Battery swapping device and battery swapping vehicle

Abstract

The application relates to the technical field of battery replacing equipment, and provides a battery replacing device and a battery replacing vehicle. The battery replacing device comprises a sling platform, a grabbing device and a guiding device. The grabbing device is connected with the sling platform through a lifting mechanism and is used for grabbing a battery. The guiding device comprises at least four guide rods which are arranged around the outside of the grabbing device. The guide rods are connected with the sling platform, and the grabbing device is slidingly connected with the guide rods. The grabbing device can be lifted along the guide rods to drive the battery to be lifted, and the length of the guide rods is adjustable. The guiding device plays a guiding and limiting role in the lifting of the grabbing device, so that the shaking amount of the battery when the battery replacing vehicle replaces the battery of the engineering machinery can be effectively reduced, and the knocking and mispositioning of the battery are avoided. Moreover, the length of the guide rods is adjustable, the guiding stroke can be increased, and the battery replacing device can be adapted to batteries with different heights.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of battery replacement equipment, and in particular to a battery replacement device and a battery replacement vehicle. BACKGROUND

[0002] The working condition of engineering machinery is generally poor, the road condition is uneven, and the engineering machinery is equipped with more batteries with small intervals. When the battery replacement vehicle and the engineering machinery have an inclination angle, and the battery weight is large, the difficulty of battery replacement increases accordingly. The grabbing device may shake when taking and placing the battery, and knocking may occur, thereby causing damage to the battery. SUMMARY

[0003] The present application provides a battery replacement device and a battery replacement vehicle to solve the defects in the prior art that the battery inclination angle is irregular, the battery weight is large, the grabbing device may shake when taking and placing the battery, and knocking may occur, thereby causing damage to the battery.

[0004] The present application provides a battery replacement device, comprising:

[0005] A lifting tool platform;

[0006] A grabbing device connected to the lifting tool platform through a lifting mechanism, the grabbing device being used to grab a battery;

[0007] A guide device comprising at least four guide rods arranged around the outside of the grabbing device, the guide rods being connected to the lifting tool platform, the grabbing device being slidingly connected to the guide rods, the grabbing device being capable of being lifted along the guide rods to lift the battery, and the length of the guide rods being adjustable.

[0008] According to the battery replacement device provided by the present application, the lifting mechanism comprises:

[0009] Four groups of winch mechanisms for driving the grabbing device to lift, each group of winch mechanisms comprising a steel wire rope, and the steel wire ropes of the four groups of winch mechanisms being respectively connected to four side portions of the grabbing device.

[0010] According to the battery replacement device provided by the present application, the guide rod comprises:

[0011] A fixed rod connected to the lifting tool platform;

[0012] A folding rod rotationally connected to the fixed rod;

[0013] A driving member for driving the folding rod to rotate between a first position and a second position, so as to unfold or fold the folding rod.

[0014] According to the battery replacement device provided by the present application, the guide rod comprises:

[0015] The first guide rod;

[0016] The second guide rod is in sliding connection with the first guide rod;

[0017] The driving member is used for driving the second guide rod to stretch or retract along the length direction of the first guide rod.

[0018] According to the application, the four sides of the grabbing device are provided with at least one guide wheel, the guide rod is provided with a guide rail, and each guide rail is matched with each guide wheel.

[0019] According to the application, the folding rod is rotationally connected with the fixed rod through a rocker assembly, the driving member is connected with the rocker assembly, and the rocker assembly comprises:

[0020] The first end of the first rocker is rotationally connected with the fixed rod;

[0021] The first end of the second rocker is rotationally connected with the folding rod, and the second end of the second rocker is fixedly connected with the second end of the first rocker;

[0022] The first rocker and the second rocker are arranged at an angle.

[0023] According to the application, the guide rod further comprises:

[0024] The first end of the first connecting rod is rotationally connected with the second end of the first rocker and the second end of the second rocker, and the second end of the first connecting rod is rotationally connected with the driving member;

[0025] The first end of the second connecting rod is connected with the fixed rod, and the second end of the second connecting rod is rotationally connected with the driving member.

[0026] According to the application, the driving member is a telescopic driving member, one end of the telescopic driving member is rotationally connected with the fixed rod, and the other end of the telescopic driving member is used for rotationally connecting with the folding rod.

[0027] According to the application, the application further comprises:

[0028] The battery posture detection device is used for detecting the posture of the battery;

[0029] The control module is in communication connection with the battery posture detection device and the hoisting mechanism, and is used for controlling each hoisting mechanism to adjust the winding and unwinding amount of the steel wire rope according to the detection signal of the battery posture detection device.

[0030] The application further provides a battery replacement vehicle comprising the battery replacement device according to any one of the preceding aspects.

[0031] The application provides a battery replacement device and a battery replacement vehicle. The battery replacement device comprises a sling platform, a grabbing device and a guide device. The grabbing device is used to grab a battery. The grabbing device is connected to the sling platform through a lifting mechanism, so that the grabbing device can lift the battery. The guide device comprises at least four guide rods. The guide rods are connected to the sling platform and are arranged around the outside of the grabbing device to form a grabbing space. The grabbing device is located in the grabbing space and is slidably connected to the guide rods, so that the grabbing device can be lifted along the guide rods, thereby lifting the battery in the grabbing space. The length of the guide rods is adjustable, which can increase the guide stroke, so that the battery replacement device can be adapted to batteries of different heights.

[0032] In this way, the guide device can guide and limit the lifting of the grabbing device, which can effectively reduce the shaking of the battery when the battery replacement vehicle replaces the battery of the engineering machinery, thereby avoiding the knocking and mispositioning of the battery. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort.

[0034] Figure 1 is one of the schematic diagrams of the battery replacement device provided by the application when grabbing a battery;

[0035] Figure 2 is the second schematic diagram of the battery replacement device provided by the application when grabbing a battery;

[0036] Figure 3 is the third schematic diagram of the battery replacement device provided by the application when grabbing a battery (battery is retracted, and the guide rod is folded);

[0037] Figure 4 is a structural schematic diagram of the battery replacement device provided by the application (the guide rod is unfolded);

[0038] Figure 5 is a schematic diagram of the guide rod when unfolded;

[0039] Figure 6 is a schematic diagram of the folding rod of the guide rod when rotated to the first state;

[0040] Figure 7 is a schematic diagram of the folding rod of the guide rod when rotated to the second state;

[0041] Figure 8 This is a schematic diagram of the guide rod provided by the present invention when it is fully folded;

[0042] Figure 9 This is a schematic diagram of the battery swapping vehicle provided by the present invention used for swapping batteries for engineering machinery.

[0043] Figure label:

[0044] 1. Battery swapping device; 2. Horizontal guide rail; 3. Slide block;

[0045] 4. Rotary boom; 5. Battery; 11. Lifting platform;

[0046] 12. Gripping device; 13. Guide rod; 14. Drum;

[0047] 15. Guide wheel; 16. Circular fixing rod; 131. Fixing rod;

[0048] 132. Folding rod; 133. Drive component; 134. First rocker arm;

[0049] 135. Second joystick; 136. First link; 137. Second link. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0051] The following is combined Figures 1 to 9 The present invention describes the battery swapping device 1 and the battery swapping vehicle.

[0052] like Figures 1-4 As shown, the present invention provides a battery swapping device 1, which may include a lifting platform 11, a gripping device 12 and a guiding device.

[0053] The gripping device 12 can be used to grip the battery 5, and the gripping device 12 can be connected to the lifting platform 11 through the lifting mechanism so that the gripping device 12 can drive the battery 5 to rise and fall.

[0054] The guide device can be connected with the hoist platform 11, and in particular, the guide device can be fixedly connected with the hoist platform 11; the guide device can enclose a grabbing space, the grabbing device 12 can be located in the grabbing space, and the grabbing device 12 can be slidably connected with the guide device, so that the grabbing device 12 can be lifted along the guide device, thereby driving the battery 5 to be lifted in the grabbing space.

[0055] Here, the size of the grabbing space is greater than the size of the battery 5.

[0056] In this way, the guide device plays a guiding and limiting role in the lifting of the grabbing device 12, which can effectively reduce the shaking amount of the battery 5 when the battery swap vehicle swaps the battery for the engineering machinery, and further avoid the knocking and mispositioning of the battery 5.

[0057] In an optional embodiment of the present application, the guide device can include at least four guide rods 13, which are arranged around the outside of the grabbing device 12 to enclose the grabbing space.

[0058] Among them, the top end of the guide rod 13 can be connected with the hoist platform 11, and the grabbing device 12 can be slidably connected with the guide rod 13, so that the grabbing device 12 can be lifted along the guide rod 13, which can effectively alleviate the shaking of the grabbing device 12 and the battery 5 when the grabbing device 12 grabs the battery 5, thereby avoiding the knocking of the battery 5 with other objects, and enabling the battery 5 to be smoothly taken and placed.

[0059] In addition, the length of the guide rod 13 is adjustable, which can increase the guiding stroke, so that the battery swap device 1 can be adapted to batteries of different heights, thereby reducing the probability of shaking of the grabbing device during the lifting process or the transfer process after grabbing the battery 5.

[0060] In an optional embodiment, the guide device can include eight guide rods 13, which can be distributed two by two on the four sides of the grabbing device 12, so that the eight guide rods 13 limit the four sides of the grabbing device 12, respectively. In this way, the shaking of the grabbing device 12 when grabbing the battery 5 can be further avoided.

[0061] It should be noted that the grabbing device 12 can have a square structure.

[0062] In an optional embodiment, at least one guide wheel 15 can be arranged on each of the four sides of the grabbing device 12, and guide rails can be arranged on the guide rods 13, each guide rail can be matched with each guide wheel 15 one by one, so as to realize the sliding connection between the grabbing device 12 and the guide rods 13.

[0063] In the embodiment, two guide wheels 15 can be arranged on each of the four sides of the grabbing device 12, and eight guide rods 13 can be arranged with guide rails, each guide rail corresponding to each guide wheel 15. In this way, the stability of the grabbing device 12 during the grabbing of the battery 5 can be further improved, thereby facilitating the improvement of the stability of the battery 5 during movement.

[0064] In other embodiments, a sliding block can be arranged on each of the four sides of the grabbing device 12, and a guide rod 13 can be arranged with a sliding groove, each sliding groove can be matched with each sliding block, and the sliding block is located in the sliding groove and can slide along the sliding groove.

[0065] In an optional embodiment of the present application, the guide rod 13 can include a fixed rod 131, a folding rod 132, and a driving member 133, the fixed rod 131 can be connected with the spreader platform 11, the folding rod 132 can be rotationally connected with the fixed rod 131, and the driving member 133 can be used to drive the folding rod 132 to rotate between a first position and a second position, so as to unfold or fold the folding rod 132.

[0066] When the folding rod 132 is located at the first position, the folding rod 132 can be located on the extension line of the fixed rod 131, and the folding rod 132 can be opposite to the fixed rod 131, at this time, the folding rod 132 is in an unfolded state. In this way, the length of the guide rod 13 can be increased to increase the guide stroke of the guide device, so that the grabbing device 12 can grab batteries 5 of different heights.

[0067] When the folding rod 132 is located at the second position, the folding rod 132 can be folded to the side of the fixed rod 131. In this way, the guide rod 13 can be folded when the battery replacing device 1 is in a non-replacing state, so as to save longitudinal space and facilitate the storage of the battery replacing device 1 on the vehicle body of the battery replacing vehicle; or when the rotating arm 4 of the battery replacing vehicle is rotating, the guide rod 13 is folded to avoid collision between the guide rod 13 and other objects on the vehicle body, so as to facilitate the placement of the replaced battery 5 on the vehicle body of the battery replacing vehicle or the grabbing of a new battery 5 on the battery replacing vehicle.

[0068] In an optional embodiment, the guide rail can include a first guide rail and a second guide rail, the first guide rail can be arranged on the fixed rod 131, and the first guide rail can be arranged along the length direction of the fixed rod 131; the second guide rail can be arranged on the folding rod 132, and the second guide rail can be arranged along the length direction of the folding rod 132.

[0069] Here, when the folding rod 132 is in the first position, the first guide rail and the second guide rail can be opposite.

[0070] In an optional embodiment, the driving member 133 can be a telescopic driving member, one end of the telescopic driving member can be rotatably connected with the fixed rod 131, and the other end of the telescopic driving member can be used to be rotatably connected with the folding rod 132. In this way, the telescopic driving member can be used to drive the folding rod 132 to rotate, so as to realize the unfolding or folding of the folding rod 132.

[0071] In the embodiment, the telescopic driving member can be an oil cylinder, a gas cylinder or an electric cylinder, or other devices or equipment capable of realizing telescopic extension.

[0072] In an optional embodiment of the present application, the folding rod 132 can be rotatably connected with the fixed rod 131 through a rocker assembly, and the driving member 133 can be connected with the rocker assembly, that is, the driving member 133 can drive the folding rod 132 to rotate by driving the rotation of the rocker assembly, so as to realize the unfolding or folding of the folding rod 132.

[0073] In an optional embodiment, the rocker assembly can include a first rocker 134 and a second rocker 135, a first end of the first rocker 134 can be rotatably connected with the fixed rod 131, a first end of the second rocker 135 can be rotatably connected with the folding rod 132, and a second end of the second rocker 135 can be fixedly connected with the first end of the first rocker 134; and the first rocker 134 and the second rocker 135 can be arranged at an angle. In this way, the driving member 133 can be used to drive the folding rod 132 to rotate.

[0074] In the embodiment, the included angle between the first rocker 134 and the second rocker 135 can be 90 degrees, the first end of the first rocker 134 can be connected to the side of the fixed rod 131 through a connecting lug, and the first rocker 134 can be parallel to the length direction of the folding rod 132, and the second rocker 135 can be perpendicular to the length direction of the folding rod 132. In this way, on the one hand, the driving member 133 can be used to drive the folding rod 132 to rotate; on the other hand, when the folding rod 132 is folded to the second position, the folding rod 132 can be parallel to the fixed rod 131, which is beneficial to reduce the occupied space of the guide rod 13 and facilitate storage.

[0075] Here, the first rocker 134 and the second rocker 135 can be of an integrated structure, which is beneficial to reduce the connection structure and improve the stability of the connection between the folding rod 132 and the fixed rod 131.

[0076] In an optional embodiment, the folding rod 132 can be rotatably connected with the fixed rod 131 through two groups of rocker assemblies, and the two groups of rocker assemblies can be located on both sides of the guide rod 13. In this way, the stability of the connection between the folding rod 132 and the fixed rod 131 can be improved.

[0077] In an optional embodiment, the first rocker arm 134 can be connected to the side of the fixed rod 131 away from the gripping space, and the second rocker arm 135 can be connected to the side of the folding rod 132 away from the gripping space. This allows the folding rod 132 to rotate away from the gripping space, and even if the folding rod 132 can rotate outside the gripping space, its rotation will not be restricted by the gripping device 12, the battery 5, or the adjacent guide rod 13.

[0078] In an optional embodiment, the guide rod 13 may further include a first link 136 and a second link 137.

[0079] The first end of the first connecting rod 136 can be rotatably connected to the second end of the first rocker arm 134 and the second end of the second rocker arm 135, and the second end of the first connecting rod 136 can be rotatably connected to the driving member 133. In this way, the driving member 133 can drive the first rocker arm 134 and the second rocker arm 135 to rotate through the first connecting rod 136, thereby driving the folding rod 132 to rotate, which is beneficial for power transmission and facilitates driving the folding rod 132 to rotate.

[0080] The first end of the second link 137 can be connected to the fixed rod 131, and the second end of the second link 137 can be rotatably connected to the driving member 133. In this way, the second link 137 can limit the movement of the driving member 133, so that the driving member 133 can drive the folding rod 132 to unfold or fold.

[0081] In an optional embodiment, the guiding device may further include an annular fixing rod 16, which may be arranged around all the guide rods 13, and the fixing rods of each guide rod 13 may be fixedly connected to the annular fixing rod 16. In this way, the annular fixing rod 16 can serve to reinforce the guide rods 13.

[0082] Here, the thickness of the annular fixing rod 16 can be less than the gap between the folding rod 132 and the fixing rod 131 when the folding rod 132 is folded, so as to reduce the space occupied by the guide device.

[0083] In other embodiments, the guide rod 13 can be a telescopic structure, that is, the guide rod 13 may include a first guide rod connected to the lifting platform 11, a second guide rod slidably connected to the first guide rod, and a driving member for driving the second guide rod to extend and retract along the length direction of the first guide rod.

[0084] In an optional embodiment of the present invention, the lifting mechanism may include four sets of winch mechanisms, which can be used to drive the gripping device 12 to lift and lower, so as to realize the picking and placing of the battery 5.

[0085] Each set of winding mechanism can include a steel wire rope, and the steel wire ropes of the four sets of winding mechanism can be connected with the four sides of the grabbing device 12 respectively. In this way, the stability of hoisting the grabbing device 12 can be improved, and the stability of the grabbing device 12 can also be improved.

[0086] In an optional embodiment, the winding mechanism can include a winding drum 14 and a winding motor, one end of the steel wire rope is connected with the winding drum 14, the other end of the steel wire rope is connected with the grabbing device 12, the steel wire rope can be wound on the winding drum 14, and the winding motor can be used to drive the winding drum 14 to rotate, so as to realize the winding and unwinding of the steel wire rope.

[0087] When the battery 5 is in an inclined state, the four winding mechanisms can control the winding and unwinding amount of the steel wire rope to be different, so that the posture of the grabbing device 12 can be adapted to the posture of the battery 5, thereby facilitating the grabbing device 12 to grab the battery 5.

[0088] For example, when the left side of the battery 5 is lower than the right side of the battery 5, the winding mechanism located on the left side can lower the steel wire rope, and the winding mechanism located on the right side can recover the steel wire rope, so that the lowering amount of the steel wire rope of the winding mechanism on the left side is greater than that of the winding mechanism on the right side.

[0089] It should be noted that, since the four sides of the grabbing device 12 are in contact with the guide rail of the guide device through the guide wheels 15, and the inclination of the grabbing device 12 can be realized according to the gravity of the grabbing device 12 and the winding and unwinding degree of each steel wire rope, so that the grabbing device 12 can adapt to the posture of the battery 5.

[0090] In an optional embodiment of the present application, the battery swapping device 1 can further include a battery posture detection device and a control module.

[0091] The battery posture detection device can be used to detect the posture of the battery 5, the control module can be in communication connection with the battery posture detection device and the winding mechanism respectively, and the control module can be used to control the winding and unwinding amount of the steel wire rope of each winding mechanism according to the detection signal of the battery posture detection device. In this way, the posture of the grabbing device 12 can be adjusted according to the posture information of the battery 5, so that the posture of the grabbing device 12 can be adapted to the posture of the battery 5.

[0092] Specifically, when the battery posture detection device detects that the battery 5 is in an inclined state, the control module can control the winding motor of the two winding mechanisms corresponding to the inclination direction of the battery 5 to adjust the winding and unwinding amount of the steel wire rope.

[0093] For example, when the battery posture detection device detects that the left side of the battery 5 is lower than the right side of the battery 5 by a certain distance, the control module can control the hoisting mechanism on the left side to lower the steel wire rope and the hoisting mechanism on the right side to recover the steel wire rope, so that the amount of lowering of the steel wire rope on the left side and the steel wire rope on the right side is different by the distance, thereby ensuring that the left side of the grabbing device 12 is lower than the right side by the distance, and the posture of the grabbing device 12 is adapted to the posture of the battery 5.

[0094] In an optional embodiment, the battery posture detection device can also be used to detect the position of the battery 5, so that the grabbing device 12 can be moved to a position opposite to the battery 5, facilitating the grabbing of the battery 5.

[0095] Here, the battery posture detection device can be arranged on the grabbing device 12. In this way, the grabbing device 12 can be matched with the position of the battery 5.

[0096] In an optional embodiment, the driving member 133 of the guide rod 13 can be in communication connection with the control module, and the control module can control the driving member 133 to drive the folding rod 132 to unfold according to the detection signal of the battery posture detection device.

[0097] Specifically, when the battery posture detection device detects the position of the battery 5, i.e., when the battery posture detection device detects that the grabbing device 12 is moved directly above the battery 5, the control module can control the driving member 133 to drive the folding rod 132 to unfold, so that the folding rod 132 is in abutment with the fixed rod 131, to increase the guide stroke, so that the grabbing device 12 can be lifted along the guide rod 13, thereby the guide stroke of the grabbing device 12 can be limited, and further, the grabbing device 12 can be prevented from shaking during the grabbing of the battery 5, so as to avoid the battery 5 from colliding with other objects and being damaged.

[0098] In an optional embodiment, the battery posture detection device can be a six-point laser recognition device.

[0099] The battery replacing vehicle provided by the present application will be described below. The battery replacing vehicle described below can be correspondingly referred to the battery replacing device 1 described above.

[0100] The battery replacing vehicle provided by the present application can comprise the battery replacing device 1 according to any one of the above embodiments.

[0101] The beneficial effects achieved by the battery replacing vehicle provided by the present application are consistent with the beneficial effects achieved by the battery replacing device 1 provided by the present application, and thus will not be described herein.

[0102] In an optional embodiment of the present application, as Figure 9As shown, the battery replacement vehicle can further include a position adjusting device, which can be used to adjust the position of the battery replacement device 1. The position adjusting device can include a transverse guide rail 2, a sliding seat 3 and a rotating arm 4. The transverse guide rail 2 can be arranged above the frame of the battery replacement vehicle. The sliding seat 3 can be slidingly arranged on the transverse guide rail 2. The rotating arm 4 can be rotatably arranged on the sliding seat 3. The hoist platform 11 of the battery replacement device 1 can be connected to the end of the rotating arm 4 away from the sliding seat 3. In this way, the horizontal position of the battery replacement device 1 can be adjusted by the cooperation of the sliding seat 3, the rotating arm 4 and the transverse guide rail 2, so that the battery replacement device 1 can be moved above the battery.

[0103] In an optional embodiment, the rotating arm 4 can be a telescopic arm, so as to increase the moving stroke of the battery replacement device 1, and make the battery replacement device 1 suitable for engineering machinery with different distances, so as to replace the battery for engineering machinery with different distances or positions.

[0104] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e. can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0105] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A battery swapping device, characterized in that, include: Spreading platform; A gripping device is connected to the lifting platform via a lifting mechanism, and the gripping device is used to grip the battery; The guiding device includes at least four guide rods arranged around the outside of the gripping device to form a gripping space. The gripping device is located within the gripping space. The guide rods are connected to the lifting platform. The gripping device is slidably connected to the guide rods. The gripping device can move up and down along the guide rods to drive the battery to move up and down within the gripping space. The length of the guide rods is adjustable. The guide rod includes: a fixed rod connected to the lifting platform; a folding rod rotatably connected to the fixed rod; and a driving member for driving the folding rod to rotate between a first position and a second position to unfold or fold the folding rod. Alternatively, the guide rod may include: a first guide rod; a second guide rod slidably connected to the first guide rod; and a driving member for driving the second guide rod to extend or retract along the length direction of the first guide rod.

2. The battery swapping device according to claim 1, characterized in that, The lifting mechanism includes: Four sets of winch mechanisms are used to drive the gripping device to rise and fall. Each set of winch mechanisms includes a steel wire rope, and the steel wire ropes of the four sets of winch mechanisms are respectively connected to the four sides of the gripping device.

3. The battery swapping device according to claim 1, characterized in that, Each of the four sides of the gripping device is provided with at least one guide wheel, and the guide rod is provided with a guide rail, with each guide rail cooperating with each guide wheel.

4. The battery swapping device according to claim 1, characterized in that, The folding rod is rotatably connected to the fixed rod via a rocker assembly, the driving component is connected to the rocker assembly, and the rocker assembly includes: A first rocker arm, the first end of which is rotatably connected to the fixed rod; The second rocker arm has a first end that is rotatably connected to the folding rod, and a second end that is fixedly connected to the second end of the first rocker arm. The first joystick and the second joystick are set at an angle.

5. The battery swapping device according to claim 4, characterized in that, The guide rod also includes: A first connecting rod, the first end of which is rotatably connected to the second end of the first rocker and the second end of the second rocker, and the second end of which is rotatably connected to the driving member; The second link has its first end connected to the fixed rod and its second end rotatably connected to the driving member.

6. The battery swapping device according to claim 1, characterized in that, The driving component is a telescopic driving component, one end of which is rotatably connected to the fixed rod, and the other end of which is rotatably connected to the folding rod.

7. The battery swapping device according to claim 2, characterized in that, Also includes: A battery attitude detection device is used to detect the attitude of the battery; The control module is communicatively connected to the battery attitude detection device and the hoisting mechanism. The control module is used to control each hoisting mechanism to adjust the winding and unwinding amount of the wire rope according to the detection signal of the battery attitude detection device.

8. A battery swapping vehicle, characterized in that, Includes the battery swapping device as described in any one of claims 1-7.

Images