Cantilever type battery replacing equipment and battery replacing system

Abstract

The utility model relates to cantilever type battery replacing equipment and a battery replacing system. The cantilever type battery replacing equipment comprises a first walking frame, a cantilever beam and a moving trolley. One end of the cantilever beam is connected with the first walking frame, and the other end of the cantilever beam extends out of the first walking frame. The mobile trolley comprises a grabbing mechanism, the grabbing mechanism is connected with the cantilever beam and used for grabbing or releasing a battery box, and at least one of the cantilever beam and the grabbing mechanism is movably arranged in the length direction of the cantilever beam and used for moving the grabbing mechanism in the length direction of the cantilever beam, so that the battery replacement operation is completed. According to the cantilever type battery replacing equipment and the battery replacing system, the battery box is moved through the cantilever beam, a telescopic mechanical arm of a complex structure does not need to be arranged, the occupied space of the top is small, and the same long-distance and large-load battery replacing operation as the telescopic mechanical arm can be completed.

Description

Technical Field

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

[0002] In the scenario of back-type battery replacement for mining trucks, the battery box is set behind the mining truck's cab. The battery replacement equipment for back-type mining trucks includes a telescopic robot arm that grabs the battery replacement battery box. In order to be able to replace the battery box over a long distance and a long stroke, the existing telescopic robot arm battery replacement equipment generally requires a multi-stage telescopic structure, so the required precision level is relatively high and the structure is relatively complex. At the same time, the overall strength of the telescopic robot arm will weaken after multiple stages of extension. Considering the heavy-load telescopic structure, it often needs to be greatly strengthened, so the production and manufacturing is difficult and the cost is also high. Utility Model Content

[0003] In view of the above, it is necessary to provide a cantilever battery exchange equipment and a battery exchange system, which does not require a telescopic mechanical arm for battery exchange, has a simple structure and lower cost.

[0004] To this end, the present disclosure provides a cantilever type power exchange device, comprising:

[0005] First walking frame;

[0006] A cantilever beam, one end of which is connected to the first walking frame, and the other end of which is cantilevered out of the first walking frame;

[0007] A mobile trolley, comprising a grabbing mechanism, the grabbing mechanism being connected to the cantilever beam and being used to grab or release the battery box;

[0008] At least one of the cantilever beam and the grabbing mechanism is movably arranged along the length direction of the cantilever beam, and is used to move the grabbing mechanism along the length direction of the cantilever beam.

[0009] According to the cantilever type battery exchange device, the cantilever beam is movably connected to the first traveling frame along the length direction, and the gripping mechanism is movably connected to the cantilever beam along the vertical direction. When the cantilever beam moves, the gripping mechanism is driven to move along the length direction of the cantilever beam.

[0010] According to the cantilever battery exchange device, the mobile vehicle also includes a mobile frame, which is movably connected to the cantilever beam along the length direction of the cantilever beam, and the grabbing mechanism is movably connected to the mobile frame along the vertical direction. When the mobile frame moves, it drives the grabbing mechanism to move along the length direction of the cantilever beam.

[0011] According to the cantilever battery exchange equipment, it also includes a second walking frame, which is movably connected to the first walking frame in a direction perpendicular to the length direction of the cantilever beam, and the cantilever beam is connected to the second walking frame, and is cantilevered from the first walking frame through the second walking frame.

[0012] According to the cantilever type battery exchange equipment, the first traveling frame is movably arranged along the length direction of the cantilever beam.

[0013] According to the cantilever type power exchange device, it also includes a first driving assembly for driving the first traveling frame to move, and the first driving assembly includes:

[0014] A first driving motor is arranged on the first walking frame;

[0015] A first traction gear connected to the first drive motor;

[0016] The first traction chain is arranged along the moving direction of the first traveling frame and is fixed at both ends. The first traction chain bypasses the first traction gear and meshes with the first traction gear. The first driving motor engages the first traction chain through the first traction gear to drive the first traveling frame to move along the first traction chain.

[0017] According to the cantilever power exchange device, the cantilever power exchange device further includes a second drive assembly for driving the second traveling frame to move, and the second drive assembly includes:

[0018] A second driving motor is arranged on the second walking frame;

[0019] a second traction gear connected to the second drive motor;

[0020] The second traction chain is arranged along the moving direction of the second traveling frame and is fixed at both ends. The second traction chain bypasses the second traction gear and meshes with the second traction gear. The second drive motor drives the second traction chain through the engagement of the second traction gear with the second traction chain, and the second traveling frame moves along the second traction chain.

[0021] According to the cantilever type battery exchange device, the cantilever type battery exchange device also includes a trolley driving assembly for driving the mobile trolley to move along the length direction of the cantilever beam and a winding mechanism for driving the grabbing mechanism to move in the vertical direction.

[0022] According to the cantilever type power exchange device, the grabbing mechanism includes:

[0023] A grabbing frame, movably connected to the moving frame in a vertical direction;

[0024] The gripper comprises a connecting rod and a horizontal rod, wherein the connecting rod has a rotating shaft that is rotatably connected to the grabbing frame in a vertical direction, and the horizontal rod is connected to the connecting rod. When the grabbing frame moves to a position corresponding to a battery box, the connecting rod rotates so that the horizontal rod docks with the grabbing portion of the battery box to grab the battery box.

[0025] In addition, the present disclosure also provides a cantilever battery exchange system, which includes a storage rack and the cantilever battery exchange device, the storage rack includes a storage position for storing a battery box, and the cantilever battery exchange device is used to move the battery box between the vehicle and the storage position.

[0026] According to the cantilever power exchange system, the storage positions of the storage rack are arranged in multiple columns along the length direction of the cantilever beam, and each column is provided with one or more rows of storage positions.

[0027] Compared with the prior art, the above-mentioned cantilever battery exchange equipment and battery exchange system has a cantilever beam arranged on the first traveling frame, and the grasping mechanism realizes the grasping and transportation of the battery box by moving relative to the cantilever beam or the cantilever beam itself, thereby eliminating the need to set up a complex telescopic robotic arm. It has the advantages of occupying a small space on the top of the vehicle's battery box and being able to complete the same long-distance, large-load battery exchange operations as the telescopic robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific implementation methods, the drawings required for use in the description of the implementation methods will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 It is a structural schematic diagram of the cantilever power exchange system.

[0030] Figure 2 It is a structural diagram of a storage rack.

[0031] Figure 3 It is a structural schematic diagram of the cantilever battery exchange equipment.

[0032] Figure 4 It is a structural schematic diagram of the bottom frame of the first walking frame.

[0033] Figure 5 It is a structural schematic diagram of the upper frame of the first walking frame.

[0034] Figure 6 It is a structural schematic diagram of the second walking frame.

[0035] Figure 7 It is a structural diagram of a cantilever beam.

[0036] Figure 8 It is a structural diagram of the mobile car.

[0037] Fig. 9 yes Figure 8 A partial enlarged view of point A in the middle.

[0038] Fig.10 It is a schematic structural diagram of a cantilever-type battery exchange device in another embodiment.

[0039] Main component symbols

[0040]

[0041]

[0042] The following specific implementations will further illustrate the present disclosure in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0043] In order to more clearly understand the above-mentioned purposes, features and advantages of the present disclosure, the present disclosure is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth in order to fully understand the present disclosure, and the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present disclosure belongs. The terms used in the specification herein are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0045] In each embodiment, for the convenience of description and not to limit the present disclosure, the term "connection" used in the patent specification and claims of the present disclosure is not limited to physical or mechanical connection, but may include electrical connection, whether direct or indirect. "Up", "down", "below", "left", "right", etc. are only used to indicate relative position relationship. When the absolute position of the described object changes, the relative position relationship also changes accordingly.

[0046] Figure 1 It is a schematic diagram of the structure of the cantilever power exchange system. Figure 1As shown, the cantilever battery exchange system is used to replace the battery box 70 for a truck, especially a backpack truck. The cantilever battery exchange system includes a storage rack 20 and a cantilever battery exchange device. The storage rack 20 is used to store the battery box 70 corresponding to the vehicle 10, and the cantilever battery exchange device is used to take out the exhausted battery box 70 from the battery position 11 of the vehicle 10 and store it in the storage rack 20, and replace the fully charged battery box 70 to the battery position 11 of the vehicle 10, thereby completing the battery exchange operation for the vehicle 10.

[0047] Figure 2 2 is a schematic diagram of the structure of the storage rack 20. Figure 2 As shown, the storage rack 20 includes storage positions 21 for storing battery boxes 70. In this embodiment, the storage positions 21 of the storage rack 20 are configured in multiple columns, and each column is provided with one or more rows of storage positions 21. As an example, the storage positions 21 of the storage rack 20 are generally in an array, with more columns of storage positions 21 being provided along the moving direction of the cantilever battery exchange device (i.e., the X-axis direction), and fewer storage positions 21 being provided in each column along the direction perpendicular to the cantilever battery exchange device (i.e., the Y-axis direction), for example, 2-3 storage positions 21.

[0048] Figure 3 It is a schematic diagram of the structure of the cantilever type power exchange equipment. Figure 1 and Figure 3 As shown, the cantilever battery exchange device includes a first traveling frame 30, a second traveling frame 40, a cantilever beam 50 and a mobile trolley 60. The first traveling frame 30 is used to carry the cantilever battery exchange device for overall movement along the X-axis direction. In this embodiment, the storage position 21 of the storage rack 20 is located in the middle of the storage rack 20. The first traveling frame 30 spans across both ends of the storage rack 20 and is located above the storage position 21 to save space, and there is no need to set up an additional lane for the first traveling frame 30 to move. In some other embodiments, the first traveling frame 30 can also be set near the storage rack 20, which can be a fixed setting or a movable setting near the storage rack 20. The second traveling frame 40 is used to carry the cantilever beam 50 and the mobile trolley 60 to move along the Y-axis direction. The cantilever beam 50 is used to carry the mobile trolley 60 to carry the battery box 70 along the X-axis direction, and the cantilever beam 50 is suspended to the battery position 11 of the vehicle 10 to realize the battery exchange operation for the vehicle 10.

[0049] Specifically, the first traveling frame 30 is connected to the storage frame 20, and includes a bottom frame 31 and an upper frame 32, and the bottom frame 31 and the upper frame 32 form a frame-like structure.

[0050] Figure 4 3 is a schematic diagram of the structure of the bottom frame 31 of the first walking frame 30. Figure 4As shown, the bottom frame 31 is used to movably connect the storage rack 20, and the upper frame 32 is connected to the bottom frame 31 and carries the second traveling frame 40 and other components. As an example, a guide rail is provided on the top of the storage rack 20, and the bottom frame 31 is installed with multiple or multiple groups of rollers. The bottom frame 31 moves along the guide rail by the rollers and moves relative to the storage rack 20 along the X-axis direction.

[0051] In order to be able to drive the bottom frame 31 to move relative to the storage rack 20, in this embodiment, the cantilever battery exchange device also includes a first drive assembly for driving the first traveling frame 30 to move along the X-axis direction. As an example, the first drive assembly includes a first drive motor 35, a first traction gear 33 and a first traction chain 34. The first drive motor 35 is arranged on the bottom frame 31 of the first traveling frame 30, and the first traction gear 33 is connected to the output shaft of the first drive motor 35, and can rotate under the drive of the first drive motor 35. The first traction chain 34 is arranged along the moving direction of the first traveling frame 30, and both ends are fixed. For example, the two ends of the first traction chain 34 can be fixed on the storage rack 20, but can also be fixed on the ground or other components, and this application does not make any restrictions. The first traction chain 34 bypasses the first traction gear 33 and meshes with the first traction gear 33. In some embodiments, the first drive assembly may further include some guide pulleys. The first traction chain 34 bypasses the first traction gear 33 and the guide pulleys to increase the envelope angle of the first traction chain 34 around the first traction gear 33 to prevent sliding between the first traction gear 33 and the first traction chain 34.

[0052] When the first traveling frame 30 needs to be driven to move, the first driving motor 35 engages with the first traction chain 34 through the first traction gear 33 to drive the first traveling frame 30 to move along the first traction chain 34 .

[0053] Figure 5 3 is a schematic structural diagram of the upper frame 32 of the first walking frame 30. Figure 5 As shown, the upper frame 32 is generally a "door"-shaped frame structure, which is fixed to the bottom frame 31 by welding or bolts to form a large frame structure. The top of the upper frame 32 has a guide rail for connecting the second traveling frame 40, and the guide rail extends along the Y-axis direction, and is used to connect the second traveling frame 40 movably along the Y-axis direction.

[0054] Figure 6 Schematic diagram of the structure of the second walking frame 40. Figure 6As shown, the second walking frame 40 is movably connected to the first walking frame 30 in the Y-axis direction, and the cantilever beam 50 is connected to the second walking frame 40, and is cantilevered from the first walking frame 30 through the second walking frame 40. Specifically, in this embodiment, multiple or multiple groups of rollers are arranged on both sides of the second walking frame 40, and the second walking frame 40 is moved relative to the upper frame 32 along the Y-axis direction through the guide rails of the roller upper frame 32.

[0055] In order to drive the second traveling frame 40 to move, in this embodiment, the cantilever type power exchange device also includes a second drive assembly for driving the second traveling frame 40 to move along the Y-axis direction. As an example, the second drive assembly includes a second drive motor 41, a second traction gear 42 and a second traction chain 43. The second drive motor 41 is arranged on the second traveling frame 40, and the second traction gear 42 is connected to the output shaft of the second drive motor 41, and can be rotated under the drive of the second drive motor 41. The second traction chain 43 is arranged along the moving direction of the second traveling frame 40, and both ends are fixed. For example, both ends of the second traction chain 43 can be fixed on the first traveling frame 30, but can also be fixed on other components, and this application is not limited many times. The second traction chain 43 bypasses the second traction gear 42 and meshes with the second traction gear 42. In some embodiments, the first drive assembly may also include some guide pulleys, and the second traction chain 43 bypasses the second traction gear 42 and the guide pulley to increase the envelope angle of the second traction chain 43 in the second traction gear 42 to prevent the second traction gear 42 from sliding between the second traction chain 43.

[0056] Figure 7 Schematic diagram of the structure of the cantilever beam 50. Figure 7 As shown, one end of the cantilever beam 50 is connected to the second traveling frame 40, and the other end cantilevers out of the second traveling frame 40 along the moving direction of the first traveling frame 30. As an example, the cantilever beam 50 is a cantilever beam 50 frame formed by welding two large H-steels and a plurality of crossbeam H-steels, and has greater rigidity and connection strength. In this embodiment, the cantilever beam 50 cantilevers out of the second traveling frame 40 and is located above the storage position 21 of the storage rack 20. In order to move and connect the moving trolley 60, in this embodiment, two sliding wheel grooves flush with the large H-steel are installed at the bottom of the cantilever beam 50, and the two sliding wheel grooves are arranged opposite to each other.

[0057] Figure 8 60 is a schematic diagram of the structure of the mobile car 60. Figure 8 As shown, the mobile trolley 60 includes a mobile frame 61 and a grabbing mechanism. The mobile frame 61 is used to move along the length direction of the cantilever beam 50, and the grabbing mechanism is used to grab the battery box 70 and move with the mobile frame 61, thereby driving the battery box 70 to move and completing the battery replacement operation.

[0058] The movable frame 61 is movably connected to the cantilever beam 50 along the length direction of the cantilever beam 50. Specifically, the movable frame 61 may be provided with a plurality of rollers, which are connected to the sliding wheel grooves on the cantilever beam 50 through the rollers to realize the movable connection between the movable frame 61 and the cantilever beam 50. It is understood by those skilled in the art that the movable frame 61 and the cantilever beam 50 may also be connected in other ways, for example, they may be connected by a slider-slide rail, or they may be connected in other ways. In the present embodiment, a trolley drive assembly for driving the movable trolley 60 to move along the length direction of the cantilever beam 50 is also included. Specifically, the trolley drive assembly may be a sprocket chain drive structure similar to the first drive assembly and the second drive assembly, or it may be a linear drive device such as a pneumatic cylinder, a hydraulic cylinder, etc., and the present application does not impose any restrictions on this.

[0059] The grabbing mechanism is connected to the mobile frame 61 in a vertically movable manner, and is used for grabbing the battery box 70 and moving the battery box 70 in a vertical direction after the mobile frame 61 moves to a preset position. In this embodiment, a winding mechanism 62 is also included for driving the grabbing mechanism to move in the vertical direction. The winding mechanism 62 is fixedly installed on the mobile frame 61, and is connected to the lifting grabbing mechanism through a steel wire rope, so that the grabbing mechanism moves up and down under the traction of the steel wire rope, driving the battery box 70 to move up and down.

[0060] Fig. 9 yes Figure 8 A partial enlarged view of the middle A. Fig. 9 As shown, the grabbing mechanism includes a grabbing frame 63 and a grab 64. Specifically, the grabbing frame 63 is movably connected to the movable frame 61 in the vertical direction, and is moved in the vertical direction by the traction of the winding mechanism 62. There can be multiple grabs 64, which are arranged on the grabbing frame 63 to grab or release the battery box 70. The grab 64 can be an "L"-shaped angle iron, but it can also be other telescopic mechanisms. In this embodiment, the grab 64 includes a connecting rod 641 and a horizontal rod 642. The rotating shaft of the connecting rod 641 is rotatably connected to the grabbing frame 63 in the vertical direction, and the horizontal rod 642 is connected to the connecting rod 641. When the grabbing frame 63 moves to the position corresponding to the battery box 70, the connecting rod 641 rotates so that the horizontal rod 642 is located below the grabbing part of the battery box 70 and docks with the grabbing part to grab the battery box 70.

[0061] During operation, after the vehicle 10 is parked at one of the positions at the two ends of the storage rack 20 in the length direction, the first traveling rack 30 moves along the X-axis direction until the end of the cantilever beam 50 is suspended above the vehicle 10, and then the moving cart 60 moves along the length direction of the cantilever beam 50 to above the battery position 11 of the vehicle 10, lowers the grasping mechanism to grasp the battery box 70 of the vehicle 10, and then drives the battery box 70 to move in the vertical direction to take the battery box 70 out of the battery position 11 of the vehicle 10.

[0062] Then, the mobile trolley 60 drives the battery box 70 to move along the X-axis direction, and at the same time, the second traveling frame 40 and the first traveling frame 30 move in coordination with each other, and after the removed low-power battery box 70 is moved to the top of the corresponding storage position 21, the mobile trolley 60 drops the battery box 70 onto the storage position 21;

[0063] Next, the mobile cart 60 obtains the fully charged battery box 70 from the storage position 21 of the storage rack 20 , and at the same time, the second walking frame 40 and the first walking frame 30 move in coordination with each other to move the fully charged battery box 70 to the battery position 11 of the vehicle 10 , thereby completing the battery replacement operation for the vehicle 10 .

[0064] Fig.10 FIG. 1 is a schematic diagram of the structure of a cantilever type power exchange device in another embodiment. Fig.10 As shown, this embodiment and Figure 3 The difference between the illustrated embodiment is that, in this embodiment, the cantilever beam 50 is movably connected to the second traveling frame 40, and the other contents are the same as those in the aforementioned embodiment and will not be repeated here.

[0065] Specifically, in the present embodiment, the cantilever beam 50 is movably connected to the second traveling frame 40 along the X-axis direction (i.e., the length direction of the cantilever beam 50), and the second traveling frame 40 is movably connected to the first traveling frame 60 along the Y-axis direction. The grabbing mechanism can be fixedly connected to the cantilever beam 50, or can be movably connected to the cantilever beam 50 along the length direction of the cantilever beam 50. During operation, the position of the grabbing mechanism in the X-axis direction is adjusted by moving the cantilever beam 50 relative to the second traveling frame 40 along the length direction, and the position of the grabbing mechanism in the Y-axis direction can also be adjusted by moving the second traveling frame 40 relative to the first traveling frame 60 along the Y-axis direction.

[0066] The above-mentioned cantilever battery exchange system is provided with a cantilever beam 50 on the first traveling frame 30 for the mobile trolley 60 to move. The mobile trolley 60 moves on the cantilever beam 50 to grasp and carry the battery box 70, so that there is no need to set up a complex telescopic mechanical arm. It has the advantages of small top space occupation and can complete the same long-distance and large-load battery exchange operation as the telescopic mechanical arm. In some other embodiments, the grasping mechanism can also adjust the position by the movement of the cantilever beam 50 itself to complete the battery exchange operation.

[0067] In the several specific embodiments provided in the present disclosure, it is obvious to those skilled in the art that the present disclosure is not limited to the details of the above exemplary embodiments, and that the present disclosure can be implemented in other specific forms without departing from the spirit or basic features of the present disclosure. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present disclosure is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present disclosure. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0068] The above embodiments are only used to illustrate the technical solution of the present disclosure rather than to limit it. Although the present disclosure is described in detail with reference to the above preferred embodiments, those skilled in the art should understand that the technical solution of the present disclosure can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present disclosure.

Claims

1. A cantilever type power exchange device, characterized in that: include: First walking frame; A cantilever beam, one end of which is connected to the first walking frame, and the other end of which is cantilevered out of the first walking frame; A mobile trolley, comprising a grabbing mechanism, the grabbing mechanism being connected to the cantilever beam and being used to grab or release the battery box; At least one of the cantilever beam and the grabbing mechanism is movably arranged along the length direction of the cantilever beam, and is used to move the grabbing mechanism along the length direction of the cantilever beam.

2. The cantilever type battery exchange device according to claim 1, characterized in that: The cantilever beam is movably connected to the first traveling frame along the length direction, and the grabbing mechanism is movably connected to the cantilever beam along the vertical direction. When the cantilever beam moves, the grabbing mechanism is driven to move along the length direction of the cantilever beam.

3. The cantilever type battery exchange device according to claim 1, characterized in that: The mobile trolley also includes a mobile frame, which is movably connected to the cantilever beam along the length direction of the cantilever beam, and the grabbing mechanism is movably connected to the mobile frame along the vertical direction. When the mobile frame moves, it drives the grabbing mechanism to move along the length direction of the cantilever beam.

4. The cantilever type power exchange device according to claim 1, characterized in that: It also includes a second walking frame, which is movably connected to the first walking frame in a direction perpendicular to the length direction of the cantilever beam. The cantilever beam is connected to the second walking frame, and the first walking frame is cantilevered through the second walking frame.

5. The cantilever type power exchange device according to claim 4, characterized in that: The first traveling frame is movably arranged along the length direction of the cantilever beam.

6. The cantilever type battery exchange device according to claim 5, characterized in that: The first driving assembly is used to drive the first traveling frame to move, and the first driving assembly includes: A first driving motor is arranged on the first walking frame; A first traction gear connected to the first drive motor; The first traction chain is arranged along the moving direction of the first traveling frame and is fixed at both ends. The first traction chain bypasses the first traction gear and meshes with the first traction gear. The first driving motor engages the first traction chain through the first traction gear to drive the first traveling frame to move along the first traction chain.

7. The cantilever type power exchange device according to claim 6, characterized in that: The cantilever type power exchange device further includes a second driving assembly for driving the second traveling frame to move, and the second driving assembly includes: A second driving motor is arranged on the second walking frame; a second traction gear connected to the second drive motor; The second traction chain is arranged along the moving direction of the second traveling frame and is fixed at both ends. The second traction chain bypasses the second traction gear and meshes with the second traction gear. The second drive motor drives the second traction chain through the engagement of the second traction gear with the second traction chain, and the second traveling frame moves along the second traction chain.

8. The cantilever type power exchange device according to claim 3, characterized in that: The cantilever-type power exchange device also includes a trolley driving assembly for driving the mobile trolley to move along the length direction of the cantilever beam and a winding mechanism for driving the grabbing mechanism to move in a vertical direction.

9. The cantilever type power exchange device according to claim 3, characterized in that: The grabbing mechanism comprises: A grabbing frame, movably connected to the moving frame in a vertical direction; The gripper comprises a connecting rod and a horizontal rod, wherein the connecting rod has a rotating shaft that is rotatably connected to the grabbing frame in a vertical direction, and the horizontal rod is connected to the connecting rod. When the grabbing frame moves to a position corresponding to a battery box, the connecting rod rotates so that the horizontal rod docks with the grabbing portion of the battery box to grab the battery box.

10. A cantilever type power exchange system, characterized in that: It comprises a storage rack and a cantilever battery exchange device as described in any one of claims 1 to 9, wherein the storage rack includes a storage position for storing a battery box, and the cantilever battery exchange device is used to move the battery box between the vehicle and the storage position.

11. The cantilever type power exchange system according to claim 10, characterized in that: The storage positions of the storage rack are arranged in multiple columns along the length direction of the cantilever beam, and each column is provided with one or more rows of storage positions.

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