CN210821898U

CN210821898U - Battery compartment system suitable for AGV

Info

Publication number: CN210821898U
Application number: CN201921481292.XU
Authority: CN
Inventors: 黄巨明
Original assignee: Hangzhou Hikrobot Technology Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2019-09-06
Filing date: 2019-09-06
Publication date: 2020-06-23
Anticipated expiration: 2029-09-06

Abstract

The application discloses a battery bin system suitable for an AGV, which comprises a battery taking and placing device and a storage device, wherein the battery taking and placing device is used for transferring a battery module of the AGV; the battery taking and placing device is provided with a battery replacement port and a battery storage port, the battery replacement port and the battery storage port are used for the AGV to pass through, and the storage device is right opposite to the battery storage port. The disclosed battery compartment system suitable for AGV of this application embodiment can transport the battery module who gets off changing to strorage device, promotes battery module's transfer efficiency by a wide margin.

Description

Battery compartment system suitable for AGV

Technical Field

The application relates to the technical field of logistics transportation, in particular to a battery compartment system suitable for AGV.

Background

With the development of society, logistics systems are increasingly automated and intelligent. In the current logistics sorting and transportation operation, a large number of agvs (automated Guided vehicles), which are abbreviated as "automated Guided vehicles", are required, and the automated Guided vehicles are transportation vehicles capable of traveling along a predetermined guide path, and have safety protection and various transfer functions.

The AGV generally uses a battery carried by the AGV to provide power, and the power of the battery needs to be timely supplemented when the power is almost exhausted, so that automatic power supply equipment for the AGV needs to be matched in the system.

In the related art, some battery pick and place devices for replacing the battery module of the AGV have been developed. These devices may remove a depleted battery module from the AGV and reinstall a fully charged battery module on the AGV, with the replaced battery module requiring recharging.

In the related art, the battery module is generally transferred manually, but the work efficiency is low, especially, the work efficiency is low due to the lack of dedicated equipment.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a battery compartment system suitable for AGV to solve above-mentioned problem.

The embodiment of the application adopts the following technical scheme:

the embodiment of the application provides a battery bin system suitable for an AGV, which comprises a battery taking and placing device and a storage device, wherein the battery taking and placing device is used for transferring a battery module of the AGV, and the storage device is used for storing the battery module of the AGV;

the battery taking and placing device is provided with a battery replacement port and a battery storage port, the battery replacement port and the battery storage port are used for the AGV to pass through, and the storage device is right opposite to the battery storage port.

Optionally, in the above-mentioned battery compartment system adapted for an AGV, the battery storage opening is adjacent to the battery replacement opening.

Optionally, in the above battery compartment system adapted to an AGV, both sides of the battery replacement opening are adjacent to the battery storage opening.

Optionally, in the foretell battery compartment system that is applicable to AGV, the battery is got and is put the device and still is equipped with the fire control waste discharge mouth that supplies AGV's battery module to pass through, fire control waste discharge mouth with the battery is changed the mouth just right.

Optionally, in the above battery compartment system suitable for an AGV, the battery taking and placing device includes a carrying platform, a transferring mechanism and a battery lifting mechanism;

the bearing platform is connected with the transfer mechanism and is used for bearing the battery module;

the transfer mechanism is connected with the bearing platform and is used for driving the bearing platform and the battery module to pass through a battery replacing port or a battery storing port;

the battery lifting mechanism is connected with the transfer mechanism and used for driving the transfer mechanism and the bearing table to move along the vertical direction.

Optionally, in the above-mentioned battery compartment system suitable for AGV, storage device includes the charging seat that is used for charging to battery module, every battery storage mouth all along vertical direction a plurality of battery seat of having arranged.

Optionally, in the above battery compartment system suitable for AGVs, the storage device further includes a battery seat support, and the battery seat is disposed on the battery seat support.

Optionally, in the above battery compartment system suitable for an AGV, the battery taking and placing device further includes a main supporting frame;

the main tributary strut has the lift passageway, the battery is changed the mouth and the battery is deposited the mouth and is all seted up on the main tributary strut, battery elevating system sets up on the main tributary strut, the plummer with it all sets up to move the mechanism just can follow in the lift passageway battery elevating system's drive the vertical removal of lift passageway.

Optionally, in the above battery compartment system for an AGV, the charging seat includes a charging stand, a charging seat coarse positioning module, a charging seat fine positioning module, and a connector module;

the charging platform is provided with a receiving surface, the charging seat coarse positioning module comprises a charging seat coarse positioning column corresponding to the position of a charging seat coarse positioning hole on a battery module of the AGV, the charging seat coarse positioning column protrudes out of the receiving surface, and when the receiving surface is abutted against the battery module of the AGV, the charging seat coarse positioning column can extend into the charging seat coarse positioning hole;

the charging seat fine positioning module comprises a charging seat fine positioning power unit and a charging seat fine positioning column corresponding to the position of a charging seat fine positioning hole in a battery module of the AGV, the charging seat fine positioning column can extend into the charging seat fine positioning hole under the driving of the charging seat fine positioning power unit, and the width of an annular gap formed by the charging seat fine positioning column and the charging seat fine positioning hole is smaller than the width of an annular gap formed by the charging seat coarse positioning column and the charging seat coarse positioning hole;

the connector module includes connector and connector power pack, the connector can be in under the drive of connector power pack with the location be in AGV's on the charging seat battery module electric conductance.

Optionally, in the above battery compartment system suitable for AGVs, the transfer mechanism includes a telescopic module and a rotating module;

the telescopic module is connected with the bearing table and drives the bearing table to linearly extend and retract in a horizontal plane;

the rotating module is connected with the telescopic module and drives the telescopic module to rotate in a horizontal plane.

Optionally, in the above battery compartment system suitable for AGVs, a battery module fixing member is disposed on the carrying platform, and is used for limiting movement of a battery module of an AGV in a horizontal plane;

the battery taking and placing device also comprises a limiting mechanism;

and the limiting mechanism is fixed on the bearing platform and used for limiting the AGV to move upwards and separate from the battery module fixing piece.

The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:

the battery compartment system suitable for AGV that this application embodiment disclosed can transport the battery module who gets off changing to depositing equipment and deposit, promotes battery module's transfer efficiency by a wide margin.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is an overall structural view of a swapping station disclosed in an embodiment of the present application.

Fig. 2 is a perspective view of a battery exchange device according to an embodiment of the present disclosure.

Fig. 3 is a front view of the battery exchange device according to the embodiment of the present application.

FIG. 4 is a diagram of a specific AGV structure according to an embodiment of the present application.

Fig. 5 is a detailed structural view of a battery module disclosed in an embodiment of the present application.

Fig. 6 is a bottom structural view of a battery module disclosed in an embodiment of the present application.

Fig. 7 is a cross-sectional view of the locking and unlocking module and the unlocking pin according to the embodiment of the present application.

Fig. 8 is a view of a fitting structure of the lifting frame, the main frame and the sub-frame disclosed in the embodiment of the present application.

Fig. 9 is a detailed structural view of a hoisting frame disclosed in the embodiment of the present application.

Fig. 10 is a top view of the support table and the positioning mechanism according to the embodiment of the present application.

Fig. 11 is a detailed structural view of a first positioning module disclosed in an embodiment of the present application.

Fig. 12 is a detailed structural view of a second positioning module disclosed in an embodiment of the present application.

Fig. 13 is a detailed structural view of the battery mounting and dismounting mechanism and the slope disclosed in the embodiment of the present application.

Fig. 14 is a specific structural view of a battery mounting/dismounting mechanism disclosed in an embodiment of the present application.

Fig. 15 is an overall structural view of the battery compartment system disclosed in the embodiment of the present application.

Fig. 16 is a detailed structural view of the battery taking and placing device disclosed in the embodiment of the present application.

Fig. 17 is a top view of the battery pick-and-place device according to the embodiment of the disclosure.

Fig. 18 is a detailed structural view of the storage device disclosed in the embodiment of the present application.

Fig. 19 is a detailed structural view of the charging stand disclosed in the embodiment of the present application.

Fig. 20 is a schematic view of a fire fighting device disclosed in an embodiment of the present application.

Fig. 21 is a view showing a fitting structure of the battery module receiving mechanism and the detector according to the embodiment of the present application.

Description of reference numerals:

1-battery replacing device, 10-lifting frame, 100-supporting table, 1000-supporting surface, 1000 a-accommodating cavity, 1001-avoidance area, 1002-opening, 101-positioning mechanism, 1010-first positioning module, 1010 a-positioning slider, 1010 b-guide rail, 1010 c-positioning groove, 1010 d-guide inclined plane, 1010 e-reset elastic piece, 1010 f-wheel detection sensor, 1011-second positioning module, 1011 a-horizontal pushing assembly, 1011a 1-fixed bracket, 1011a 2-movable bracket, 1011a 3-horizontal pushing power unit, 1011a 4-pushing guide unit, 1011a 5-flexible clamping block, 1012-reference mark, 102-auxiliary frame pressing mechanism, 1020-pressing power unit, 1021-pressing piece, 103-auxiliary frame lifting mechanism, 104-main frame pressing mechanism, 1040-pressing power unit, 1041-pressing piece, 105-supporting frame, 1050-main body part, 1051-extending part, 106-pre-charging mechanism, 1060-pre-charging electric connecting piece, 1061-pre-charging power unit, 11-lifting frame lifting mechanism, 12-battery disassembling and assembling mechanism, 120-abutting table, 1200-abutting surface, 1201-ball unit, 121-coarse positioning module, 1210-coarse positioning column, 122-fine positioning module, 1220-fine positioning column, 1221-fine positioning power unit, 123-unlocking module, 1230-unlocking ejector rod, 1231-unlocking power unit, 124-battery module detection sensor, 125-pulling module, 1250-drag hook, 1251-drag hook power unit, 126-elastic tightening module, 127-tightening sensor, 128-walking module, 129-base body and 13-slope;

2-battery chamber system, 20-battery taking and placing device, 200-bearing platform, 2000-battery module fixing part, 2001-limiting mechanism, 2001 a-limiting part, 2001 b-limiting power unit, 201-transferring mechanism, 2010-telescopic module, 2011-rotating module, 202-battery lifting mechanism, 203-battery replacing port, 204-battery storing port, 205-fire-fighting waste discharging port, 206-fixing frame, 207-main supporting frame, 2070-lifting channel, 21-storing device, 210-charging seat bracket, 211-charging seat, 2110-charging platform, 2110 a-bearing surface, 2111-charging seat coarse positioning module, 2111 a-charging seat coarse positioning column, 2112-charging seat fine positioning module, 2112 a-charging seat fine positioning column, positioning column, 2113-connector module, 2113 a-connector, 2114-charging seat ball unit, 2115-charging seat battery module detection sensor, 2116-supporting frame, 2117-mounting table and 2118-integrated power unit;

3-a fire fighting device, 30-a battery module bearing mechanism, 300-a telescopic support module, 3000-a fixing part, 3001-a supporting part, 3002-a telescopic power unit, 3003-a guide rail, 31-a fire fighting box, 32-a fire fighting material containing box, 320-a discharge port, 33-a discharge valve, 34-a fire fighting bracket and 35-a detector;

9-AGV, 90-main frame, 91-auxiliary frame, 910-lock catch, 9100-unlocking lever, 9101-U-shaped lock head, 9102-lock body, 92-pin hole, 93-battery module, 930-locking module and 931-positioning hole;

a-a first horizontal direction, b-a second horizontal direction.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

The embodiment of the application provides a power swapping station suitable for an AGV, a two-wheel-drive AGV structure which can be suitable for the power swapping station is shown in FIG. 1, and the AGV is taken as an example to explain the embodiment of the application. However, it should be noted that the AGV9 according to the present invention is not limited to the two-wheel drive AGV shown in fig. 4, and may be a four-wheel drive or bionic AGV that can travel/stop in an automatic navigation manner and can unload/load the battery module 93 from/on the AGV9 toward the lower side. The AGV9 shown in fig. 4 includes a main frame 90 and a sub frame 91, and in the embodiment shown in fig. 4, the main frame 90 and the sub frame 91 are disposed forward and backward along the traveling direction of the AGV9, and the sub frame 91 may be fixed to the main frame 90 of the AGV9 in the vertical direction and may be connected to the outside, and it is sufficient to change the posture of the main body of the AGV9 by applying an external force to the main frame 90 and the sub frame 91.

The battery module 93 of this application, install in sub vehicle frame 91, can be nickel-hydrogen rechargeable battery, also can be the lithium cell, can also be non-rechargeable battery, and the shape that is not limited to shown in fig. 1 at the same time is not only limited to, can cooperate this application trade the power station follow sub vehicle frame 91 of AGV9 downwards the side unload/load can. Of course, in other embodiments, it is not excluded that the battery module 93 is mounted on the main frame 90, and the present embodiment only uses the mounting in the sub-frame 91 as an example to describe the related structure of the power swapping station, and those skilled in the art can fully combine similar power swapping station solutions suitable for AGVs whose battery modules 93 are mounted on the main frame 90 or even other positions according to the description of the present embodiment.

The power exchanging station described in this embodiment includes a battery replacing device 1 and a battery compartment system 2 as shown in fig. 1, in the embodiment shown in fig. 1, the battery replacing device 1 and the battery compartment system 2 are used in a matching manner, and in a specific implementation process, the battery replacing device 1 and the battery compartment system 2 may be used independently.

The battery exchanging apparatus 1 will be described in detail first.

The battery exchanging apparatus 1 of the present embodiment is used to detach/attach the battery module 93 from/to the AGV 9.

To enable battery replacement from the lower side of the AGV9, in this embodiment, the battery replacement device 1 includes a lifting frame 10, a lifting frame lifting mechanism 11, and a battery disassembling and assembling mechanism 12, and in a specific use process, the lifting frame 10 and the lifting frame lifting mechanism 11 may be connected to each other as shown in fig. 3. The lifting frame elevating mechanism 11 may be provided in a frame type so that the lifting frame 10 is elevated and lowered in the inside thereof.

The lift frame 10 includes a support platform 100 and a lift frame lift mechanism 11 is capable of lifting the lift frame 10 and thus the AGV9 after the AGV9 has traveled to the support platform 100. Battery dismouting mechanism 12 can be in the below of hoisting frame 10 after hoisting frame 10 is lifted, therefore hoisting frame elevating system 11 can adjust the vertical interval between the bottom of AGV9 and battery dismouting mechanism 12, and then from bottom dismouting battery module 93, hoisting frame elevating system 11 can also set up to the jack isotructure that supports hoisting frame 10, can rise as required and put down hoisting frame 10 can. The support table 100 of the lift frame 10 is not normally flush against the floor, so a ramp 13 may be provided in front of the lift frame 10 to facilitate the driving of the AGV9 onto the support table 100.

Each part of the lifting frame 10 will be described separately below, including the first positioning module 1010, the second positioning module 1011, the sub-frame pressing mechanism 102, the sub-frame lifting mechanism 103, and the main frame pressing mechanism 104, etc., in practical applications, each part of the lifting frame 10 may be used independently, or may be used in any combination according to different process requirements, and is not limited to the technical solution of using all the parts described in this embodiment, and it is sufficient to smoothly detach the battery module 93 from the AGV 9. Each part of the lifting frame 10 has a different function, and some parts may have other additional functions after being combined. The respective parts of the hoisting frame 10 will be described separately below.

First, when the battery module 93 is detached or attached, the fitting accuracy of each device is extremely important, and if the fitting accuracy is too low, the relative positions of the devices are largely deviated, so that the devices cannot complete the setting operation.

In the present embodiment, in order to facilitate the smooth attachment and detachment of the battery module 93 by the battery attachment and detachment mechanism 12, the lift frame 10 includes a positioning mechanism 101. The positioning mechanism 101 is capable of positioning the relative attitude and relative position of the AGV9 with the hoist 10, and primarily the AGV9 with the support table 100. Specifically, because the AGV9 may be parked directly on the support table 100, the vertical position of the AGV9 and the support table 100 may be disregarded. As shown in FIG. 9, positioning mechanism 101 generally only needs to account for the parking position of AGV9 in the horizontal plane. The positioning mechanism 101 may position the AGV9 by positioning the AGV9 at a first horizontal a position with the wheel axis perpendicular to the wheel axis and a second horizontal b position along the wheel axis.

To position the AGV9 perpendicular to the first horizontal direction a of the wheel axis, as shown in fig. 9, the positioning mechanism 101 may include a first positioning module 1010; and for the location AGV9 along the second horizontal direction b of wheel axis's position, positioning mechanism 101 can include second location module 1011, like this, through the location effect of first location module 1010 with second location module 1011, the position of AGV9 on the horizontal direction just can be fixed, has also made things convenient for battery dismouting mechanism 12 to fix a position and dismouting battery module 93.

Specifically, in this embodiment, as shown in fig. 10, the first positioning module 1010 may include a positioning slider 1010a and a guide rail 1010b, and in order to position the AGV9 along the first horizontal direction a, a positioning slot 1010c extending along the second horizontal direction b is disposed on the slider 1010a, and the positioning slot 1010c may be arranged in a V shape as shown in fig. 11, so that the wheel of the AGV9 can be automatically locked in the V-shaped positioning slot 1010c, and of course, it is also conceivable to arrange the positioning slot 1010c in a rectangular shape, an inverted trapezoid shape, a semicircular shape, or other shapes that can just accommodate the wheel of the AGV9, and the wheel of the AGV9 can sink down into the positioning slot 1010c and be fixed by the positioning slot 1010c, so that the positioning of the AGV9 is achieved by positioning the wheel of the AGV9 in the first horizontal direction a.

A support surface 1000 is provided on the upper surface of the support table 100. the support surface 1000 may be provided as a complete flat surface as shown in fig. 10, or may be provided as a grid-like surface capable of supporting AGVs 9 and allowing AGVs 9 to travel thereon. In order to allow the wheels of the AGV9 to sink into the positioning slot 1010c and be positioned, in the present embodiment, a receiving cavity 1000a is formed on the supporting surface 1000 and recessed downward from the supporting surface 1000, and the receiving cavity 1000a can receive the first positioning module 1010, so that most of the structure of the first positioning module 1010 can be located below the supporting surface 1000, so that the positioning slot 1010c is substantially flush with the supporting surface 1000, and the wheels of the AGV9 can easily travel from the supporting surface 1000 into the positioning slot 1010c of the positioning slider 1010 a.

The alignment slide 1010a is also provided with a guide ramp 1010d, as shown in FIG. 11, with one side of the guide ramp 1010d being flush with the support surface 1000 and the other side of the guide ramp 1010d being flush with one side of the alignment slot 1010c, so that the wheels of the AGV9 can be easily guided from the support surface 1000 by the guide ramp 1010d into the alignment slot 1010 c.

Since the positioning mechanism 101 needs to position the AGV9 in both the first horizontal direction a and the second horizontal direction b, after the AGV9 is positioned in the first horizontal direction a by the first positioning module 1010, the position of the AGV9 in this direction needs to be adjusted when the AGV9 is positioned in the second horizontal direction b by the second positioning module 1011, and the wheels also move in this direction when the position of the AGV9 is adjusted.

To ensure that the AGV9 maintains the position of the first horizontal direction a when positioning the position of the second horizontal direction b, and to reduce the difficulty of the AGV9 moving in the second horizontal direction b, as shown in fig. 10, the positioning slot 1010c and the guide rail 1010b are extended in the second horizontal direction b, and the positioning slider 1010a is slidably engaged with the guide rail so that the positioning slider 1010a can slide in the second horizontal direction b. Thus, when the AGV9 moves in the second horizontal direction b, the positioning block 1010a can move in the second horizontal direction b together with the AGV9 under the guidance of the guide rails 1010b, which not only enables the AGV9 to move in the second horizontal direction b more conveniently, but also ensures that the position of the AGV9 in the first horizontal direction a does not change.

The first positioning module 1010 may further include a reset elastic member 1010e, the reset elastic member 1010e is connected to the positioning slider 1010a, and the reset elastic member 1010e is adjusted to stably maintain the positioning slider 1010a at a reset position. When the positioning slider 1010a slides from the reset position to another position along the second horizontal direction, the reset elastic element 1010e is compressed, stretched or elastically deformed to store elastic potential energy, and when the external force disappears, the elastic potential energy of the reset elastic element 1010e is released to enable the positioning slider 1010a to automatically recover to the reset position along the second horizontal direction b. After the first AGV9 has traveled off of the lift frame 10, the positioning slide 1010a may return to its original position to be ready to meet and position the next AGV 9. The elastic restoring element 1010e may be a spring, a resilient sheet, a high-elasticity rubber band, etc., and it is only necessary to have elasticity and to be able to elastically push the positioning slider 1010a to the restoring position, in this embodiment, as shown in fig. 10, the restoring position is usually designed in the middle of the accommodating cavity 1000a, so that the positioning slider 1010a leaves a certain gap for moving away from both sides of the accommodating cavity 1000 a. A return elastic member 1010e may be disposed on each side of the positioning slider 1010a to make the movement of the positioning slider 1010a more stable.

The first positioning module 1010 may further include a wheel detection sensor 1010f, the wheel detection sensor 1010f may be disposed on the positioning slider 1010a and configured to detect whether a wheel of the AGV exists in the positioning slot 1010c, and the wheel detection sensor 1010f may be embedded into an upward surface of the positioning slider 1010a as shown in fig. 11 or may be protruded from one side of the positioning slider 1010 a; wheel detection sensor 1010f can set up to photoelectric sensor, also can set up to pressure sensor etc. can the perception AGV 9's wheel reach constant head tank 1010c or not can, and it is no longer repeated here.

With the above arrangement, the AGV9 can automatically travel to automatically position the wheels of the AGV9 and the AGV9 in the first horizontal direction a on the positioning sliders 1010a of the first positioning module 1010 driven by the supporting surface 1000 in two wheels, and the wheel detection sensor 1010f synchronously detects the wheels and notifies the central control unit such as the cpu that the AGV9 has reached the battery exchanging apparatus 1. The central processor issues a command to the second positioning module 1011 to continue positioning the AGV9 in the second horizontal direction b.

In this embodiment, the position of AGV9 in a second horizontal direction b is located using a second positioning module 1011, which second positioning module 1011 includes a horizontal pushing assembly 1011 a. Horizontal pushing assemblies 1011a are symmetrically disposed on both sides of support table 100 in second horizontal direction b and are positioned in such a manner as to push AGV9 in second horizontal direction b.

As shown in FIG. 9, after the AGV9 is positioned in the first horizontal direction a by the first positioning module 1010, the second positioning module 1011 is operated such that the horizontal pushing assembly 1011a extends in the second horizontal direction b and abuts the side of the AGV9, which corresponds to the horizontal pushing assembly 1011a gripping the AGV9 when viewed from above, such that the AGV9 can move with the movement of the horizontal pushing assembly 1011a to achieve positioning in the second horizontal direction b.

As shown in fig. 12, in the present embodiment, the horizontal pushing assembly 1011a may include a fixed bracket 1011a1, a movable bracket 1011a2, a horizontal pushing power unit 1011a3 and a pushing guide unit 1011a 4;

the fixing support 1011a1 is fixed to the supporting platform 100 for fixing and supporting other mechanisms of the horizontal pushing assembly 1011a, in the embodiment shown in fig. 12, the fixing support 1011a1 is a plate, and may also be a supporting column extending upward, which can play a role of fixing and supporting; the fixed bracket 1011a1 is connected to the movable bracket 1011a2 via a push guide unit 1011 d. in the embodiment shown in fig. 12, the push guide unit 1011a4 may be configured as a guide rail, a guide rod or a guide column, and can guide the movable bracket 1011a2 along the second horizontal direction b, and the horizontal push power unit 1011a3 may be configured as a hydraulic rod as shown in fig. 12, or may be configured as a mechanical arm, a servo motor, or the like, and can push the movable bracket 1011a2 along the second horizontal direction b and push the AGV9 to the positioning position. Because the movable brackets 1011a2 move along the second horizontal direction b, when the pair of movable brackets 1011a2 extends out and pushes the AGV9 at the same time, the two sides of the AGV9 can be uniformly stressed, and the AGV9 is prevented from being twisted due to uneven stress.

In order to avoid damaging the outer surface of the AGV9 during clamping of the movable support 1011a2, a flexible clamping block 1011a5 is arranged on the movable support 1011a2, the flexible clamping block 1011a5 can be arranged as a small block protruding from one surface of the movable support 1011a2 facing the AGV9 as shown in fig. 12, or can be arranged to cover one surface of the movable support 1011a2 facing the AGV9, and the movable support 1011a2 can reduce the stress between the movable support 1011c and the AGV9 when pushing the AGV9 through the flexible clamping block 1011a 5.

In this embodiment, the positioning data of the second positioning module 1011 may be provided by a camera or other type of recognition device capable of observing the relative position of the AGV9 and the support table 100 in the second horizontal direction b, in this embodiment, a reference mark 1012 may be provided on the support table 100, the reference mark 1012 may be provided in the form of a cross mark, a two-dimensional code or the like on the support table 100 and can be recognized by the recognition device on the AGV9, when the AGV9 recognizes the reference mark 1012, the position difference between the current AGV9 and the reference mark 1012 in the second horizontal direction b may be calculated and notified to a central control device such as a central processor, and then the central control device may control the second positioning module 1011 to push 1012 the AGV9 and move it to be opposite to the reference mark, so as to complete the positioning of the main body of the AGV9 in the horizontal direction.

After positioning of the body of the AGV9 is complete, the AGV9 also needs to be secured in preparation for the next step of removing/installing the battery module 93.

For the AGV9 shown in FIG. 4, the main frame 90 and subframe 91 may be fixedly attached or may be hingedly articulated. For the structure in which the main frame 90 and the sub frame 91 are hinged, since the main frame 90 and the sub frame 91 can rotate relatively to change the angle, on one hand, the positioning accuracy may be negatively affected, and on the other hand, the structure of the AGV9 may be changed due to the stress during the installation or removal of the battery module 93, which increases the difficulty of the operation.

Since the battery module 93 is disposed on the sub-frame 91, in order to avoid the above problem, the lift truck 10 in this embodiment further includes a sub-frame pressing mechanism 102 and a sub-frame lifting mechanism 103 as shown in fig. 12, and at this time, the support table 100, the sub-frame pressing mechanism 102 and the sub-frame lifting mechanism 103 may constitute a sub-frame fixing assembly of the AGV 9. Wherein sub vehicle frame pushes down mechanism 102 and is used for oppressing AGV 9's sub vehicle frame 91 downwards, and sub vehicle frame lifts mechanism 103 and is used for upwards lifting AGV 9's sub vehicle frame 91, through in vertical direction opposite both sides simultaneously to sub vehicle frame 91 application of force, can fix firm fixing with AGV's sub vehicle frame 91 at least.

In this embodiment, as shown in fig. 12, the subframe depressing mechanism 102 may be provided on a horizontal pushing member. It should be noted that, in some embodiments, the horizontal pushing assembly may be a separate horizontal pushing structure different from the horizontal pushing assembly 1011a in the second positioning module 1011. Moreover, these embodiments may include the positioning mechanism 101 or not include the positioning mechanism 101, or in the embodiment including the positioning mechanism 101, the positioning mechanism 101 may include the second positioning module 1011 or not include the second positioning module 1011, or in the embodiment including the second positioning module 1011, the second positioning module 1011 may also include the horizontal pushing assembly 1011a or not include the horizontal pushing assembly 1011 a.

When the lifting frame 10 is provided with the horizontal pushing assembly 1011a belonging to the second positioning module, the sub-frame pressing mechanism 102 may be disposed on the horizontal pushing assembly 1011a for the sake of simple structure. Whether it is a stand-alone horizontal pusher assembly or a second positioner module horizontal pusher assembly 1011a, the position of subframe hold-down mechanism 102 needs to correspond to subframe 91 of AGV 9. The specific position of the sub-frame pressing mechanism 102 in this embodiment can be designed along with the structure of the AGV9 and the position of the pressure-bearing surface, and for different AGVs 9, the sub-frame pressing mechanism 102 may be set at different positions, but no matter where the sub-frame pressing mechanism 102 is set, it should be ensured that when the horizontal pushing assembly 1011a pushes the AGV9 along the second horizontal direction b, the sub-frame pressing mechanism 102 can be driven to move to a certain pressure-bearing surface of the sub-frame 91. The sub-frame depressing mechanism 102 then presses the pressure receiving face downward.

Of course, the subframe depressing mechanism 102 may be provided on another structure that can move it above the pressure receiving face of the subframe 91.

In order to make the sub-frame 91 receive a uniform downward pressure and avoid uneven stress, the sub-frame pressing mechanisms 102 may be symmetrically disposed on the horizontal pushing assembly 1011a along the second horizontal direction b.

To further fix the AGV9, in this embodiment, the lifting frame 10 may further include a main frame pressing mechanism 104, as shown in fig. 9, the main frame pressing mechanism 104 and the sub-frame pressing mechanism 102 are arranged on the horizontal pushing assembly 1011a along the first horizontal direction a, and the main frame pressing mechanism 104 can press the main frame 90 of the AGV9 downward, so as to press the main frame 90 and the sub-frame 91 at the same time, thereby avoiding unstable posture of the AGV9 caused by uneven stress.

In this embodiment, in order to realize stable pushing, as shown in fig. 12, the sub-frame pushing mechanism 102 includes a pushing power unit 1020 and a pushing member 1021, the pushing member 1021 is connected to the pushing power unit 1020, the pushing member 1021 extends along the second horizontal direction, as shown in fig. 12, the pushing member 1021 is provided as a pin extending along the second direction, a pin hole 92 with a pressure-bearing surface is correspondingly provided on the AGV9, the pushing member 1021 can also be provided as a protruding strip extending along the second direction, a groove with a pressure-bearing surface is correspondingly provided on the AGV9, the pushing member 1021 can be moved to above the pressure-bearing surface of the AGV9 by a horizontal pushing assembly 1011a, that is, the pin extends into the pin hole 92, at this time, the pushing power unit 1020 pushes the pushing member 1021 to move downward, and the pushing member 1021 pushes the pressure-bearing surface downward, so as to apply a downward pressing force to the AGV 9. Similarly, the main frame pressing mechanism 104 may include a pressing power unit 1040 and a pressing member 1041, which have the same structure and operation principle as the sub-frame pressing mechanism 102, and are not described in detail herein.

In this embodiment, subframe lift mechanism 103 alone or in combination with support table 100 may provide an upward lifting force to AGV 9. Particularly, for some embodiments, in order to enable the battery module 93 to smoothly leave the AGV9 downwards, an avoidance area 1001 for the battery module 93 to pass through in the vertical direction is formed on the supporting platform 100, where the avoidance area 1001 may be a closed hollow area on the supporting platform 100, or may be a notch extending to one side of the supporting platform 100 and forming an opening 1002, and the shape of the avoidance area 1001 shown in fig. 10 approximately matches with the projection of the battery module 93 shown in fig. 18 in the vertical direction, or may be set to be not matched, so that the battery module 93 may be allowed to pass through in the vertical direction.

Due to the existence of the escape area 1001, the subframe 91 may not be lifted by the support table 100, and it is more important to provide the subframe lifting mechanism 103 to lift the subframe 91 alone.

To fix the subframe lift mechanism 103, the lift frame 10 may include a support frame 105, the support frame 105 is fixedly connected to the support platform 100, and the support frame 105 is also used to fix the subframe lift mechanism 103. The support frame 105 includes a main body 1050 and an extension 1051, as shown in fig. 8, the main body 1050 is fixedly connected to the support platform 100, the extension 1051 extends from the main body 1050 to one side of the support platform 100, and the sub-frame lifting mechanism 103 can be fixed on the extension 1051, so that there is a larger installation space and a better lifting position.

When the escape area 1001 includes the opening 1002, the sub-frame lift mechanism 103 may be opposed to the opening 1002, and the sub-frame lift mechanism 103 may extend toward the opening 1002 and lift the sub-frame 91 when the AGV9 is at a predetermined position on the support table 100.

As shown in fig. 6, the subframe lift mechanism 103 includes a lift member 1030 and a lift power unit 1031; the lifting power unit 1031 is fixedly connected with the extending portion 1051, the lifting member 1030 moves to the lower part of the sub-frame 91 by the driving of the lifting power unit 1031, when the sub-frame 91 needs to be lifted, the lifting member 1030 can move upwards to lift the sub-frame 91, in the embodiment shown in fig. 9, the lifting member 1030 is provided with a lifting surface and is matched with the bottom surface of the sub-frame 91, and a convex jacking portion can be provided, and the sub-frame 91 is lifted in a butting mode.

The support table 100, the positioning mechanism 101, the sub-frame pressing mechanism 102, the sub-frame lifting mechanism 103, and the main-frame pressing mechanism 104 cooperate with each other to position and fix the AGV 9.

Because the AGV9 may be in a battery module 93-less state for some time during the replacement of the battery module 93, the AGV9 may be completely powered down. However, this situation may be annoying for subsequent control of AGV 9. Therefore, in order to keep the AGV9 in the open state at all times, as shown in fig. 9, the elevator 10 of the present embodiment may further include a pre-charging mechanism 106, the pre-charging mechanism 106 can be mated with a pre-charging mating device disposed on the AGV9 to pre-charge the AGV9 after the AGV9 is positioned to a predetermined position, the pre-charging mechanism 106 may include a pre-charging electrical connector 1060 for electrically connecting with the pre-charging mating device, the pre-charging electrical connector 1060 may be a charging coil capable of being mated with the pre-charging mating device, a plug capable of being electrically connected with the pre-charging mating device, or other structures capable of being electrically connected with the pre-charging mating device. In addition to this, the pre-charge mechanism 106 includes a cylinder, turret or other form of pre-charge power unit 1061. the pre-charge power unit 1061 may be secured to the extension 1051 or other component of the lift frame 10, with the pre-charge electrical connection 1060 being driven by the pre-charge power unit 1061. Pre-charge power unit 1061 may drive pre-charge electrical connection 1060 to move and electrically connect to the pre-charge mate when the AGV is needed to be pre-charged, with its pre-charge mate just within the path of travel of pre-charge electrical connection 1060 when AGV9 is positioned to a predetermined position. When it is desired to disable the precharge phase, precharge power cell 1061 is simply driven in reverse to disengage precharge electrical connection 1060 from the precharge match device.

After the AGV9 is positioned and secured in the lift 10, the lift 10 can be controlled by the cpu to move the AGV9 up and down to adjust the relative position of the AGV9 to the battery disconnect mechanism 12.

In this embodiment, the battery module 93 has the locking module 930 as shown in fig. 5, the locking module 930 may be a lock hook or other structures, and meanwhile, the lock 910 is disposed on the auxiliary frame 91, and the lock 910 may be set to a common quick-hook structure, as shown in fig. 7, including the unlocking lever 9100, the U-shaped lock 9101 and the lock body 9102, and both the unlocking lever 9100 and the U-shaped lock 9101 are rotatably connected to the lock body 9102. When the U-shaped locking head 9101 is in a natural state, the opening of the U-shaped locking head 9101 faces downwards, and after the locking module 930 upwards extends into the opening of the U-shaped locking head 9101, the U-shaped locking head 9101 can be driven by the locking module 930 to rotate to the horizontal direction and be fixedly connected with the unlocking lever 9100 in an overlapping mode, so that the locking module 930 is locked. Then, the unlocking lever 9100 is jacked upwards by external force to drive the unlocking lever 9100 to rotate, so that the lap joint fixing structure of the unlocking lever 9100 and the U-shaped lock head 9101 collapses, the U-shaped lock head 9101 can restore to rotate freely, and the locking module 930 is released. Of course, the locking module 930 and the lock 910 can be configured to have other structures that can automatically lock and easily unlock, such as an unlock button. These are known in the art and will not be described further herein.

As shown in fig. 13 and 14, the battery mounting and demounting mechanism 12 includes a butting base 120, a coarse positioning module 121, a fine positioning module 122, and an unlocking module 123, and as shown in fig. 6, the battery module 93 is provided with positioning holes 931 corresponding to the coarse positioning module 121 and the fine positioning module 122. The rough positioning module 121, the fine positioning module 122, and the unlocking module 123 are all provided on the abutment stage 120.

To support the battery module 93, as shown in fig. 14, the abutting table 120 has an abutting surface 1200, the coarse positioning module 121 in the present embodiment may include coarse positioning pillars 1210, the coarse positioning pillars 1210 protrude from the abutting surface 1200 and correspond to some positioning holes 931 on the battery module 93, and the positioning holes 931 corresponding to the coarse positioning pillars 1210 may be referred to as coarse positioning holes in the present embodiment. The fine positioning module 122 in this embodiment includes a fine positioning column 1220 and a fine positioning power unit 1221. The fine positioning posts 1220 correspond to other positioning holes 931 on the battery module 93, and in this embodiment, the positioning holes 931 corresponding to the fine positioning posts 1220 may be referred to as fine positioning holes, and it should be noted that the coarse positioning holes and the fine positioning holes in this embodiment are only used to distinguish different corresponding relationships, but there is no limitation on the structures, shapes, sizes, and the like of the coarse positioning holes and the fine positioning holes. Also, the other positioning holes 931 in the present embodiment may all have the same or different structures, shapes or sizes, without limitation. These fine positioning posts 1220 are normally retracted below the abutment surfaces 1200 and can protrude out of the abutment surfaces 1200 under the drive of the fine positioning power units 1221. The fine positioning power unit 1221 can be a hydraulic ejector rod or an electric telescopic rod.

When the battery module 93 of the AGV9 abuts against the abutment face 1200 under the driving of the lifting frame 10, the coarse positioning column 1210 can firstly extend into the positioning hole 931 corresponding to the coarse positioning column, so as to realize the coarse positioning of the battery disassembling and assembling mechanism 12 and the battery module 93. The thick positioning posts 1210 are much thinner than the positioning holes 931, so that the width of the annular gap formed between the thick positioning posts 1210 and the positioning holes 931 is larger. The purpose of the positioning structure is to enable the coarse positioning column 1210 to smoothly extend into the positioning hole 931 to complete coarse positioning when the positions of the two sides have a large difference.

After the coarse positioning column 1210 extends into the positioning hole 931, the fine positioning power unit 1221 is turned on to extend the fine positioning column 1220 into the corresponding positioning hole 931. As shown in fig. 14, the width of the annular gap formed between the fine positioning posts 1220 and the positioning holes 931 is much smaller than that of the coarse positioning posts 1210, so that the positioning holes 931 can be substantially filled. Therefore, the fit between the fine positioning column 1220 and the positioning hole 931 is high, and when the fine positioning column 1220 smoothly extends into the positioning hole 931, the battery module 93 and the battery mounting and dismounting mechanism 12 can be accurately positioned.

No matter whether the battery module is roughly positioned or finely positioned, the positions of the positioning hole 931 on the battery module 93 and the roughly positioning column 1210 or the finely positioning column 1220 may have a large deviation, in order to enable the roughly positioning column 1210 and the finely positioning column 1220 to smoothly extend into the battery module 93 and move the battery module 93 to realize the positioning function when a certain deviation exists between the roughly positioning column 1210 and the finely positioning column 1220 and the positioning hole 931, the head of the roughly positioning column 1210 and the finely positioning column 1220 or the edge of the positioning hole 931 may be provided with a guide surface, and the guide surface may be an inclined surface or an arc surface.

As described above, in the process of positioning the battery module 93 by the coarse positioning posts 1210, the fine positioning posts 1220 and the positioning holes 931, the battery module 93 may move, and at this time, if there is a large friction between the abutting table 120 and the battery module 93, the moving effect of the battery module 93 may be affected, and even wear may be caused.

In order to avoid the above problem, in the present embodiment, as shown in fig. 14, the surface of the abutting surface 1200 is convexly provided with the ball unit 1201, and when the battery module 93 is placed on the abutting table 120, the battery module 93 can be roll-fitted on the ball unit 1201 so as to avoid excessive friction.

After the precise positioning of the battery module 93 relative to the battery mounting and dismounting mechanism 12 is achieved through the mutual cooperation of the coarse positioning posts 1210, the fine positioning posts 1220 and the positioning holes 931, the conditions for unlocking the locking module 930 using the unlocking module 123 are met. The unlocking module 123 in this embodiment may specifically include an unlocking power unit 1231 and an unlocking ejector 1230 corresponding to the positions of the locking modules 930, that is, each locking module 930 has the unlocking ejector 1230 corresponding thereto for unlocking, and omission does not occur. The unlocking push rod 1230 can be protruded out of the abutment surface 1200 or retracted below the abutment surface 1200 by the driving of the unlocking power unit 1231.

As described above, the latch 910 used in this embodiment has the unlocking lever 9100, and the opening of the latch 910 can be rotated and the locking module 930 can be released by lifting the unlocking lever 9100 with an external force to unlock the locking module 930, so that in this embodiment, the unlocking push rod 1230 actually needs to be aligned with the unlocking lever 9100 on the latch 910 which is locked with each locking module 930 from below.

When the unlocking push rod 1230 protrudes out of the abutting surface 1200 under the driving of the unlocking power unit 1231, the unlocking push rod 1230 can push the unlocking lever 9100 upward to unlock the locking module 930. When all of the locking modules 930 are unlocked, the battery module 93 may be disengaged from the subframe 91. After re-raising the lift frame 10, the AGV9 will rise with the lift frame 10 and the battery module 93 will remain on the battery changer 12. Of course, other unlocking structures that enable the unlocking lever 9100 to be lifted upwards may be used in some embodiments, and will not be described herein.

To improve the coarse positioning efficiency and the coarse positioning accuracy, as shown in fig. 14, the battery mounting and demounting mechanism 12 according to the embodiment of the present application may include a plurality of coarse positioning modules 121, and the plurality of coarse positioning modules 121 are preferably distributed along a diagonal line of the battery module 93, and the positioning accuracy is higher the farther the distance is. Meanwhile, in order to improve the fine positioning efficiency and the fine positioning accuracy, the battery disassembling and assembling mechanism 12 according to the embodiment of the present application may also include a plurality of fine positioning modules 122, the plurality of fine positioning modules 122 are preferably distributed along another diagonal line of the battery module 93, and the two arrangements may be used independently or cooperatively.

In order to improve the automatic control efficiency, the battery detaching mechanism 12 may further include a battery module detection sensor 124, the battery module detection sensor 124 is disposed on the abutting table 120 and is used for detecting whether the battery module 93 exists on the abutting table 120, the battery module detection sensor 124 used in this embodiment is a photoelectric sensor, and in other embodiments, a pressure sensor or the like may also be used, so that it is sufficient to determine whether the battery module 93 is placed in the state of the battery detaching mechanism 12.

In the process of detaching the battery module 93, a problem that the battery module 93 is jammed in the subframe 91 and cannot be separated from the subframe 91 may occur, and therefore, in the embodiment, as shown in fig. 14, the battery detaching mechanism 12 may further include a pulling module 125, the pulling module 125 includes a pulling hook 1250 and a pulling hook power unit 1251, the pulling hook 1250 protrudes from the abutting surface 1200, and is driven by the pulling hook power unit 1251 to rotate and hook the battery module 93. In this embodiment, the battery module 93 has a peripheral edge with a hooked ledge, and the hook 1250 can rotate to hook over the ledge to prevent the battery module 93 from rising together and separating when the lift truck 10 lifts the AGV9 back up.

As shown in fig. 14, since the area of the bottom surface of the battery module 93 is large, if it is made of a material such as plastic that is not durable, it is easily deformed during use, so that the locking module 930 cannot be unlocked even if the partial unlocking ejector 1230 is protruded. Therefore, in this embodiment, one abutting table 120 and one unlocking module 123 may be respectively disposed corresponding to each locking module 930, and the elastic tightening module 126 is disposed at the bottom of each abutting table 120 to accommodate the deformation of the bottom surface of the battery module 93.

The lifting frame 10 is adopted to drive the AGV9 to descend to a position where all the abutment tables 120 can be pressed at the same time, and at this time, the elastic jacking module 126 can jack up and cling to the battery module 93 each abutment table 120, so that each unlocking ejector rod 1230 is as close to the corresponding locking module 930 as possible. Therefore, the problem that the unlocking ejector rod 1230 cannot unlock the locking module 930 due to the deformation of the bottom of the battery module 93 can be effectively avoided, in this embodiment, as shown in fig. 14, the elastic tightening module 126 may be configured as a spring, may also be configured as an elastic material block or other structures, and has elasticity and can jack up the abutment table 120.

In order to further ensure that each abutment stage 120 can be jacked up and pressed to a predetermined position, the battery detaching mechanism 12 according to this embodiment further includes a jacking sensor 127, and the jacking sensor 127 can determine whether at least one abutment stage 120 is pressed to a predetermined position, as shown in fig. 14, the jacking sensor 127 may be a pressure sensor, or may be a distance measuring sensor, and can determine the position of the abutment stage 120.

The battery detaching mechanism 12 in this embodiment may be always provided below the cradle 10, for example, the initial position of the cradle 10 is set to be half empty, or a recess is formed below the battery changer 1 to accommodate the battery detaching mechanism 12. The former may result in difficulty in accessing the lift truck 10 by the AGV9, while the latter may result in difficulty in transporting the battery modules 93.

Therefore, in this embodiment, the initial position of the battery mounting and dismounting mechanism 12 is set at the side of the lifting frame 10, when the relative position of the AGV9 and the lifting frame 10 is positioned, the lifting frame 10 will be lifted and give room for mounting and dismounting the battery module 93, and in order to make the battery mounting and dismounting mechanism 12 reach the downward side of the AGV9 from the side, the battery mounting and dismounting mechanism 12 further includes a traveling module 128, as shown in fig. 13, the traveling module 128 can be set as a track, a lead screw, a wheel set or other power structure, and the traveling module 128 can drive the modules including the abutting table 120, the coarse positioning module 121, the fine positioning module 122, the unlocking module 123 and the elastic tightening module 126 to move horizontally from the initial position to the lower side of the battery module 93.

In the specific implementation process, a plurality of walking modules 128 can be used according to actual conditions and respectively drive a part of the abutting table 120 to move, as in the embodiment shown in fig. 13, other modules of the battery disassembling and assembling mechanism 12 can be divided into two parts and respectively arranged at two sides of the lifting frame 10, and the two parts of modules respectively move to the lower part of the battery module 93 by using the two walking modules 128.

In this embodiment, each walking module 128 may be configured with a base 129, and the part of the abutting table 120, the rough positioning module 121, the fine positioning module 122, the unlocking module 123, the elastic tightening module 126, and the like, which are required to be driven by the walking module 128, may be uniformly disposed on the base 129, so that the walking module 128 can drive a part of the corresponding modules to move by driving the base 129 configured therewith.

When the battery module 93 is disassembled, the walking module 128 drives the abutting table 120 to reach the lower part of the battery module 93, then the abutting table 120 abuts against the battery module 93 under the matching action of the elastic abutting module 126 and the lifting frame 10, through the positioning action of the coarse positioning module 121 and the fine positioning module 122, the unlocking module 123 can be aligned to the locking module 930 on the battery module 93 and completes the unlocking action, at this moment, the lifting frame 10 is lifted by the lifting frame lifting mechanism 11, the battery module 93 is separated from the auxiliary frame 91 under the matching action of the self gravity and the pulling module 125, and the disassembly of the battery module 93 is completed.

When installing the battery module 93, the battery module 93 only needs to be positioned to the position where it can be installed by the positioning function of the coarse positioning module 121, and the AGV9 approaches the battery module 93 along with the descending of the lifting frame 10, so that the locking module 930 extends into the opening of the lock 910 provided on the sub frame 91 and rotates the opening, and the locking is performed automatically, thereby completing the installation of the battery module 93.

Through the cooperation of the battery disassembling and assembling mechanism 12, the lifting frame 10 and the lifting frame lifting mechanism 11, the battery module 93 can be disassembled/assembled from the AGV9 in certain automatic steps, so that a support foundation is provided for the automatic power changing process of the AGV 9.

The battery compartment system 2 will be described in detail below.

After the battery module 93 is detached/installed, the battery module 93 with the exhausted electric quantity needs to be transferred to the battery compartment system 2 for storage, and even the battery compartment system 2 can also charge the battery module 93 while storing the battery module 93, and transfer the battery module 93 with the completed charge to the battery detaching mechanism 12 for preparation for installation, for this reason, the battery replacing station further includes the battery compartment system 2.

In order to move, store and charge the battery module 93, as shown in fig. 15, the battery compartment system 2 includes a battery taking and placing device 20 and a storage device 21, wherein the storage device 21 only has the function of storing the battery module 93 and does not have the charging function, or the storage device 21 can have both the storing and charging functions, which will be described as an example in the present embodiment.

The battery taking and placing device 20 is used for taking out or placing the battery module 93 from or into the battery assembling and disassembling mechanism 12 or the storage device 21 as required, and transferring the battery module 93 between the battery assembling and disassembling mechanism 12 and the storage device 21, and a plurality of charging seats 211 are arranged inside the storage device 21 and used for storing the battery module 93 and charging the battery module 93. A plurality of charging stands 211 may be provided on the charging stand support 210.

In this embodiment, the battery taking and placing device 20 of this embodiment includes a carrier 200, a transferring mechanism 201 and a battery lifting mechanism 202, the carrier 200 may be configured as a flat plate as shown in fig. 15, or may be configured as a battery holder, etc., and the battery module 93 can be carried and can be transferred between the carrier 200 and the battery detaching mechanism 12 or between the carrier 200 and the charging stand 211 by moving in the vertical direction.

The transfer mechanism 201 is connected to the carrier 200, and may be directly and fixedly connected as shown in fig. 15, or may be connected to each other through a connecting member, and the transfer mechanism 201 can drive the carrier 200 to move the battery module 93 to the battery mounting and dismounting mechanism 12 or the storage device 21. The transfer mechanism 201 may be moved in a horizontal plane, or may be moved in a more complicated manner.

In this embodiment, the transferring mechanism 201 may be configured to include a telescopic module 2010 and a rotating module 2011 as shown in fig. 16, and the rotating module 2011 may be configured to be a rotating shaft structure as shown in fig. 16, or may be configured to be a circular ring track, which can drive the carrier table 200 to horizontally rotate and change the horizontal direction of the carrier table 200. The telescopic module 2010 can be set as a telescopic arm with a track as shown in fig. 16, or a hydraulically controlled telescopic arm, and can be extended and retracted along a straight line in a horizontal plane, so that the position and posture of the battery module 93 placed on the bearing platform 200 can be changed by rotation and extension through the cooperation of the rotation module 2011 and the telescopic module 2010, thereby realizing matching with the battery dismounting mechanism 12 or the charging seat 211 and realizing the purpose of transfer.

In order to make the carrier 200 capable of moving vertically and completing the transfer operation of the battery module 93 between the carrier 200 and the battery disassembling and assembling mechanism 12 or between the carrier 200 and the charging seat 211, in this embodiment, a battery lifting mechanism 202 is used to connect with the transfer mechanism 201, the battery lifting mechanism 202 can be configured as a lifting chain as shown in fig. 15, and the transfer mechanism 201 is fixedly connected with the lifting chain to realize lifting. The battery lifting mechanism 202 may also be provided as a hydraulic rod extending in the vertical direction or other structure having a lifting function.

The carrier 200 is first moved to a position lower than the battery module 93 by the battery lifting mechanism 202, and then the transfer mechanism 201 controls the carrier 200 to move horizontally to a position below the battery module 93, at this time, the carrier 200 may be slightly lower than the abutment stage 120 and aligned with different regions of the battery module 93 respectively with the abutment stage 120. Then, the battery lifting mechanism 202 lifts the carrier 200 upward, and the carrier 200 lifts the battery module 93 from below until the battery module 93 is completely detached from the battery mounting and demounting mechanism 12, thereby completing the transfer of the battery module 93 from the battery mounting and demounting mechanism 12 to the carrier 200.

When the fully charged battery module 93 needs to be transferred from the carrier 200 to the battery mounting and dismounting mechanism 12, only the reverse operation is required, the carrier 200 carrying the battery module 93 is moved to a position higher than the battery mounting and dismounting mechanism 12, the abutting table 120 is aligned with the battery module 93, and then the battery lifting mechanism 202 is controlled to move downwards until the battery module 93 is supported by the abutting table 120 of the battery mounting and dismounting mechanism 12 and completely separated from the carrier 200, so that the transfer process of the battery module 93 from the carrier 200 to the battery mounting and dismounting mechanism 12 is completed.

In order to facilitate connection of the battery lifting mechanism 202, in this embodiment, the transferring mechanism 201 may be disposed on the fixing frame 206, and then the battery lifting mechanism 202 is connected to the fixing frame 206.

In order to limit the horizontal movement of the battery module 93 on the carrying platform 200 and avoid the accidental dropping of the battery module 93 during the transferring process, in this embodiment, a battery module fixing member 2000 may be disposed on the carrying platform 200, as shown in fig. 17, the battery module fixing member 2000 may be disposed as an upward fixing pin that can be inserted into some positioning holes 931 of the battery module 93, or may be a clamping plate, a clamping claw, or the like that clamps the battery module 93. It should be understood by those skilled in the art that since the positioning holes 931 corresponding to the coarse positioning posts 1210 and the fine positioning posts 1220 are always occupied before the battery module 93 is removed from the battery mounting and dismounting mechanism 12, the positioning holes 931 corresponding to the fixing pins of the platform 200 should be different from the positioning holes 931 corresponding to the coarse positioning posts 1210 and the fine positioning posts 1220 on the battery mounting and dismounting mechanism 12.

In order to limit the relative vertical movement of the battery module 93 on the platform 200 and avoid the battery module 93 from jumping due to bumping or even separating from the battery module fixing member 2000 and falling off accidentally during the transferring process, in this embodiment, a limiting mechanism 2001 may be further disposed on the platform 200, as shown in fig. 17, wherein the limiting mechanism 2001 includes a limiting member 2001a for limiting the upward movement of the battery module 93 and separating from the battery module 93 and a limiting power unit 2001b for driving the limiting member 2001 a. The limiting member 2001a may be configured as shown in fig. 17 to be capable of moving above the battery module 93 and limiting the limiting rod and the limiting plate of the battery module 93 under the driving of the limiting power unit 2001b, so as to prevent the battery module 93 from being separated from the supporting platform 200 in the vertical direction, which is not described herein again. The movement of the stopper 2001a may be in various forms such as expansion, rotation, and translation.

In this embodiment, in order to allow the battery module 93 to reach the battery replacing device 1 and the storage bin or the storage device 21 from the battery taking and placing device 20, the battery taking and placing device 20 needs to be provided with a battery replacing port 203 and at least one battery storing port 204, both the battery replacing port 203 and the battery storing port 204 can be horizontally passed through by the carrier 200, the battery replacing device 1 faces the battery replacing port 203, and the storage device 21 faces the battery storing port 204.

In fig. 17, to simplify the design and facilitate the manufacturing, the battery pick-and-place device 20 may include a main support frame 207, and the battery replacement opening 203 and the battery storage opening 204 are disposed on the main support frame 207. Meanwhile, the main support frame 207 further has a lifting channel 2070, the battery lifting mechanism 202 is disposed on the main support frame 207, and the carrier 200 and the transferring mechanism 201 are disposed in the lifting channel 2070 and can be driven by the battery lifting mechanism 202 to move vertically along the lifting channel 2070.

In this embodiment, the battery storage opening 204 and the battery replacing opening 203 may be disposed adjacent to each other, as shown in fig. 17, the main support frame 207 of the battery taking and placing device 20 may be a rectangular frame structure, and one battery storage opening 204 is disposed at each of two sides adjacent to the battery replacing opening 203, so as to reduce the moving distance of the battery module 93 and save the time in transit. Of course, when the battery storage capacity is large, the battery storage opening 204 may be disposed on the side opposite to the battery replacement opening 203 in the present embodiment, and although the battery storage opening 204 is far from the battery replacement opening 203, the space around the battery taking and placing device 20 can be fully utilized. When the main support frame 207 of the battery taking and placing device 20 adopts other structures, such as a hexagonal prism structure, the number of the battery storage ports 204 and even the number of the battery replacement ports 203 may be larger.

Moreover, each battery storage port 204 can be vertically provided with a plurality of charging seats 211, so as to save the floor space. The structure of the charging seat support 210 can be designed according to the position of the battery replacement port 203, the number of the charging seats 211 and the number of the arrangement in the vertical direction, and the charging seat support 210 can be of an integrated structure or can be divided into several independent structures to respectively fix a part of the charging seats 211.

As shown in FIG. 19, the cradle 211 can include a charging station 2110, a cradle rough location module 2111, a cradle fine location module 2112, and a connector module 2113. The charging-cradle rough-positioning module 2111 and the charging-cradle fine-positioning module 2112 are both provided on the charging stand 2110.

For carrying the battery module 93, as shown in fig. 19, the charging stand 2110 has a receiving surface 2110a, and the charging-stand coarse positioning module 2111 includes charging-stand coarse positioning posts 2111a, the charging-stand coarse positioning posts 2111a protrude from the receiving surface 2110a and correspond to positions of positioning holes 931 on the battery module 93, in this embodiment, the positioning holes 931 corresponding to the charging-stand coarse positioning posts 2111a can be referred to as charging-stand coarse positioning holes. The charging-stand fine positioning module 2112 in this embodiment includes a charging-stand fine positioning post 2112a and a charging-stand fine positioning power unit. These charging-seat fine positioning posts 2112a correspond to other positioning holes 931 on the battery module 93, in this embodiment, these positioning holes 931 corresponding to the charging-seat fine positioning posts 2112a may be referred to as charging-seat fine positioning holes, and it should be noted that, like the rough positioning holes and the fine positioning holes, the rough positioning holes and the fine positioning holes of the charging seat in this embodiment are also only used to distinguish different corresponding relationships, but there is no limitation on the structures, shapes, sizes, and the like of the two. The fine positioning posts 2112a of the charging base can be driven by the fine positioning power unit of the charging base to extend into the positioning holes 931. The charging seat fine positioning power unit can be arranged into a hydraulic ejector rod, and can also be arranged into an electric telescopic rod and other structures.

It should also be understood that, since the positioning holes 931 corresponding to the fixing pins of the platform 200 are always occupied before the battery module 93 is removed from the platform 200, the positioning holes 931 corresponding to the charging-seat coarse positioning posts 2111a and the charging-seat fine positioning posts 2112a should be different from the positioning holes 931 corresponding to the fixing pins of the platform 200. Moreover, the positioning holes 931 corresponding to the coarse positioning posts 2111a and the fine positioning posts 2112a of the charging base may be completely the same as, partially the same as, or completely different from the positioning holes 931 corresponding to the coarse positioning posts 1210 and the fine positioning posts 1220.

When the battery module 93 is transferred to the charging station 2110 by the carrier 200, the charging-station rough positioning post 2111a can first extend into the positioning hole 931 corresponding thereto, so as to realize the rough positioning of the charging station 211 and the battery module 93. The charging-seat thick positioning post 2111a is much thinner than the positioning hole 931, so the width of the annular gap formed between the charging-seat thick positioning post 2111a and the positioning hole 931 is larger. The purpose is to make the charging seat coarse positioning post 2111a still extend into the positioning hole 931 smoothly to complete coarse positioning when the positions of the two sides are different greatly.

After the charging seat coarse positioning post 2111a extends into the positioning hole 931, the charging seat fine positioning power unit is started to extend the charging seat fine positioning post 2112a into the corresponding positioning hole 931. Compared with the charging-seat coarse positioning post 2111a, the width of the annular gap formed between the charging-seat fine positioning post 2112a and the positioning hole 931 is much smaller, and the positioning hole 931 can be substantially filled. Therefore, the matching degree between the charging seat fine positioning post 2112a and the positioning hole 931 is very high, and when the charging seat fine positioning post 2112a smoothly extends into the positioning hole 931, the battery module 93 and the charging seat 211 can be accurately positioned.

Similarly, no matter the coarse positioning or the fine positioning, the positions of the positioning hole 931 on the battery module 93 and the charging seat coarse positioning post 2111a or the charging seat fine positioning post 2112a may have a large deviation, in order to enable the charging seat coarse positioning post 2111a and the charging seat fine positioning post 2112a to smoothly extend into and move the battery module 93 to achieve the positioning function when there is a certain deviation with the positioning hole 931, the head of the charging seat coarse positioning post 2111a and the charging seat fine positioning post 2112a or the edge of the positioning hole 931 may be provided with a guiding surface, and the guiding surface may be an inclined surface or an arc surface.

As described above, in the process of positioning the battery module 93 by the charging seat coarse positioning posts 2111a, the charging seat fine positioning posts 2112a and the positioning holes 931, the battery module 93 moves, and at this time, if there is a large friction between the charging seat 2110 and the battery module 93, the moving effect of the battery module 93 is affected, and even wear is caused.

In order to avoid the above problem, in the present embodiment, as shown in fig. 19, the charging seat ball unit 2114 is protruded from the surface of the receiving surface 2110a, and when the battery module 93 is placed on the charging stand 2110, the battery module 93 can be roll-fitted on the charging seat ball unit 2114 so as to avoid excessive friction.

In order to improve the coarse positioning efficiency and the coarse positioning accuracy, as shown in fig. 19, the charging seat 211 of the embodiment of the present application may include a plurality of charging seat coarse positioning modules 2111, and the plurality of charging seat coarse positioning modules 2111 are preferably distributed along a diagonal line of the battery module 93, and the positioning accuracy is higher the farther the distance is. Meanwhile, in order to improve the fine positioning efficiency and the fine positioning accuracy, the charging seat 211 of the embodiment of the present application may also include a plurality of fine positioning modules 122, and a plurality of charging seat coarse positioning modules 2111 are distributed along another diagonal of the battery module 93, and the two settings may be used independently or cooperatively.

After the battery module 93 is precisely positioned with respect to the charging base 211 through the interaction of the charging base coarse positioning post 2111a, the charging base fine positioning post 2112a and the positioning hole 931, the battery module 93 is electrically connected to the connector module 2113 and the battery module 93 for charging.

To complete the electrical connection between the connector module 2113 and the battery module 93, in this embodiment, the connector module 2113 may include a connector 2113a and a connector power unit, and the connector power unit may be configured as a telescopic rod, or may be configured as another power mechanism such as a mechanical arm, and may drive the connector 2113a and the corresponding electrical socket on the battery module 93 to complete the electrical connection. In practical applications, the shape of the connector 2113a corresponds to the electrical socket on the battery module 93, such as one being a socket and the other being a plug, and will not be described herein again.

In order to improve the automation efficiency, in this embodiment, the charging stand 2110 is further provided with a charging-stand battery module detection sensor 2115, and the charging-stand battery module detection sensor 2115 is used for detecting whether the battery module 93 is already placed on the charging stand 2110, the charging-stand battery module detection sensor 2115 used in this embodiment may be a micro switch, and when the battery module 93 is placed on the charging stand 2110, the micro switch is triggered, so that the fine positioning and electrical conduction operations can be started. Of course, the charging-stand battery module detection sensor 2115 may be provided as another inductive switch such as a photosensor, and may be configured to determine whether or not the battery module 93 is already placed on the charging stand.

In order to facilitate the transfer of the battery module 93 between the carrier 200 and the charging stand 211, in the embodiment, the charging stand 2110 can be configured as a U-shaped structure as shown in fig. 19, and the charging stand fine positioning post 2112a and the connector 2113a are both located above the charging stand 2110 and directly face the hollow area of the U-shaped structure. At this time, the protruding direction of the charging seat fine positioning post 2112a is opposite to the protruding direction of the charging seat coarse positioning post 2111a, i.e. it protrudes downwards. The charging base fine positioning power unit drives the charging base fine positioning post 2112a to move along the vertical direction.

Thus, a gap is formed between the charging stand 2110 and the charging stand fine alignment post 2112a and connector 2113 a. When the battery module 93 with the exhausted electric quantity is transferred from the carrier 200 to the charging seat 211, the carrier 200 can extend the battery module 93 from the gap under the driving of the transfer mechanism 201, place the battery module 93 between the charging station 2110 and the fine positioning post 2112a and the connector 2113a of the charging seat, and then lower the height by the battery lifting mechanism 202, so that the battery module 93 is supported by the charging station 2110, and meanwhile, the carrier 200 can pass through the hollow area of the U-shaped structure, thereby completing the transfer between the battery module 93 and the charging seat 211. It should be noted that the charging stand 2110 in the present embodiment may also adopt other structures that can allow the carrier 200 to pass through from below, and will not be described herein again.

The battery module 93 is transferred and simultaneously performs the coarse positioning, and then the charging-stand fine positioning power unit of the charging-stand fine positioning module 2112 drives the charging-stand fine positioning post 2112a to descend and extend into the corresponding positioning hole 931 to perform the fine positioning. Finally, the connector power unit drives the connector 2113a to be electrically connected with the battery module 93.

Similarly, when the fully charged battery module 93 needs to be taken out from the charging seat 211, the operation is reversed, the fine positioning post 2112a and the connector 2113a of the charging seat are disengaged from the battery module 93, and then the platform 200 is moved to the lower side of the battery module 93 and lifted upwards, so that the platform 200 can lift the battery module 93 up during the lifting process until the battery module 93 is disengaged from the charging station 2110 and the coarse positioning module 2111 of the charging seat, thereby completing the taking-out process.

In this embodiment, the orientation of the connector 2113a may be the same as the projecting direction of the charging-stand positioning post 2112a, or may be different from the projecting direction of the charging-stand positioning post 2112 a. When the protruding direction of the charging seat fine positioning post 2112a is opposite to the charging seat coarse positioning post 2111a, i.e. protrudes downward, and the orientation of the connector 2113a can be the same as the protruding direction of the charging seat fine positioning post 2112a, the connector power unit can drive the connector 2113a to move along the vertical direction, i.e. the moving direction of the connector 2113a is the same as the moving direction of the charging seat fine positioning post 2112 a.

In this embodiment, in order to fix the charging-stand fine positioning module 2112 and the connector module 2113, the charging stand 211 further includes a supporting frame 2116, the supporting frame 2116 extends upward from the bottom of the U-shaped structure, and both the charging-stand fine positioning module 2112 and the connector module 2113 can be disposed on the supporting frame 2116.

As can be seen from the above analysis, in different operation processes, the moving directions of the connector 2113a and the charging-seat fine positioning post 2112a are the same, so in order to save space and improve efficiency, in this embodiment, the mounting table 2117 can be used to fix the charging-seat fine positioning post 2112a and the connector 2113a at the same time, and the charging-seat fine positioning power unit and the connector power unit are integrated into an integrated power unit 2118, as shown in fig. 19, the integrated power unit 2118 is fixedly disposed on the supporting frame 2116, and the mounting table 2117 can move in the vertical direction under the driving of the integrated power unit 2117a, so that the charging-seat fine positioning post 2112a and the connector 2113a move together to synchronously complete fine positioning and electrical conduction operations.

The battery module 93 may be ignited or even exploded due to problems such as current overload, overheating, etc. during the charging process. If the fire is not suppressed in time, it may spread to other battery modules, with serious consequences. Therefore, if the above problem occurs, it is necessary to quickly separate the faulty battery module 93 from the other battery modules 93 and perform fire fighting.

Therefore, in the present embodiment, as shown in fig. 20, the battery replacement station may further include a fire fighting device 3, the battery taking and placing device 20 further includes a fire fighting waste discharge port 205, and the fire fighting device 3 faces the fire fighting waste discharge port 205. In this embodiment, as shown in fig. 20, the fire-fighting waste discharge port 205 may be disposed opposite to the battery replacement port 203, and the battery replacement device 1, the battery compartment system 2, and the fire fighting device 3 may be arranged in this order.

In the present embodiment, the fire fighting device 3 includes a battery module receiving mechanism 30, a fire fighting tank 31, a fire fighting material containing tank 32, and a discharge valve 33. The battery module receiving mechanism 30 is used for receiving a battery module 93 needing fire protection, and can convey the battery module 93 into the fire box 31. The fire-fighting material holding tank 32 is used to hold fire-fighting material, such as sand. And the fire fighting material containing box 32 has a discharge port 320, the discharge port 320 needs to be opposite to the fire fighting box 31, and a discharge valve 33 is provided on the discharge port 320. When the battery module 93 in the fire hose 31 needs to be subjected to fire fighting operation, the discharge valve 33 is opened, so that the fire-fighting material stored in the fire-fighting material storage box 32 enters the fire hose 31, and fire fighting is realized. In this embodiment, a fire fighting support 34 as shown in fig. 20 may be further provided, and each of the above-described devices may be fixed to the fire fighting support 34.

In this embodiment, the fire box 31 may be disposed below the battery module receiving mechanism 30, at which time the battery module receiving mechanism 30 may transport the battery module 93 to the fire box 31 by dropping. As shown in fig. 20, when the battery module 93 is placed on the battery module receiving mechanism 30, the battery module receiving mechanism 30 may remove the receiving force according to a predetermined procedure, thereby dropping the battery module 93.

In this embodiment, the battery module 93 can be transferred to the battery module receiving mechanism 30 through the battery taking and placing device 20, and the transfer principle is the same as that of the battery module 93 transferred from the carrying platform 200 to the charging seat 211, and is realized by moving in the vertical direction, which is not described herein again.

In this embodiment, as shown in fig. 21, the battery module receiving mechanism 30 may include two telescopic support modules 300. Typically, the battery module 93 can only be held when the telescopic support module 300 is in the extended position, and the battery module 93 can fall off when the telescopic support module 300 is in the retracted position. In general, the extension directions of the two telescopic support modules 300 are opposite to each other. For some battery modules with a large hollow area in the middle, the extension directions of the telescopic support modules 300 may deviate from each other.

As shown in fig. 21, the telescopic support module 300 may include a fixing portion 3000, a support portion 3001, and a telescopic power unit 3002, and the telescopic support module 300 may be fixed to the fire support 34 or other components through the fixing portion 3000. And the telescopic power unit 3002 is fixed to the fixing portion 3000. The telescopic power unit 3002 is used to drive the support portion 3001 to perform telescopic movement, and the telescopic power unit 3002 may be configured as a telescopic arm or a telescopic rod, and may be configured to extend or retract along a horizontal direction.

In order that the support part 3001 may be smoothly extended and retracted, the telescopic support module 300 may be further provided with a telescopic rail 3003, the support part 3001 and the fixing part 3000 are connected by the telescopic rail 3003, and the support part 3001 may be guided by the telescopic rail 3003 during the telescopic process.

In addition to the above-described manner of using the telescopic support module 300, the battery module receiving mechanism 30 may be provided in the form of a fire-resistant belt or the like, and may receive the battery module 93 and convey the battery module 93 to the fire box 31.

The fire-fighting material containing box 32, the discharge valve 33, the battery module supporting mechanism 30 and the fire-fighting box 31 in the embodiment can be sequentially arranged from top to bottom, so that the battery module 93 can be transferred to the fire-fighting box 31 or the fire-fighting material can be transferred to the fire-fighting box 31 by gravity, and other power is not required to be arranged.

In order to detect the degree of automation of lifting the fire fighting device, the fire fighting device 3 in this embodiment may further include a detector 35, and the detector 35 may detect whether the battery module receiving mechanism 30 receives the battery module 93. The detector 35 may be a thermal sensor or another type such as a micro switch, and may detect whether or not the battery module 93 is present on the battery module receiving mechanism 30.

When the detector 35 detects that the battery module 93 is received by the battery module receiving mechanism 30, it can send a detection signal to the central processing unit, and the central processing unit can send an instruction to the battery module receiving mechanism 30 after receiving the signal, so as to control the battery module receiving mechanism 30 to transfer the battery module 93 into the fire box 31. And then the discharge valve 33 is controlled to be opened to release the fire-fighting materials in the fire-fighting material containing box 32, so that the dangerous situation of the battery module 93 in the fire-fighting box 31 is restrained, and the fire-fighting operation is finished.

To sum up, the power station that trades that is applicable to AGV that this application embodiment provided has to practice thrift and trades electric time, promotes AGV work efficiency, trades a great deal of advantages such as shop fast, precision height, degree of automation height.

In the embodiments of the present application, the difference between the embodiments is described in detail, and different optimization features between the embodiments can be combined to form a better embodiment as long as the differences are not contradictory, and further description is omitted here in view of brevity of the text.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A battery bin system suitable for an AGV is characterized by comprising a battery taking and placing device and a storage device, wherein the battery taking and placing device is used for transferring a battery module of the AGV;

2. The battery compartment system for an AGV of claim 1, wherein the battery storage slot is adjacent to the battery exchange slot.

3. The battery compartment system for an AGV of claim 2, wherein said battery changing slot is bordered on both sides by said battery storage slot.

4. The battery compartment system for the AGV according to any one of claims 1 to 3, wherein the battery taking and placing device further comprises a fire-fighting waste discharge opening for the battery module of the AGV to pass through, and the fire-fighting waste discharge opening is opposite to the battery replacement opening.

5. The battery compartment system for an AGV according to any one of claims 1 to 3, wherein the battery pick-and-place device includes a loading platform, a transfer mechanism and a battery lifting mechanism;

6. The system of claim 5, wherein said storage device includes a charging station for charging the battery modules, and each of said battery storage ports has a plurality of charging stations arranged along a vertical direction.

7. The battery compartment system for an AGV of claim 6, wherein said storage device further includes a battery tray support, said charging dock being disposed on said battery tray support.

8. The battery compartment system for an AGV of claim 7, wherein the battery pick and place device further comprises a main support frame;

9. The battery compartment system for an AGV of claim 6, wherein the charging dock comprises a charging station, a charging dock rough positioning module, a charging dock fine positioning module, and a connector module;

10. The battery compartment system for an AGV of claim 5, wherein the transfer mechanism includes a telescoping module and a rotating module;

11. The battery compartment system for AGVs according to claim 5, wherein a battery module mount is provided on the carrier for limiting the movement of the battery module of the AGVs in the horizontal plane;

the battery taking and placing device also comprises a limiting mechanism;