Battery swapping device and battery swapping station

Abstract

The application provides a battery replacing device and a battery replacing station, the battery replacing device comprises at least four walking assemblies for driving the battery replacing device to move along a preset walking direction, and the walking assemblies are respectively located at the front and rear ends of the walking direction, wherein at least one of the walking assemblies is connected with a driving device. Through the battery replacing device and the battery replacing station provided by the application, firstly, at least four walking assemblies are arranged on the battery replacing device, which effectively disperses the load of the battery replacing device and the battery pack, that is, the battery replacing device is supported by multiple points, so that the whole battery replacing device is more stable, has good balance and high reliability during walking; secondly, the driving device is independently arranged on at least one walking assembly, that is, the driving device and the walking assembly have a one-to-one correspondence relationship, the driving device can directly drive the walking assembly, and other mechanisms need not be additionally arranged between the driving device and the walking assembly, so that the walking part has a simple structure and occupies less space, and the battery replacing device can be more compact.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of battery swap stations, in particular to a battery swap device and a battery swap station. BACKGROUND

[0002] In the prior art, in order to improve the safety of commercial vehicle battery swap, some commercial vehicles such as heavy trucks and the like begin to adopt chassis type battery swap. The chassis type battery swap avoids the lifting safety risk and greatly improves the safety compared with the battery pack lifting from the top. However, when the chassis type battery swap station performs the battery swap operation, the electric vehicle needs to be driven into the battery swap station and parked at a fixed position first, and then the battery swap device is driven to the fixed position at the bottom of the vehicle to be aligned with the electric vehicle. After the alignment, the battery swap device can remove or install the battery pack to complete the battery swap operation, carry the removed old battery pack back to the battery compartment of the battery swap station, and then move to the fixed position at the bottom of the vehicle to install the new battery pack to the electric vehicle.

[0003] Therefore, the battery swap device needs a walking mechanism that can drive the battery swap device to walk and ensure that the battery swap device can walk efficiently while carrying the battery. The existing walking mechanism adopts a driving motor to simultaneously connect at least two walking components through a transmission mode to meet the needs of the battery swap device, so that the walking mechanism of the battery swap device is complex in structure and occupies a large space, and thus the overall structure of the battery swap device is also complex and relatively large in size. SUMMARY

[0004] The present application aims to solve the technical problem of the complex structure and large space occupation of the walking part of the battery swap device in the prior art, and provides a battery swap device and a battery swap station.

[0005] The present application solves the above technical problems by the following technical solutions:

[0006] A battery swap device, comprising at least four walking components for driving the battery swap device to move in a predetermined walking direction, the walking components being respectively located at the front and rear ends of the walking direction, wherein at least one of the walking components is independently connected with a driving device.

[0007] In the scheme, the above structure is adopted. Firstly, at least four walking assemblies are arranged on the battery replacing device, which effectively disperses the load of the battery replacing device and the battery pack, that is, the battery replacing device is supported by multiple points, so that the battery replacing device is more stable as a whole, has good balance during walking, and has high reliability; secondly, at least one walking assembly is independently provided with a driving device, that is, the driving device and the walking assembly have a one-to-one correspondence relationship, the driving device can directly drive the walking assembly without the need for additional intermediate mechanisms, so that the walking part has a simple structure and occupies less space, so that the battery replacing device can be more compact.

[0008] Preferably, along the walking direction, at least one of the walking assemblies on the left and right sides of the battery replacing device is independently connected with the driving device, and the walking assembly independently connected with the driving device is located at the same end of the battery replacing device in the front-rear direction.

[0009] In the scheme, the above structure is adopted. The walking assemblies on the left and right sides are each provided with an independent driving device. The driving devices on the two sides simultaneously drive to improve the walking capacity and efficiency of the walking assemblies, or only one side of the driving device drives the walking assembly, and the driving device on the other side serves as a backup support to drive the walking assembly when a problem occurs in the driving device on one side, thereby avoiding the problem that the battery replacing device cannot walk. In other cases, for example, when the battery replacing device is arranged to be able to rotate within a plane by a small amplitude, the driving devices on the two sides can be independently reversely driven to make the battery replacing device twist relative to the walking assemblies in the plane, thereby realizing the rotational motion of the battery replacing device to adjust the angle of the battery replacing device relative to the electric vehicle.

[0010] Preferably, the battery replacing device comprises a main frame and four walking assemblies. Along the walking direction of the battery replacing device, two walking assemblies are arranged on each side of the main frame in a spaced manner, and the two walking assemblies arranged in a spaced manner are respectively located at the front end and the rear end of the main frame along the walking direction.

[0011] In the scheme, the above structure is adopted. The four walking assemblies are respectively arranged at the front and rear ends on the two sides of the main frame, that is, the walking assemblies are arranged in a dispersed manner, so that the main frame can be evenly supported and the support effect of the main frame is best, thereby ensuring that the battery replacing device can move stably.

[0012] Preferably, along the walking direction, at least one of the walking wheels of the walking assemblies on the two sides of the battery replacing device is arranged as a groove wheel, and the groove wheel can be clamped with a pre-set guide rail to make the battery replacing device walk along the guide rail.

[0013] In the scheme, the above structure is adopted, the battery replacing device is limited to walk on the guide rail through cooperation of the at least one groove wheel and the guide rail, the battery replacing device is guided through the guide rail, the guiding effect is good, the battery replacing device can be moved to the electric vehicle below along the predetermined route without complex control, meanwhile, the walking efficiency of the battery replacing device can be improved, thereby the battery replacing efficiency is improved.

[0014] Preferably, the battery replacing device further comprises a mounting frame, the mounting frame is connected with the walking assembly and is arranged on the guide rail to move relative to the guide rail, so that the battery replacing device always walks along the guide rail.

[0015] In the scheme, the above structure is adopted, the battery replacing device can walk along the guide rail through the mounting frame, the battery replacing device is prevented from deviating left and right, and the movement of the battery replacing device along the extension direction of the guide rail is ensured.

[0016] Preferably, the mounting frame comprises a plurality of limiting portions arranged on both sides of the guide rail along the extension direction of the guide rail and a mounting portion connected with the walking assembly, the mounting portion is arranged on the guide rail along the width direction of the guide rail and is connected with the plurality of limiting portions on both sides of the guide rail, and the limiting portion is rotatably arranged to roll along the side wall of the guide rail during walking of the battery replacing device along the guide rail.

[0017] In the scheme, the above structure is adopted, the mounting frame is arranged on the walking assembly through the mounting portion and connects the limiting portions on both sides of the guide rail to form a whole, the cooperative action of the plurality of limiting portions on both sides of the guide rail is realized, the limiting portion is clamped on both sides of the guide rail, and the limiting portion can roll along the side wall of the guide rail to reduce the friction, compared with the groove wheel limiting mode, the structure can avoid jamming during movement and reduce wear.

[0018] Preferably, the mounting portion comprises a mounting plate located above the guide rail and an extension plate extending downward from both sides of the mounting plate to both sides of the guide rail, the extension plate is used for connecting the limiting portion, and the mounting plate has a wheel accommodating area for accommodating the walking wheel of the walking assembly.

[0019] In the scheme, the above structure is adopted, the mounting plate is used for connecting the extension plate, the extension plate is used for mounting the limiting portion, so that the whole mounting portion can be nested above the guide rail and the limiting portion can roll along the side wall of the guide rail, and the mounting plate is provided with the wheel accommodating area, so that the arrangement structure of the mounting frame and the walking wheel is compact, the walking wheel is facilitated to be limited to walk on the guide rail by being fitted with the guide rail in the accommodating area, the walking direction of the walking mechanism relative to the ground is unique, and the battery replacing device will not deviate. In addition, because the walking wheel is located in the accommodating area, the mounting plate around the accommodating area can also play a certain protection role for the walking wheel.

[0020] Preferably, one of the walking assemblies is a first walking assembly rotatably connected to the main frame, and the other three are second walking assemblies slidably connected to the main frame in a direction perpendicular to the walking direction, and two of the second walking assemblies located at the front end or the rear end of the main frame in the walking direction are each independently provided with the driving device.

[0021] In this scheme, the above structure is adopted, so that the main frame can rotate relative to the walking assemblies, thereby adjusting the posture of the battery replacement device. When the parking of the electric vehicle has a certain deviation, the second walking assemblies are driven to move, so that the main frame and the second walking assemblies slide relative to each other, thereby rotating around the second walking assemblies as a fulcrum, so as to complete the posture adjustment of the battery replacement device, and then the battery replacement device and the battery pack of the electric vehicle can be accurately aligned.

[0022] Preferably, the first walking assembly comprises a first walking wheel, a first wheel frame, and a first rotary connecting piece, the rotating shaft of the first walking wheel is arranged in the first wheel frame, and the first wheel frame is connected to the main frame through the first rotary connecting piece, so that the first walking assembly can rotate relative to the main frame; and / or the second walking assembly comprises a second walking wheel, a second wheel frame, and a sliding connecting piece, the rotating shaft of the second walking wheel is arranged in the second wheel frame, and the second wheel frame is connected to the main frame through the sliding connecting piece, so that the second walking assembly can slide relative to the main frame.

[0023] In this scheme, the above structure is adopted, the first wheel frame is provided to facilitate the installation of the first walking wheel, and the first rotary connecting piece is also easy to install, so that the overall structure is simple and easy to install; the second wheel frame is provided to facilitate the installation of the second walking wheel, and the sliding connecting piece is also easy to install, so that the overall structure is simple and easy to install.

[0024] Preferably, the second walking assembly further comprises a connecting frame sleeved outside the wheel frame, the wheel frame is connected to the connecting frame through the sliding connecting piece, and the connecting frame is connected to the main frame through a second rotary connecting piece, so that the second walking assembly can slide and rotate relative to the main frame.

[0025] In this scheme, the above structure is adopted, the second wheel frame further has a connecting frame outside, the connecting frame is used for sliding the second wheel frame therein, and the connecting frame is connected to the main frame through a second rotary connecting piece, so as to realize the sliding and rotation of the main frame relative to the second walking assembly. The connecting frame is provided, so that the installation of the rotating and sliding related components is more simple, and the sliding and rotation can be independently moved without interfering with each other.

[0026] Preferably, the sliding connector is provided with a first stopper having a locking position and an unlocking position for locking or unlocking the relative sliding state between the second walking assembly and the main frame.

[0027] In this scheme, by the first stopper, the sliding connector of the second walking assembly can be locked when the battery replacement equipment moves, so that it cannot slide, and the battery replacement equipment moves more stably and does not sway due to the sliding of the second walking assembly. When the battery replacement equipment needs to adjust the posture and align with the electric vehicle, the second walking assembly is unlocked so that it can slide relatively, so that the battery replacement equipment can be twisted relatively to align with the battery replacement vehicle for easy disassembly and assembly of the battery.

[0028] Preferably, the battery replacement equipment is provided with a second stopper assembly arranged between the main frame and the connecting frame and having a locking state and an unlocking state for locking or unlocking the relative rotation state between the main frame and the second walking assembly; and / or

[0029] The second stopper assembly is arranged between the main frame and the first wheel frame and has a locking state and an unlocking state for locking or unlocking the relative rotation state between the main frame and the first walking assembly.

[0030] The battery replacement equipment can lock the first walking assembly and the second walking assembly relative to the main frame by the second stopper assembly when the battery replacement equipment moves, so that the battery replacement equipment moves more stably and does not sway due to the first rotation connector and the second rotation connector. When the battery replacement equipment needs to adjust the posture and align with the electric vehicle, the first rotation connector and the second rotation connector are unlocked so that they can rotate relatively, so that the battery replacement equipment can be twisted relatively to align with the battery replacement vehicle for easy disassembly and assembly of the battery.

[0031] A battery replacement station, comprising the battery replacement equipment as described above.

[0032] In this scheme, at least four walking assemblies are arranged on the battery replacement equipment, effectively dispersing the load of the battery replacement equipment and the battery pack, that is, the battery replacement equipment is supported by multiple points, so that the battery replacement equipment is more stable as a whole, has good balance during walking, and has high reliability; secondly, at least one walking assembly is independently provided with a driving device, that is, the driving device and the walking assembly have a one-to-one correspondence relationship, the driving device can directly drive the walking assembly without the need for additional intermediate mechanisms, so that the walking part has a simple structure and occupies less space, so that the battery replacement equipment can be more compact, the space of the battery replacement station is larger, and the setting requirement is lower.

[0033] The positive progress effect of the application is that at least four walking assemblies are arranged on the battery replacing device, effectively dispersing the load of the battery replacing device and the battery pack, that is, the battery replacing device is supported by multiple points, so that the battery replacing device is more stable as a whole, has good balance during walking and high reliability; secondly, at least one walking assembly is independently provided with a driving device, that is, the driving device and the walking assembly have a one-to-one correspondence relationship, the driving device can directly drive the walking assembly without the need of adding other mechanisms in the middle, so that the walking part has simple structure and occupies less space, so that the battery replacing device can be more compact. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a structure schematic view of the battery replacing device of the embodiment of the application.

[0035] Figure 2 It is a partial structure schematic view of the battery replacing device of the embodiment of the application.

[0036] Figure 3 It is a partial structure schematic view of the battery replacing device of the embodiment of the application.

[0037] Figure 4 It is a structure schematic view of the second walking assembly of the embodiment of the application.

[0038] Figure 5 It is a structure schematic view of another second walking assembly of the embodiment of the application.

[0039] Figure 6 It is a structure schematic view of the first walking assembly of the embodiment of the application.

[0040] Figure 7 It is a structure schematic view of the second wheel frame of the embodiment of the application.

[0041] Figure 8 It is a structure schematic view of the sliding rail of the embodiment of the application.

[0042] Figure 9 It is a structure schematic view of the sliding block of the embodiment of the application.

[0043] Figure 10 It is a structure schematic view of the second rotary connecting piece of the embodiment of the application.

[0044] Figure 11 It is a structure schematic view of the fixed part of the embodiment of the application.

[0045] Figure 12 It is a structure schematic view of the mounting frame of the embodiment of the application.

[0046] Figure 13 It is a structure schematic view of the battery replacing device of the embodiment of the application.

[0047] Figure 14 FIG. 2 is a schematic view of a mounting structure of a first walking assembly according to an embodiment of the present application.

[0048] Figure 15 FIG. 2 is a schematic view of a mounting structure of a first walking assembly according to an embodiment of the present application.

[0049] Figure 16 FIG. 2 is a schematic view of a mounting structure of a first walking assembly according to an embodiment of the present application.

[0050] Figure 17 FIG. 2 is a schematic view of a mounting structure of a first walking assembly according to an embodiment of the present application.

[0051] BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Main frame 200

[0053] Mounting slot 210

[0054] Gap 211

[0055] First walking assembly 20

[0056] First walking wheel 21

[0057] First wheel carrier 22

[0058] First rotating connecting piece 221

[0059] Second walking assembly 10

[0060] Second walking wheel 11

[0061] Second wheel carrier 12

[0062] Driving device 13

[0063] Sliding connecting piece 122

[0064] Connecting carrier 1221

[0065] Slide rail 1222

[0066] Slide block 1223

[0067] Second rotating connecting piece 123

[0068] Fixed part 1231

[0069] Rotating part 1232

[0070] Guide rail 300

[0071] Mounting carrier 310

[0072] Mounting part 311

[0073] Mounting plate 3111

[0074] Extension plate 3112

[0075] Limiting portion 312

[0076] Second stop assembly 30

[0077] Wedge-shaped block 31 DETAILED DESCRIPTION

[0078] The present application will be more fully understood from the following detailed description taken in connection with the accompanying drawings, in which:

[0079] As Figures 1 to 3 shown, the present embodiment provides a battery replacement device, which includes at least four walking assemblies for driving the battery replacement device to move along a preset walking direction, and the walking assemblies are respectively located at the front and rear ends of the walking direction, wherein at least one of the walking assemblies is connected with a driving device 13.

[0080] Firstly, the at least four walking assemblies are arranged on the battery replacement device, which effectively disperses the load of the battery replacement device and the battery pack, that is, the battery replacement device is supported by multiple points, so that the battery replacement device is more stable as a whole, has good balance during walking, and has high reliability; secondly, the driving device is independently arranged on at least one of the walking assemblies, that is, the driving device and the walking assembly have a one-to-one correspondence relationship, the driving device can directly drive the walking assembly without the need for additional intermediate mechanisms, so that the walking part has a simple structure and occupies less space, and the battery replacement device can be more compact.

[0081] The walking assemblies are arranged on both sides of the battery replacement device and are uniformly distributed, and each walking assembly has a walking wheel to support the battery replacement device and realize the movement of the battery replacement device.

[0082] In the present embodiment, the walking assemblies are four, which are respectively arranged at the front and rear ends of the left and right sides of the battery replacement device to support the battery replacement device from the four corner portions of the battery replacement device.

[0083] In other embodiments, the number of walking assemblies can also be set to be more, and the arrangement position can also be set on the front and rear ends and the bottom surface of the battery replacement device, as long as the movement and stability of the battery replacement device can be realized.

[0084] As Figure 2 , 3 shown, along the walking direction, at least one of the walking assemblies located on the left and right sides of the battery replacement device is connected with a driving device 13, and the walking assembly connected with the driving device 13 is located at the same end of the battery replacement device in the front-rear direction.

[0085] The walking assemblies of the present scheme can be driven by a driving device 13 alone, wherein only one walking assembly can comprise a driving device 13, or each walking assembly can comprise a driving device 13. Driving the walking mechanism at the front end or rear end of the battery replacement equipment by the front wheels and / or rear wheels of the battery replacement equipment at the same time can bring a more stable movement. In the present embodiment, the two walking assemblies at the rear end of the battery replacement equipment are provided with driving devices 13. The battery replacement equipment is driven and moved by the two walking assemblies at the rear end.

[0086] In other embodiments, four walking assemblies are each provided with a driving device 13, achieving full drive of the battery replacement equipment to obtain stronger driving power, so that the load and moving speed of the battery replacement equipment are faster, and the walking stability is improved.

[0087] In other embodiments, a driving device 13 can also be provided on only one walking assembly to drive other walking assemblies of the battery replacement equipment to move, so as to drive the battery replacement equipment. The structure is the simplest, and the space in the battery replacement equipment is the largest.

[0088] In the present embodiment, the walking assemblies on the left and right sides are each provided with an independent driving device 13. The driving devices 13 on the two sides are simultaneously driven to improve the walking ability and efficiency of the walking assemblies, or only one side of the driving device 13 drives the walking assembly, and the driving device 13 on the other side serves as a backup support to drive the walking assembly when the driving device 13 on one side malfunctions, thereby avoiding the problem that the battery replacement equipment cannot walk.

[0089] In other cases, for example, when the battery replacement equipment is arranged to be able to rotate within a plane by a small amplitude, the driving devices 13 on the two sides can also be independently reversely driven to make the battery replacement equipment relative to the walking assemblies twist within the plane where the walking assemblies are located, so as to realize the rotary motion of the battery replacement equipment to adjust the angle of the battery replacement equipment relative to the electric vehicle. Figures 1 to 3 As shown in FIG. 8, the battery replacement equipment comprises a main frame 200 and four walking assemblies. Along the walking direction of the battery replacement equipment, two walking assemblies are arranged on each side of the main frame 200, and the two walking assemblies are arranged at the front end and the rear end of the main frame 200 along the walking direction.

[0090] In the present embodiment, the four walking assemblies are arranged at the front and rear ends on the two sides of the main frame 200, that is, the walking assemblies are dispersedly arranged, so as to balance the support of the main frame, the support effect of the main frame 200 is the best, and the stable movement of the battery replacement equipment is ensured.

[0091] Specifically, the walking assemblies of the present embodiment are arranged in the mounting slots 210 of the main frame 200. The front and rear ends of the main frame 200 of the battery replacement equipment in the moving direction thereof are respectively provided with mounting slots 210 having a transverse through hole, and the walking assemblies are arranged at the two ends of the mounting slots 210.

[0092] In other embodiments, at least one of the walking components on each side of the battery swapping device along the walking direction is configured as a grooved wheel (not shown in the figure), and the grooved wheel can engage with a preset guide rail 300 so that the battery swapping device can walk along the guide rail 300.

[0093] By having at least one grooved wheel cooperate with the guide rail 300, the battery swapping equipment can be fixed on the guide rail 300, which facilitates the guidance of the battery swapping equipment through the guide rail 300. The guidance effect is good, and the battery swapping equipment can be moved along a predetermined route to under the electric vehicle without complicated control. At the same time, the walking efficiency of the battery swapping equipment can be improved, thereby improving the battery swapping efficiency.

[0094] like Figure 2 , Figure 3 and Figure 12 As shown, the battery swapping equipment also includes a mounting frame 310, which is connected to the walking assembly and straddles the guide rail 300 and can move relative to the guide rail 300 so that the battery swapping equipment always moves along the guide rail 300.

[0095] Specifically, the battery swapping equipment achieves its cooperation with the guide rail 300 by setting multiple mounting brackets 310 that cooperate with the guide rail 300. The mounting brackets 310 are set on the guide rail and connected to the traveling wheels. Each traveling wheel corresponds to one mounting bracket 310, thereby ensuring that the travel is restricted to the guide rail 300.

[0096] In this embodiment, the mounting bracket 310 is used to enable the battery swapping equipment to move along the guide rail 300, preventing the battery swapping equipment from deviating to the left or right and ensuring that the battery swapping equipment can move along the extension direction of the guide rail 300.

[0097] In other embodiments, the mounting frame may not be provided, and the battery swapping equipment can be controlled to move along the guide rail 300 using guidance or other methods. Alternatively, other common structures can be used to fix the wheels of the battery swapping equipment to the guide rail.

[0098] like Figure 12 As shown, the mounting frame 310 includes multiple limiting portions 312 provided on both sides of the guide rail 300 along the extension direction of the guide rail 300 and mounting portions 311 connected to the walking assembly. The mounting portions 311 are straddling the guide rail 300 along the width direction of the guide rail 300 and are connected to the multiple limiting portions 312 on both sides of the guide rail 300. The limiting portions 312 are rotatably configured so that they can roll against the side wall of the guide rail 300 during the movement of the power swapping equipment along the guide rail 300.

[0099] Specifically, the limiting part 312 of the mounting bracket 310 is a roller that can roll along the extension direction of the guide rail 300, conforming to both sides of the guide rail 300. The mounting part 311 has a clamping structure as a whole and is clamped to both sides of the guide rail 300 by the limiting part 312.

[0100] In this embodiment, the mounting bracket 310 is mounted on the walking assembly via the mounting part 311 and connects the limiting parts 312 on both sides of the guide rail 300 to form a whole, thereby realizing the coordinated action of multiple limiting parts 312 on both sides of the guide rail 300. By locking the limiting parts 312 on both sides of the guide rail 300, the limiting parts 312 can roll against the side wall of the guide rail 300 to reduce friction. Compared with the grooved wheel limiting method, this structure can avoid jamming during movement and reduce wear.

[0101] In other embodiments, the limiting part 312 may also be a slider structure made of a low-friction material to achieve the limiting.

[0102] like Figure 12 As shown, the mounting part 311 includes a mounting plate 3111 located above the track and extension plates 3112 extending downward from both sides of the mounting plate 3111 to both sides of the guide rail 300. The extension plates 3112 are used to connect the limiting part 312. The mounting plate 3111 has a wheel receiving area for receiving the traveling wheels of the traveling assembly.

[0103] Specifically, the mounting part 311 forms a clamping structure through the mounting plate 3111 and the extension plate 3112. The mounting plate 3111 is located at the top of the guide rail 300 and has an L-shaped structure. One side of the mounting plate is connected to the walking component, and the other side is connected to the extension plate 3112. The mounting plate 3111 has a hollow structure so that the walking wheel (the second walking wheel 11 in the figure, but it can also be set on other walking wheels) can contact the upper surface of the guide rail 300 through the hollow structure. The extension plates 3112 on both sides extend below the sides of the guide rail 300. The limiting part 312 is installed vertically on the end of the extension plate 3112 and can rotate horizontally. Its rolling surface contacts the side of the guide rail 300.

[0104] In other embodiments, the mounting plate 3111 may also have a groove on one side, through which the wheel is assembled with the mounting plate 3111 and extends from the groove to the bottom of the mounting plate 3111 to contact the guide rail 300.

[0105] Mounting plate 3111 is used to connect extension plate 3112, which is used to mount limiting part 312, so that the entire mounting part 311 can be nested above guide rail 300 and its limiting part 312 can roll against the side wall of guide rail 300. Mounting plate 3111 also has a wheel receiving area, making the arrangement of mounting frame 310 and traveling wheels compact. This facilitates the traveling wheels to be in contact with guide rail 300 within the receiving area and to be restricted to traveling on guide rail 300, ensuring that the traveling mechanism's direction of travel relative to the ground is unique and preventing the power swapping equipment from veering off course. Furthermore, because the traveling wheels are located within the receiving area, the mounting plates around the receiving area also provide some protection for the traveling wheels.

[0106] like Figures 1 to 3As shown, one of the walking assemblies is a first walking assembly 20 rotatably connected with the main frame 200, and the remaining three are second walking assemblies 10 slidably connected with the main frame 200 in a direction perpendicular to the walking direction, and two of the second walking assemblies 10 are independently provided with driving devices 13 at the front end or the rear end of the main frame 200 along the walking direction.

[0107] Specifically, the first walking assembly 20 is arranged to be rotatably connected with the main frame 200, and the second walking assembly 10 is arranged to be slidably connected with the main frame 200, so that the battery replacement device can adjust the attitude of the main frame 200 relative to the walking direction while keeping the walking direction of the main frame 200 to align with the battery of the battery replacement vehicle. The battery replacement device has three second walking assemblies 10 and one first walking assembly 20, and along the walking direction of the battery replacement device, the first walking assembly 20 and one second walking assembly 10 are arranged side by side and spaced apart at the front end of the battery replacement device, and the other two second walking assemblies 10 are arranged side by side and spaced apart at the rear end of the battery replacement device. When the battery replacement device moves to the battery replacement position below the vehicle that needs to be replaced, the battery replacement device may not be aligned with the battery of the battery replacement vehicle, at which time the attitude of the battery replacement device can be adjusted to align. When adjusting the attitude, the first walking assembly 20 is arranged to be rotatably connected with the main frame 200, so that the main frame 200 can swing around the first walking assembly 20 under the action of the second walking assembly 10 being driven to slide, thereby achieving attitude adjustment.

[0108] The main frame 200 can rotate relative to the walking assembly, so that the attitude of the battery replacement device can be adjusted. When the parking of the electric vehicle has a certain deviation, the second walking assembly 10 can be driven to move, so that the main frame 200 and the second walking assembly 10 slide relative to each other and then rotate around the second walking assembly 10 as a fulcrum, thereby completing the attitude adjustment of the battery replacement device, and then the battery replacement device and the battery pack of the electric vehicle can be accurately aligned.

[0109] As shown, Figure 6 The first walking assembly 20 includes a first walking wheel 21, a first wheel frame 22, and a first rotary connecting piece 221, the rotation axis of the first walking wheel 21 is arranged in the first wheel frame 22, and the first wheel frame 22 is connected with the main frame 200 through the first rotary connecting piece 221 so that the first walking assembly 20 can rotate relative to the main frame 200.

[0110] Specifically, the first rotary connecting piece 221 is installed on the upper and lower sides of the first wheel frame 22 and includes a fixed part 1231 and a rotating part 1232, the fixed part 1231 and the rotating part 1232 are arranged to be able to bear radial force and axial force and are rotatably connected with each other, one of the fixed part 1231 and the rotating part 1232 is connected with the main frame 200, and the other is connected on the upper and lower sides of the first wheel frame 22.

[0111] Meanwhile, the first walking assembly 20 and the main frame 200 have a gap when assembled, specifically, the inner diameter of the mounting groove 210 is larger than the outer diameter of the first wheel carrier 22, so as to reserve space for the rotation of the first walking assembly 20.

[0112] Specifically, the first walking assembly 20 is arranged in the mounting groove 210 of the main frame 200, and has a gap 211 between the side walls at the front and rear ends of the mounting groove 210.

[0113] As shown in Figure 4 , Figure 5 The second walking assembly 10 includes a second walking wheel 11, a second wheel carrier 12 and a sliding connecting piece 122, the rotation axis of the second walking wheel 11 is arranged in the second wheel carrier 12, and the second wheel carrier 12 is connected to the main frame 200 through the sliding connecting piece 122 so that the second walking assembly 10 can slide relative to the main frame 200.

[0114] The first wheel carrier 22 is arranged to facilitate the installation of the first walking wheel 21, and also facilitates the installation of the first rotating connecting piece 221, so that the overall structure is simple and easy to install; the second wheel carrier 12 is arranged to facilitate the installation of the second walking wheel 11, and also facilitates the installation of the sliding connecting piece 122, so that the overall structure is simple and easy to install.

[0115] The second walking assembly 10 further includes a connecting carrier 1221 arranged outside the wheel carrier, the wheel carrier is connected to the connecting carrier 1221 through the sliding connecting piece 122, and the connecting carrier 1221 is connected to the main frame 200 through the second rotating connecting piece 123 so that the second walking assembly 10 can slide and rotate relative to the main frame 200.

[0116] The second wheel carrier 12 further has a connecting carrier 1221 outside, the connecting carrier 1221 is used for sliding the second wheel carrier 12 therein, and the connecting carrier 1221 is connected to the main frame 200 through the second rotating connecting piece 123 to realize the sliding and rotation of the main frame 200 relative to the second walking assembly 10. The arrangement of the connecting carrier 1221 makes the installation of the rotating and sliding related components more simple, and the sliding and rotation can be independently moved without interfering with each other.

[0117] Specifically, the second walking assembly 10 is connected with the sliding connecting piece 122 through the connecting frame 1221, the sliding connecting piece 122 is connected with the connecting frame 1221 through the sliding rail 1222 and the sliding block 1223, the second wheel frame 12 is arranged in the connecting frame 1221, the sliding rail 1222 is arranged on the connecting frame 1221, and the sliding block 1223 is fixed on the second wheel frame 12 and matched with the sliding rail 1222, so that the second wheel frame 12 can slide along the sliding rail 1222 through the sliding block 1223. In another embodiment, the installation positions of the sliding rail 1222 and the sliding block 1223 can be interchanged, the sliding rail 1222 is arranged on the second wheel frame 12, and the corresponding sliding block 1223 is arranged on the connecting frame 1221, and the sliding function can also be realized.

[0118] As shown in Figure 8 , Figure 9 , the sliding block 1223 of the embodiment is clamped on the upper and lower sides of the sliding rail 1222 to realize cooperation, the upper and lower sides of the sliding rail 1222 are each provided with a groove, and the sliding block 1223 is provided with a corresponding protrusion to realize cooperation, so that the assembly effect is better.

[0119] The connecting frame 1221 at least includes two first side walls oppositely arranged along the walking direction, and the side of the two first side walls facing the second wheel frame 12 is provided with the sliding rail 1222 or the sliding block 1223 at the same height position to cooperate with the corresponding sliding rail 1222 or sliding block 1223 on the second wheel frame 12 to realize sliding.

[0120] The sliding rail 1222 and the sliding block 1223 of the embodiment are arranged on the first side walls on the left and right sides of the connecting frame 1221 and the second wheel frame 12.

[0121] In the embodiment, the sliding rail 1222 and the sliding block 1223 are arranged on the two sides of the connecting frame 1221 along the walking direction, which has better stability compared with the arrangement on the upper and lower sides of the connecting frame 1221, and can avoid eccentric force and affect the reliability of sliding. The height positions of the two sliding rails 1222 and the two sliding blocks 1223 are the same, so that the forces on the two sides are uniform during sliding, which is beneficial to further improve the stability during sliding.

[0122] In other embodiments, the installation positions of the sliding rail 1222 and the sliding block 1223 can be interchanged, as long as the relative sliding of the two can be ensured.

[0123] As shown in Figure 10 , Figure 11 , the second walking assembly 10 further includes a second rotating connecting piece 123, the structure of the second rotating connecting piece 123 is basically the same as that of the first rotating connecting piece 221, and the second rotating connecting piece 123 also includes a fixed part 1231 and a rotating part 1232. The second rotating connecting piece 123 is connected with the connecting frame 1221 to realize the connection between the second walking assembly 10 and the main frame 200.

[0124] In this embodiment, the second rotating connector 123 also serves to install the second traveling assembly 10 onto the main frame 200200. Specifically, the second rotating connector 123 is installed in the mounting groove 210 between the connecting frame 1221 and the main frame 200.

[0125] By setting the second rotating connector 123, the second traveling assembly 10 can have a degree of freedom to slide in a specific direction, as well as a degree of freedom to rotate at a certain angle in the horizontal plane. This makes the second traveling assembly 10 more flexible. When the position of the battery swapping equipment needs to be adjusted, the main frame 200 can be rotated relative to the guide rail 300 by extending, retracting and rotating the second traveling assembly 10. This allows the battery swapping equipment body to rotate and twist relative to the traveling wheels of the second traveling assembly 10 within a certain range, thereby better adjusting its position. This makes it easier to dock, lock and unlock the battery swapping equipment with the battery swapping vehicle, and makes it easier to pick up and put down the battery, thus improving battery swapping efficiency.

[0126] like Figure 7 , 10 As shown, the connecting frame 1221 also includes second sidewalls located above and below the second wheel frame 12, and each of the two second sidewalls is connected to the main frame 200 via a second rotating connector 123.

[0127] The slide rail 1222 and the slider 1223 are both located on the left and right sides of the connecting frame 1221, while the second rotating connecting piece 123 is located on the upper and lower sides.

[0128] In this embodiment, the rotating connectors are located on the upper and lower sides, placing the second wheel frame 12 in the middle area of ​​the connecting frame 1221. This avoids interference between the sliding-related structures of the sliding connector 122 and the related structures of the rotating connector, reducing assembly difficulty and structural complexity, and increasing durability. Simultaneously, the fact that the walking component mounting mechanism can slide relative to itself and rotate relative to the main frame 200 allows for a larger range of rotation of the main frame 200 relative to the walking wheels within the walking component mounting mechanism. This improves the rotational range of the battery swapping equipment, enabling it to accommodate large-angle deflections when electric vehicles are parked.

[0129] One of the fixing part 1231 and the rotating part 1232 of the second rotating connector 123 are connected to the upper wall of the mounting groove 210 of the main frame 200, and the other is connected to the second side wall.

[0130] The second side wall of the connecting frame 1221 is provided with a fixing part 1231 and a rotating part 1232. The fixing part 1231 is provided on the main frame 200, and the rotating part 1232 is provided on the connecting frame 1221. The two are axially connected.

[0131] In other embodiments, the fixed part 1231 and the rotating part 1232 can be arranged on the second side wall only and connected on one side, and the connection can also adopt other conventional structures that can rotate in a plane.

[0132] Meanwhile, the second walking assembly 10 of the present embodiment has a gap with the main frame 200 during assembly, specifically, the inner diameter of the mounting groove 210 is larger than the inner diameter of the second walking assembly 10, so as to reserve space for the first walking assembly 20 to rotate.

[0133] Specifically, the first walking assembly 20 is arranged in the mounting groove 210 of the main frame 200, and has a gap 211 between the side walls at the front and rear ends of the mounting groove 210.

[0134] The second rotating connecting piece 123 is connected by the fixed part 1231 and the rotating part 1232 arranged on the connecting frame 1221 and the main frame 200 respectively, which realizes the connection of the second rotating connecting piece 123 with the main frame 200 and also realizes the rotation of the second rotating connecting piece 123 relative to the main frame 200.

[0135] The posture adjustment of the main frame 200 in the present embodiment is realized by the second walking assembly 10 and the first walking assembly 20. During posture adjustment, the second walking assembly 10 at the rear end of the battery replacement device is driven to move a small distance, so that the second walking assembly 10 slides and rotates relative to the main frame 200, and the rear end of the battery replacement device swings, and the battery replacement device rotates around the first walking assembly 20 as a fulcrum to align with the battery replacement vehicle.

[0136] In the present embodiment, the two second walking assemblies 10 at the rear end of the battery replacement device are each provided with a driving device 13. One of the driving devices 13 drives the first walking wheel 21 of the corresponding second walking assembly 10 to move a predetermined distance, so that the first walking wheel 21 slides between the walking assembly mounting mechanism, and the battery replacement device rotates around the corresponding second walking wheel 11 of the first walking assembly 20 as a center by a certain angle, so that the battery replacement device aligns with the battery replacement vehicle. In another embodiment, the first walking wheels 21 of the two second walking assemblies 10 at the rear end of the battery replacement device rotate in the same direction or opposite directions at different speeds under the driving of the corresponding driving devices 13, causing the force direction and movement direction of different second walking assemblies 10 to be different, and each second walking assembly 10 generates corresponding sliding relative to the main frame 200 under the action of the above-mentioned force and movement, and then realizes the rotation of the battery replacement device around the corresponding second walking wheel 11 of the first walking assembly 20 as a center.

[0137] In another embodiment, each second walking assembly 10 is provided with an independent driving device 13. In other embodiments, the driving device 13 can also be arranged on one second walking assembly 10 (for example,Figure 4 As shown, some of the second walking assemblies 10 are provided with the driving device 13 (as shown), while others are not provided with the driving device 13 (as shown). In this case, the posture adjustment can still be achieved by driving the first walking wheels 21 of only one second walking assembly 10 corresponding to the rotation function of the first walking assembly 20. That is, at least one driving device 13 can achieve the basic function of the present solution. Figure 5

[0138] In addition, the posture adjustment can be achieved by driving the different walking wheels at different rotation speeds (i.e., differential speed) or by driving the different walking wheels in different directions.

[0139] The sliding connection 122 is provided with a first stopper having a locking position and an unlocking position for locking or unlocking the relative sliding state between the second walking assemblies 10 of the main frame 200.

[0140] By means of the first stopper, the sliding connection 122 of the second walking assembly 10 can be locked when the battery replacement device is moving, so that it cannot slide, and the battery replacement device can move more stably without shaking due to the sliding of the second walking assembly 10. When the posture of the battery replacement device needs to be adjusted to be aligned with the electric vehicle, the second walking assembly 10 is unlocked so that it can slide relatively, so that the battery replacement device can be twisted relatively to be aligned with the battery replacement vehicle for easy disassembly and assembly of the battery.

[0141] Specifically, the first stopper is arranged on the sliding connection 122 and has a locking state and an unlocking state. When the first stopper is in the locking state, the relative movement of the sliding connection 122 can be limited, so that the second walking assembly 10 is fixed relative to the main frame 200 when the walking wheels are driven, so that the main frame 200 keeps the posture relative to the walking direction and walks. When the first stopper is in the unlocking state, the sliding connection 122 can move relatively, so that the second walking assembly 10 can slide relative to the main frame 200 when the walking wheels are driven, so that the main frame 200 adjusts the posture relative to the walking direction. As mentioned above, when the posture of the battery replacement device needs to be adjusted, the posture adjustment can be achieved by differential driving between the walking wheels. When the battery replacement device moves normally without posture adjustment, the walking wheels are driven at the same speed to move, and at the same time, the sliding connection 122 can be locked by the first stopper when the battery replacement device moves normally, so as to avoid unnecessary movement of the walking wheels.

[0142] By means of the first stopper, the sliding connection 122 of the second walking assembly 10 can be locked when the battery replacement device is moving, so that it cannot slide, and the battery replacement device can move more stably without shaking due to the sliding of the sliding connection 122. When the posture of the battery replacement device needs to be adjusted to be aligned with the electric vehicle, the sliding connection 122 is unlocked so that it can slide relatively, so that the battery replacement device can be twisted relatively to be aligned with the battery replacement vehicle for easy disassembly and assembly of the battery.​

[0143] The first stopper comprises a retractable stopper rod, which extends from an original position and presses against the slide rail 1222 to limit the relative movement between the slide rail 1222 and the sliding block 1223 when the first stopper is in the locked state; and the stopper rod retracts to the original position when the first stopper is in the unlocked state.

[0144] The first stopper is arranged on the second wheel carrier 12 and fixed to the second wheel carrier 12, and comprises a retractable stopper rod. When in the locked state, the stopper rod extends and contacts and exerts pressure on the slide rail 1222, thereby fixing the first stopper and the second wheel carrier 12 to the slide rail 1222 by friction to prevent sliding.

[0145] The stopper rod adopts a retractable mechanism to switch between the locked and unlocked states. When locked, the stopper rod extends and presses against the slide rail 1222 to prevent the sliding connector 122 from sliding relative to the slide rail 1222 by friction.

[0146] The stopper rod extends in a direction towards the side surface of the slide rail 1222, and the end of the stopper rod is shaped to match the shape of the side surface of the slide rail 1222 (see Figure 8 There are two stopper rods, which are arranged on the upper and lower side surfaces of the slide rail 1222, respectively.

[0147] In this embodiment, the two stopper rods are arranged oppositely and can clamp the slide rail 1222 when stopped, thereby increasing the friction and improving the stopping effect. At the same time, the end of the stopper rod is shaped to match the shape of the side surface of the slide rail 1222, thereby improving the cooperation between the stopper rod and the slide rail 1222 and further improving the stopping effect.

[0148] In other embodiments, the first stopper can also comprise a retractable stopper pin, and a pin hole corresponding to the stopper pin is formed in the slide rail 1222. When the first stopper is in the locked state, the stopper pin extends from an original position and extends into the pin hole to lock and limit the relative movement between the slide rail 1222 and the sliding block 1223; and when the first stopper is in the unlocked state, the stopper pin retracts to the original position.

[0149] The first stopper adopts the pin hole structure, thereby improving the reliability of the first stopper in limiting the sliding and the stopping effect.

[0150] The embodiment also provides a battery swap station, which comprises the battery swap device.

[0151] At least four walking assemblies are arranged on the battery replacing device, effectively dispersing the load of the battery replacing device and the battery pack, that is, the battery replacing device is supported by multiple points, so that the battery replacing device is more stable as a whole, has good balance during walking, and has high reliability; secondly, at least one walking assembly is independently provided with a driving device, that is, the driving device and the walking assembly have a one-to-one correspondence relationship, the driving device can directly drive the walking assembly, without the need for additional intermediate mechanisms, so that the walking part has a simple structure and occupies less space, so that the battery replacing device can be more compact, the space of the battery replacing station is larger, and the setting requirement is lower.

[0152] In another embodiment, as shown in Figures 13-16 The second walking wheel 11 and the first walking wheel 21 are both groove wheels, which can be clamped with the guide rail 300, so that the second walking wheel 11 and the first walking wheel 21 walk along the guide rail 300.

[0153] By arranging the groove wheel and the guide rail 300, the moving track of the battery replacing device can be more accurate, and at the same time, the position of the battery replacing device will not be offset when the posture is adjusted.

[0154] In another embodiment, the battery replacing device further comprises a second stop assembly 30, as shown in Figures 14-17 The second stop assembly 30 is arranged between the main frame 200 and the connecting frame 1221 and has a locked state and an unlocked state, and is used to lock or unlock the relative rotation state between the main frame 200 and the walking assembly mounting mechanism.

[0155] Specifically, the second stop assembly 30 is mounted on the side wall of the walking assembly mounting mechanism in the mounting groove 210 of the main frame 200, and the rotation and fixation of the walking assembly mounting mechanism in the horizontal plane are realized by switching the state.

[0156] The walking assembly mounting mechanism can lock the rotating assembly when the battery replacing device moves through the second stop assembly 30, so that the connecting frame 1221 cannot rotate relative to the main frame 200, so that the battery replacing device is more stable when moving and will not shake due to the rotating assembly. When the battery replacing device needs to adjust the posture and align with the electric vehicle, the rotating assembly is unlocked so that it can rotate relatively, so that the battery replacing device can be twisted relatively to align with the battery replacing vehicle for easy disassembly and assembly of the battery.

[0157] As shown in Figures 14-17 The second stop assembly 30 includes an extendable wedge block 31, when the second stop assembly 30 is in the locked state, the wedge block 31 extends from the original position into the gap 211 to limit the relative rotation of the connecting frame 1221 and the main frame 200; when the second stop assembly 30 is in the unlocked state, the wedge block 31 is retracted to the original position to release the gap 211.

[0158] Specifically, the second stop assembly 30 has two, respectively installed on the side wall of the installation slot 210 along the front and rear ends of the walking direction, and the narrower end of the wedge block 31 is aligned with the gap 211 between the installation slot 210 and the connecting frame 1221. The rear end of the second stop assembly 30 is a cylinder, which can eject the wedge block 31 by the cylinder, embed it into the gap 211 and clamp it, so that the front and rear sections of the connecting frame 1221 lose the degree of freedom, the connecting frame 1221 and the installation slot 210 of the main frame 200 are relatively fixed and cannot rotate, and the cylinder can also retract the wedge block 31, so that it is withdrawn to the initial position, release the gap 211, and enable the connecting frame 1221 to rotate.

[0159] The gap 211 exists between the connecting frame 1221 and the main frame 200, which can make it have the freedom of rotation, and the second stop assembly 30 is arranged at the two positions, using a retractable wedge block 31, the narrower end of which is directed to the gap 211 between the connecting frame 1221 and the main frame 200, in the locked state, the wedge block 31 is extended and clamped into the gap 211 between the connecting frame 1221 and the main frame 200, so that the connecting frame 1221 and the main frame 200 have no rotational freedom and cannot rotate, while in the unlocked state, the wedge block 31 is retracted to the original position, releasing the gap 211, and the rotating assembly can rotate.

[0160] As shown in Figure 15 , the first walking assembly 20 also includes a second stop assembly 30 of the same structure, which can prevent the first walking assembly 20 from rotating when the battery replacement device is normally running. The first walking assembly 20 does not include the connecting frame 1221, so the second stop assembly 30 cooperates with the first wheel frame 22, and in the locked state, it is clamped in the gap between the side wall of the installation slot 210 and the first wheel frame 22.

[0161] Although the specific embodiments of the present application are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present application is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present application, and such changes and modifications all fall within the protection scope of the present application.

Claims

1. A battery replacement device, characterized by, The battery replacing device comprises at least four walking assemblies for driving the battery replacing device to move along a preset walking direction, and the walking assemblies are respectively located at the front and rear ends of the walking direction, wherein at least one of the walking assemblies is independently connected with a driving device; The battery replacing device comprises a main frame and four walking assemblies, and along the walking direction of the battery replacing device, two walking assemblies are arranged at the left and right sides of the main frame, respectively. One of the walking assemblies is a first walking assembly rotatably connected with the main frame, and the other three are second walking assemblies slidably connected with the main frame along a direction perpendicular to the walking direction, and along the walking direction, two second walking assemblies located at the front end or the rear end of the main frame are each independently provided with the driving device. The front and rear ends of the main frame of the battery replacing device in the moving direction are respectively provided with mounting grooves, and the walking assemblies are arranged at the two ends of the mounting grooves.

2. The battery replacement device according to claim 1, wherein Along the walking direction, at least one of the walking assemblies located at the left and right sides of the battery replacing device is independently connected with the driving device, and the walking assemblies independently connected with the driving device are located at the same end of the battery replacing device in the front-rear direction. 3.The battery replacing device according to claim 1, wherein Along the walking direction, at least one of the walking wheels of the walking assemblies located at the two sides of the battery replacing device is provided as a groove wheel, and the groove wheel can be clamped with a preset guide rail to enable the battery replacing device to walk along the guide rail. 4.The battery replacing device according to claim 1, wherein The battery replacing device further comprises a mounting rack connected with the walking assemblies and arranged on the guide rail to move relative to the guide rail, so that the battery replacing device always walks along the guide rail.

5. The battery replacement device according to claim 4, wherein The mounting rack comprises a plurality of limiting parts arranged on the two sides of the guide rail along the extension direction of the guide rail and a mounting part connected with the walking assemblies, the mounting part is arranged on the guide rail along the width direction of the guide rail and connected with the plurality of limiting parts on the two sides of the guide rail, and the limiting parts are rotatably arranged to enable the battery replacing device to roll along the side wall of the guide rail during walking along the guide rail.

6. The battery replacement device according to claim 5, wherein The mounting part comprises a mounting plate located above the guide rail and an extension plate extending downward from the two sides of the mounting plate to the two sides of the guide rail, the extension plate is used for connecting the limiting parts, and the mounting plate has a wheel accommodating area for accommodating the walking wheels of the walking assemblies.

7. The battery replacement device according to claim 1, wherein The first walking assembly comprises a first walking wheel, a first wheel frame and a first rotating connecting piece, the rotating shaft of the first walking wheel is arranged in the first wheel frame, the first wheel frame is connected with the main frame through the first rotating connecting piece to enable the first walking assembly to rotate relative to the main frame; and / or the second walking assembly comprises a second walking wheel, a second wheel frame and a sliding connecting piece, the rotating shaft of the second walking wheel is arranged in the second wheel frame, and the second wheel frame is connected with the main frame through the sliding connecting piece to enable the second walking assembly to slide relative to the main frame. 8.The battery replacing device according to claim 7, wherein The second walking assembly further comprises a connecting frame sleeved outside the second wheel frame, the second wheel frame is connected with the connecting frame through the sliding connecting piece, and the connecting frame is connected with the main frame through a second rotating connecting piece, so that the second walking assembly can slide and rotate relative to the main frame. 9.The battery replacing device according to claim 7, wherein The sliding connecting piece is provided with a first stopper, the first stopper has a locking position and an unlocking position, and is respectively used for locking or unlocking the relative sliding state between the main frame and the second walking assembly. 10.The battery replacing device according to claim 8, wherein The battery replacement equipment is provided with a second stopper assembly, the second stopper assembly is arranged between the main frame and the connecting frame and has a locking state and an unlocking state, and is respectively used for locking or unlocking the relative rotating state between the main frame and the second walking assembly. And / or The second stopper assembly is arranged between the main frame and the first wheel frame and has a locking state and an unlocking state, and is respectively used for locking or unlocking the relative rotating state between the main frame and the first walking assembly.

11. A battery swap station, characterized by, The battery replacement station comprises the battery replacement equipment according to any one of claims 1 to 10.

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