the positioning assembly 50 includes a camera module, the camera module scans a positioning code on the power equipment after the power equipment stops at a predetermined battery replacement area, and controls the scanning position of the camera module in real time through a controller, and when the scanning is completed and the scanning passes, the controller controls the first driving mechanism 43 to drive the grabbing assembly 42 to move, and controls the grabbing assembly 42 to grab a battery on the power equipment.

In some embodiments, referring to fig. 1 and 4, the rotating device 60 is disposed on the second mounting frame 32, the grabbing device 40 is disposed on the rotating device 60, the rotating device 60 is electrically connected to the controller, and the rotating device 60 is used for rotating the direction of the grabbing device 40, wherein the rotating axis of the grabbing device 40 is parallel to the second direction Y.

The rotating device 60 includes a supporting frame 61 and a second driving motor 62, one end of the supporting frame 61 is fixed to the second mounting frame 32 of the lifting device 30, the transfer mounting frame 41 of the gripping device 40 is rotatably disposed at the other end of the supporting frame 61, the second driving motor 62 is disposed at the other end of the supporting frame 61 and is connected to the transfer mounting frame 41, and the second driving motor 62 is configured to drive the transfer mounting frame 41 to rotate. After the grabbing component 42 finishes grabbing the battery on the power equipment, the second driving motor 62 drives the transfer mounting bracket 41 to rotate 180 degrees, the battery is inserted into the charging cabinet 200 for charging, the grabbing component 42 grabs another battery which has been charged from the charging cabinet 200, the second driving motor 62 drives the transfer mounting bracket 41 to rotate in the direction restoring direction (i.e. reversing 180 degrees), the battery is inserted into the power equipment, and the battery replacement of the power equipment is finished. It is understood that in other embodiments, the second driving motor 62 can drive the transfer frame 41 to rotate at any angle, such as 45 degrees, 90 degrees, 135 degrees, etc. Through the structure, the rotation of the transfer mounting frame 41 can be realized, so that the parking position of the power equipment and the position of the charging cabinet 200 can be on the same side, can also be adjacent, and can also be oppositely arranged, thereby improving the environmental adaptability of the battery replacing equipment 100 and completing the battery replacing tasks at various angles.

In some embodiments, the rotating device 60 further includes a third gear and a fourth gear, the third gear is disposed on the rotating shaft of the second driving motor 62, the fourth gear is respectively connected to the supporting frame 61 and the grabbing device 40, the third gear and the fourth gear are in meshed connection, and the pitch circle diameter of the third gear is smaller than that of the fourth gear. With the above configuration, the torque required for the second drive motor 62 to drive the rotation of the relay mounting bracket 41 can be reduced, thereby reducing the power consumption of the second drive motor 62.

The power replacing device 100 comprises a base 10, a moving device 20, a lifting device 30 and a grabbing device 40, wherein the moving device 20 is arranged on the base 10, the lifting device 30 is arranged on the moving device 20, the grabbing device 40 is arranged on the lifting device 30, the moving device 20 is used for driving the lifting device 30 and the grabbing device 40 to reciprocate along a first direction X, the lifting device 30 is used for driving the grabbing device 40 to reciprocate along a second direction Y, the grabbing device 40 is used for replacing a battery on power equipment, and the first direction X and the second direction Y are perpendicular to each other. Through above-mentioned structure, can improve the efficiency of changing the battery for power equipment, improve production efficiency.

Referring to fig. 4, the battery swapping system 1000 includes a charging cabinet 200, a power supply device, a battery module bin 400, a plurality of battery modules 300, and the battery swapping device 100, and for specific structures and functions of the battery swapping device 100, reference may be made to the above embodiments, which are not described herein again. The power supply equipment is arranged in the charging cabinet 200, the battery module bin 400 is provided with a plurality of battery bins 401 and charging assemblies, the charging assemblies are arranged in the battery bins 401, the charging assemblies are electrically connected with the power supply equipment, the battery module 300 is contained in the battery bins 401, the battery replacing equipment 100 is used for taking out the battery module 300 on the power equipment and putting the battery module 300 into the battery bins 401 for charging, and the battery module 300 which is used for completing charging in the battery bins 401 is installed on the power equipment, wherein the power equipment can comprise but is not limited to an automatic bin storage box robot or a latent mobile robot.

A plurality of restricting parts are provided in the battery compartment 401 to prevent the battery module 300 from moving in the battery compartment 401 and affecting the charging quality of the battery module 300. A guide structure is arranged at the opening of the battery compartment 401 to facilitate the battery module 300 to enter or be pulled out of the battery compartment 401.

In some embodiments, the battery module compartment 400 is further provided with a plurality of buffer compartments 402, the plurality of buffer compartments 402 are located at the bottom of the battery module compartment 400, and the buffer compartments 402 are used for temporarily storing the battery modules 300 that have been charged, so that the battery swapping device 100 can directly take out the battery modules 300 from the buffer compartments 402 to be installed on the power equipment.

In some embodiments, the battery swapping device 100 is in communication connection with the battery module bin 400, so that the battery swapping device 100 can accurately identify whether the battery module 300 exists in the battery bin 401 of the battery module bin 400, whether the battery module 300 has completed charging, and the like, thereby improving the battery swapping efficiency of the battery swapping device 100, and improving the intelligence of the battery swapping system 1000 in the embodiment of the present application.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.

Claims (10)

1. An electricity swapping device, comprising:

a base;

the mobile device is arranged on the base;

the lifting device is arranged on the moving device;

the rotating device is arranged on the lifting device;

the grabbing device is arranged on the rotating device and used for driving the grabbing device to rotate, the moving device is used for driving the lifting device, the rotating device and the grabbing device to reciprocate along a first direction, the lifting device is used for driving the rotating device and the grabbing device to reciprocate along a second direction, the grabbing device is used for replacing a battery on power equipment, the first direction is perpendicular to the second direction, and the rotating axis of the grabbing device is parallel to the second direction.

2. The charging apparatus as recited in claim 1,

grabbing device includes the transfer mounting bracket, snatchs subassembly and a actuating mechanism, the transfer mounting bracket set up in elevating gear, the transfer mounting bracket is equipped with first chamber of acceping, an actuating mechanism set up in first intracavity of acceping, snatch the subassembly set up in an actuating mechanism, an actuating mechanism is used for the drive snatch the subassembly and is in first intracavity motion of acceping.

3. The charging apparatus of claim 2,

the grabbing assembly comprises a mounting seat, a base plate, a first clamping jaw, a first connecting piece, a second clamping jaw, a second connecting piece and a driving module, wherein the first clamping jaw is rotatably arranged on the mounting seat, two ends of the first clamping jaw are respectively located on two sides of the mounting seat, the first clamping jaw is connected with a rotating joint of the mounting seat, the second clamping jaw is connected with the first clamping jaw in a crossed mode and in a rotating mode, two ends of the first connecting piece are respectively connected with one end of the first clamping jaw and the base plate in a rotating mode, two ends of the second connecting piece are respectively connected with one end of the second clamping jaw and the base plate in a rotating mode, the driving module is connected with the base plate, the driving module is used for driving the base plate to move relative to the mounting seat, under the action of the first connecting piece and the second connecting piece, one end of the base plate is kept away from the first clamping jaw and one end of the second clamping jaw is kept away from the base plate is opened or closed.

4. The charging apparatus as recited in claim 3,

the driving module comprises a first driving motor and a screw rod, the first driving motor is arranged on the mounting seat, the screw rod is rotatably arranged on the mounting seat, the substrate is connected with the screw rod, the first driving motor is connected with the screw rod, and the first driving motor drives the screw rod to rotate so as to drive the substrate to reciprocate relative to the mounting seat.

5. The charging apparatus of claim 2,

trade electrical equipment still includes locating component and controller, locating component set up in the transfer mounting bracket, locating component with the controller electricity is connected, locating component is used for discerning the location area on the power equipment and with identification information send to the controller, the controller is used for the basis identification information control grabbing device moves with right power equipment carries out the battery and changes.

6. The charging apparatus of claim 1,

the rotating device comprises a support frame and a second driving motor, one end of the support frame is arranged on the lifting device, the second driving motor is respectively connected with the other end of the support frame and the grabbing device, and the second driving motor is used for driving the grabbing device to rotate relative to the support frame.

7. The charging apparatus of claim 1,

the mobile device comprises a first guide rail, a first mounting frame and a second driving mechanism, wherein the first guide rail is arranged on the base along the first direction, the second driving mechanism is arranged on the first mounting frame, and the second driving mechanism is used for driving the first mounting frame to slide along the first guide rail in a reciprocating manner.

8. The charging apparatus as recited in claim 7,

the lifting device comprises a second guide rail, a second mounting frame and a third driving mechanism, the second guide rail is arranged on the first mounting frame along the second direction, the third driving mechanism is arranged on the second mounting frame, and the third driving mechanism is used for driving the second mounting frame to slide along the second guide rail in a reciprocating mode.

9. A battery replacement system, which comprises a charging cabinet, a power supply device, a battery module bin, a plurality of battery modules, and the battery replacement device as claimed in any one of claims 1 to 8, wherein the power supply device is disposed in the charging cabinet, the battery module bin is provided with a plurality of battery bins and a charging assembly, the charging assembly is disposed in the battery bin, the charging assembly is electrically connected with the power supply device, the battery modules are accommodated in the battery bin, and the battery replacement device is used for taking out the battery modules on a power device and putting the battery modules into the battery bin for charging, and installing the battery modules which are charged in the battery bin on the power device.

10. The swapping system of claim 9,

the battery module bin is provided with a plurality of buffer bins, the buffer bins are located at the bottom layer of the battery module bin, and the buffer bins are used for accommodating the battery modules which are charged.

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