Movable folding arm battery replacing device

Abstract

The invention discloses a movable folding arm battery replacing device, and belongs to the technical field of new energy battery replacing equipment, the movable folding arm battery replacing device comprises a walking mechanism, a box body is installed, an accommodating space is formed in the box body, and a battery pack is integrated in the accommodating space; the movable lifting mechanism is arranged in the accommodating space and is connected with the walking mechanism in a sliding manner; the folding mechanism is connected to the top of the movable lifting mechanism; the folding extending direction of the folding mechanism is perpendicular to the moving direction of the movable lifting mechanism. The grabbing mechanism is slidably connected to the top of the movable lifting mechanism. The sensing mechanism is arranged on the movable lifting mechanism and the grabbing mechanism; the driving and control mechanism comprises driving units arranged on the walking mechanism and the movable lifting mechanism, and a controller electrically connected with the sensing mechanism, the driving units, the folding mechanism and the grabbing mechanism. Through the movable, foldable and multi-mechanism cooperative automatic design, rapid, accurate and flexible battery replacement of the battery pack is achieved, and the efficiency and safety of battery replacement operation are improved.

Description

Technical Field

[0001] This invention belongs to the field of new energy battery swapping equipment technology, specifically relating to a mobile folding arm battery swapping device. Background Technology

[0002] With the rapid development of the new energy industry, the number of new energy equipment (especially new energy vehicles and new energy construction machinery) continues to rise. Battery replacement technology has become an important link in improving the convenience of electric vehicles and operational efficiency. The efficiency and convenience of battery pack replacement has become one of the key factors affecting the development of the industry.

[0003] However, currently, fixed battery swapping stations are costly to build and have limited layout, making it difficult to flexibly adapt to diverse scenario requirements; while existing mobile battery swapping equipment is often complex in structure, lacks precision in operation, occupies a large space, and is not adaptable to environments with many obstacles or confined spaces. Therefore, there is an urgent need for a battery swapping device that is compact in structure, flexible in movement, accurate in positioning, and suitable for various sites, in order to improve the efficiency of battery swapping operations and expand its applicability. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides a movable folding arm battery swapping device, which adopts the following technical solution: A portable folding arm battery swapping device includes: A walking mechanism is provided, on which a housing is mounted, and a receiving space is formed inside the housing. The battery pack is integrated into the receiving space. The walking mechanism is used to realize the movement and transportation of the battery pack. A mobile lifting mechanism is disposed within the accommodating space and is slidably connected to the traveling mechanism so that the mobile lifting mechanism can move relative to the traveling mechanism. A folding mechanism is connected to the top of the movable lifting mechanism; the folding extension direction of the folding mechanism is perpendicular to the movement direction of the movable lifting mechanism. A gripping mechanism, which is slidably connected to the top of the movable lifting mechanism; A sensing mechanism is disposed on the moving lifting mechanism and the grasping mechanism, and is used to detect the relative position with respect to the target battery pack; A drive and control mechanism, comprising a drive unit disposed on the walking mechanism and the moving lifting mechanism, and a controller electrically connected to the sensing mechanism, the drive unit, the folding mechanism, and the grasping mechanism respectively; When the folding mechanism is extended, the drive unit drives the gripping mechanism to reciprocate between the moving lifting mechanism and the folding mechanism to transfer the target battery pack outside the accommodating space.

[0005] Furthermore, the mobile lifting mechanism includes a first support frame and a second support frame; a first sliding wheel is installed at the bottom of the first support frame, and a first slide rail extending along the length direction of the walking mechanism is installed at the top of the walking mechanism. The first sliding wheel cooperates with the first slide rail to allow the first support frame to slide along the length direction of the walking mechanism; the second support frame is slidably mounted on the first support frame; the first sliding wheel is connected to a first motor of the drive unit, and the first motor is used to drive the first sliding wheel to rotate; the second motor of the drive unit is mounted on the second support frame, and the drive end of the second motor is connected to the second support frame to drive the second support frame to slide up and down along the first support frame.

[0006] Further, the folding mechanism includes a first folding arm, a second folding arm, a third folding arm, a first connecting portion, a second connecting portion, and a third connecting portion; the fixed end of the first folding arm is rotatably connected to one end of the top of the second support frame, and the fixed end of the first folding arm is connected to a third motor of the drive unit, the third motor driving the free end of the first folding arm to rotate; the second folding arm is rotatably connected to the top of the side wall of the second support frame and is correspondingly arranged with the fixed end of the first folding arm; the fixed end of the second folding arm is connected to a fourth motor of the drive unit, the fourth motor driving the free end of the second folding arm to rotate; the fixed end of the third folding arm is rotatably connected to the free end of the second folding arm; the fixed end of the third folding arm is connected to a fifth motor of the drive unit, the fifth motor driving the free end of the third folding arm to rotate; The first connecting part includes a plurality of first connecting rods and a plurality of first rotating joints; the plurality of first connecting rods are connected sequentially through the first rotating joints, the first connecting rod at the head end is rotatably connected to the second support frame, and the first connecting rod at the tail end is rotatably connected to the free end of the first folding arm; The second connecting part includes multiple second connecting rods and multiple second rotating joints; the multiple second connecting rods are connected sequentially through the second rotating joints, the second connecting rod at the first end is rotatably connected to the free end of the first folding arm, and the second connecting rod at the tail end is rotatably connected to the free end of the second folding arm; The third connecting part includes multiple third connecting rods and multiple third rotating joints; the multiple third connecting rods are connected sequentially through the third rotating joints, the third connecting rod at the first end is rotatably connected to the free end of the first folding arm, and the third connecting rod at the tail end is rotatably connected to the free end of the third folding arm.

[0007] Furthermore, a second slide rail is installed at the top of the interior of the second support frame, and the gripping mechanism is rotatably connected to the second slide rail; a third slide rail is installed at the bottom of the second folding arm, and a fourth slide rail is installed at the bottom of the third folding arm; wherein, after the second folding arm and the third folding arm are extended, the second slide rail, the third slide rail and the fourth slide rail are connected in sequence, and the gripping mechanism is connected to the sixth motor of the drive unit, and the sixth motor drives the gripping mechanism to reciprocate on the second slide rail, the third slide rail and the fourth slide rail.

[0008] Furthermore, the gripping mechanism includes a gripping claw, a claw body drive member, and a connecting seat; a second sliding wheel is connected to the connecting seat, and the second sliding wheel slides in cooperation with the second slide rail, the third slide rail, and the fourth slide rail respectively; the gripping claw is symmetrically arranged on both sides of the connecting seat, and the claw body drive member is installed in the connecting seat to drive the gripping claw to open and close to grip the battery pack.

[0009] Furthermore, the rotation adjustment mechanism includes a rotating disk and a rotating base; the rotating base is fixedly installed between the connecting seat and the second sliding wheel, and the rotating disk is rotatably connected to the bottom of the rotating base; the connecting seat is connected to the bottom of the rotating disk; the seventh motor of the drive unit is installed on the rotating base, and the drive end of the seventh motor passes through the rotating base and is connected to the rotating disk, and the seventh motor drives the rotating disk to rotate to adjust the rotation angle of the gripped battery pack.

[0010] Furthermore, it also includes an adjustment frame; the adjustment frame is installed between the rotating disk and the connecting seat; the adjustment frame has a U-shaped structure.

[0011] Furthermore, the sensing mechanism includes a vision sensor; multiple vision sensors are provided; the vision sensors are mounted on the first support frame for locating the target battery pack; the vision sensors are mounted on the gripper for accurately gripping the target battery pack.

[0012] Furthermore, the vision sensor, the first motor, the second motor, the third motor, the fourth motor, the fifth motor, and the sixth motor are all electrically connected to the controller.

[0013] Furthermore, the walking mechanism is a wheeled chassis, a tracked chassis, or a rail-mounted vehicle.

[0014] The movable folding arm battery swapping device provided by the present invention has the following beneficial effects: (1) High mobility and wide range of applicable scenarios: It adopts wheeled, tracked or rail walking mechanism, which can move flexibly according to different working environments, get rid of the limitation of fixed battery swapping stations, and can adapt to various scenarios such as outdoor operation, emergency energy replenishment, and centralized battery swapping of multiple vehicles, effectively expanding the coverage of battery swapping services.

[0015] (2) The folding structure is compact and the working space is highly adaptable: the folding mechanism adopts a combination design of multi-section folding arm and connecting part. After folding, it occupies little space and is convenient for storage and transportation of the device. After extension, it can achieve a large range of work coverage. Moreover, the folding extension direction is perpendicular to the movement direction of the mobile lifting mechanism, which can accurately adjust the working position in narrow space or complex layout environment, greatly improving the operational flexibility of the device in limited space.

[0016] (3) Precise positioning and grasping, high safety of battery swapping: Multiple sets of vision sensors are configured to achieve coarse positioning of the target battery pack and fine positioning of the grasping process. Combined with the real-time feedback and adjustment of the controller, the alignment deviation can be effectively eliminated, ensuring that the grasping mechanism can grasp the battery pack stably and accurately, avoiding mechanical damage, and improving the safety and reliability of battery swapping operations.

[0017] (4) High degree of automation and significantly improved battery swapping efficiency: By integrating the sensing mechanism, drive unit, folding mechanism and gripping mechanism through the controller, seamless connection of actions such as movement, lifting, folding, gripping and transfer can be achieved. No manual intervention is required throughout the process, greatly reducing the labor and time costs of battery swapping operations, and meeting the needs of large-scale and batch battery swapping.

[0018] (5) The structure is reasonable and the operation is stable and reliable: the mobile lifting mechanism achieves smooth horizontal movement and vertical lifting through the cooperation of double support frame, slide rail and sliding wheel; the folding mechanism ensures the stability of the extension and folding process through the independent drive of multiple motors and the auxiliary support of the connecting part; the gripping mechanism adopts a symmetrical gripping claw design, combined with the cooperation of sliding wheel and multi-section connecting slide rail to achieve smooth transfer of battery pack. The overall structure is scientifically and reasonably designed, the operation is stable and reliable, and the service life is long. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the movable folding arm battery swapping device of the present invention when the folding mechanism is extended or opened. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of the movable folding arm battery swapping device of the present invention when the folding mechanism is extended or opened. Figure 2 ; Figure 3 This is a side view of the movable folding arm battery swapping device of the present invention when the folding mechanism is extended and opened. Figure 4This is a schematic diagram of the overall structure of the movable folding arm battery swapping device of the present invention when the folding mechanism is folded and closed. Figure 1 ; Figure 5 This is a schematic diagram of the overall structure of the movable folding arm battery swapping device of the present invention when the folding mechanism is folded and closed. Figure 2 ; Figure 6 This is a side view of the movable folding arm battery swapping device of the present invention when the folding mechanism is folded and closed. The components include: 1. Walking mechanism; 2. Battery pack; 3. First support frame; 4. Second support frame; 5. First connecting rod; 6. First rotating joint; 7. First folding arm; 8. Second connecting rod; 9. Second rotating joint; 10. Second folding arm; 11. Third rotating joint; 12. Third connecting rod; 13. Third folding arm; 14. Rotary disk; and 15. Adjustment frame. Detailed Implementation

[0020] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below.

[0021] Example 1

[0022] Reference Figures 1 to 6 A portable folding arm battery swapping device, comprising: The walking mechanism 1 has a housing installed on it, and a storage space is formed inside the housing. The battery pack 2 is integrated into the storage space. The walking mechanism 1 is used to realize the movement and transportation of the battery pack 2. A mobile lifting mechanism is provided within the accommodating space and is slidably connected to the traveling mechanism 1 so that the mobile lifting mechanism can move relative to the traveling mechanism 1. A folding mechanism is connected to the top of the mobile lifting mechanism; the folding extension direction of the folding mechanism is perpendicular to the movement direction of the mobile lifting mechanism. A gripping mechanism is slidably connected to the top of the movable lifting mechanism; The sensing mechanism is installed on the moving lifting mechanism and the grasping mechanism to detect the relative position with the target battery pack 2. The drive and control mechanism includes a drive unit mounted on the walking mechanism 1 and the moving lifting mechanism, and a controller electrically connected to the sensing mechanism, the drive unit, the folding mechanism, and the grasping mechanism, respectively. The drive unit can be selected from drive motors, cylinders, hydraulic cylinders, etc.

[0023] When the folding mechanism extends, the drive unit drives the gripping mechanism to move back and forth between the moving lifting mechanism and the folding mechanism to transfer the target battery pack 2 to the outside of the accommodating space.

[0024] In this embodiment, the movable lifting mechanism includes a first support frame 3 and a second support frame 4. A first sliding wheel is installed at the bottom of the first support frame 3, and a first slide rail extending along the length direction of the walking mechanism 1 is installed at the top of the walking mechanism 1. The first sliding wheel cooperates with the first slide rail to allow the first support frame 3 to slide along the length direction of the walking mechanism 1. The second support frame 4 is slidably mounted on the first support frame 3. The first sliding wheel is connected to a first motor of the drive unit, and the first motor is used to drive the first sliding wheel to rotate. The second motor of the drive unit is mounted on the second support frame 4, and the drive end of the second motor is connected to the second support frame 4 to drive the second support frame 4 to slide up and down along the first support frame 3.

[0025] The linear motion of the second motor can be achieved by converting rotary motion into linear motion through transmission elements such as gears, racks, and lead screws, or by using a linear drive motor, or by using a piston directly generated by a cylinder or hydraulic cylinder.

[0026] In this embodiment, the folding mechanism includes a first folding arm 7, a second folding arm 10, a third folding arm 13, a first connecting part, a second connecting part, and a third connecting part. The fixed end of the first folding arm 7 is rotatably connected to one end of the top of the second support frame 4. The fixed end of the first folding arm 7 is connected to the third motor of the drive unit, and the third motor drives the free end of the first folding arm 7 to rotate. The second folding arm 10 is rotatably connected to the top of the side wall of the second support frame 4 and is correspondingly arranged with the fixed end of the first folding arm 7. The fixed end of the second folding arm 10 is connected to the fourth motor of the drive unit, and the fourth motor drives the free end of the second folding arm 10 to rotate. The fixed end of the third folding arm 13 is rotatably connected to the free end of the second folding arm 10. The fixed end of the third folding arm 13 is connected to the fifth motor of the drive unit, and the fifth motor is used to drive the free end of the third folding arm 13 to rotate. The first connecting part includes multiple first connecting rods 5 and multiple first rotating joints 6; the multiple first connecting rods 5 are connected in sequence through the first rotating joints 6, the first connecting rod 5 at the head end is rotatably connected to the second support frame 4, and the first connecting rod 5 at the tail end is rotatably connected to the free end of the first folding arm 7. The second connecting part includes multiple second connecting rods 8 and multiple second rotating joints 9; the multiple second connecting rods 8 are connected in sequence through the second rotating joints 9, the second connecting rod 8 at the first end is rotatably connected to the free end of the first folding arm 7, and the second connecting rod 8 at the tail end is rotatably connected to the free end of the second folding arm 10. The third connecting part includes multiple third connecting rods 12 and multiple third rotating joints 11; the multiple third connecting rods 12 are connected in sequence through the third rotating joints 11, the third connecting rod 12 at the first end is rotatably connected to the free end of the first folding arm 7, and the third connecting rod 12 at the tail end is rotatably connected to the free end of the third folding arm 13.

[0027] Through the above technical solutions, the first folding arm 7, the second folding arm 10 and the third folding arm 13 occupy little space after folding, which facilitates the storage and transportation of the device; after extension, they can achieve large-span operation coverage, and the folding direction is perpendicular to the moving and lifting direction, which can flexibly adjust the operating angle in complex layouts or narrow spaces, significantly improving the device's operational adaptability in confined spaces.

[0028] In this embodiment, a second slide rail is installed at the top of the interior of the second support frame 4, and the gripping mechanism is rotatably connected to the second slide rail; a third slide rail is installed at the bottom of the second folding arm 10, and a fourth slide rail is installed at the bottom of the third folding arm 13; wherein, after the second folding arm 10 and the third folding arm 13 are extended, the second slide rail, the third slide rail and the fourth slide rail are connected in sequence, and the gripping mechanism is connected to the sixth motor of the drive unit, and the sixth motor drives the gripping mechanism to reciprocate on the second slide rail, the third slide rail and the fourth slide rail.

[0029] The linear motion of the sixth motor can be achieved by converting rotary motion into linear motion through transmission elements such as gears, racks, and lead screws, or by using a linear drive motor, or by using a piston directly generated by a cylinder or hydraulic cylinder.

[0030] In this embodiment, the gripping mechanism includes a gripping claw, a claw body drive, and a connecting seat; a second sliding wheel is connected to the connecting seat, and the second sliding wheel slides in cooperation with a second slide rail, a third slide rail, and a fourth slide rail respectively; the gripping claw is symmetrically arranged on both sides of the connecting seat, and the claw body drive is installed in the connecting seat to drive the gripping claw to open and close to grip the battery pack 2, thereby achieving a stable gripping and smooth release of the battery pack 2.

[0031] In this embodiment, the rotation adjustment mechanism includes a rotating disk 14 and a rotating base; the rotating base is fixedly installed between the connecting seat and the second sliding wheel, and the rotating disk is rotatably connected to the bottom of the rotating base; the connecting seat is connected to the bottom of the rotating disk 14; the seventh motor of the drive unit is installed on the rotating base, and the drive end of the seventh motor passes through the rotating base and is connected to the rotating disk 14. The seventh motor drives the rotating disk 14 to rotate to adjust the rotation angle of the gripped battery pack.

[0032] The above technical solution uses a seventh motor to drive the rotating disk 14 to rotate, adjusting the angle of the gripper holding the battery pack, so that the gripped battery pack is placed stably and accurately in the designated position.

[0033] In another embodiment, an adjustment frame 15 is also included; the adjustment frame 15 is installed between the rotating disk 14 and the connecting seat; the adjustment frame 15 has a U-shaped structure.

[0034] By using the above technical solution, the gripping position of the gripped battery pack can be adjusted by driving the adjustment frame 15 to move through the drive unit.

[0035] In this embodiment, the sensing mechanism includes a vision sensor; multiple vision sensors are provided; the vision sensors are mounted on the first support frame 3 for locating the target battery pack 2; the vision sensors are mounted on the gripper for accurately gripping the target battery pack 2.

[0036] Through the above technical solution, the core function of the sensing mechanism is to detect the relative position of the device and the target battery pack 2, providing data support for precise operation. The sensing mechanism includes multiple vision sensors: the vision sensors are installed on the first support frame 3 to perform long-distance coarse positioning of the target battery pack 2 and quickly lock the approximate position of the battery pack 2; the vision sensors are installed on the gripper claw to perform close-range precise positioning, ensuring that the gripper claw and the battery pack 2 are accurately aligned and improving the success rate of gripping.

[0037] In this embodiment, the vision sensor, the first motor, the second motor, the third motor, the fourth motor, the fifth motor, and the sixth motor are electrically connected to the controller.

[0038] Through the above technical solution, the controller is electrically connected to the sensing mechanism, drive unit, folding mechanism, and gripping mechanism. As the control core of the device, it can receive the position detection signal from the vision sensor, synchronously regulate the operating status of each motor and claw drive component, realize the coordinated operation of each mechanism, and ensure the automation and precision of the entire battery swapping process.

[0039] In this embodiment, the walking mechanism 1 is a wheeled chassis, a tracked chassis, or a rail-mounted vehicle.

[0040] The present invention provides a battery swapping method for a movable folding arm battery swapping device as follows: First, with the cooperation of the vision sensor, controller, and second motor, the first support frame 3 is driven to move along the first slide rail on the walking mechanism 1 to the position of the target battery pack 2. At this time, the second motor stops working, and the claw drive unit drives the gripper to grab the target battery pack 2. After the gripping is completed, the third motor drives the second support frame 4 to move upward, moving the target battery pack 2 upward. The controller starts the second motor, and the second motor drives the first support frame and the target battery pack 2 until the vision sensor detects the target position. Then, the third, fourth, and fifth motors are started, so that the first folding arm 7, the second folding arm 10, and the third folding arm 13 extend and open. After they extend and open, the sixth motor is started, and the sixth motor drives the second sliding wheel to move on the second, third, and fourth slide rails. At this time, the gripper grabs the target battery pack 2 and moves it to the free end of the third folding arm 13. The second motor drives the second support frame 4 to move downward, completing the placement of the target battery pack 2.

[0041] The above are merely preferred embodiments of the present invention and do not constitute any limitation on the technical scope of the present invention. Therefore, any minor modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A movable folding arm battery swapping device, characterized in that, The utility model relates to a kind of battery pack transport vehicle, including: Walking mechanism, box is mounted on the walking mechanism, accommodating space is formed in the box, battery pack is integrated in the accommodating space, the walking mechanism is used to realize the mobile transport of battery pack; Mobile lifting mechanism, the mobile lifting mechanism is arranged in the accommodating space, and is slidably connected with the walking mechanism, so that the mobile lifting mechanism moves relative to the walking mechanism; Folding mechanism, the folding mechanism is connected at the top of the mobile lifting mechanism;The folding direction of the folding mechanism is perpendicular to the movement direction of the mobile lifting mechanism; Grabbing mechanism, the grabbing mechanism is slidably connected at the top of the mobile lifting mechanism; Sensing mechanism, the sensing mechanism is arranged on the mobile lifting mechanism and the grabbing mechanism, for detecting the relative position with target battery pack; Rotary adjustment mechanism, the rotary adjustment mechanism is mounted on the grabbing mechanism, for adjusting the angle of the grabbing mechanism; Drive and control mechanism, the drive and control mechanism includes drive unit arranged on the walking mechanism and the mobile lifting mechanism, and controller electrically connected with the sensing mechanism, the drive unit, the folding mechanism, the grabbing mechanism respectively; Wherein, after the folding mechanism extends, drive unit drives the grabbing mechanism to reciprocate between the mobile lifting mechanism and the folding mechanism, to transfer target battery pack to outside the accommodating space. 2.The movable folding arm battery swapping apparatus according to claim 1, wherein The mobile lifting mechanism includes a first support frame and a second support frame;The bottom of the first support frame is provided with a first sliding wheel, and the top of the walking mechanism is provided with a first sliding rail extending along the length direction of the walking mechanism;The first sliding wheel is matched with the first sliding rail, so that the first support frame slides along the length direction of the walking mechanism; The second support frame is slidably mounted on the first support frame;The first sliding wheel is connected with a first motor of the drive unit, and the first motor is used to drive the first sliding wheel to rotate;A second motor of the drive unit is mounted on the second support frame, and the driving end of the second motor is connected with the second support frame to drive the second support frame to slide up and down along the first support frame. 3.The movable folding arm battery swapping apparatus according to claim 2, wherein, The folding mechanism includes a first folding arm, a second folding arm, a third folding arm, a first connecting portion, a second connecting portion and a third connecting portion;The fixed end of the first folding arm is rotatably connected with one end of the top of the second support frame, and the fixed end of the first folding arm is connected with a third motor of the drive unit, and the third motor drives the free end of the first folding arm to rotate;The second folding arm is rotatably connected with the top of the side wall of the second support frame, and is correspondingly arranged with the fixed end of the first folding arm;The fixed end of the second folding arm is connected with a fourth motor of the drive unit, and the fourth motor drives the free end of the second folding arm to rotate;The fixed end of the third folding arm is rotatably connected with the free end of the second folding arm;The fixed end of the third folding arm is connected with a fifth motor of the drive unit, and the fifth motor is used to drive the free end of the third folding arm to rotate. The first connecting part comprises a plurality of first connecting rods and a plurality of first rotating pairs; the plurality of first connecting rods are connected in sequence through the first rotating pairs, the first connecting rod at the head end is rotatably connected with the second support frame, and the first connecting rod at the tail end is rotatably connected with the free end of the first folding arm; The second connecting part comprises a plurality of second connecting rods and a plurality of second rotating pairs; the plurality of second connecting rods are connected in sequence through the second rotating pairs, the second connecting rod at the head end is rotatably connected with the free end of the first folding arm, and the second connecting rod at the tail end is rotatably connected with the free end of the second folding arm; The third connecting part comprises a plurality of third connecting rods and a plurality of third rotating pairs; the plurality of third connecting rods are connected in sequence through the third rotating pairs, the third connecting rod at the head end is rotatably connected with the free end of the first folding arm, and the third connecting rod at the tail end is rotatably connected with the free end of the third folding arm. 4.The movable folding arm battery swapping apparatus according to claim 3, wherein, The top end of the inside of the second support frame is provided with a second sliding rail, the grabbing mechanism is rotatably connected with the second sliding rail; the bottom of the second folding arm is provided with a third sliding rail, and the bottom of the third folding arm is provided with a fourth sliding rail; wherein the second sliding rail, the third sliding rail and the fourth sliding rail are sequentially connected after the second folding arm and the third folding arm are stretched, the grabbing mechanism is connected with the sixth motor of the driving unit, and the sixth motor drives the grabbing mechanism to reciprocate on the second sliding rail, the third sliding rail and the fourth sliding rail. 5.The movable folding arm battery swapping apparatus according to claim 4, wherein, The grabbing mechanism comprises a grabbing claw, a claw body driving member and a connecting seat; the connecting seat is connected with a second sliding wheel, and the second sliding wheel is in sliding fit with the second sliding rail, the third sliding rail and the fourth sliding rail respectively; the grabbing claws are symmetrically arranged on both sides of the connecting seat, and the claw body driving member is installed in the connecting seat and used to drive the grabbing claws to open and close to grab the battery pack. 6.The movable folding arm battery swapping apparatus according to claim 5, wherein, The rotating adjusting mechanism comprises a rotating disc and a rotating base; the rotating base is fixedly installed between the connecting seat and the second sliding wheel, and the rotating disc is rotatably connected to the bottom of the rotating base; the connecting seat is connected with the bottom of the rotating disc; the seventh motor of the driving unit is installed on the rotating base, the driving end of the seventh motor penetrates through the rotating base and is connected with the rotating disc, and the seventh motor drives the rotating disc to rotate so as to adjust the rotation angle of the grabbed battery pack.

7. The movable folding arm battery swapping apparatus according to claim 6, wherein, Further comprising an adjusting frame; the adjusting frame is installed between the rotating disc and the connecting seat; the adjusting frame has a back-shaped structure. 8.The movable folding arm battery swapping apparatus according to claim 6, wherein, The sensing mechanism comprises a plurality of visual sensors; the visual sensors are installed on the first support frame and used to locate the target battery pack; the visual sensors are installed on the grabbing claws and used to accurately grab the target battery pack. 9.The movable folding arm battery swapping apparatus according to claim 8, wherein, The visual sensors, the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor and the seventh motor are electrically connected with the controller respectively. 10.The movable folding arm battery swapping apparatus according to claim 1, wherein, The walking mechanism is a wheeled chassis, a tracked chassis or a rail walking vehicle.

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