Battery replacing device

Abstract

The invention relates to the technical field of battery replacement, in particular to a battery replacement device. The battery replacing device comprises a rack, a battery replacing assembly is arranged on the rack, the battery replacing assembly comprises a movable grabbing structure, and the grabbing structure has a grabbing state of grabbing a waste battery of the battery replacing equipment and placing the waste battery at a designated position and a battery replacing state of grabbing a to-be-replaced battery and placing the to-be-replaced battery into the battery replacing equipment; the grabbing structure is provided with a first information obtaining structure capable of obtaining the position of a waste battery and the position of a to-be-replaced battery of the battery replacing equipment. And the control assembly is connected with the grabbing structure and the first information obtaining structure, and the first information obtaining structure transmits obtained information to the control assembly so that the control assembly can control the grabbing structure to move. The grabbing structure can obtain the position of the waste battery and the position of the to-be-replaced battery through the first information obtaining structure, the control assembly controls the grabbing structure to grab the waste battery, then the to-be-replaced battery is placed into the battery replacing equipment, and the charging time of the battery replacing equipment is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of battery replacement, and in particular to a battery replacement device. Background Art

[0002] With the development of humanoid robot technology, the fields involved by humanoid robots are becoming more and more extensive, and at the same time, there are higher requirements for the endurance of humanoid robots.

[0003] Because the batteries carried by humanoid robots are small and have limited density, their battery life is short. In the prior art, humanoid robots are usually charged by wired charging, but the charging time is long. At the same time, the humanoid robot cannot continue to work during the charging process, which affects the normal work of the humanoid robot. Summary of the invention

[0004] In view of this, the present invention provides a battery replacement device to solve the problem that the charging time of a humanoid robot is long, the humanoid robot cannot continue to work during the charging process, and the normal working of the humanoid robot is affected.

[0005] The present invention provides a battery replacement device, comprising:

[0006] A rack, on which a battery-swapping assembly is disposed, wherein the battery-swapping assembly includes a movable grabbing structure, wherein the grabbing structure has a grabbing state for grabbing a waste battery of a battery-swapping device and placing the waste battery in a designated position, and a battery-swapping state for grabbing a battery to be replaced and placing the battery to be replaced in the battery-swapping device, and wherein a first information acquisition structure for acquiring the position of the waste battery of the battery-swapping device and the position of the battery to be replaced is disposed on the grabbing structure;

[0007] The control component is connected to the grasping structure and the first information acquisition structure respectively, and the first information acquisition structure transmits the acquired information to the control component so that the control component controls the movement of the grasping structure.

[0008] Beneficial effects:

[0009] By adopting the battery replacement device disclosed in the present invention, after the battery of the battery replacement equipment is out of power, the grabbing structure can obtain the position of the waste battery and the position of the battery to be replaced through the first information acquisition structure, and the control component controls the grabbing structure to grab the waste battery, take it out of the battery replacement equipment, and then put the battery to be replaced into the battery replacement equipment, thereby realizing battery replacement and reducing the charging time of the battery replacement equipment. At the same time, the battery replacement equipment can continue to work after the battery is replaced, thereby improving work efficiency.

[0010] In an optional embodiment, the rack has a fixed position, the fixed position has a movable fixed component, the fixed position is provided with a second information acquisition structure for acquiring the position of the battery exchange device, the second information acquisition structure is connected to the control component to transmit the acquired information to the control component, and the control component is connected to the fixed component to control the movement of the fixed component through the acquired information to fix the battery exchange device in the fixed position.

[0011] Beneficial effects:

[0012] By setting a fixed position, a second information acquisition structure and a fixed component, the control component controls the movement of the fixed component through the information transmitted by the second information acquisition structure, and fixes the battery swap device in a fixed position, ensuring that the battery swap device will not shift during the battery swap process, ensuring the accuracy of the battery swap, and avoiding the problem of battery swap failure caused by the shift of the battery swap device during the battery swap process.

[0013] In an optional embodiment, the battery exchange device is provided with a first positioning unit and a second positioning unit, the first positioning unit is arranged on the battery exchange device near the waste battery, the first information acquisition structure cooperates with the first positioning unit to obtain the location of the waste battery, and the second information acquisition structure cooperates with the second positioning unit to obtain the location of the battery exchange device.

[0014] In an optional embodiment, a battery placement structure is provided on the frame, and the grabbing structure can place the waste batteries grabbed from the battery exchange device in the battery placement structure. The battery to be replaced is arranged in the battery placement structure, and the grabbing structure can grab the battery to be replaced in the battery placement structure and place it into the battery exchange device.

[0015] Beneficial effects:

[0016] By setting up a battery placement structure, it is convenient to store waste batteries and batteries to be replaced, avoiding waste batteries from being randomly placed and causing clutter on the site, and effectively improving the cleanliness of the site.

[0017] In an optional embodiment, the battery placement structure has a plurality of charging compartments, and the waste batteries or the batteries to be replaced are arranged in the charging compartments.

[0018] Beneficial effects:

[0019] By setting up a charging bin, waste batteries can be charged, avoiding the need to take out the waste batteries separately for charging. The waste batteries can be charged while they are stored. After charging, the waste batteries can be put back into the battery exchange equipment as batteries to be replaced, thereby improving the battery conversion efficiency and practicality.

[0020] In an optional embodiment, a third positioning unit is provided in the charging bin, and the third positioning unit cooperates with the first information acquisition structure so that the first information acquisition structure acquires the position of the charging bin and grabs the battery to be replaced in the charging bin.

[0021] Beneficial effects:

[0022] By providing the third positioning unit, the grabbing structure can be quickly moved to the charging bin, and the waste batteries can be placed in the charging bin, thereby improving the efficiency of battery replacement.

[0023] In an optional embodiment, the battery exchange device is a humanoid robot, and the humanoid robot is provided with a clamping position that cooperates with the fixing component.

[0024] In an optional embodiment, the grasping structure includes a first guide rail extending along a first direction, a second guide rail extending along a second direction, a telescopic rod and a clamp extending along a third direction, a first slider movably provided on the first guide rail, the second guide rail is provided on the first slider, a second slider movably provided on the second guide rail, one end of the telescopic rod is connected to the second slider, and the other end of the telescopic rod is connected to the clamp, and the clamp is suitable for grasping the waste battery or the battery to be replaced through the cooperation of the first slider, the second slider and the telescopic rod.

[0025] In an optional embodiment, the fixed component includes a third guide rail extending in a horizontal direction and a fourth guide rail extending in a gravity direction, a pair of third sliders are movably provided on the third guide rail, the third slider is connected to the control component to drive the third slider to approach or move away from another third slider, the fourth guide rail is provided on the third slider, a clamping member is movably provided on the fourth guide rail, the control component is connected to the clamping member to drive the clamping member to move along the guide direction of the fourth guide rail, and the clamping member is suitable for abutting against the battery exchange device to clamp the battery exchange device.

[0026] In an optional embodiment, the frame includes a pair of spaced and opposite gantries, the pair of gantries are fixedly connected by a pair of spaced and opposite cross beams, the two ends of the pair of cross beams are respectively fixedly connected to the fixed ends of the pair of gantries, and the battery exchange assembly is arranged in the space between the pair of cross beams and the pair of gantries. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A schematic diagram of a battery replacement device according to an embodiment of the present invention;

[0029] Figure 2 This is a front view of a battery replacement device according to an embodiment of the present invention;

[0030] Figure 3 Schematic diagram of a battery replacement assembly according to an embodiment of the present invention Figure 1 ;

[0031] Figure 4 Schematic diagram of a battery replacement assembly according to an embodiment of the present invention Figure 2 ;

[0032] Figure 5 for Figure 4 A magnified view of part A;

[0033] Figure 6 This is a front view of a battery swapping device according to an embodiment of the present invention;

[0034] Figure 7 It is a rear view of the battery replacement device according to an embodiment of the present invention.

[0035] Description of reference numerals:

[0036] 1. Frame; 101. Gantry; 102. Crossbeam; 2. Battery exchange component; 3. Grabbing structure; 4. Battery exchange equipment; 5. First information acquisition structure; 6. Waste battery; 7. Battery to be replaced; 8. Fixed component; 9. Second information acquisition structure; 10. First positioning unit; 11. Second positioning unit; 12. Battery placement structure; 13. Charging compartment; 14. Third positioning unit; 15. First guide rail; 16. First slider; 17. Second guide rail; 18. Second slider; 19. Telescopic rod; 20. Clamp; 21. Third guide rail; 22. Third slider; 23. Fourth guide rail; 24. Clamp; 25. Clamping position; 26. Clamping part. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0038] Combine the following Figures 1 to 7 , describing an embodiment of the present invention.

[0039] According to an embodiment of the present invention, there is provided a battery replacement device, comprising: a frame 1 and a control component.

[0040] Specifically, a battery replacement component 2 is provided on the frame 1, and the battery replacement component 2 includes a movable grasping structure 3, and the grasping structure 3 has a grasping state of grasping the waste battery 6 of the battery replacement device 4 and placing the waste battery 6 at a specified position, and a battery replacement state of grasping the battery 7 to be replaced and placing the battery 7 to be replaced into the battery replacement device 4, and a first information acquisition structure 5 that can obtain the position of the waste battery 6 of the battery replacement device 4 and the position of the battery 7 to be replaced is provided on the grasping structure 3. The control component is connected to the grasping structure 3 and the first information acquisition structure 5 respectively, and the first information acquisition structure 5 transmits the acquired information to the control component so that the control component controls the grasping structure 3 to move.

[0041] In this embodiment, the control component is arranged on one side of the frame 1, and the control component includes a control main board. The control main board has a control program for controlling the movement of the grabbing structure 3. The first information acquisition structure 5 transmits the acquired position information of the waste battery 6 to the control main board, and the control main board can control the grabbing structure 3 to move toward the position of the waste battery 6 of the battery replacement device 4, grab the waste battery 6, and place the grabbed waste battery 6 at the designated position. Subsequently, the first information acquisition structure 5 transmits the acquired position information of the battery 7 to be replaced to the control main board, and the control main board can control the grabbing structure 3 to move toward the position of the battery 7 to be replaced, grab the battery 7 to be replaced, and place the grabbed battery 7 to be replaced into the battery replacement device 4 to realize the replacement of the battery of the battery replacement device 4.

[0042] Preferably, the first information acquisition structure 5 is a camera.

[0043] It should be noted that by adopting the battery replacement device disclosed in this embodiment, after the battery of the battery replacement device 4 is out of power, the grabbing structure 3 can obtain the position of the waste battery 6 and the position of the battery to be replaced 7 through the first information acquisition structure 5, and the control component controls the grabbing structure 3 to grab the waste battery 6 and take it out of the battery replacement device 4, and then put the battery to be replaced 7 into the battery replacement device 4, thereby realizing the battery replacement and reducing the charging time of the battery replacement device 4. At the same time, the battery replacement device 4 can continue to work after the battery is replaced, thereby improving work efficiency.

[0044] In some embodiments, the rack 1 has a fixed position, the fixed position has a movable fixed component 8, the fixed position is provided with a second information acquisition structure 9 for acquiring the position of the battery exchange device 4, the second information acquisition structure 9 is connected to the control component to transmit the acquired information to the control component, and the control component is connected to the fixed component 8 to control the movement of the fixed component 8 through the acquired information to fix the battery exchange device 4 in the fixed position.

[0045] In this embodiment, if Figures 1 to 3 As shown, the fixed position is on the front side of the grasping structure 3, and the fixing component 8 can fix the battery swapping device 4 in the fixed position. A second information acquisition structure 9 is arranged in the fixed position, and the second information acquisition structure 9 is connected to the control component. When the battery swapping device 4 moves to the fixed position, the second information acquisition structure 9 can obtain the position information of the battery swapping device 4, and transmit the position information to the control main board of the control component. The control main board controls the fixing component 8 to limit and fix the battery swapping device 4 in the fixed position, so as to facilitate the grasping structure 3 to grasp the waste battery 6 of the battery swapping device 4.

[0046] Preferably, the second information acquisition structure 9 is a camera.

[0047] It should be noted that, by setting a fixed position, a second information acquisition structure 9 and a fixed component 8, the control component controls the movement of the fixed component 8 through the information transmitted by the second information acquisition structure 9, and fixes the battery replacement device 4 in the fixed position, ensuring that the battery replacement device 4 will not shift during the battery replacement process, ensuring the accuracy of the battery replacement, and avoiding the problem of battery replacement failure due to the shift of the battery replacement device 4 during the battery replacement process.

[0048] In some embodiments, the battery exchange device 4 is provided with a first positioning unit 10 and a second positioning unit 11. The first positioning unit 10 is arranged at a location of the battery exchange device 4 close to the waste battery 6. The first information acquisition structure 5 cooperates with the first positioning unit 10 to obtain the location of the waste battery 6. The second information acquisition structure 9 cooperates with the second positioning unit 11 to obtain the location of the battery exchange device 4.

[0049] In this embodiment, if Figure 1 , Figure 2 , Figure 6 and Figure 7As shown, the battery exchange device 4 is a humanoid robot, a battery box is provided on the rear side of the humanoid robot, there are batteries in the battery box, a first positioning unit 10 is provided on the upper side of the battery box, a second positioning unit 11 is provided on the front side of the humanoid robot, a control chip is provided in the humanoid robot, the control chip is electrically connected to the battery in the battery box, can monitor the battery power, and the control chip can control the humanoid robot to move. When the control chip obtains the information that the battery power is low, it controls the humanoid robot to move to a fixed position. At this time, the second positioning unit 11 on the front side of the humanoid robot is obtained by the second information acquisition structure 9, and the second information acquisition structure 9 transmits the information to the control mainboard and the control chip respectively. After the control chip obtains the information transmitted by the second information acquisition structure 9, it controls the humanoid robot to rotate so that the battery box of the humanoid robot faces the battery exchange component 2. After the control mainboard obtains the information transmitted by the second information acquisition structure 9 and waits until the humanoid robot completes its rotation, it controls the fixing component 8 to clamp the humanoid robot and limit the humanoid robot to the fixed position.

[0050] In this embodiment, clamping positions 25 cooperating with the fixing assembly 8 are provided on both sides of the humanoid robot.

[0051] In some embodiments, a battery placement structure 12 is provided on the frame 1, and the grabbing structure 3 can place the waste battery 6 grabbed from the battery exchange device 4 in the battery placement structure 12. The battery 7 to be replaced is provided in the battery placement structure 12, and the grabbing structure 3 can grab the battery 7 to be replaced in the battery placement structure 12 and place it in the battery exchange device 4.

[0052] In this embodiment, if Figures 3 to 5 As shown, after the grabbing structure 3 grabs and pulls out the waste battery 6 in the battery replacement device 4, the control component controls the grabbing structure 3 to move to the battery placement structure 12, and places the waste battery 6 in the battery placement structure 12. Then the grabbing structure 3 selects and grabs the battery 7 to be replaced from the battery placement structure 12, and then the grabbing structure 3 places the battery 7 to be replaced into the battery replacement device 4.

[0053] It should be noted that the method for the grasping structure 3 to obtain which batteries are waste batteries 6 or batteries to be replaced 7 is conceivable by those skilled in the art. For example, the position of the battery to be replaced 7 in the battery placement structure 12 is first recorded, and the position information is entered into the control component. Then, after the waste battery 6 is placed in the battery placement structure 12, the position of the waste battery 6 is recorded and entered into the control component to avoid placing the waste battery 6 as the battery to be replaced 7 in the battery replacement device 4. By setting up the battery placement structure 12, it is convenient to store waste batteries 6 and batteries to be replaced 7, avoid the waste batteries 6 being randomly placed to cause clutter on the site, and effectively improve the cleanliness of the site.

[0054] In some embodiments, the battery placement structure 12 has a plurality of charging compartments 13 , in which waste batteries 6 or batteries to be replaced 7 are arranged.

[0055] In this embodiment, if Figures 3 to 5 As shown, the battery placement structure 12 has a plurality of charging compartments 13 arranged in an array. The grabbing structure 3 can charge the waste battery 6 by placing the waste battery 6 in the charging compartment 13. When the waste battery 6 is fully charged, it becomes the battery 7 to be replaced.

[0056] Preferably, the battery placement structure 12 has nine charging bays 13 . In other optional embodiments, the battery placement structure 12 may have eight, ten or other numbers of charging bays 13 .

[0057] It should be noted that by setting up the charging compartment 13, the waste battery 6 can be charged, avoiding the step of taking out the waste battery 6 separately for charging. The waste battery 6 can be charged while it is stored. After charging is completed, the waste battery 6 can be put back into the battery replacement device 4 as a battery 7 to be replaced, thereby improving the battery conversion efficiency and practicability.

[0058] In some embodiments, a third positioning unit 14 is provided in the charging compartment 13 , and the third positioning unit 14 cooperates with the first information acquisition structure 5 so that the first information acquisition structure 5 obtains the position of the charging compartment 13 and grabs the battery 7 to be replaced in the charging compartment 13 .

[0059] In this embodiment, if Figure 4 and Figure 5 As shown, each charging compartment 13 is provided with a third positioning unit 14, and the third positioning unit 14 can cooperate with the first information acquisition structure 5, so that the first information acquisition structure 5 can obtain the position of each charging compartment 13, and at the same time can also obtain information on whether there is a battery in the charging compartment 13. If there is a battery in the charging compartment 13, the battery can cover the third positioning unit 14, so that the first information acquisition structure 5 cannot obtain the position information of the third positioning unit 14, and the third positioning unit 14 cooperates with the first information acquisition structure 5 to enable the grasping structure 3 to put the grasped waste battery 6 into the charging compartment 13 without a battery, and the control component records that the charging compartment 13 is the charging compartment 13 that charges the waste battery 6. Subsequently, the control component reads the entered information to control the grasping structure 3 to move to the front of the charging compartment 13 with the battery 7 to be replaced, and grasps the battery 7 to be replaced in the charging compartment 13.

[0060] It should be noted that after the waste battery 6 is charged in the charging compartment 13 for a specified time, the control component will identify the waste battery 6 as a battery to be replaced 7, and the specified time is the time entered by the staff into the control component. By setting the third positioning unit 14, the grasping structure 3 can be quickly moved to the charging compartment 13, and the waste battery 6 can be placed in the charging compartment 13, thereby improving the efficiency of battery replacement.

[0061] In some embodiments, the grasping structure 3 includes a first guide rail 15 extending along a first direction, a second guide rail 17 extending along a second direction, a telescopic rod 19 extending along a third direction, and a clamp 20. A first slider 16 is movably provided on the first guide rail 15, the second guide rail 17 is provided on the first slider 16, a second slider 18 is movably provided on the second guide rail 17, one end of the telescopic rod 19 is connected to the second slider 18, and the other end of the telescopic rod 19 is connected to the clamp 20. The clamp 20 is suitable for grasping the waste battery 6 or the battery to be replaced 7 through the first slider 16, the second slider 18 and the telescopic rod 19.

[0062] In this embodiment, if Figure 3 As shown, the first direction is the Y direction, the second direction is the Z direction, and the second direction is the X direction. The first guide rail 15 is arranged on the frame 1, and the first slider 16 is movably arranged on the first guide rail 15. The first slider 16 can be moved from the battery exchange device 4 to the charging compartment 13 through the first guide rail 15. The first slider 16 is provided with a second guide rail 17, and the second guide rail 17 is provided with a movable second slider 18. The height of the second slider 18 can be adjusted through the second guide rail 17. The second slider 18 is provided with a telescopic rod 19, one end of the telescopic rod 19 is fixedly connected to the second slider 18, and the other end of the telescopic rod 19 is fixedly connected to the clamp 20, and the clamp A battery positioning piece is provided on 20, and a matching part that matches with the battery positioning piece is provided on the battery. The clamp 20 grabs the battery through the battery positioning piece and the matching part. The telescopic rod 19 can drive the clamp 20 to approach or move away from the battery exchange device 4 to complete the action of grabbing the waste battery 6 and pulling it out, or placing the battery to be replaced 7 into the battery exchange device 4; the telescopic rod 19 can also drive the clamp 20 to approach or move away from the charging compartment 13 to complete the action of placing the waste battery 6 into the charging compartment 13, or pulling out the battery to be replaced 7 in the charging compartment 13. The clamp 20 cooperates with the first slider 16, the second slider 18 and the telescopic rod 19 to complete the action of replacing the battery of the battery exchange device 4.

[0063] Specifically, the first information acquisition structure 5 is disposed on the top of the clamping jaw 20 .

[0064] Specifically, a motor is provided on the first slider 16 and the second slider 18, and a cylinder is provided on the telescopic rod 19. The motor drives the first slider 16 and the second slider 18 to move relative to each other along the guide direction of the first guide rail 15 and the second guide rail 17, and the cylinder drives the telescopic rod 19 to extend and retract. The motor and the cylinder are respectively connected to the control component, and the control component controls the movement of the first slider 16, the second slider 18 and the telescopic rod 19 through the motor and the cylinder.

[0065] In some embodiments, the fixing component 8 includes a third guide rail 21 extending in the horizontal direction and a fourth guide rail 23 extending in the gravity direction. A pair of third sliders 22 are movably provided on the third guide rail 21. The third slider 22 is connected to the control component to drive the third slider 22 to approach or move away from another third slider 22. The third slider 22 is provided with a fourth guide rail 23. A clamping member 24 is movably provided on the fourth guide rail 23. The control component is connected to the clamping member 24 to drive the clamping member 24 to move along the guide direction of the fourth guide rail 23. The clamping member 24 is suitable for abutting against the battery exchange device 4 to clamp the battery exchange device 4.

[0066] In this embodiment, if Figure 3 As shown, the third guide rail 21 extends along the Y direction, the fourth guide rail 23 extends along the Z direction, a pair of third sliders 22 are movably arranged at both ends of the third guide rail 21, a motor is arranged on the third slider 22, the motor drives the third slider 22 to move relatively on the third guide rail 21, and makes the third slider 22 approach or move away from another third slider 22, the third slider 22 is arranged with a fourth guide rail 23, a clamping member 24 is movably arranged on the fourth guide rail 23, a motor is arranged on the clamping member 24, the motor drives the clamping member 24 to move relatively along the fourth guide rail 23, the motor is connected to the control component, and the control component controls the movement of the third slider 22 and the clamping member 24 through the motor. When the humanoid robot moves between the two clamping members 24, the control component controls the movement of the third slider 22 so that the clamping member 24 on the third slider 22 abuts against the clamping position 25 on the humanoid robot. Subsequently, the control component controls the movement of the clamping position 25, and the clamping position 25 drives the humanoid robot to rise, so that the first positioning unit 10 on the back side of the humanoid robot can be identified by the first information acquisition structure 5 and obtain the battery box position.

[0067] Specifically, the second information acquisition structure 9 is disposed on the third guide rail 21 .

[0068] Specifically, Figure 3 As shown, a clamping part 26 is provided on the clamping member 24, and an inverted trapezoidal groove is constructed on the side of the clamping part 26 facing the other clamping part 26, and an opening is provided on the upper side of the inverted trapezoidal groove. The clamping position 25 of the humanoid robot is constructed with an inverted trapezoidal structure (not shown) that cooperates with the inverted trapezoidal groove. The humanoid robot moves between the clamping members 24 and turns around. At this time, the clamping part 26 is located below the clamping position 25. As the clamping member 24 moves upward along the fourth guide rail 23, the clamping part 26 moves with the clamping member 24. The inverted trapezoidal structure of the clamping position 25 will extend from the opening on the upper side of the inverted trapezoidal groove into the inverted trapezoidal groove and cooperate with the inverted trapezoidal groove, thereby completing the clamping and fixing. The inverted trapezoidal structure and the inclined surfaces on both sides can help improve the positioning accuracy and fault tolerance of the clamping part 26 and the clamping position 25.

[0069] In some embodiments, the frame 1 includes a pair of spaced and opposite gantries 101, the pair of gantries 101 are fixedly connected by a pair of spaced and opposite cross beams 102, the two ends of the pair of cross beams 102 are respectively fixedly connected to the fixed ends of the pair of gantries 101, and the battery exchange component 2 is arranged in the space constructed by the pair of cross beams 102 and the pair of gantries 101.

[0070] In this embodiment, the frame 1 includes a pair of spaced and opposite gantries 101, and the pair of gantries 101 are fixedly connected by a pair of spaced and opposite beams 102, and the two ends of the pair of beams 102 are respectively fixedly connected to the fixed ends of the pair of gantries 101, wherein one beam 102 is fixedly connected to the two ends of the top of the pair of gantries 101, and the first guide rail 15 is arranged on the beam 102, and the other beam 102 and the two ends on the other side of the top of the pair of gantries 101 have a spacing, and the third guide rail 21 is arranged on the beam 102, and the beam 102 and the pair of gantries 101 are constructed as a concave structure, and the concave structure is the fixed position.

[0071] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A battery replacement device, characterized in that: include: A frame (1), wherein a battery replacement component (2) is arranged on the frame (1), wherein the battery replacement component (2) comprises a movable grasping structure (3), wherein the grasping structure (3) has a grasping state for grasping a waste battery (6) of a battery replacement device (4) and placing the waste battery (6) at a designated position, and a battery replacement state for grasping a battery to be replaced (7) and placing the battery to be replaced (7) into the battery replacement device (4), and wherein a first information acquisition structure (5) is arranged on the grasping structure (3) for acquiring the position of the waste battery (6) of the battery replacement device (4) and the position of the battery to be replaced (7); A control component is connected to the grasping structure (3) and the first information acquisition structure (5) respectively, and the first information acquisition structure (5) transmits the acquired information to the control component so that the control component controls the movement of the grasping structure (3).

2. The battery replacement device according to claim 1, characterized in that: The frame (1) has a fixed position, the fixed position has a movable fixed component (8), the fixed position is provided with a second information acquisition structure (9) for acquiring the position of the battery exchange device (4), the second information acquisition structure (9) is connected to the control component to transmit the acquired information to the control component, and the control component is connected to the fixed component (8) to control the movement of the fixed component (8) through the acquired information to fix the battery exchange device (4) at the fixed position.

3. The battery replacement device according to claim 2, characterized in that: The battery exchange device (4) is provided with a first positioning unit (10) and a second positioning unit (11); the first positioning unit (10) is arranged at a position of the battery exchange device (4) close to the waste battery (6); the first information acquisition structure (5) cooperates with the first positioning unit (10) to obtain the position of the waste battery (6); and the second information acquisition structure (9) cooperates with the second positioning unit (11) to obtain the position of the battery exchange device (4).

4. The battery replacement device according to claim 3, characterized in that: A battery placement structure (12) is provided on the frame (1), and the grabbing structure (3) can place the waste battery (6) grabbed from the battery replacement device (4) in the battery placement structure (12); the battery to be replaced (7) is arranged in the battery placement structure (12), and the grabbing structure (3) can grab the battery to be replaced (7) in the battery placement structure (12) and place it in the battery replacement device (4).

5. The battery replacement device according to claim 4, characterized in that: The battery placement structure (12) has a plurality of charging compartments (13), and the waste batteries (6) or the batteries to be replaced (7) are arranged in the charging compartments (13).

6. The battery replacement device according to claim 5, characterized in that: A third positioning unit (14) is provided in the charging compartment (13), and the third positioning unit (14) cooperates with the first information acquisition structure (5) so that the first information acquisition structure (5) acquires the position of the charging compartment (13) and grabs the battery (7) to be replaced in the charging compartment (13).

7. The battery replacement device according to any one of claims 2 to 6, characterized in that: The battery replacement device (4) is a humanoid robot, and the humanoid robot is provided with a clamping position (25) that cooperates with the fixing component (8).

8. The battery replacement device according to claim 7, characterized in that: The gripping structure (3) comprises a first guide rail (15) extending in a first direction, a second guide rail (17) extending in a second direction, a telescopic rod (19) extending in a third direction, and a clamping claw (20); a first slider (16) is movably arranged on the first guide rail (15); the second guide rail (17) is arranged on the first slider (16); a second slider (18) is movably arranged on the second guide rail (17); one end of the telescopic rod (19) is connected to the second slider (18); the other end of the telescopic rod (19) is connected to the clamping claw (20); the clamping claw (20) is suitable for gripping the waste battery (6) or the battery to be replaced (7) through the cooperation of the first slider (16), the second slider (18) and the telescopic rod (19).

9. The battery replacement device according to claim 8, characterized in that: The fixing component (8) comprises a third guide rail (21) extending in a horizontal direction and a fourth guide rail (23) extending in a gravity direction. A pair of third sliders (22) are movably arranged on the third guide rail (21). The third slider (22) is connected to the control component to drive the third slider (22) to approach or move away from another third slider (22). The fourth guide rail (23) is arranged on the third slider (22). A clamping member (24) is movably arranged on the fourth guide rail (23). The control component is connected to the clamping member (24) to drive the clamping member (24) to move along the guide direction of the fourth guide rail (23). The clamping member (24) is suitable for abutting against the battery exchange device (4) to clamp the battery exchange device (4).

10. The battery replacement device according to claim 9, characterized in that: The frame (1) comprises a pair of spaced and opposite gantries (101), the pair of gantries (101) are fixedly connected via a pair of spaced and opposite cross beams (102), the two ends of the pair of cross beams (102) are respectively fixedly connected to the fixed ends of the pair of gantries (101), and the battery exchange assembly (2) is arranged in a space formed by the pair of cross beams (102) and the pair of gantries (101).

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