CN210337881U

CN210337881U - Battery attaches together AGV

Info

Publication number: CN210337881U
Application number: CN201921251723.3U
Authority: CN
Inventors: 彭华明; 彭伟
Original assignee: Yonegy Logistics Automation Technology Co ltd
Current assignee: Yonegy Logistics Automation Technology Co ltd
Priority date: 2019-08-02
Filing date: 2019-08-02
Publication date: 2020-04-17
Anticipated expiration: 2029-08-02

Abstract

The utility model relates to a AGV for assembling batteries, which comprises a lifting mechanism and a linkage mechanism, wherein the linkage mechanism comprises a lifting fixed plate and a scissor assembly, and the lifting mechanism drives the lifting fixed plate to lift so as to drive the scissor assembly to lift; the supporting mechanism is unlocked after rising to the right position, and is locked and limited after falling to the right position. The utility model discloses saved the manufacturing cost of handling device body, avoided adopting a plurality of drive arrangement among the prior art and the resource that causes consumes.

Description

Battery attaches together AGV

Technical Field

The utility model belongs to the technical field of mechanical transport, especially, relate to a battery attaches together AGV.

Background

Along with electric automobile's rapid development, it is little to solve battery duration for electric automobile changes the battery, the effective way of the long problem of charge time, electric automobile's battery generally sets up in electric automobile's bottom, the AGV that needs the transport battery carries out automatic change, but when changing, general AGV needs a plurality of drive arrangement to go up and down and fix a position the battery bearing board respectively, and carry out position locking and unblock to the battery bearing board, need set up a plurality of drive arrangement on AGV like this, lead to AGV manufacturing cost too high, and also consume more resources when changing the battery.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to be not enough to prior art exist, the utility model provides a battery attaches together AGV only adopts single driving source for it is spacing that the bearing board is locked when the bearing board of haulage equipment is in the lower position, makes things convenient for the battery transport to load, and when the bearing board is in higher mounted position, the bearing board is relieved the locking, makes things convenient for the battery to install to the vehicle bottom, thereby has reduced the manufacturing cost of handling device body, has avoided adopting a plurality of drive arrangement among the prior art and has caused the resource to consume.

In order to achieve the above purpose, the utility model provides a following technical scheme: a battery multi-pack AGV comprising: the lifting mechanism is arranged on the base; the linkage mechanism comprises a lifting fixing plate and a scissor fork assembly, the lifting fixing plate is connected with the scissor fork assembly, and the scissor fork assembly comprises a scissor fork body and a first protruding piece arranged on the scissor fork body; the lifting mechanism drives the lifting fixing plate to lift, so that the scissor assembly is driven to lift; the sliding mechanism comprises a sliding support, a third sliding block and a first sliding rail, the sliding support is positioned above the scissor fork body, the upper part of the sliding support is connected with the third sliding block, the lower part of the sliding support is provided with a first sliding groove in the horizontal direction to accommodate the first protruding part, and the third sliding block is arranged on the first sliding rail in a sliding manner; the connecting rod locking mechanism comprises a first ejector block, a second ejector block and a connecting rod assembly, the first ejector block is connected with the upper part of the sliding support, and the first ejector block and the second ejector block are respectively hinged with the connecting rod assembly; the bearing mechanism is arranged above the connecting rod locking mechanism and comprises a bearing plate, a first limiting part matched with the first ejecting block and a second limiting part matched with the second ejecting block, and the bearing plate is fixedly connected with the first limiting part and the second limiting part or integrally formed.

In one embodiment, the scissor assembly comprises two scissor fork bodies, and the bottom surface of the lifting fixing plate is connected with the top of the lifting mechanism.

In one embodiment, the scissors fork body comprises at least one set of a first prong and a second prong, the first prong and the second prong are hinged, and the first protrusion is disposed at an upper end of the first prong or the second prong of the scissors fork body.

In one embodiment, a first fixing block and a second fixing block are respectively arranged at two ends of the lower portion of the sliding support, a first guide hole and a second guide hole are respectively arranged on the first fixing block and the second fixing block along the horizontal direction, a first guide rod and a second guide rod respectively penetrate through the first guide hole and the second guide hole, a first sliding block and a second sliding block are respectively connected to opposite ends of the first guide rod and the second guide rod, the first sliding block and the second sliding block are slidably arranged in the first sliding groove, and the first protruding piece is located between the first sliding block and the second sliding block.

In one embodiment, the first sliding block comprises a first connecting part and a first sliding part, the first guide rod is connected with the first connecting part, and the first sliding part is positioned in the first sliding groove; the second sliding block comprises a second connecting portion and a second sliding portion, the second guide rod is connected with the second connecting portion, and the second sliding portion is located in the first sliding groove.

In one embodiment, the first spring is sleeved on the first guide rod, and two ends of the first spring are respectively connected with the first fixed block and the first sliding block; and the second spring is sleeved on the second guide rod, and two ends of the second spring are respectively connected with the second fixed block and the second sliding block.

In one embodiment, the lower part of the sliding support is formed by bending the body of the sliding support downwards, and the upper part of the sliding support and the first top block are arranged on the third sliding block so as to be arranged on the first sliding rail in a sliding manner.

In one embodiment, the connecting rod assembly comprises a centering rotating arm, a bottom plate, a first connecting arm and a second connecting arm, the center of the centering rotating arm is hinged to a rotating shaft arranged on the bottom plate, a first end of the centering rotating arm is hinged to the first connecting arm, a second end of the centering rotating arm is hinged to the second connecting arm, the first connecting arm is hinged to the first ejector block, and the second connecting arm is hinged to the second ejector block.

In one embodiment, the first top block comprises a first hinge part and a first limiting part, the second top block comprises a second hinge part and a second limiting part, the first hinge part is hinged to the first connecting arm, the second hinge part is hinged to the second connecting arm, the front parts of the first limiting part and the second limiting part are isosceles triangles, and the rear parts of the first limiting part and the second limiting part are rectangles.

In one embodiment, the first limiting member and the second limiting member are respectively provided with a through groove, and the width of the through groove is greater than or equal to the maximum width of the first limiting portion and the second limiting portion.

In one embodiment, the supporting mechanism further comprises a supporting plate, wherein a universal ball bearing is arranged on the upper surface of the supporting plate, the supporting plate is arranged below the supporting plate, and the supporting plate is arranged on the universal ball bearing.

In one embodiment, the bearing plate is rectangular, and at least one nylon support frame is arranged on each edge.

In one embodiment, a fourth sliding block is connected to the bottom surface of the supporting plate, the fourth sliding block is slidably disposed on a second sliding rail, and the second sliding rail is disposed across the rack.

In one embodiment, third slide rails are arranged at two ends of the rack, fifth slide blocks are respectively connected to two ends of the second slide rail, and the fifth slide blocks are slidably arranged on the third slide rails.

In one embodiment, when the scissor assembly is lifted, a first protruding piece positioned in the first sliding groove drives the sliding bracket to move up and horizontally; when the scissor assembly ascends, the first protruding piece positioned in the first sliding groove drives the sliding support to descend and horizontally move.

To sum up, the utility model discloses compare and have following beneficial effect in prior art:

(1) the utility model discloses a reliability and flexibility under the different states have been guaranteed to the bearing board unblock when single driving source realizes carrying the battery to bearing board locking, installation battery, have saved the manufacturing cost of handling device body, have avoided adopting a plurality of drive arrangement among the prior art and have caused the resource to consume.

(2) The utility model discloses set up the spring between first slider/second slider and first fixed block/second fixed block for link gear receives the protection of cushioning effect at the follow-up in-process, avoids excessive striking, has increased life.

(3) The utility model discloses a link assembly articulates first kicking block and second kicking block respectively to make first kicking block also can drive the second kicking block simultaneously when the motion and make the same speed move in opposite directions or back on the back mutually, further improved reliability and stability when bearing board is fixed a position by the locking.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a front view of an exemplary assembled battery AGV according to the present invention;

fig. 2 is a schematic structural diagram of an AGV with multiple batteries according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of an AGV according to an embodiment of the present invention;

fig. 4 is a top view of a lifting mechanism and linkage mechanism disclosed in an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a sliding mechanism and a locking mechanism disclosed in an embodiment of the present invention;

fig. 6 is a schematic structural view of a sliding bracket according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of an AGV according to an embodiment of the present invention;

fig. 8 is a plan view of the sliding mechanism and the locking mechanism according to the embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

Example 1:

referring to fig. 1-5, the AGV includes a lifting mechanism 1 disposed on a base 11 of the rack, and the lifting mechanism 1 may be an electric cylinder, an air cylinder or a hydraulic cylinder, and performs a lifting motion perpendicular to a plane of the base 11 of the rack. The linkage mechanism 2 comprises a lifting fixing plate 21 arranged above the lifting mechanism 1, and the lifting fixing plate 21 is connected with the top of the lifting mechanism 1; still include scissors fork subassembly 22, two sets of scissors fork bodies 23 in scissors fork subassembly 22 set up respectively in lifting mechanism 1 both sides along the length direction of haulage equipment base 11, still are equipped with first protrusion 231 on the yoke of scissors fork body 23, and first protrusion 231 can be structures such as roller, square shaft. The lifting fixing plate 21 is connected with the scissor fork bodies 23 on two sides through the connecting brackets on two ends, so that when the lifting mechanism 1 is lifted, the lifting fixing plate 21 is pushed to lift, and the lifting fixing plate 21 drives the scissor fork assembly 22 to lift at the same time.

The sliding brackets 3 are respectively arranged above the scissors assemblies 22 at two sides of the lifting mechanism 1, and the sliding brackets 3 are divided into an upper portion 31 and a lower portion 32, wherein the lower portion 32 of the sliding bracket 3 is formed by bending the body of the sliding bracket 3 downwards and is provided with a first sliding groove 33 in the horizontal direction to accommodate the first protruding member 231. It can be understood that, since the first protruding member 231 is limited by the first sliding slot 33 of the lower portion 32 of the sliding bracket 3, when the lifting mechanism 1 pushes the lifting fixing plate 21 to rise, so that the lifting fixing plate 21 drives the scissors assembly 22 to rise, the first protruding member 231 located on the fork arm of the scissors body 23 also moves obliquely upward along with the fork arm. In the ascending process, the yoke rotates around the hinge point, the included angle between the yoke and the horizontal plane is increased, and the first protruding member 231 moving along with the yoke applies force to the inner wall of the first sliding groove 33, so that the first sliding groove 33 is driven to ascend and move along the horizontal direction.

The battery assembling AGV further comprises a connecting rod locking mechanism 4 provided with a first ejector block 41, a second ejector block 42 and a connecting rod assembly 43, two end portions of the first ejector block 41 are respectively connected with the upper portions 31 of the two sliding supports 3, and the middle portion of the first ejector block 41 and the middle portion of the second ejector block 42 are respectively hinged to the connecting rod assembly 43. The supporting mechanism 5 is arranged above the connecting rod locking mechanism 4 and comprises a supporting plate 51, a first limiting member 52, a second limiting member 53 and a supporting plate 54, the supporting plate 51 is fixedly connected with the first limiting member 52 and the second limiting member 53 or integrally formed, and the upper surface of the supporting plate 54 is provided with a plurality of universal ball bearings to support the supporting plate 51. The support plate 51 is rectangular, and at least one nylon support 55 is provided on each side of the rectangle.

As described above, when the lifting mechanism 1 is lifted up, the first side end 34 of the inner wall of the first sliding groove 33 is brought into contact with the first projecting member 231, and is thereby forced to be lifted up and moved in the horizontal direction, and thus the sliding bracket 3 as a whole is also lifted up and moved in the horizontal direction. The upper portion 31 of the sliding bracket 3 and the first top block 41 are disposed on the third sliding block 61 and are thus slidably disposed on the first sliding rail 62, and since both ends of the first top block 41 are respectively connected with the upper portion 31 of the sliding bracket 3, the sliding bracket 3 drives the first top block 41 to move away from the first limiting member 52 while moving horizontally. The first top block 41 and the second top block 42 are hinged to the connecting rod assembly 43, so that the connecting rod assembly 43 drives the second top block 42 to move away from the second limiting member 53 when the first top block 41 moves away from the first limiting member 52, i.e. the first top block 41 and the second top block 42 move toward each other at this time. When the support plate 51 for loading the battery is lifted to the first top block 41 and the second top block 42 and completely comes off the first limiting member 52 and the second limiting member 53, the support plate 51 is unlocked, and the worker can perform the battery mounting operation. Because the supporting plate 51 is arranged on the plurality of universal ball bearings, the supporting plate 51 can slightly rotate in the process of installing the battery, so that fine adjustment is convenient to align the installation position of the bottom of the vehicle, the position of the whole carrying device does not need to be adjusted, and fine operation is realized compared with the prior art.

When the lifting mechanism 1 descends, the lifting fixing plate 21 drives the scissors assembly 22 to descend, and the first protrusion 231 moves obliquely downwards along with the fork arm with reference to the ground and drives the first sliding chute 33 to move downwards. Since the first protrusion 231 is limited in the first sliding slot 33, taking the first sliding slot 33 as a reference, the first protrusion 231 moves horizontally in the first sliding slot 33 in a direction opposite to that of the lifting, and drives the first sliding slot 33 to move horizontally when contacting the second side end 35 of the inner wall of the first sliding slot 33, so that the sliding bracket 3 approaches the first limiting member 52 and drives the first top block 41 to be inserted into the first limiting member 52. Since the first top block 41 and the second top block 42 are hinged to the connecting rod assembly 43, when the first top block 41 moves close to the first limiting member 52, the connecting rod assembly 43 drives the second top block 42 to move close to the second limiting member 53, i.e. the first top block 41 and the second top block 42 move back to back at this time. When the support plate 51 descends to the first top block 41 and the second top block 42 and is completely inserted into the first limiting piece 52 and the second limiting piece 53, the support plate 51 is limited by locking, even if the support plate 51 is arranged on a plurality of universal ball bearings, the support plate cannot rotate, therefore, a worker can carry and place the battery, and the loading deviation caused by the movement of the support plate 51 when the battery is loaded is avoided.

Example 2:

on the basis of the above embodiment, as shown in fig. 1, the scissors fork body 23 includes at least one set of a first fork arm 232 and a second fork arm 233 hinged to each other, and further includes a second protruding member 234, and the second protruding member 234 may also be a roller, a square shaft, or the like. The first protruding member 231 is disposed at the upper end of the first prong 232 or the second prong 233, and the lower end of the first prong 232 or the second prong 233 is hinged to the fixedly disposed hinge seat; correspondingly, the second projecting member 234 is arranged at the lower end of the second prong 233 or the first prong 232, while the lower end of the second prong 233 or the first prong 232 is movable in the horizontal direction, while the upper end of the second prong 233 or the first prong 232 is hinged on a fixedly arranged hinge seat.

Example 3:

on the basis of the above embodiment, as shown in fig. 6, two ends of the lower portion 32 of the sliding bracket 3 are respectively provided with a first fixed block 321 and a second fixed block 322, the first fixed block 321 and the second fixed block 322 are respectively provided with a first guide hole 323 and a second guide hole 324 along the horizontal direction, a first guide rod 325 and a second guide rod 326 are respectively inserted into the first guide hole 323 and the second guide hole 324, opposite ends of the first guide rod 325 and the second guide rod 326 are respectively connected with a first sliding block 327 and a second sliding block 328, the first sliding block 327 and the second sliding block 328 are slidably disposed in the first sliding groove 33, and the first protruding member 231 is located between the first sliding block 327 and the second sliding block 328. With such an arrangement, the first protruding member 231 and the first sliding block 327 or the second sliding block 328 do not need to directly collide with the inner wall end face of the first sliding groove 33 in the ascending and descending processes, and the first guide rod 325 and the second guide rod 326 are adopted to connect the first sliding block 327 and the second sliding block 328, so that the stability in the moving process is ensured, and the first sliding block 327 or the second sliding block 328 is prevented from being separated from the first sliding groove 33. In addition, the first sliding block 327 may further include a first connection portion 3271 and a first sliding portion 3272, the first guide rod 325 is connected to the first connection portion 3271, and the first sliding portion 3272 is located in the first sliding groove 33; the second slider 328 includes a second connection portion 3281 and a second sliding portion 3282, the second guide rod 326 is connected to the second connection portion 3281, and the second sliding portion 3282 is located in the first sliding groove 33. The spring playing a buffering role is divided into a first spring 3251 and a second spring 3261, the first spring 3251 is sleeved on the first guide rod 325, and two ends of the first spring 3251 are respectively connected with the first fixed block 321 and the first sliding block 327; the second spring 3261 is sleeved on the second guide rod 326, and two ends of the second spring are respectively connected with the second fixed block 322 and the second sliding block 328. The spring further arranged between the first sliding block 327 or the second sliding block 328 and the first fixing block 321 or the second fixing block 322 ensures that the linkage mechanism 2 is protected by a buffer effect in the follow-up process, excessive impact is avoided, and the service life is prolonged.

Example 4:

on the basis of the above embodiment, as shown in fig. 8, the connecting rod assembly 43 further includes a centering rotating arm 431, a bottom plate 432, a first connecting arm 433 and a second connecting arm 434, a center of the centering rotating arm 431 is hinged to a rotating shaft 44 disposed on the bottom plate 432, a first end of the centering rotating arm 431 is hinged to the first connecting arm 433, a second end of the centering rotating arm 431 is hinged to the second connecting arm 434, the first connecting arm 433 is hinged to the first top block 41, and the second connecting arm 434 is hinged to the second top block 42. As shown in the figure, when the first top block 41 is close to the first limiting member 52, the first connecting arm 433 is pulled to rotate counterclockwise, and the centering rotating arm 431 is driven to rotate clockwise around the rotating shaft 44, so as to drive the second connecting arm 434 to rotate counterclockwise, and finally the second connecting arm 434 pushes the second connecting arm 434 to be close to the second limiting member 53; when the first top block 41 is far from the first limiting member 52, the first connecting arm 433 is pushed to rotate clockwise, and the centering rotating arm 431 is driven to rotate counterclockwise around the rotating shaft 44, so as to drive the second connecting arm 434 to rotate clockwise, and finally the second connecting arm 434 pulls the second connecting arm 434 to be far from the second limiting member 53. Further, the first top block 41 includes a first hinge portion and a first position-limiting portion 412, and the second top block 42 includes a second hinge portion and a second position-limiting portion 422, the first hinge portion is hinged to the first connecting arm 433, and the second hinge portion is hinged to the second connecting arm 434.

The first limiting member 52 and the second limiting member 53 have through grooves formed in the middle thereof for the first top block 41 or the second top block 42 to be inserted into. The through groove can be designed to have four sides matched with the external dimensions of the first top block 41 or the second top block 42; alternatively, the through groove may be designed such that only two sides in the vertical direction match the width dimension of the first top block 41 or the second top block 42. The former can closely cooperate spacing better, and the latter can further reduce the cost under the condition of guaranteeing basic spacing requirement, only need the width that leads to the groove be greater than or equal to the maximum width of first spacing portion 412 and second spacing portion 422 can. Further, as shown in the figure, the first position-limiting portion 412 and the second position-limiting portion 422 may be designed to have an isosceles triangle front portion and a rectangle rear portion. The purpose of the isosceles triangle at the front is that the support plate 51 is in an unlocked state when the battery is mounted to the bottom of the vehicle, and there may be slight rotation compared to the original position, and when the mounting is completed and the support plate 51 descends, the first top block 41 and the second top block 42 gradually enter the first limiting member 52 and the second limiting member 53, respectively, the front portions of the first limiting portion 412 and the second limiting portion 422 adopt an isosceles triangle design, and when entering the first limiting member 52 and the second limiting member 53, the first limiting member 52 and the second limiting member 53 can return to the original positions through the guidance of the inclined surfaces, and the isosceles triangle is automatically adjusted in the descending process, so that the support plate 51 is reset.

Example 5:

in addition to the above-mentioned embodiment, as shown in fig. 7, a fourth slider 541 is connected to the bottom surface of the supporting plate 54, the fourth slider is slidably disposed on a second sliding rail 542, and the second sliding rail 542 is disposed across the frame. The two ends of the frame are respectively provided with a third slide rail 543, the two ends of the second slide rail 542 are respectively connected with a fifth slider 544, and the fifth slider 544 is slidably disposed on the third slide rail 543. With the above design, the support plate 54 can slide on the frame in the direction X, Y on the horizontal plane, so that the support plate 51 above the support plate 54 can move slightly further during the battery installation process, thereby facilitating fine adjustment to align the installation position of the vehicle bottom.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A battery multi-pack AGV, comprising:

the lifting mechanism is arranged on the base;

the linkage mechanism comprises a lifting fixing plate and a scissor fork assembly, the lifting fixing plate is connected with the scissor fork assembly, and the scissor fork assembly comprises a scissor fork body and a first protruding piece arranged on the scissor fork body; the lifting mechanism drives the lifting fixing plate to lift, so that the scissor assembly is driven to lift;

the sliding mechanism comprises a sliding support, a third sliding block and a first sliding rail, the sliding support is positioned above the scissor fork body, the upper part of the sliding support is connected with the third sliding block, the lower part of the sliding support is provided with a first sliding groove in the horizontal direction to accommodate the first protruding part, and the third sliding block is arranged on the first sliding rail in a sliding manner;

the connecting rod locking mechanism comprises a first ejector block, a second ejector block and a connecting rod assembly, the first ejector block is connected with the upper part of the sliding support, and the first ejector block and the second ejector block are respectively hinged with the connecting rod assembly;

the bearing mechanism is arranged above the connecting rod locking mechanism and comprises a bearing plate, a first limiting part matched with the first ejecting block and a second limiting part matched with the second ejecting block, and the bearing plate is fixedly connected with the first limiting part and the second limiting part or integrally formed.

2. The battery AGV of claim 1, wherein the scissor assembly includes two sets of scissor bodies, and wherein the bottom surface of the lift mounting plate is connected to the top of the lift mechanism.

3. The battery couched AGV of claim 1 or 2, wherein the scissor fork body comprises at least one set of a first prong and a second prong, the first prong and the second prong being hingedly connected, the first protrusion being provided at an upper end of the first prong or the second prong of the scissor fork body.

4. The AGV according to claim 1, wherein the sliding bracket has first and second fixed blocks at its lower ends, the first and second fixed blocks are respectively provided with first and second guide holes along the horizontal direction, the first and second guide holes are respectively penetrated by the first and second guide rods, the first and second guide holes are respectively connected with the first and second sliders at opposite ends, the first and second sliders are slidably disposed in the first sliding groove, and the first protruding member is disposed between the first and second sliders.

5. The battery AGV of claim 4, wherein the first slide includes a first coupling portion to which the first guide bar is coupled and a first slide portion within the first chute; the second sliding block comprises a second connecting portion and a second sliding portion, the second guide rod is connected with the second connecting portion, and the second sliding portion is located in the first sliding groove.

6. The AGV according to claim 4 or 5, wherein a first spring is sleeved on the first guide rod, and two ends of the first spring are respectively connected with the first fixed block and the first sliding block; and the second spring is sleeved on the second guide rod, and two ends of the second spring are respectively connected with the second fixed block and the second sliding block.

7. The AGV according to claim 1 or 2, wherein the lower portion of the sliding bracket is formed by bending a body of the sliding bracket downwards, and the upper portion of the sliding bracket and the first top block are arranged on the third sliding block and are slidably arranged on the first sliding rail.

8. The AGV according to claim 1 or 2, wherein the link assembly comprises a centering rotating arm, a bottom plate, a first connecting arm and a second connecting arm, the center of the centering rotating arm is hinged to a rotating shaft arranged on the bottom plate, a first end of the centering rotating arm is hinged to the first connecting arm, a second end of the centering rotating arm is hinged to the second connecting arm, and the first connecting arm is hinged to the first ejector block and the second connecting arm is hinged to the second ejector block.

9. The battery AGV of claim 8, wherein the first pushing block includes a first hinge and a first position-limiting portion, the second pushing block includes a second hinge and a second position-limiting portion, the first hinge is hinged to the first connecting arm, the second hinge is hinged to the second connecting arm, and the first position-limiting portion and the second position-limiting portion have an isosceles triangle front portion and a rectangular rear portion.

10. The AGV according to claim 9, characterised in that the first and second limiting members are each provided with a through slot, the width of which is greater than or equal to the maximum width of the first and second limiting portions.

11. The AGV of claim 1, wherein said support mechanism further comprises a support plate, said support plate having a universal ball bearing on an upper surface thereof, said support plate being disposed below said support plate, said support plate being disposed on said universal ball bearing.

12. The AGV of claim 1 or 11, wherein the support tray is rectangular with at least one nylon support bracket on each side.

13. The AGV of claim 11, wherein a fourth slide is attached to the bottom of the support plate and is slidably disposed on a second slide rail that extends across the rack.

14. The AGV according to claim 13, wherein a third slide rail is provided at each end of the rack, a fifth slider is connected to each end of the second slide rail, and the fifth slider is slidably disposed on the third slide rail.

15. The AGV of claim 1, wherein a first projection within the first chute urges the sliding rack upward and horizontally when the scissor assembly is raised; when the scissor assembly ascends, the first protruding piece positioned in the first sliding groove drives the sliding support to descend and horizontally move.