WO2024062911A1 - Battery exchange device, battery exchange system, and battery exchange method - Google Patents

Abstract

This battery exchange device is for a transport vehicle equipped with a battery accommodation part, the device comprising: a loading table that is disposed so as to face the battery accommodation part in the forward-backward direction of the transport vehicle and that has a first region and a second region where a pair of batteries can be arranged side by side in the width direction of the transport vehicle intersecting the forward-backward direction; a first transfer mechanism which selectively causes the first and second regions to face the battery accommodation part of the transport vehicle by moving the loading table in the width direction; a second transfer mechanism which brings the loading table closer toward or away from the transport vehicle in the forward-backward direction thereof; and an actuator which is capable of drawing a battery from the battery accommodation part of the transport vehicle into the first region and which is also capable of inserting a battery arranged on the second region into the battery accommodation part.

Description

Battery replacement device, battery replacement system, and battery replacement method

The present disclosure relates to a battery exchange device, a battery exchange system, and a battery exchange method.
This application claims priority to Japanese Patent Application No. 2022-151617, filed in Japan on September 22, 2022, the contents of which are incorporated herein by reference.

Patent Document 1 discloses a system for replacing batteries in a transport vehicle. This system includes a transport vehicle having a storage section for storing batteries, a receptacle section for receiving replaceable batteries, and a detachable device for transporting the battery between the receptacle section of the transport vehicle and the storage section. A device.

Patent No. 5629312

Such transport vehicles are used, for example, to load and unload cargo onto shelves in a warehouse. In this case, the transport vehicle travels, for example, through an aisle between the shelves. In recent years, there has been a demand to design transport vehicles as small as possible in order to narrow the distance between shelves and increase the storage capacity of warehouses. In order to design a transport vehicle to be small, small batteries may be used and multiple batteries may be installed in the transport vehicle. In this case, the battery life of small batteries is short, so the batteries need to be replaced frequently. This has been a problem in that it takes a long time to replace the batteries.

The present disclosure has been made to solve the above problems, and aims to provide a battery exchange device, a battery exchange system, and a battery exchange method that can shorten the time required for battery exchange.

In order to solve the above problems, a battery exchange device according to the present disclosure is a battery exchange device for a transportation vehicle having a battery housing section, the battery exchange device being arranged opposite to the battery housing section in the advancing and retreating direction of the transportation vehicle. , a mounting table having a first area and a second area in which a pair of batteries can be placed side by side in the width direction of the transport vehicle intersecting the advance/retreat direction, and moving the mounting table in the width direction, a first moving mechanism that selectively causes the first area and the second area to face the battery storage section of the transport vehicle; and a second movement mechanism that moves the mounting table closer to and away from the transport vehicle in the advance/retreat direction. The vehicle includes a moving mechanism, and an actuator that is capable of pulling out the battery from the battery accommodating section of the transportation vehicle to the first area, and inserting the battery on the second area into the battery accommodating section.

A battery exchange system according to the present disclosure includes the above-described battery exchange device and the transport vehicle.

A battery replacement method according to the present disclosure uses the battery replacement device described above to replace the battery in the battery storage section with the battery on the second area, the method comprising: moving the mounting base. positioning the first area by arranging the first area to face the battery accommodating part; pulling out the battery in the battery accommodating part onto the first area; and moving the mounting base. The method includes the steps of positioning the second area by arranging the second area to face the battery accommodating part, and inserting the battery on the second area into the battery accommodating part.

According to the battery exchange device, battery exchange system, and battery exchange method of the present disclosure, the time required for battery exchange can be shortened.

FIG. 1 is a perspective view of a battery exchange system according to a first embodiment of the present disclosure. FIG. 1 is a top view of the battery exchange system according to the first embodiment of the present disclosure. FIG. 1 is a diagram of the battery exchange device according to the first embodiment of the present disclosure, viewed from the width direction. FIG. 2 is a functional block diagram showing the configuration of a control unit of the battery exchange device according to the first embodiment of the present disclosure. It is a flowchart which shows the procedure of the battery exchange method concerning a first embodiment of this indication. It is a figure showing the step of positioning a first area about a battery exchange method concerning a first embodiment of this indication. 11A to 11C are diagrams illustrating a step of gripping a battery in a battery housing portion in the battery replacement method according to the first embodiment of the present disclosure. FIG. 7 is a diagram illustrating a step of pulling out the battery in the battery accommodating section in the battery replacement method according to the first embodiment of the present disclosure. FIG. 7 is a diagram showing a step of positioning a second region in the battery replacement method according to the first embodiment of the present disclosure. FIG. 6 is a diagram illustrating a step of inserting a charged battery into the battery accommodating part in the battery replacement method according to the first embodiment of the present disclosure. It is a figure which shows the step of separating an actuator from a battery accommodating part about the battery exchange method based on 1st embodiment of this indication. It is a diagram showing a battery exchange system according to a second embodiment of the present disclosure. It is a diagram showing a battery exchange system according to a third embodiment of the present disclosure. FIG. 1 is a hardware configuration diagram showing the configuration of a computer according to each embodiment of the present disclosure. FIG. 7 is a diagram illustrating an actuator according to another embodiment of the present disclosure. FIG. 13 illustrates an actuator according to another embodiment of the present disclosure. FIG. 7 is a diagram illustrating an actuator according to another embodiment of the present disclosure. FIG. 13 illustrates an actuator according to another embodiment of the present disclosure. FIG. 7 is a diagram illustrating an actuator according to another embodiment of the present disclosure.

<First embodiment>
Hereinafter, a battery exchange device 5, a battery exchange system 1, and a battery exchange method according to a first embodiment of the present disclosure will be described with reference to FIGS. 1 to 11.

(Battery exchange system)
As shown in FIGS. 1 and 2, the battery exchange system 1 includes a transport vehicle 2 and a battery exchange device 5. The battery exchange system 1 is a system for exchanging the battery 4 of a transport vehicle 2 that performs cargo handling work.

(transport vehicle)
Examples of the transport vehicle 2 include a logistics vehicle, an industrial vehicle, an electric vehicle, and the like. The transport vehicle 2 of this embodiment is a self-driving forklift. The transport vehicle 2 of this embodiment performs cargo handling work in a warehouse. Inside the warehouse, there are multiple shelves spaced apart to store luggage. The transport vehicle 2 travels along the passage between the shelves. The transport vehicle 2 is configured to be able to move forward and backward at least in the front and rear directions and to be able to turn left and right.

Hereinafter, the direction D1 of the transport vehicle 2 in the horizontal direction will be simply referred to as the "direction D1", and the direction perpendicular to the direction D1 in the horizontal direction will be referred to as the "width direction D2". The forward/backward direction D1 and the width direction D2 are orthogonal to the up/down direction D3.
The transport vehicle 2 includes a vehicle 10, a cargo handling device 20, a control device 3, and a battery 4.

(vehicle)
Vehicle 10 is the main body portion of transport vehicle 2. The vehicle 10 includes a vehicle body 11, a straddle leg 12, and a traveling mechanism 13.

(vehicle body)
The vehicle body 11 includes a mast 14, a vehicle body frame 15, and a bracket 19.
The mast 14 includes an outer mast 17 and an inner mast 18. A pair of outer masts 17 are provided spaced apart in the width direction D2. The outer mast 17 extends in the vertical direction D3. One inner mast 18 is provided inside each outer mast 17 in the width direction D2. A pair of inner masts 18 are provided spaced apart in the width direction D2. The inner mast 18 is provided so as to be movable up and down in the vertical direction D3 with respect to the outer mast 17. Further, the inner mast 18 can be tilted by a tilt mechanism (not shown) between a state in which it extends perpendicularly to a horizontal plane along a vertical vertical line and a state in which it is inclined with respect to a vertical vertical line.

A pair of vehicle body frames 15 are provided at intervals in the width direction D2. The vehicle body frame 15 extends in the vertical direction D3.

The bracket 19 is a plate-shaped member that connects the pair of vehicle body frames 15 in the width direction D2. A plurality of brackets 19 are provided spaced apart in the vertical direction D3. The rear edge of the bracket 19 is formed in a U-shape that protrudes rearward in the advance/retreat direction D1 when viewed from the up-down direction D3.

(straddle leg)
The straddle leg 12 is provided at the lower end of each vehicle body frame 15. A pair of straddle legs 12 are provided spaced apart in the width direction D2. The straddle leg 12 extends forward from the lower end of the vehicle body frame 15. The rear surface of the straddle leg 12 is curved so as to be gradually positioned toward the rear as it goes inward in the width direction D2 along the bracket 19. An outer mast 17 is attached to each straddle leg 12 so as to be relatively movable in the advance/retreat direction D1. The outer mast 17 is attached so as to be movable relative to the straddle leg 12, for example, a rail (not shown) provided on the straddle leg 12 and extending in the advance/retreat direction D1, and a rail (not shown) provided on the outer mast 17 and extending in the advance/retreat direction D1 along the rail. D1 includes a movable roller (not shown) and the like.
Further, a battery accommodating portion 16 is provided at the rear end portion of each straddle leg 12 .

(Battery housing)
The battery accommodating portion 16 is open to the rear side in the front-rear direction. The battery accommodating portion 16 accommodates a battery 4, which will be described later. A plurality of battery accommodating parts 16 are arranged in parallel in the width direction D2 in one transport vehicle 2. In this embodiment, a pair of battery accommodating portions 16 are provided spaced apart in the width direction D2.

(travel mechanism)
The traveling mechanism 13 is provided at the lower part of the vehicle body 11. The traveling mechanism 13 includes a first drive wheel 13a and a second drive wheel 13b. The first drive wheel 13a is provided on the lowest bracket 19 among the plurality of brackets 19. The second drive wheel 13b is provided at the front end of each straddle leg 12. Further, each second drive wheel 13b is rotatable around a central axis extending in the width direction D2. The traveling mechanism 13 causes the vehicle body 11 to travel by rotationally driving the first drive wheels 13a.

(cargo handling equipment)
The cargo handling device 20 is attached to the inner mast 18. The cargo handling device 20 is a device that holds cargo to be transported and performs loading and unloading operations. The cargo handling device 20 includes a lift bracket 21 and a fork 22. The lift bracket 21 is provided so as to span the pair of inner masts 18. The lift bracket 21 can be raised and lowered relative to the inner mast 18 in the vertical direction D3 by a lifting mechanism (not shown). Further, the lift bracket 21 is movable in the forward/backward direction D1 by a forward/backward movement mechanism (not shown). The lift bracket 21 extends in the vertical direction D3 and the width direction D2, and is formed in a lattice shape when viewed from the forward/backward direction D1. The fork 22 is attached to the lift bracket 21. The fork 22 is movable up and down in the up-down direction D3 together with the lift bracket 21, and is also movable in the forward-backward direction D1. The fork 22 is formed in an L-shape when viewed from the width direction D2. The fork 22 includes a fork base 23 that extends in the vertical direction D3, and a fork claw 24 that extends forward from the lower end of the fork base 23. The front end of the fork claw portion 24 is inserted into a pallet (not shown) on which a load to be transported is placed.

(Control device)
The control device 3 is installed, for example, in a bracket 19 at an intermediate portion in the vertical direction D3 among the plurality of brackets 19. The control device 3 controls various devices of the transport vehicle 2 (travel mechanism 13, cargo handling device 20, etc.).

(Battery)
The battery 4 is housed in a battery housing section 16 of the straddle leg 12. The battery 4 supplies power to various devices of the transportation vehicle 2 (the traveling mechanism 13, the cargo handling device 20, the control device 3, etc.). The battery 4 is designed to be smaller and lighter than the conventional battery 4. Therefore, the duration of the battery 4 is short, and it is necessary to replace the battery 4 frequently. The transport vehicle 2 whose battery 4 is running low is parked in a parking area P located in front of the battery exchange device 5.

(Battery replacement device)
The battery exchange device 5 is a device for exchanging the battery 4 of the transportation vehicle 2. The battery exchange device 5 is designed to have a size that fits within the storage space of, for example, an 11-inch pallet. Further, the battery exchange device 5 is designed to have a height that fits within, for example, a general loading rack (not shown). The battery exchange device 5 can be placed in any space within the warehouse as long as power can be supplied. As shown in FIGS. 2 and 3, the battery exchange device 5 includes a casing 6, a detection unit 7, a mounting table 30, a first movement mechanism 40, a second movement mechanism 50, an actuator 60, and a control unit. 70.

(casing)
The casing 6 is arranged at the rear of the parking area P. The casing 6 is, for example, a box-shaped container extending in the vertical direction D3. The casing 6 is formed into a rectangular parallelepiped shape. An opening 6a that opens toward the front is formed in the front surface of the lower end of the casing 6. A pair of openings 6a are formed on both sides of the casing 6 in the width direction D2. The opening 6a is used to take the battery 4 in and out. The casing 6 houses a detection section 7, a mounting table 30, a first movement mechanism 40, a second movement mechanism 50, an actuator 60, and a control section 70.

(Detection part)
The detection unit 7 is provided on the front surface of the casing 6. The detection unit 7 detects the transport vehicle 2 parked in the parking area P.

(Placement stand)
The mounting table 30 is arranged to face the opening 6a of the casing 6 in the advancing/retracting direction D1. Therefore, the mounting table 30 is disposed to face the battery accommodating portion 16 of the transport vehicle 2 in the advancing/retreating direction D1 of the transport vehicle 2 . The mounting table 30 is provided so that it can be moved into and out of the casing 6 through the opening 6a by a second moving mechanism 50, which will be described later. A mounting table 30 is provided for each battery accommodating section 16. The mounting table 30 has a first region S1 and a second region S2 in which a pair of batteries 4 can be placed side by side in the width direction D2. When the first region S1 and the second region S2 arranged side by side in the width direction D2 are defined as a region pair SP, this region pair SP is provided for each battery accommodating section 16. In the present embodiment, a low-charge battery 4 or an empty battery 4 taken out from the battery accommodating section 16 is placed in the first area S1, and a charged battery 4 is placed in the second area S2.

The plurality of mounting tables 30 of this embodiment include a first mounting table 30a having a first region S1 and a second mounting table 30b having a second region S2. The first mounting table 30a and the second mounting table 30b have the same configuration. The mounting table 30 includes a mounting table main body 31, a movable rail 32, and a caster section 33.

The mounting table main body 31 is provided at a position spaced upward from the bottom surface of the casing 6. The mounting table main body 31 is a plate-shaped member extending in the forward/backward direction D1. The front end of the mounting table main body 31 is curved along the rear surface of the transport vehicle 2.
The movable rail 32 is provided on the upper surface of the mounting table main body 31. The movable rail 32 guides the movement of the battery 4 in the forward and backward direction D1.
The caster portion 33 is provided at the front end of the mounting table main body 31. The caster portion 33 is grounded on the bottom surface of the casing 6. The ground surface 34 of the caster portion 33 is formed into a spherical shape. Therefore, the caster portion 33 is rotatable in the advance/retreat direction D1 and the width direction D2.

(First movement mechanism)
The first moving mechanism 40 is provided below the mounting table 30. The first moving mechanism 40 selectively makes the first region S1 and the second region S2 face the battery accommodating portion 16 of the transport vehicle 2 by moving the mounting table 30 in the width direction D2. The first moving mechanism 40 of this embodiment moves the mounting table 30 together with a second moving mechanism 50 described later in the width direction D2. The first moving mechanism 40 is provided for each mounting table 30. Namely. The first moving mechanism 40 is provided for each area pair SP of the first area S1 and the second area S2. The first moving mechanism 40 includes a base 41, a first motor (not shown), a first ball screw 42, and a first linear guide section 43.

The base 41 is provided on the bottom surface of the casing 6 and is located behind the caster portion 33. The base 41 is a rectangular plate-shaped member that extends in the advance/retreat direction D1.

A first motor (not shown) is provided on the base 41 or the bottom surface of the casing 6.
The first ball screw 42 is provided on the base 41. The first ball screw 42 moves a second moving mechanism 50 and a mounting table 30 placed on the second moving mechanism 50, which will be described later, in the width direction D2 by the driving force of the first motor.

The first translational guide section 43 suppresses the second moving mechanism 50 and the mounting table 30 from shifting in the forward/backward direction D1 when the second moving mechanism 50 and the mounting table 30 move in the width direction D2. The first linear guide portions 43 are provided on both sides of the first ball screw 42 in the forward and backward direction D1. The first linear motion guide section 43 includes a rail 44 and a guide section 45. The rail 44 is provided on the base 41 and is formed into a rod shape extending in the width direction D2. The guide portion 45 is provided at the lower part of the second moving mechanism 50 and extends in the width direction D2 along the rail 44. A guide groove 46 is formed on the lower surface of the guide portion 45 . The guide groove 46 is formed in a U-shape that opens downward and opens downward when viewed from the width direction D2. A rail 44 is arranged in the guide groove 46 . When the second moving mechanism 50 and the mounting table 30 move in the width direction D2 by the first ball screw 42, the guide portion 45 also moves in the width direction D2 along the rail 44.

(Second movement mechanism)
The second moving mechanism 50 is provided below the mounting table 30 and above the first moving mechanism 40. The second moving mechanism 50 moves the mounting table 30 closer to and away from the transportation vehicle 2 in the advance/retreat direction D1. The second moving mechanism 50 is provided for each mounting table 30. That is, the second moving mechanism 50 is provided for each area pair SP of the first area S1 and the second area S2. The second moving mechanism 50 includes a table 51, a second motor 52, a second ball screw 53, and a second linear motion guide (not shown).

The table 51 is provided above the first moving mechanism 40. One table 51 is provided in the first region S1 and one in the second region S2. The table 51 is a plate-shaped member extending in the forward/backward direction D1. The first ball screw 42 is connected to the underside of the table 51. Furthermore, the guide portion 45 of the first linear guide portion 43 is provided on the underside of the table 51.

The second motor 52 is provided on the upper surface of the rear end of the table 51.
The second ball screw 53 extends forward from the second motor 52. The second ball screw 53 is connected to the mounting table main body 31. The second ball screw 53 moves the mounting table 30 in the forward/backward direction D1 by the driving force of the second motor 52.
The second linear motion guide portions (not shown) are provided on both outer sides of the second ball screw 53 in the width direction D2, and extend in the advance/retreat direction D1. The second linear motion guide section suppresses displacement of the mounting table 30 in the width direction D2 when the mounting table 30 moves in the advance/retreat direction D1. The second linear motion guide section has the same configuration as the first linear motion guide section 43.

(Actuator)
The actuator 60 is provided on the mounting base 30. The actuator 60 is capable of extracting the battery 4 from the battery housing 16 to the first region S1, and is capable of inserting the battery 4 in the second region S2 into the battery housing 16. In this embodiment, one actuator 60 is provided for each of the first region S1 and the second region S2 so as to be arranged opposite to each other in the advancing/retreating direction D1. In the following, the actuator 60 arranged opposite to the first region S1 in the advancing/retreating direction D1 is referred to as a first actuator 60a, and the actuator 60 arranged opposite to the second region S2 in the advancing/retreating direction D1 is referred to as a second actuator 60b. The first actuator 60a and the second actuator 60b have the same configuration.

The actuator 60 includes an actuator base 61, a third motor 62, a third ball screw 63, a third linear motion guide (not shown), an arm 64, and a tool changer 65.

The actuator base 61 is a block-shaped member provided above the mounting table main body 31. The actuator base 61 is provided at the rear of the mounting table main body 31. For example, the actuator base 61 has an inclined surface on its upper part that gradually slopes downward toward the rear. Note that there are no restrictions on the shape of the actuator base 61, and the inclined surface does not need to be provided on the upper part.

The third motor 62 is provided on the upper surface of the rear end portion of the mounting table main body 31.
The third ball screw 63 extends forward from the third motor 62. The third ball screw 63 is connected to the actuator base 61. The third ball screw 63 moves the actuator base 61 in the forward/backward direction D1 by the driving force of the third motor 62.
The third linear motion guide portions (not shown) are provided on both outer sides of the third ball screw 63 in the width direction D2 and extend in the forward and backward direction D1. The third linear motion guide portion suppresses displacement of the actuator base 61 in the width direction D2 when the actuator base 61 moves in the forward/backward direction D1. The third linear motion guide section has the same configuration as the first linear motion guide section 43.

The arm 64 extends from the front surface of the actuator base 61 toward the front in the forward and backward direction D1. The arm 64 is designed to be extendable forward and backward in the forward and backward direction D1.
The tool changer 65 is provided at the front end of the arm 64. The tool changer 65 is a member that grips the battery 4.

The actuator 60 can move the battery 4 in the forward/backward direction D1 by driving the third motor 62 while the tool changer 65 grips the battery 4 . The second actuator 60b of the actuators 60 grips the battery 4 on the second area S2 in advance.
The actuator 60, the detection unit 7, the first movement mechanism 40, and the second movement mechanism 50 described above are controlled by the control unit 70.

(control unit)
As shown in FIG. 4, the control section 70 includes a determination section 71, a first operation section 72, a second operation section 73, and an actuator operation section 74.

The determination unit 71 determines whether the entire transport vehicle 2 has arrived at the parking area P.
The first operating unit 72 moves the mounting table 30 in the width direction D2 using the first moving mechanism 40.
The second operating unit 73 moves the mounting table 30 in the forward/backward direction D1 by the second moving mechanism 50.
The actuator operation unit 74 operates the actuator 60. Specifically, the actuator operation unit 74 operates the tool changer 65 to cause the actuator 60 to grip the battery 4 or release the grip of the battery 4. Furthermore, the actuator operation unit 74 moves the actuator 60 gripping the battery 4 in the advance/retract direction D1, thereby moving the battery 4 in the advance/retract direction D1. Furthermore, the actuator operation unit 74 extends the arm 64 of the actuator 60 in the advance/retract direction D1.

Although omitted in the drawing, the battery exchange device 5 includes a charger for charging the battery 4, a placement space for storing the charged battery 4, and a mounting table 30 for placing the battery 4. Alternatively, a device or the like for taking out the battery 4 from the mounting table 30 is provided. The charger and the charged battery 4 are arranged, for example, between the two first moving mechanisms 40.

(Steps for battery replacement)
Hereinafter, the procedure of the battery replacement method of this embodiment will be explained with reference to the flowchart of FIG. 5 and FIGS. 6 to 11. 6 to 11, the configuration of the battery exchange system 1 is simplified, and some configurations are omitted.
In the battery exchange method of this embodiment, the first moving mechanism 40, the second moving mechanism 50, and the mounting table 30 on both the left and right sides all operate simultaneously.

First, the detection unit 7 detects the transport vehicle 2 (step S1). After step S1, the determination unit 71 determines whether the entire transport vehicle 2 has arrived at the parking area P (step S2). If the entire transportation vehicle 2 has not reached the parking area P (step S2; NO), the process returns to the detection of the transportation vehicle 2 (step S1). When the entire transportation vehicle 2 has reached the parking area P (step S2; YES), the battery exchange device 5 positions the first area S1 as shown in FIG. 6 (step S3).

In step S3, the battery exchange device 5 moves the first mounting table 30a to place the first region S1 facing the battery accommodating portion 16. First, the first operating unit 72 moves the first mounting table 30a and the second mounting table 30b in the width direction D2 by the first moving mechanism 40. As a result, the first region S1 is positioned in the width direction D2, and the first region S1 is arranged at a position facing the battery accommodating portion 16 in the advance/retreat direction D1. Subsequently, the second operating unit 73 causes the second moving mechanism 50 to move the first mounting table 30a forward in the forward/backward direction D1. As a result, the first region S1 is positioned in the advance/retreat direction D1, and the first region S1 is brought close to the battery accommodating portion 16 in the advance/retreat direction D1. Step S3 requires a time of about 5 seconds, for example. Further, in step S3, the arm 64 of the first actuator 60a is extended to the upper limit. After step S3, as shown in FIG. 7, the first actuator 60a grips the battery 4 in the battery housing section 16 (step S4).

In step S4, the actuator operating section 74 operates the first actuator 60a to insert the arm 64 of the first actuator 60a into the battery housing section 16. Thereafter, the transport vehicle 2 switches the battery 4 in the battery housing section 16 to a removable state, and the first actuator 60a grips the battery 4 with the tool changer 65. When the battery 4 is gripped, the battery 4 is unlocked. Step S4 requires a time of about 3 seconds, for example. After step S4, as shown in FIG. 8, the actuator 60 pulls out the battery 4 in the battery housing section 16 onto the first area S1 (step S5).

In step S5, the actuator operation unit 74 operates the actuator 60 to move the actuator 60 holding the battery 4 to the rear side in the forward/backward direction D1. In this way, the battery 4 in the battery housing section 16 is pulled out. Thereafter, the first operating unit 72 causes the second moving mechanism 50 to move the first mounting table 30a to the rear side in the advance/retreat direction D1. As a result, the first region S1 is spaced apart from the battery accommodating portion 16 in the advance/retreat direction D1. Step S5 requires a time of about 3 seconds, for example. After step S5, as shown in FIG. 9, the battery exchange device 5 positions the second area S2 (step S6).

In step S6, the battery exchange device 5 moves the second mounting table 30b to place the second region S2 facing the battery accommodating portion 16. First, the first operating unit 72 moves the second mounting table 30b and the first mounting table 30a in the width direction D2 by the first moving mechanism 40. As a result, the second region S2 is positioned in the width direction D2, and the second region S2 is arranged at a position facing the battery accommodating portion 16 in the advance/retreat direction D1. Subsequently, the second operating unit 73 causes the second moving mechanism 50 to move the second mounting table 30b forward in the forward/backward direction D1. As a result, the second region S2 is positioned in the forward/backward direction D1, and the second region S2 is brought close to the battery accommodating portion 16 in the forward/backward direction D1. Step S6 requires a time of about 3 seconds, for example. After step S6, as shown in FIG. 10, the second actuator 60b inserts the charged battery 4 on the second region S2 into the battery housing section 16 (step S7).

In step S7, the actuator operating section 74 operates the second actuator 60b to insert the arm 64 of the second actuator 60b into the battery housing section 16. The tool changer 65 of the second actuator 60b holds the battery 4 which has been charged in advance. Therefore, the charged battery 4 is inserted into the battery housing section 16 in step S7. When the battery 4 is inserted into the battery accommodating portion 16, the battery 4 is pushed in by the arm 64 and mounted on the transport vehicle 2. When the battery 4 is installed in the transport vehicle 2, the battery 4 is locked within the battery housing section 16. Step S7 requires a time of about 5 seconds, for example. After step S7, the actuator operation section 74 moves the actuator 60 to the rear side in the advance/retreat direction D1, and separates the actuator 60 from the battery accommodating section 16 to the rear side in the advance/retreat direction D1 (step S8). At this point, the transport vehicle 2 switches the battery 4 in the battery housing section 16 to a state in which power can be supplied. This switching of the battery 4 takes, for example, about 1 second. At this point, the transport vehicle 2 starts traveling and leaves the parking area P. It takes, for example, about 20 seconds from the arrival of the transport vehicle 2 to the start of travel of the transport vehicle 2.
After step S8, the second operating unit 73 causes the second moving mechanism 50 to move the second mounting table 30b to the rear side in the advance/retreat direction D1.

In this way, battery replacement is performed. After that, the battery 4 pulled out from the battery accommodating part 16 on the first mounting table 30a is removed and inserted into a charger (not shown), and the charged battery 4 is placed on the second area S2 for the next battery replacement. Prepare for.

(Action and Effect)
According to the battery exchange device 5 of the present embodiment, the following advantageous effects are achieved.

In this embodiment, the battery exchange device 5 includes a mounting table 30, a first movement mechanism 40, a second movement mechanism 50, and an actuator 60. The mounting table 30 is arranged to face the battery storage section 16 in the forward/backward direction D1 of the transportation vehicle 2, and is capable of mounting the pair of batteries 4 in parallel in the width direction D2 of the transportation vehicle 2 intersecting the forward/backward direction D1. It has a first area S1 and a second area S2. The first moving mechanism 40 selectively makes the first region S1 and the second region S2 face the battery accommodating portion 16 of the transport vehicle 2 by moving the mounting table 30 in the width direction D2. The second moving mechanism 50 moves the mounting table 30 closer to and away from the transportation vehicle 2 in the advance/retreat direction D1. The actuator 60 is capable of pulling out the battery 4 from the battery accommodating portion 16 of the transportation vehicle 2 to the first region S1, and is also capable of inserting the battery 4 in the second region S2 into the battery accommodating portion 16.

In order to replace the battery 4 in the battery housing section 16 with a charged battery 4, the battery replacement device 5 of this embodiment operates as follows. A pre-charged battery 4 is placed on the second area S2. First, the battery exchange device 5 moves the mounting table 30 in the width direction D2 and the advancing/retreating direction D1 by the first moving mechanism 40 and the second moving mechanism 50, arranges the first area S1 facing the battery accommodating part 16, and then arranges the first area S1 to face the first area S1. The area S1 is positioned. Subsequently, the battery exchange device 5 uses the actuator 60 to pull out the battery 4 in the battery housing section 16 onto the first area S1. Subsequently, the battery exchange device 5 moves the mounting table 30 in the width direction D2 and the advancing/retreating direction D1 using the first moving mechanism 40 and the second moving mechanism 50, and arranges the second area S2 in the battery accommodating part 16 to face the second area S2. The two areas S2 are positioned. Thereafter, the battery exchange device 5 inserts the battery 4 on the second region S2 into the battery housing section 16 using the actuator 60. In this way, replacement of the battery 4 is completed.
As described above, according to the present embodiment, the battery exchange device 5 can smoothly exchange the battery 4 in the battery housing section 16 with the charged battery 4 placed in advance on the second area S2. can. Thereby, the time required for battery replacement can be shortened.

In the present embodiment, a plurality of actuators 60 are provided, and the plurality of actuators 60 include a first actuator 60a that is arranged to face the first region S1 in the forward and backward direction D1, and a first actuator 60a that is arranged facing the forward and backward direction D1 with respect to the second region S2. a second actuator 60b disposed opposite to the second actuator 60b.

In this embodiment, the second actuator 60b can be made to grip the charged battery 4 in advance. Thereby, the battery exchange device 5 can insert the battery 4 into the battery accommodating part 16 by the second actuator 60b immediately after arranging the second region S2 and the battery accommodating part 16 to face each other in the advance/retreat direction D1. Therefore, the time required for battery replacement can be further reduced.

In the present embodiment, a plurality of battery accommodating parts 16 are arranged in parallel in the width direction D2 in the transport vehicle 2, and a region pair SP of a first region S1 and a second region S2 arranged in parallel in the width direction D2 is a battery compartment. It is provided for each accommodating section 16.

Thereby, the battery exchange device 5 can exchange the batteries 4 in the plurality of battery storage sections 16 with the charged batteries 4 almost at the same time. Therefore, even if the transportation vehicle 2 is provided with a plurality of batteries 4, the time required for battery replacement can be further reduced.

In this embodiment, the first moving mechanism 40 is provided for each region pair SP.

Thereby, the battery exchange device 5 can control the movement of the mounting table 30 in the width direction D2 for each area pair SP. Therefore, the replacement accuracy of the battery replacement device 5 can be improved.

Note that in the first embodiment, a case has been described in which the battery exchange device 5 is applied to the transport vehicle 2 in which a pair of battery housing portions 16 are provided spaced apart in the width direction D2, but the present invention is not limited to this. For example, the battery exchange device 5 of the present embodiment may be applied to a transport vehicle 2 in which only one battery accommodating portion 16 is provided, or a transport vehicle 2 in which three or more battery accommodating portions 16 are provided spaced apart in the width direction D2. It's okay.

Second Embodiment
Hereinafter, a battery exchange system 201 and a battery exchange device 205 according to a second embodiment of the present disclosure will be described with reference to Fig. 12. The same configurations as those in the first embodiment described above will be denoted by the same names and reference numerals, and the description will be omitted as appropriate. In Fig. 12, the configuration of the battery exchange system 201 is simplified, and some of the configurations are omitted.

As shown in FIG. 12, in this embodiment, only one actuator 260 is provided for one battery housing section 16. The battery exchange device 205 moves the mounting table 30 in the width direction D2 to arrange the actuator 260 and the first region S1 facing each other in the advance/retreat direction D1, or to arrange the actuator 260 and the second region S2 in the advance/retreat direction D1. Select whether to place them facing each other. When the actuator 260 and the first region S1 are disposed to face each other in the advance/retreat direction D1, the actuator 260 operates to pull out the battery 4 in the battery housing section 16 onto the first region S1. On the other hand, when the actuator 260 and the second region S2 are arranged to face each other in the advance/retreat direction D1, the actuator 260 operates to insert the battery 4 on the second region S2 into the battery housing section 16.

(effect)
According to the battery exchange device 205 of this embodiment, the following effects are exhibited.

In the present embodiment, only one actuator 260 is provided for each battery housing section 16.

Thereby, the number of actuators 260 can be kept to a minimum. Therefore, compared to the case where a plurality of actuators 260 are provided for one battery housing section 16, the cost of the battery exchange device 205 can be reduced.

<Third embodiment>
Hereinafter, a battery exchange system 301 and a battery exchange device 305 according to a third embodiment of the present disclosure will be described with reference to FIG. 13. Configurations similar to those of the first embodiment described above will be given the same names and numerals, and descriptions thereof will be omitted as appropriate. In FIG. 13, the configuration of the battery exchange system 301 is simplified, and some configurations are omitted.

As shown in FIG. 13, in this embodiment, the first moving mechanism 340 is configured to operate all pairs of the first and second mounting tables 30a and 30b arranged side by side in the width direction D2 uniformly in the width direction D2. That is, the first moving mechanism 340 is configured to operate all area pairs SP of the first area S1 and the second area S2 uniformly in the width direction D2. Furthermore, for all area pairs SP operated uniformly by the first moving mechanism 340, the positional relationship between the first area S1 and the second area S2 in the width direction D2 is the same. For example, from the viewpoint of the transport vehicle 2, the first area S1 is arranged on the right side in the width direction D2, and the second area S2 is arranged on the left side in the width direction D2.

(effect)
According to the battery exchange device 305 of this embodiment, the following effects are exhibited.

In the present embodiment, the first moving mechanism 340 is provided so as to be able to uniformly move all the region pairs SP in the width direction D2, and the first The arrangement relationship between the region S1 and the second region S2 in the width direction D2 is all the same.

Thereby, the battery exchange device 305 can move all area pairs SP using one first moving mechanism 340. Therefore, control of the battery exchange device 305 can be simplified. Therefore, the cost of the battery exchange device 305 can be further reduced.

Note that in the third embodiment, all the area pairs SP are provided so as to be uniformly movable in the width direction D2 by one first moving mechanism 340, but the present invention is not limited to this. For example, when there are three or more region pairs SP, even if only some of the region pairs SP among the plurality of region pairs SP are provided so as to be uniformly movable in the width direction D2 by one first moving mechanism 340. good.

In the third embodiment, the first region S1 is arranged on the right side in the width direction D2, and the second region S2 is arranged on the left side in the width direction D2, but the invention is not limited to this. The first region S1 may be arranged on the left side in the width direction D2, and the second region S2 may be arranged on the right side in the width direction D2.

(Hardware configuration)
The control unit 70 of each embodiment described above is implemented in a computer 1100 shown in FIG. 14. Computer 1100 includes a processor 1110, main memory 1120, storage 1130, and interface 1140.

The operations of each of the above-mentioned functional units of the control unit 70 are stored in the storage 1130 in the form of a program. Processor 1110 reads the program from storage 1130, expands it to main memory 1120, and executes the above processing according to the program. Further, the processor 1110 reserves a storage area corresponding to the above-mentioned storage section in the main memory 1120 according to the program.

The program may be for realizing a part of the functions that the computer 1100 performs. For example, the program may function in combination with another program already stored in the storage 1130 or in combination with another program installed in another device. Further, the computer 1100 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or in place of the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, part or all of the functions implemented by processor 1110 may be implemented by the integrated circuit.

Examples of the storage 1130 include magnetic disks, magneto-optical disks, semiconductor memories, and the like. Storage 1130 may be an internal medium connected directly to the bus of computer 1100, or may be an external medium connected to computer 1100 via an interface 1140 or a communication line. Further, when this program is distributed to the computer 1100 via a communication line, the computer 1100 that received the distribution may develop the program in the main memory 1120 and execute the above processing. Storage 1130 may be a non-transitory tangible storage medium.

Additionally, the program may be for realizing part of the functions described above. Furthermore, the program may be a so-called difference file (difference program) that implements the above-described functions in combination with other programs already stored in the storage 1130.

(Other embodiments)
Although the embodiment of the present disclosure has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and includes design changes within the scope of the gist of the present disclosure. .

Note that in the above embodiment, a case has been described in which the mast 14 is a two-stage mast having an outer mast 17 and an inner mast 18, but the mast 14 is not limited to this. This is just an example of the configuration of a forklift. The mast 14 may be a multi-stage mast of three or more stages, for example.

Note that in the above embodiment, the battery exchange device 5 is designed to have a size that fits within the storage space of, for example, an 11-inch pallet, but the size is not limited to this. The size of the battery exchange device 5 can be changed as appropriate.

Furthermore, as shown in FIG. 15, the battery exchange device 5 may include an actuator 460 that grips the battery 4 using magnetic force. The actuator 460 includes an actuator base 461, an arm 462, a magnetic catch 463, and a flexible joint 464.

The actuator base 461 is attached so as to be movable on the mounting table 30 in the forward/backward direction D1. For example, like the actuator base 61 of the first embodiment described above, the actuator base 461 is provided with a third motor 62 and a third ball screw 63, and the third ball screw 63 receives the driving force of the third motor 62. The actuator base 461 may be moved in the forward/backward direction D1 by.
The arm 462 extends from the actuator base 461 toward the front in the forward and backward direction D1 (toward the opening 6a). The arm 462 is provided so as to be extendable and retractable in the forward and backward direction D1.
Magnetic catch 463 is provided at the front end of arm 462. The magnetic catch 463 attracts the metal part of the battery 4 by magnetic force. In this embodiment, the battery 4 has, for example, an iron plate 8 at the rear end. The magnetic catch 463 grips the battery 4 by magnetically attracting the iron plate 8.
Flexible joint 464 connects arm 462 and magnetic catch 463. The flexible joint 464 is a member that is easily deformable in the forward/backward direction D1, the width direction D2, and the up/down direction D3. Even if the battery 4 is slightly inclined with respect to the arm 462, the magnetic catch 463 can be brought into contact with the rear surface of the battery 4 from the front in the advance/retreat direction D1 by deforming the flexible joint 464. Thereby, the magnetic catch 463 can grip the battery 4 regardless of the inclination of the battery 4.

In this embodiment, the actuator 460 has a magnetic catch 463 that attracts the battery 4 by magnetic force.

The actuator 460 magnetically attracts and grips the iron plate 8 of the battery 4. This allows the actuator 460 to strongly grip the battery 4. Therefore, battery replacement can be performed stably.

Furthermore, as shown in FIG. 16, the actuator 560 may grip the battery 4 using air pressure. The actuator 560 has a suction cup 561 instead of the magnetic catch 463 of the actuator 460 described above. Suction cup 561 is connected to arm 462 by a flexible joint 464. The suction cup 561 is formed in a bottomed cylindrical shape (bowl shape) that is open toward the front side in the forward and backward direction D1. The actuator 560 attracts the battery 4 with air pressure by making the inside of the suction cup 561 a negative pressure while keeping the opening of the suction cup 561 in close contact with the battery 4 from the rear side in the forward and backward direction D1. Further, an acrylic plate 8A is provided at the rear end of the battery 4 in the advancing and retreating direction D1. The acrylic plate 8A is formed into a flat plate shape. This acrylic plate 8A allows the suction cup 561 to come into close contact with the battery 4 without any gaps.

In this way, in this embodiment, the actuator 560 can grip the battery 4 using air pressure. Therefore, the actuator 560 can grip the battery 4 regardless of the material of the exterior of the battery 4.

Furthermore, as shown in FIGS. 17 to 19, the actuator 560 may grip the battery 4 using a hook structure that engages with the battery 4.

In this embodiment, the battery 4 has, for example, an engaging portion 8B at the rear end. The engagement portion 8B includes an engagement base 35 and a protrusion 36. The engagement base 35 is provided at the rear end of the battery 4 in the forward and backward direction D1. The protruding portion 36 protrudes from the engagement base 35 toward the rear side in the forward and backward direction D1. An engagement groove 37 is formed in the protrusion 36 and extends through the protrusion 36 in the vertical direction D3.

The actuator 660 has an actuator base 461, an arm 462, a sub-actuator 671, and a hook 672. The hook 672 is a member that can be engaged with the engagement groove 37 of the battery 4. The sub-actuator 671 changes the hook 672 between a state in which it is engaged with the engagement groove 37 of the battery 4 and a state in which it is disengaged from the engagement groove 37 . The configuration of actuator 660 will be described in detail below.

The sub-actuator 671 is placed on the actuator base 461. The sub-actuator 671 has a base portion 673 and an extendable portion 674. The base 673 is fixed to the actuator base 461. The extendable portion 674 extends from the base portion 673 to the front side in the forward and backward direction D1. The extensible portion 674 is provided so as to be extensible and retractable in the forward and backward direction D1.

The hook 672 is formed in a V-shape that projects upward when viewed from the width direction D2. The rear end of the hook 672 is attached to the front end of the actuator base 461 via a shaft 675. The shaft portion 675 extends in the fourth direction D4. The hook 672 is rotatably provided around this shaft portion 675. The bent portion 672a of the hook 672 is attached to the front end of the extensible portion 674 of the sub-actuator 671.

When the actuator 660 grips the battery 4, first, as shown in FIG. 18, the extendable portion 674 of the sub-actuator 671 contracts to pull the hook 672 to the rear side in the forward/backward direction D1. Thereafter, as shown in FIG. 22, the telescopic portion 674 of the sub-actuator 671 is extended, and the hook 672 is inserted into the engagement groove 37 of the battery 4 from above. In this way, actuator 660 engages battery 4. In this state, the battery 4 can be pulled out from the battery accommodating portion 16 by moving the actuator 660 rearward in the advance/retreat direction D1.

In this manner, in this embodiment, the actuator 660 can grip the battery 4 by engaging the hook 672 with the engagement groove 37 of the battery 4. Thereby, the actuator 660 can grip the battery 4 with a simple configuration regardless of the material of the exterior of the battery 4.

Although the actuators 460, 560, and 660 have been described using the case where they are used in the battery exchange device 5 of the first embodiment, the present invention is not limited thereto. The actuators 460, 560, and 660 may be used in the battery exchange device 205 of the second embodiment and the battery exchange device 305 of the third embodiment.

<Additional notes>
The battery exchange device 5, 205, 305, battery exchange system 1, 201, 301, and battery exchange method described in each embodiment can be understood, for example, as follows.

(1) A battery exchange device 5, 205, 305 according to a first aspect is a battery exchange device 5, 205, 305 for a transport vehicle 2 having a battery storage section 16, and includes a mounting table 30 having a first region S1 and a second region S2 that are arranged opposite to the battery storage section 16 in a direction D1 of movement of the transport vehicle 2 and that is capable of mounting a pair of batteries 4 side by side in a width direction D2 of the transport vehicle 2 that intersects with the direction D1 of movement of the transport vehicle 2, and a mounting table 30 that is configured to move the mounting table 30 in the width direction D2 to move the first region S1 and the second region S2. The battery storage device includes a first moving mechanism 40, 340 which selectively faces one of the two areas S2 toward the battery storage section 16 of the transport vehicle 2, a second moving mechanism 50 which moves the mounting table 30 toward or away from the transport vehicle 2 in the forward/backward direction D1, and an actuator 60, 260, 460, 560, 660 which is capable of pulling out the battery 4 from the battery storage section 16 of the transport vehicle 2 to the first area S1 and is capable of inserting the battery 4 on the second area S2 into the battery storage section 16.
Examples of the transport vehicle 2 include the autonomous forklift of this embodiment, a logistics vehicle, an industrial vehicle, an electric vehicle, and the like.

In order to replace the battery 4 in the battery housing section 16 with a charged battery 4, the battery replacement device 5, 205, 305 of this embodiment operates as follows. A pre-charged battery 4 is placed on the second area S2. First, the battery exchange device 5, 205, 305 moves the mounting table 30 in the width direction D2 and the advance/retreat direction D1 using the first moving mechanism 40, 340 and the second moving mechanism 50 to fill the first area S1 in the battery storage section 16. The first region S1 is positioned facing each other. Subsequently, the battery exchange device 5, 205, 305 uses the actuator 60, 260, 460, 560, 660 to pull out the battery 4 in the battery housing section 16 onto the first area S1. Subsequently, the battery exchange device 5, 205, 305 moves the mounting table 30 in the width direction D2 and the advancing/retreating direction D1 using the first moving mechanism 40, 340 and the second moving mechanism 50 to place the second area S2 in the battery accommodating part 16. The second region S2 is positioned by arranging them facing each other. Thereafter, the battery exchange device 5, 205, 305 inserts the battery 4 on the second region S2 into the battery housing section 16 using the actuator 60, 260, 460, 560, 660. In this way, replacement of the battery 4 is completed.

(2) A battery exchange device 5, 305 according to a second aspect is the battery exchange device 5, 305 of (1), in which a plurality of actuators 60 are provided, and the plurality of actuators 60 are The first actuator 60a may be disposed to face the region S1 in the advance/retreat direction D1, and the second actuator 60b may be disposed to face the second region S2 in the advance/retreat direction D1.

In this aspect, the charged battery 4 can be gripped by the second actuator 60b in advance. Thereby, the battery exchange device 5, 305 can insert the battery 4 into the battery accommodating part 16 by the second actuator 60b immediately after arranging the second area S2 and the battery accommodating part 16 to face each other in the advance/retreat direction D1. can.

(3) The battery exchange device 205 according to the third aspect is the battery exchange device 205 of (1), in which only one actuator 260 is provided for one battery housing section 16. good.

Thereby, the number of actuators 260 can be kept to a minimum.

(4) The battery exchange device 5, 205, 305 according to the fourth aspect is the battery exchange device 5, 205, 305 according to any one of (1) to (3), and the battery storage section 16 is A plurality of area pairs SP of the first area S1 and the second area S2 are arranged in parallel in the width direction D2 on the transport vehicle 2, and are arranged in parallel in the width direction D2. may be provided.

Thereby, the battery exchange devices 5, 205, 305 can exchange the batteries 4 in the plurality of battery storage sections 16 with charged batteries 4 almost at the same time.

(5) The battery exchange device 5, 205 according to the fifth aspect is the battery exchange device 5, 205 of (4), in which the first moving mechanism 40 may be provided for each area pair SP. good.

Thereby, the battery exchange device 5, 205 can control the movement of the mounting table 30 in the width direction D2 for each region pair SP.

(6) The battery exchange device 305 according to the sixth aspect is the battery exchange device 305 according to (4), in which the first moving mechanism 340 uniformly moves the plurality of region pairs SP in the width direction D2. Regarding the plurality of region pairs SP that can be provided and uniformly operated by the first moving mechanism 340, the arrangement relationship in the width direction D2 between the first region S1 and the second region S2 is all the same arrangement. It may be considered a relationship.

Thereby, the battery exchange device 305 can move a plurality of area pairs SP using one first moving mechanism 340.

(7) The battery exchange device 5, 205, 305 of the seventh aspect is the battery exchange device 5, 205, 305 according to any one of (1) to (6), wherein the actuator 460 is It may also have a magnetic catch 463 that attracts it by magnetic force.

In this aspect, the actuator 460 can grip the battery 4 by magnetic force. Therefore, for example, when metal is used for the exterior of the battery 4, the actuator 460 can strongly grip the battery 4.

(8) The battery exchange device 5, 205, 305 of the eighth aspect is the battery exchange device 5, 205, 305 according to any one of (1) to (6), wherein the actuator 560 is A suction cup 561 may be provided which opens on the front side of D1 and which suctions the battery 4 by air pressure by creating a negative pressure inside the battery 4 while in close contact with the battery 4.

In this embodiment, the actuator 560 grips the battery 4 using air pressure. Therefore, the actuator 560 can grip the battery 4 regardless of the material of the exterior of the battery 4.

(9) The battery exchange device 5, 205, 305 of the ninth aspect is the battery exchange device 5, 205, 305 according to any one of (1) to (6), wherein the battery 4 is The actuator 660 has an engagement groove 37 formed on the rear side of D1, and the actuator 660 has a hook 672 that can engage with the engagement groove 37 of the battery 4, and a hook 672 that engages the hook 672 with the engagement groove 37. It may include a sub-actuator 671 that changes the state in which the engagement groove 37 is engaged with the engagement groove 37 and the state in which the engagement groove 37 is disengaged.

In this aspect, the actuator 660 can grip the battery 4 by engaging the hook 672 with the engagement groove 37 of the battery 4. Thereby, the actuator 660 can grip the battery 4 with a simple configuration regardless of the material of the exterior of the battery 4.

(10) The battery exchange system 1, 201, 301 according to the tenth aspect includes the battery exchange device 5, 205, 305 of any one of (1) to (9) and the transport vehicle 2.

(11) A battery replacement method according to an eleventh aspect uses the battery replacement device 5, 205, 305 of any one of (1) to (9) to replace the battery 4 in the battery storage section 16 with the battery replacement device 5, 205, 305. A battery replacement method in which the battery 4 on the second area S2 is replaced, the mounting table 30 is moved and the first area S1 is placed opposite to the battery accommodating part 16, and the first area S1 is positioned. a step of pulling out the battery 4 in the battery accommodating part 16 onto the first area S1, and moving the mounting table 30 to arrange the second area S2 opposite to the battery accommodating part 16. The method includes a step of positioning the second region S2, and a step of inserting the battery 4 on the second region S2 into the battery accommodating section 16.

According to the battery exchange device, battery exchange system, and battery exchange method of the present disclosure, the time required for battery exchange can be shortened.

DESCRIPTION OF SYMBOLS 1...Battery exchange system 2...Transportation vehicle 3...Control device 4...Battery 5...Battery exchange device 6...Casing 6a...Opening part 7...Detection part 10...Vehicle 11...Vehicle main body 12...Straddle leg 13...Traveling mechanism 13a...No. One drive wheel 13b...Second drive wheel 14...Mast 15...Vehicle frame 16...Battery storage part 17...Outer mast 18...Inner mast 19...Bracket 20...Cargo handling device 21...Lift bracket 22...Fork 23...Fork base 24...Fork Claw part 30... Placement stand 30a... First placer 30b... Second placer 31... Placement stand main body 32... Movable rail 33... Caster part 34... Ground plane 40... First moving mechanism 41... Base 42... First ball screw 43...First linear motion guide part 44...Rail 45...Guide part 46...Guide groove 50...Second movement mechanism 51...Table 52...Second motor 53...Second ball screw 60...Actuator 60a...First actuator 60b...First Second actuator 61... Actuator base 62... Third motor 63... Third ball screw 64... Arm 65... Tool changer 70... Control section 71... Judgment section 72... First operating section 73... Second operating section 74... Actuator operating section 201 ...Battery exchange system 205...Battery exchange device 260...Actuator 301...Battery exchange system 305...Battery exchange device 340...First movement mechanism 1100...Computer 1110...Processor 1120...Main memory 1130...Storage 1140...Interface D1...Advance/retreat direction D2... Width direction D3...Vertical direction P...Parking area S1...First area S2...Second area SP...Area pair 460...Actuator 461...Actuator base 462...Arm 463...Magnetic catch 464...Flexible joint 8...Iron plate 560...Actuator 561... Suction cup 8A...Acrylic plate 660...Actuator 671...Sub-actuator 672...Hook 672a...Bending part 673...Base 674...Extensible part 675...Shaft part 8B...Engagement part 35...Engagement base 36...Protrusion part 37...Engagement groove

Claims (11)

1. A battery exchange device for a transport vehicle having a battery housing section, the device comprising:
   A first area and a second area are disposed opposite to the battery housing part in the forward and backward direction of the transport vehicle, and a pair of batteries can be placed side by side in a width direction of the transport vehicle that intersects with the forward and backward direction. a mounting table having;
   a first moving mechanism that selectively causes the first region and the second region to face the battery accommodating portion of the transport vehicle by moving the mounting table in the width direction;
   a second moving mechanism for moving the mounting table closer to and away from the transportation vehicle in the advance/retreat direction;
   an actuator that is capable of pulling out the battery from the battery accommodating section of the transport vehicle into the first area and inserting the battery on the second area into the battery accommodating section;
   A battery exchange device comprising:
2. The actuator is provided in plurality,
   The plurality of actuators are
   a first actuator disposed to face the first region in the advance/retreat direction;
   a second actuator disposed opposite to the second region in the advance/retreat direction;
   The battery exchange device according to claim 1, comprising:
3. The battery exchange device according to claim 1, wherein only one actuator is provided for one battery housing section.
4. A plurality of the battery accommodating parts are arranged in parallel in the width direction on the transport vehicle,
   A region pair of the first region and the second region arranged side by side in the width direction is provided for each battery accommodating section,
   The battery exchange device according to any one of claims 1 to 3.
5. The first moving mechanism is provided for each region pair,
   The battery exchange device according to claim 4.
6. The first moving mechanism is provided to be able to uniformly move the plurality of area pairs in the width direction,
   All of the plurality of region pairs uniformly operated by the first moving mechanism have the same arrangement relationship in the width direction between the first region and the second region.
   The battery exchange device according to claim 4.
7. The battery exchange device according to any one of claims 1 to 3, wherein the actuator has a magnetic catch that magnetically attracts the battery.
8. 4 . The actuator according to claim 1 , wherein the actuator has a suction cup that opens toward the front in the advancing and retracting direction and that suctions the battery with air pressure by creating a negative pressure inside the actuator while in close contact with the battery. 4 . The battery exchange device described.
9. The battery has an engagement groove formed on the rear side in the advancing and retreating direction,
   The actuator is
   a hook that can be engaged with the engagement groove of the battery;
   a sub-actuator that changes the hook between a state in which it is engaged with the engagement groove and a state in which it is disengaged from the engagement groove;
   The battery exchange device according to any one of claims 1 to 3, having the following.
10. A battery exchange device according to any one of claims 1 to 3,
    The transport vehicle;
    A battery exchange system equipped with
11. A battery replacement method, using the battery replacement device according to any one of claims 1 to 3, and replacing the battery in the battery storage section with the battery on the second area,
    positioning the first area by moving the placement stand and arranging the first area to face the battery accommodating part;
    pulling out the battery in the battery housing onto the first area;
    positioning the second area by moving the placement stand and arranging the second area to face the battery accommodating part;
    inserting the battery on the second region into the battery housing;
    Including battery replacement method.

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