Battery replacing device

Abstract

The utility model 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 utility model relates to battery replacement technical field, concretely relates to a battery replacement device. BACKGROUND

[0002] With the development of humanoid robot technology, the field involved by humanoid robot is more and more extensive, and the endurance of humanoid robot has higher requirement.

[0003] Because the battery carried by humanoid robot is small, the density is limited, so that its endurance time is short, in prior art, the wired charging mode is usually used to charge humanoid robot, but its charging time is long, and humanoid robot cannot continue to work in the charging process, which influences the normal work of humanoid robot. SUMMARY

[0004] Therefore, the utility model provides a battery replacement device to solve the problems that the charging time of humanoid robot is long, humanoid robot cannot continue to work in the charging process, and the normal work of humanoid robot is influenced.

[0005] The utility model provides a battery replacement device, which comprises:

[0006] A rack is provided with a battery replacement assembly, the battery replacement assembly comprises a movable grabbing structure, the grabbing structure has a grabbing state of grabbing a waste battery of a battery replacement equipment and placing the waste battery at a specified position and a battery replacement state of grabbing a battery to be replaced and placing the battery to be replaced into the battery replacement equipment, and a first information acquisition structure for acquiring the position of the waste battery and the position of the battery to be replaced is arranged on the grabbing structure.

[0007] A control assembly is connected with the grabbing structure and the first information acquisition structure respectively, and the first information acquisition structure transmits the acquired information to the control assembly to control the movement of the grabbing structure.

[0008] Advantages:

[0009] By using the battery replacement device disclosed by the utility model, after the battery of the battery replacement equipment is out of power, the grabbing structure can acquire the position of the waste battery and the position of the battery to be replaced through the first information acquisition structure, the control assembly controls the grabbing structure to grab the waste battery, takes out the waste battery from the battery replacement equipment, and then places the battery to be replaced into the battery replacement equipment, so that the replacement of the battery is realized, the charging time of the battery replacement equipment is reduced, and the battery replacement equipment can continue to work after the battery is replaced, thereby improving the work efficiency.

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

[0011] Advantages:

[0012] By arranging the fixed position, the second information acquisition structure and the fixing component, the control component controls the movement of the fixing component through the information transmitted by the second information acquisition structure to fix the battery replacement device in the fixed position, so that the battery replacement device will not deviate during the battery replacement process, the accuracy of the battery replacement is ensured, and the problem of battery replacement failure due to the deviation of the battery replacement device during the battery replacement process is avoided.

[0013] In an alternative embodiment, the battery replacement device is provided with a first positioning unit and a second positioning unit, the first positioning unit is arranged near the waste battery of the battery replacement device, the first information acquisition structure cooperates with the first positioning unit to acquire the position of the waste battery, and the second information acquisition structure cooperates with the second positioning unit to acquire the position of the battery replacement device.

[0014] In an alternative embodiment, a battery placement structure is arranged on the rack, the grabbing structure can place the waste battery grabbed from the battery replacement 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 in the battery replacement device.

[0015] Advantages:

[0016] By arranging the battery placement structure, the waste battery and the battery to be replaced can be conveniently stored, the waste battery is prevented from being placed randomly to cause disorder on site, and the cleanliness of the site is effectively improved.

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

[0018] Advantages:

[0019] By arranging the charging compartment, the waste battery can be charged, and the step of separately taking out the waste battery for charging is avoided. The waste battery can be charged when it is stored, and the waste battery after charging can be placed in the battery replacement device again as the battery to be replaced, so that the conversion efficiency of the battery is improved, and the practicability is improved.

[0020] In an optional embodiment, the charging bin is provided with a third positioning unit, which cooperates with the first information acquisition structure to enable the first information acquisition structure to acquire the charging bin position and grasp the battery to be replaced in the charging bin.

[0021] Advantages:

[0022] By providing the third positioning unit, the grasping structure can quickly move to the charging bin and place the waste battery into the charging bin, thereby improving the battery replacement efficiency.

[0023] In an optional embodiment, the battery replacement device is a humanoid robot, and the humanoid robot is provided with a clamping position cooperating with the fixing assembly.

[0024] In an optional embodiment, the grasping structure comprises a first guide rail extending in a first direction, a second guide rail extending in a second direction, a telescopic rod extending in a third direction, and a clamping jaw. A first sliding block is movably arranged on the first guide rail. The second guide rail is arranged on the first sliding block. A second sliding block is movably arranged on the second guide rail. One end of the telescopic rod is connected to the second sliding block. The other end of the telescopic rod is connected to the clamping jaw. The clamping jaw is adapted to grasp the waste battery or the battery to be replaced by cooperation of the first sliding block, the second sliding block, and the telescopic rod.

[0025] In an optional embodiment, the fixing assembly comprises a third guide rail extending in a horizontal direction and a fourth guide rail extending in a gravity direction. A pair of third sliding blocks is movably arranged on the third guide rail. The third sliding blocks are connected to the control assembly to drive the third sliding blocks to move closer to or farther away from each other. The fourth guide rail is arranged on the third sliding blocks. A clamping member is movably arranged on the fourth guide rail. The control assembly is connected to the clamping member to drive the clamping member to move along the guide direction of the fourth guide rail. The clamping member is adapted to abut against and clamp the battery replacement device.

[0026] In an optional embodiment, the rack comprises a pair of spaced and opposite gantries. A pair of the gantries are fixedly connected through a pair of spaced and opposite cross beams. The two ends of a pair of the cross beams are respectively fixedly connected to the fixed ends of a pair of the gantries. The battery replacement assembly is arranged in the space formed by a pair of the cross beams and a pair of the gantries. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the specific implementation methods of the utility model 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 utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 This is 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 utility model;

[0030] Figure 3 Schematic diagram of the battery replacement component of the embodiment of the utility model Figure 1 ;

[0031] Figure 4 Schematic diagram of the battery replacement component of the embodiment of the utility model Figure 2 ;

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

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

[0034] Figure 7 This 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. Fixing 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 scheme and advantages of the embodiments of the utility model clearer, the technical scheme of the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model below. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor belong to the protection scope of the utility model.

[0038] The embodiments of the utility model will be described below in combination with Figures 1 to 7 .

[0039] According to the embodiments of the utility model, a battery replacing device is provided, comprising: a rack 1 and a control assembly.

[0040] Specifically, the rack 1 is provided with a battery replacing assembly 2, the battery replacing assembly 2 comprises a movable grabbing structure 3, the grabbing structure 3 has a grabbing state of grabbing a waste battery 6 of a battery replacing equipment 4 and placing the waste battery 6 at a designated position and a battery replacing state of grabbing a battery to be replaced 7 and placing the battery to be replaced 7 into the battery replacing equipment 4, and the grabbing structure 3 is provided with a first information acquisition structure 5 capable of acquiring the position of the waste battery 6 of the battery replacing equipment 4 and the position of the battery to be replaced 7. The control assembly is connected with the grabbing structure 3 and the first information acquisition structure 5 respectively, and the first information acquisition structure 5 transmits the acquired information to the control assembly to control the grabbing structure 3 to move.

[0041] In the embodiment, the control assembly is arranged on one side of the rack 1, the control assembly comprises a control mainboard, the control mainboard 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 mainboard, the control mainboard can control the grabbing structure 3 to move towards the position of the waste battery 6 of the battery replacing equipment 4 and grab the waste battery 6, and the grabbed waste battery 6 is placed at a designated position, then the first information acquisition structure 5 transmits the acquired position information of the battery to be replaced 7 to the control mainboard, the control mainboard can control the grabbing structure 3 to move towards the position of the battery to be replaced 7, grab the battery to be replaced 7, and place the grabbed battery to be replaced 7 into the battery replacing equipment 4 to realize the replacement of the battery of the battery replacing equipment 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. The control component controls the grabbing structure 3 to grab the waste battery 6 and take it out from the battery replacement device 4, and then puts 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, and the fixed position is provided with a second information acquisition structure 9 for obtaining 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. 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 grabbing structure 3, and the fixing component 8 can fix the battery-exchanging device 4 in the fixed position. A second information acquisition structure 9 is provided in the fixed position, and the second information acquisition structure 9 is connected to the control component. When the battery-exchanging device 4 moves to the fixed position, the second information acquisition structure 9 can obtain the position information of the battery-exchanging 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-exchanging device 4 in the fixed position, so as to facilitate the grabbing structure 3 to grab the waste battery 6 of the battery-exchanging 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 exchange device 4 in the fixed position, ensuring that the battery exchange 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 provided at the battery exchange device 4 near 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. The second information acquisition structure 9 cooperates with the second positioning unit 11 to obtain the position of the battery exchange device 4.

[0049] In this embodiment, if Figure 1 、 Figure 2 、 Figure 6 and Figure 7As shown, the battery replacing device 4 is a humanoid robot, the rear side of the humanoid robot is provided with a battery box, the battery box has a battery, the upper side of the battery box is provided with a first positioning unit 10, the front side of the humanoid robot is provided with a second positioning unit 11, the humanoid robot is provided with a control chip, the control chip is electrically connected with the battery in the battery box, can monitor the power of the battery, at the same time, the control chip can control the humanoid robot to move, when the control chip obtains the information that the battery power is low, the humanoid robot is controlled to move to the 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, 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, the humanoid robot is controlled to rotate, so that the battery box of the humanoid robot faces the battery replacing assembly 2, after the control mainboard obtains the information transmitted by the second information acquisition structure 9 and the humanoid robot rotates completely, the fixed assembly 8 clamps the humanoid robot, and the humanoid robot is fixed in the fixed position.

[0050] In the embodiment, the two sides of the humanoid robot are provided with clamping positions 25 matched with the fixed assembly 8.

[0051] In some embodiments, the rack 1 is provided with a battery placing structure 12, the grabbing structure 3 can place the waste battery 6 grabbed from the battery replacing device 4 in the battery placing structure 12, and the grabbing structure 3 can grab the battery to be replaced 7 in the battery placing structure 12 and put it into the battery replacing device 4.

[0052] In the embodiment, as shown, Figures 3 to 5 After the grabbing structure 3 grabs and extracts the waste battery 6 in the battery replacing device 4, the control assembly controls the grabbing structure 3 to move to the battery placing structure 12, and places the waste battery 6 in the battery placing structure 12, then the grabbing structure 3 selects and grabs the battery to be replaced 7 from the battery placing structure 12, and then the grabbing structure 3 puts the battery to be replaced 7 into the battery replacing device 4.

[0053] It should be noted that the method of which battery is grabbed by the grabbing structure 3 as the waste battery 6 or the battery to be replaced 7 can be thought by those skilled in the art, for example, the position of the battery to be replaced 7 in the battery placing structure 12 is recorded first, and the position information is input into the control assembly, then the waste battery 6 is put into the battery placing structure 12, and the position of the waste battery 6 is recorded and input into the control assembly, so as not to put the waste battery 6 into the battery replacing device 4 as the battery to be replaced 7. By setting the battery placing structure 12, it is convenient to store the waste battery 6 and the battery to be replaced 7, avoid the waste battery 6 to be placed randomly to cause the scene to be messy, and effectively improve the scene to be clean.

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

[0055] In the present embodiment, as shown in Figures 3 to 5 , the battery placement structure 12 has a plurality of charging compartments 13 arranged in an array, and the spent batteries 6 are placed in the charging compartments 13 by the grabbing structure 3, so that the spent batteries 6 can be charged. After the spent batteries 6 are fully charged, they become the batteries to be replaced 7.

[0056] Preferably, the battery placement structure 12 has nine charging compartments 13. In other alternative embodiments, the battery placement structure 12 can have eight or ten or other number of charging compartments 13.

[0057] It should be noted that by arranging the charging compartments 13, the spent batteries 6 can be charged, avoiding the need to separately take out the spent batteries 6 for charging. The spent batteries 6 can be charged when they are stored, and after the charging is completed, the spent batteries 6 can be placed again into the battery replacement device 4 as the batteries to be replaced 7, thereby improving the conversion efficiency of the batteries and improving the practicability.

[0058] In some embodiments, the charging compartments 13 are provided with third positioning units 14, and the third positioning units 14 cooperate with the first information acquisition structure 5 to enable the first information acquisition structure 5 to acquire the positions of the charging compartments 13 and to grab the batteries to be replaced 7 in the charging compartments 13.

[0059] In the present embodiment, as shown in Figure 4 and Figure 5 , each charging compartment 13 is provided with a third positioning unit 14. The third positioning unit 14 can cooperate with the first information acquisition structure 5 to enable the first information acquisition structure 5 to acquire the positions of each charging compartment 13 and to acquire information about 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. The third positioning unit 14 cooperates with the first information acquisition structure 5 to enable the grabbing structure 3 to place the grabbed spent batteries 6 into the charging compartments 13 without batteries. The control assembly records the charging compartments 13 for charging the spent batteries 6. Subsequently, the control assembly reads the recorded information to control the grabbing structure 3 to move in front of the charging compartments 13 with the batteries to be replaced 7 and to grab the batteries to be replaced 7 in the charging compartments 13.

[0060] It should be noted that after the spent batteries 6 are charged in the charging compartments 13 for a specified time, the control assembly will identify the spent batteries 6 as the batteries to be replaced 7. The specified time is the time entered by the staff into the control assembly. By arranging the third positioning unit 14, the grabbing structure 3 can quickly move to the charging compartments 13 and place the spent batteries 6 into the charging compartments 13, thereby improving the efficiency of replacing the batteries.

[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 clamping claw 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, and 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 clamping claw 20. The clamping claw 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 set on the frame 1, and the first slider 16 is movably set 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. A second guide rail 17 is set on the first slider 16, and a movable second slider 18 is set on the second guide rail 17. The height of the second slider 18 can be adjusted through the second guide rail 17. A telescopic rod 19 is set on the second slider 18, and 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. The clamp A battery positioning piece is provided on 20, and a mating part that cooperates with the battery positioning piece is provided on the battery. The clamp 20 grabs the battery through the battery positioning piece and the mating 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 completes the action of replacing the battery of the battery exchange device 4 through the cooperation of the first slider 16, the second slider 18 and the telescopic rod 19.

[0063] Specifically, the first information acquisition structure 5 is provided 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 assembly 8 comprises a third guide rail 21 extending in the horizontal direction and a fourth guide rail 23 extending in the direction of gravity, a pair of third sliders 22 are movably arranged on the third guide rail 21, the third sliders 22 are connected with the control assembly to drive the third sliders 22 to move close to or away from another third slider 22, the fourth guide rail 23 is arranged on the third slider 22, and a clamping piece 24 is movably arranged on the fourth guide rail 23, the control assembly is connected with the clamping piece 24 to drive the clamping piece 24 to move along the guide direction of the fourth guide rail 23, and the clamping piece 24 is adapted to abut against the battery swap equipment 4 to clamp the battery swap equipment 4.

[0066] In the embodiment, as shown in Figure 3 the third guide rail 21 extends in the Y direction, the fourth guide rail 23 extends in 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 move close to or away from another third slider 22, the fourth guide rail 23 is arranged on the third slider 22, and the clamping piece 24 is movably arranged on the fourth guide rail 23, a motor is arranged on the clamping piece 24, the motor drives the clamping piece 24 to move relatively along the fourth guide rail 23, the motor is connected with the control assembly, and the control assembly controls the third slider 22 and the clamping piece 24 to move through the motor. When the humanoid robot moves between the two clamping pieces 24, the control assembly controls the third slider 22 to move, so that the clamping piece 24 on the third slider 22 abuts against the clamping position 25 on the humanoid robot, then the control assembly controls the clamping position 25 to move, 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 and the position of the battery box can be acquired by the first information acquisition structure 5.

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

[0068] Specifically, as shown in Figure 3 the clamping piece 24 is provided with a clamping portion 26, the side surface of the clamping portion 26 facing the other clamping portion 26 is configured as an inverted trapezoidal groove, the upper side of the inverted trapezoidal groove is provided with an opening, and the clamping position 25 of the humanoid robot is configured as an inverted trapezoidal structure (not shown) matched with the inverted trapezoidal groove. The humanoid robot moves between the clamping pieces 24 and turns around, at this time the clamping portion 26 is located below the clamping position 25, as the clamping piece 24 moves upward along the fourth guide rail 23, the clamping portion 26 moves together with the clamping piece 24, and the inverted trapezoidal structure of the clamping position 25 will extend into the inverted trapezoidal groove from the opening on the upper side of the inverted trapezoidal groove to match with the inverted trapezoidal groove, so as to complete clamping and fixing, and the structure of the inverted trapezoid and the two side slopes can help to improve the positioning accuracy and fault tolerance of the clamping portion 26 and the clamping position 25.

[0069] In some embodiments, the rack 1 comprises a pair of spaced and opposite gantries 101, the pair of gantries 101 are fixedly connected through a pair of spaced and opposite cross beams 102, two ends of the pair of cross beams 102 are respectively fixedly connected with fixed ends of the pair of gantries 101, and the battery replacing assembly 2 is arranged in a space formed by the pair of cross beams 102 and the pair of gantries 101.

[0070] In the embodiment, the rack 1 comprises a pair of spaced and opposite gantries 101, the pair of gantries 101 are fixedly connected through a pair of spaced and opposite cross beams 102, two ends of the pair of cross beams 102 are respectively fixedly connected with fixed ends of the pair of gantries 101, wherein one cross beam 102 is fixedly connected with two ends of the top of the pair of gantries 101, the first guide rail 15 is arranged on the cross beam 102, the other cross beam 102 is spaced from two ends of the other side of the top of the pair of gantries 101, and the third guide rail 21 is arranged on the cross beam 102, the cross beam 102 and the pair of gantries 101 are configured as a concave structure, and the concave structure is a fixed position.

[0071] Although the embodiments of the utility model are described in combination with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the utility model, and such modifications and changes all fall within the scope defined by the appended claims.

Claims

1. A battery swapping device, characterized in that, The application relates to a battery replacing device, which comprises: a rack (1) provided with a battery replacing assembly (2), the battery replacing assembly (2) comprising a movable grabbing structure (3) which has a grabbing state of grabbing a waste battery (6) of a battery replacing device (4) and placing the waste battery (6) at a designated position and a replacing state of grabbing a battery to be replaced (7) and placing the battery to be replaced (7) into the battery replacing device (4), and the grabbing structure (3) is provided with a first information acquiring structure (5) which can acquire the position of the waste battery (6) of the battery replacing device (4) and the position of the battery to be replaced (7); a control assembly connected with the grabbing structure (3) and the first information acquiring structure (5) respectively, the first information acquiring structure (5) transmits the acquired information to the control assembly so that the control assembly controls the movement of the grabbing structure (3).

2. The battery replacing device according to claim 1, wherein: the rack (1) has a fixing position provided with a movable fixing assembly (8), and the fixing position is provided with a second information acquiring structure (9) which can acquire the position of the battery replacing device (4), the second information acquiring structure (9) is connected with the control assembly to transmit the acquired information to the control assembly, and the control assembly is connected with the fixing assembly (8) to control the movement of the fixing assembly (8) to fix the battery replacing device (4) at the fixing position according to the acquired information.

3. The battery replacing device according to claim 2, wherein: the battery replacing 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 close to the waste battery (6) of the battery replacing device (4), the first information acquiring structure (5) cooperates with the first positioning unit (10) to acquire the position of the waste battery (6), and the second information acquiring structure (9) cooperates with the second positioning unit (11) to acquire the position of the battery replacing device (4).

4. The battery replacing device according to claim 3, wherein: the rack (1) is provided with a battery placing structure (12), the grabbing structure (3) can place the waste battery (6) grabbed from the battery replacing device (4) in the battery placing structure (12), the battery to be replaced (7) is arranged in the battery placing structure (12), and the grabbing structure (3) can grab the battery to be replaced (7) in the battery placing structure (12) and place the battery to be replaced (7) into the battery replacing device (4).

5. The battery replacing device according to claim 4, wherein: the battery placing structure (12) has a plurality of charging compartments (13), and the waste battery (6) or the battery to be replaced (7) is arranged in the charging compartment (13).

6. The battery replacing device according to claim 5, wherein: The third positioning unit (14) is arranged in the charging bin (13) and cooperates with the first information acquisition structure (5) to enable the first information acquisition structure (5) to acquire the position of the charging bin (13) and grasp the battery to be replaced (7) in the charging bin (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) cooperating with the fixed assembly (8).

8. The battery replacement device according to claim 7, characterized in that: The grabbing 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 jaw (20). The first guide rail (15) is movably provided with a first sliding block (16), the second guide rail (17) is arranged on the first sliding block (16), the second guide rail (17) is movably provided with a second sliding block (18), one end of the telescopic rod (19) is connected with the second sliding block (18), the other end of the telescopic rod (19) is connected with the clamping jaw (20), and the clamping jaw (20) is adapted to grasp the waste battery (6) or the battery to be replaced (7) through cooperation of the first sliding block (16), the second sliding block (18), and the telescopic rod (19).

9. The battery replacement device according to claim 8, characterized in that: The fixed assembly (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 sliding blocks (22) are movably arranged on the third guide rail (21), the third sliding blocks (22) are connected with the control assembly to drive the third sliding blocks (22) to move close to or away from each other, the fourth guide rail (23) is arranged on the third sliding blocks (22), and a clamping piece (24) is movably arranged on the fourth guide rail (23). The control assembly is connected with the clamping piece (24) to drive the clamping piece (24) to move along the guide direction of the fourth guide rail (23), and the clamping piece (24) is adapted to abut against and clamp the battery replacement device (4).

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

Images